A distributed energy supply system for mobile robots and control method thereof

Abstract

A distributed energy supply system for a mobile robot includes a central energy storage unit, an intermediate energy storage unit, a terminal energy storage unit, a primary power supply network, a primary communication network, a secondary power supply network, a secondary communication network, and an actuator. The central energy storage unit supplies power to the intermediate energy storage unit via the primary power supply network. The intermediate energy storage unit is electrically connected to the terminal energy storage unit via the secondary power supply network. The intermediate energy storage unit supplies power to the terminal energy storage unit via the secondary power supply network. The terminal energy storage unit is electrically connected to the actuator. The terminal energy storage unit is used to power the actuator. The central energy storage unit communicates and transmits data with the intermediate energy storage unit via the primary communication network. The intermediate energy storage unit communicates and transmits data with the terminal energy storage unit via the secondary communication network. By adopting a three-layer distributed network energy supply system, the present invention optimizes the energy supply mode of the mobile robot and improves the stability and reliability of the mobile robot's energy supply.

Description

Technical Field

[0001] The present invention belongs to the field of robot energy supply, and in particular relates to a distributed energy supply system for a mobile robot and a control method thereof. Background Art

[0002] Currently, mobile robots around the world primarily use a centralized power supply model, using a single or multiple battery packs as the robot's power source to provide power for each module. This solution offers advantages such as simple structure and easy maintenance, but also has significant disadvantages.

[0003] The main defects of the current robot power supply method are as follows:

[0004] (1) When a large number of execution units need to be powered simultaneously, it is difficult to achieve intelligent power distribution for different parts of the robot;

[0005] (2) A long power line is required between the execution unit and the battery. When the power supply is high, the power loss on the line is large. Because the wiring between the execution unit and the battery is long, a thicker power line must be used to reduce the impact of the wire resistance on the power loss and transmission voltage drop. However, a large number of long and thick wires make the robot wiring very difficult.

[0006] (3) In order to meet the extreme situation where a large number of execution units need to be powered at the same time, the robot power supply capacity must be configured to be large enough, which not only greatly increases the weight and volume of the power supply, but also because the probability of this situation occurring is low and the duration is short, the capacity efficiency of the power supply is low;

[0007] (4) When the robot's high-power execution unit needs high-power power supply in an instant, it cannot obtain sufficient energy due to factors such as the power supply line being too long, insufficient overcurrent capacity of the power supply line, and insufficient instantaneous output power of the power supply, thereby affecting the execution capability of the mobile robot. Summary of the Invention

[0008] The present invention optimizes and improves the overall structure of the robot energy supply system by adopting a three-layer distributed network energy supply system, solving many problems in traditional robot energy supply systems, such as long wiring, delayed power distribution, and insufficient energy supply to important units.

[0009] For this purpose, the technical solution adopted in the present invention is:

[0010] A distributed energy supply system for a mobile robot, comprising:

[0011] Central energy storage unit, intermediate energy storage unit, terminal energy storage unit, primary power supply network, primary communication network, secondary power supply network, secondary communication network, actuator;

[0012] The central energy storage unit is electrically connected to the intermediate energy storage unit via a primary power supply network, and the central energy storage unit supplies power to the intermediate energy storage unit via the primary power supply network;

[0013] The intermediate energy storage unit is electrically connected to the terminal energy storage unit via a secondary power supply network, and the intermediate energy storage unit supplies power to the terminal energy storage unit via the secondary power supply network;

[0014] The terminal energy storage unit is electrically connected to the actuator, and the terminal energy storage unit is used to supply power to the actuator;

[0015] The central energy storage unit communicates and transmits data with the intermediate energy storage unit via the primary communication network, and the intermediate energy storage unit communicates and transmits data with the terminal energy storage unit via the secondary communication network.

[0016] The central energy storage unit communicates with the main control computer of the mobile robot via the RS485 bus. The main control computer is used to collect the energy storage status of each part of the energy supply system and issue energy storage distribution adjustment instructions to the central energy storage unit.

[0017] The central energy storage unit includes a lithium battery, a charging interface circuit, a single-chip microcomputer, a battery power detection circuit, and a battery output current detection circuit. The central energy storage unit is electrically connected to an external power supply through the charging interface circuit.

[0018] The intermediate energy storage unit includes: a lithium battery, a first charging switch, a single chip microcomputer, a battery power detection circuit and a battery output current detection circuit.

[0019] The terminal energy storage unit includes: a lithium battery, a second charging switch, a power supply switch, a single chip microcomputer, a battery power detection circuit and a battery output current detection circuit.

[0020] The first charging switch and the second charging switch both include a PMOS tube and a transistor. The single-chip microcomputer of the intermediate energy storage unit controls the power on and off of the primary power supply network by controlling the conduction and disconnection of the first charging switch. The single-chip microcomputer of the terminal energy storage unit controls the power on and off of the secondary power supply network by controlling the conduction and disconnection of the second charging switch.

[0021] The power supply switch includes a PMOS tube and a triode, and the single chip microcomputer of the terminal energy storage unit controls the power supply of the terminal energy storage unit to the actuator by controlling the conduction and disconnection of the power supply switch.

[0022] A control method for a distributed energy supply system for a mobile robot includes a charging phase and a usage phase. During the charging phase and the usage phase, a main control computer dynamically adjusts the power supply priority of each energy storage unit according to the following rules:

[0023] During the charging phase, priority is given to charging energy storage units whose power levels are lower than a preset low threshold. When the power levels of multiple energy storage units are all lower than the preset low threshold, the charging order is determined according to the executor's task priority.

[0024] During the usage phase, priority is given to supplying power to the terminal energy storage units corresponding to the actuators whose current power demand exceeds the preset power threshold. When multiple actuators require power at the same time, the power supply path is dynamically allocated according to the urgency of the task.

[0025] When the power level of a certain energy storage unit is higher than a preset maintenance threshold, the main control computer switches the power supply target to the energy storage unit or actuator of the next priority.

[0026] The charging process includes the following steps:

[0027] The central energy storage unit obtains energy from the external power supply through the charging interface, and the main control computer obtains the power information of each energy storage unit in real time through the primary communication network and the secondary communication network;

[0028] The main control computer dynamically adjusts the charging priority of each energy storage unit, sending charging start instructions to the high-priority energy storage unit first, and the corresponding charging switch remains in the open state for continuous charging;

[0029] When the power level of the high-priority energy storage unit reaches a preset high threshold, the main control computer sends a charging start instruction to the low-priority energy storage unit, and the corresponding charging switch is turned on for charging.

[0030] The use process includes the following steps:

[0031] The main control computer obtains the power information of each energy storage unit in real time through the primary communication network and the secondary communication network;

[0032] The main control computer dynamically adjusts the power supply priority of each energy storage unit and sends control instructions to the central energy storage unit, so that the central energy storage unit preferentially supplies power to the high-priority intermediate energy storage unit through the primary power supply network, and its corresponding charging switch remains in the open state;

[0033] When the power level of the high-priority intermediate energy storage unit is higher than the preset maintenance threshold, the main control computer controls the central energy storage unit to supply power to the low-priority intermediate energy storage unit;

[0034] The intermediate energy storage unit dynamically adjusts the power supply priority of its corresponding terminal energy storage unit, giving priority to supplying power to the high-priority terminal energy storage unit through the secondary power supply network, and its corresponding charging switch remains in the open state;

[0035] When the power level of the high-priority terminal energy storage unit is higher than the preset maintenance threshold, the intermediate energy storage unit supplies power to the low-priority terminal energy storage unit.

[0036] The beneficial effects of the present invention are:

[0037] The present invention shortens the distance between the energy supply unit and the actuator at the direct power supply end, thereby greatly reducing line losses and increasing the output power of the actuator. The design of the distributed energy supply unit optimizes the energy configuration of the mobile robot and avoids the heat generated by the battery power supply being concentrated in one part, which is beneficial to the heat dissipation of the battery, and enhances the durability of the battery and the safety of the robot during use. The multi-level energy supply network also reduces the transmission current in the intermediate links of the energy supply system, making it possible to use thinner power lines for the intermediate power supply network wiring, which greatly facilitates the wiring design of the power supply line. The design of the multi-level communication network realizes the real-time monitoring and optimized control of the power distribution status of the mobile robot energy supply system, and can provide emergency power supply to the execution units that are in urgent need of electricity, thereby improving the stability and reliability of the mobile robot's energy supply. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] Figure 1 Schematic diagram of the hierarchical distribution between the power supply units of the present invention.

[0039] Figure 2 This is a schematic diagram of the network hardware structure of the overall energy supply system of the present invention.

[0040] Figure 3 This is a structural diagram of the central energy storage unit.

[0041] Figure 4 This is the circuit hardware diagram of the central energy storage unit.

[0042] Figure 5 Schematic diagram of the structure of the intermediate energy storage unit.

[0043] Figure 6 This is the circuit hardware schematic diagram of the intermediate energy storage unit.

[0044] Figure 7 This is a structural diagram of the terminal energy storage unit.

[0045] Figure 8 This is the circuit hardware diagram of the terminal energy storage unit.

[0046] Figure 9 The figure is a flow chart of the charging process in a control method of a distributed energy supply system for a mobile robot.

[0047] Figure 10 The present invention is a flowchart of the steps used in a control method of a distributed energy supply system for a mobile robot.

[0048] In the figure: 1. Central energy storage unit; 2. Intermediate energy storage unit; 21. First charging switch; 3. Terminal energy storage unit; 31. Second charging switch; 32. Power supply switch; 4. Main control computer; 5. Primary power supply network; 6. Primary communication network; 7. Secondary power supply network; 8. Secondary communication network; 9. Actuator. DETAILED DESCRIPTION

[0049] The present invention will be described in detail below with reference to the accompanying drawings.

[0050] like Figure 1 、 Figure 2 A distributed energy supply system for a mobile robot adopts a three-tier distributed power supply network architecture. The energy supply system includes a central energy storage unit 1, an intermediate energy storage unit 2, and a terminal energy storage unit 3. The central energy storage unit 1 supplies power to the intermediate energy storage unit 2 via a primary power supply network 5, and the intermediate energy storage unit 2 supplies power to the terminal energy storage unit 3 via a secondary power supply network 7. The terminal energy storage unit 3 is connected to each actuator 9 of the robot to supply power to each actuator 9. The intermediate energy storage unit 2 communicates with the central energy storage unit 1 via a primary communication network 6, and the central energy storage unit 1 communicates via a secondary communication network 8.

[0051] Among them, the central energy storage unit 1 integrates a large-capacity rechargeable battery as the robot's total reserve power supply; each intermediate energy storage unit 2 is distributed in various local areas including the robot's head, legs, hands and other areas, and each intermediate energy storage unit 2 is integrated with a relatively small-capacity rechargeable battery as a backup energy storage power supply in the local area of ​​the robot; the terminal energy storage unit 3 is deployed together with each actuator 9 of the robot, and has a battery power supply with a battery capacity matching the power of the corresponding actuator 9 integrated inside, which directly powers the actuator 9.

[0052] Because the robot utilizes a distributed energy storage structure, each actuator 9 is powered directly by its corresponding terminal energy storage unit 3. This direct power supply significantly shortens the connection between the actuator 9 and the power supply unit. The corresponding power supply line resistance and line voltage drop are significantly reduced compared to traditional power supply methods, thereby significantly reducing power loss within the power supply line. This power supply structure ensures that as long as there is sufficient power in the terminal energy storage unit 3, the actuator 9 will be able to achieve maximum power output instantly. Once the power level in the terminal energy storage unit 3 drops to a certain threshold, the terminal energy storage unit 3 will automatically draw power from its corresponding intermediate energy storage unit 2. Since this charging process typically completes over a long period of time, it can be charged with a smaller current, thereby reducing power loss in the circuit. When the power level in the intermediate energy storage unit 2 drops to a certain threshold, the central energy storage unit 1 will charge it. Similarly, since this charging process typically completes over a long period of time, it can also be charged with a smaller current, thereby reducing power loss in the circuit. Compared with a system with a single centralized energy supply architecture of total battery capacity, the distributed architecture can effectively reduce line power loss in the circuit, reduce the wire diameter required for wiring, and at the same time improve the instantaneous power output capability of the actuator 9.

[0053] Furthermore, in the distributed energy supply system, each energy storage unit, in addition to containing a battery module, also integrates a microcontroller module, a power management interface module, and a communication interface module. This allows for real-time intelligent distribution of the robot's energy supply through a communication network and intelligent control system. For example, when the robot requires high-performance computing, the distributed system can prioritize allocating power from the central energy storage unit 1 to the intermediate energy storage unit 2 located near the main control computer 4, ensuring that the main control computer 4 has sufficient power to support its operations. When the robot needs to move quickly, the intermediate energy storage units 2 near the hands and legs will also increase the power supply to the terminal energy storage units 3 connected to the hand and leg actuators 9, prioritizing the provision of sufficient power to the robot's hand and leg actuators 9.

[0054] like Figure 3 、 Figure 4 As shown, the circuit system of the central energy storage unit 1 includes a lithium battery, a charging interface circuit, a single-chip microcomputer, a battery charge detection circuit, and a battery output current detection circuit. An external power source charges the lithium battery via the charging interface circuit, and the lithium battery charges the intermediate energy storage unit 2 via the primary power supply network 5. The single-chip microcomputer communicates with the robot's main control computer 4 via the RS485 bus, receiving energy storage distribution adjustment instructions from the robot's main control computer 4 and transmitting the energy storage system's energy distribution status to the robot's main control computer 4.

[0055] The single-chip microcomputer connects to the primary communication network 6 via the CAN bus, communicates with the intermediate energy storage unit 2, sends energy storage distribution adjustment instructions to the intermediate energy storage unit 2, and collects the energy storage distribution status of the area where the intermediate energy storage unit 2 is located. The battery power detection circuit includes an analog-to-digital converter. The voltage signal of the lithium battery is input into the single-chip microcomputer after analog-to-digital conversion. The single-chip microcomputer inputs the real-time digitized voltage signal into the main control computer 4. The main control computer 4 then obtains the remaining power of the lithium batteries in the central energy storage unit 1 by fitting a pre-set curve between power and voltage. The battery output current detection circuit includes a current sensor. When the lithium battery is charging the intermediate energy storage unit 2 via the primary power supply network 5, the current sensor also collects the magnitude of the lithium battery discharge current in real time. The current sensor performs analog-to-digital conversion via the analog-to-digital converter and outputs the current to the single-chip microcomputer.

[0056] like Figure 5 、 Figure 6 As shown, the circuit system of the intermediate energy storage unit 2 includes a lithium battery, a first charging switch 21, a single-chip microcomputer, a battery charge detection circuit, and a battery output current detection circuit. The first charging switch 21 is controlled by the single-chip microcomputer. When the first charging switch 21 is closed, the central energy storage unit 1 will charge the lithium battery of the intermediate energy storage unit 2 through the primary power supply network 5. When the first charging switch 21 is open, the central energy storage unit 1 stops charging the lithium battery of the intermediate energy storage unit 2, thereby adjusting the power distribution of the intermediate energy storage unit 2. The first charging switch 21 includes a PMOS transistor and a triode. When the single-chip microcomputer outputs a high-level signal, the triode turns on, and the gate of the PMOS transistor is pulled down to GND. At this time, the PMOS transistor is turned on, and the central energy storage unit 1 can charge the lithium battery of the intermediate energy storage unit 2 through the primary power supply network 5. When the single-chip microcomputer outputs a low-level signal, the triode turns off, and the PMOS transistor returns to a high resistance value through the pull-up resistor. At this time, the PMOS transistor is disconnected, and charging stops.

[0057] The single-chip microcomputer is connected to the primary communication network 6 via the CAN bus, communicating with the central energy storage unit 1, receiving energy storage distribution adjustment instructions sent by the central energy storage unit 1, and sending the energy storage distribution status within the intermediate energy storage unit 2 area to the central energy storage unit 1. The single-chip microcomputer is connected to the secondary communication network 8 via another CAN bus, communicating with the terminal energy storage units 3 within the area, sending energy storage adjustment instructions to the terminal energy storage units 3 and collecting the energy storage status of the terminal energy storage units 3. The voltage signal and output current signal of the lithium battery of the intermediate energy storage unit 2 are output to the single-chip microcomputer through the battery power detection circuit and the battery output current detection circuit, and then transmitted to the single-chip microcomputer of the central energy storage unit 1 via the primary communication network 6 and finally to the main control computer 4.

[0058] like Figure 7 、 Figure 8As shown, the circuit system of the terminal energy storage unit 3 includes a lithium battery, a second charging switch 31, a power switch 32, a single-chip microcomputer, a battery power detection circuit, and a battery output current detection circuit. Among them, the second charging switch 31 and the power switch 32 are both controlled by the single-chip microcomputer. When the charging switch is closed, the intermediate energy storage unit 2 will charge the lithium battery of the terminal energy storage unit 3 through the secondary power supply network 7. When the second charging switch 31 is disconnected, the intermediate energy storage unit 2 stops charging the lithium battery of the terminal energy storage unit 3, thereby adjusting the power distribution of the terminal energy storage unit 3. At the same time, the single-chip microcomputer controls the power supply state of the actuator 9 by controlling the power switch 32. The structure of the second charging switch 31 and the power switch 32 of the terminal energy storage unit 3 is the same as that of the charging switch of the intermediate energy storage unit 2. Both include PMOS tubes and transistors. The single-chip microcomputer can turn on or off the switch by outputting a high level or a low level. No further details will be given here.

[0059] The single-chip microcomputer connects to the secondary communication network via the CAN bus, communicates with the intermediate energy storage unit 2, receives energy storage adjustment instructions from the intermediate energy storage unit 2, and transmits the energy storage status of the terminal energy storage unit 3 to the intermediate energy storage unit 2. The voltage signal and output current signal of the lithium battery of the terminal energy storage unit 3 are output to the single-chip microcomputer through the battery power detection circuit and the battery output current detection circuit. Then, they are transmitted to the single-chip microcomputer of the intermediate energy storage unit 2 via the secondary communication network and finally to the main control computer 4.

[0060] The control link of the present invention includes a charging link and a use link. The charging link is the control link for charging before the robot is started, and the use link is the control link for allocating electric energy during the use process after the robot is started. The charging link and the use link both adjust the energy supply priority of each energy storage unit through the main control computer 4. The rules for the main control computer 4 to adjust the energy supply priority of each energy storage unit are as follows: in the charging link, priority is given to charging energy storage units with a power level lower than a preset low threshold. When the power levels of multiple energy storage units are all lower than the preset low threshold, the charging order is determined according to the task priority of the actuator 9; in the use link, priority is given to powering the terminal energy storage unit 3 corresponding to the actuator 9 whose current power demand exceeds the preset power threshold. When multiple actuators 9 require power at the same time, the power supply path is dynamically allocated according to the urgency of the task; when the power level of a certain energy storage unit is higher than the preset maintenance threshold, the main control computer 4 switches the power supply target to the energy storage unit or actuator 9 of the next priority.

[0061] like Figure 9 The charging process includes steps S901 to S903, and the detailed steps are as follows.

[0062] Step S901 : the central energy storage unit 1 obtains energy from an external power source through a charging interface, and the main control computer 4 simultaneously obtains power information of each energy storage unit in real time through the primary communication network 6 and the secondary communication network 8 .

[0063] Step S902: During the charging process, the distribution of charging power in various parts of the robot will be effectively monitored through the communication network. The main control computer 4 dynamically adjusts the charging priority of each energy storage unit and sends charging start instructions to high-priority energy storage units first. The corresponding charging switches remain in the open state for continuous charging.

[0064] Step S903: Master computer 4 sequentially sends charging signals to each microcontroller, turning on the charging switches at each level, based on the charging priorities of the different components. Master computer 4 prioritizes sending charging signals to the microcontrollers of high-priority energy storage units and simultaneously turns on their corresponding charging switches, ensuring that these energy storage units are charged first. When the charge level of a high-priority energy storage unit reaches a preset high threshold, master computer 4 sends a charge-on command to the lower-priority energy storage units, turning on their corresponding charging switches to charge until the lithium batteries of all energy storage units are fully charged.

[0065] During the charging process, the distribution of charging power in various parts of the robot will be effectively monitored through the communication network. The charging priority of different parts can be adjusted as needed by disconnecting the charging switch of the low-priority energy storage unit and closing the charging switch of the high-priority energy storage unit to achieve effective control of the charging sequence of different parts of the robot, so as to ensure that the high-priority energy storage unit has sufficient power at the same time to meet the higher-priority task requirements of the robot.

[0066] like Figure 10 The usage process includes steps S1001 to S1005, and the detailed steps are as follows.

[0067] Step S1001 : the main control computer 4 obtains the power information of each energy storage unit in real time through the primary communication network 6 and the secondary communication network 8 .

[0068] Step S1002: The main control computer 4 dynamically adjusts the power supply priority of each energy storage unit and sends a control instruction to the central energy storage unit 1, so that the central energy storage unit 1 preferentially supplies power to the high-priority intermediate energy storage unit 2 through the primary power supply network 5, so that its corresponding charging switch remains in the open state.

[0069] Step S1003 : When the power level of the high-priority intermediate energy storage unit 2 is higher than the preset maintenance threshold, the main control computer 4 controls the central energy storage unit 1 to supply power to the low-priority intermediate energy storage unit 2 .

[0070] Step S1004: the intermediate energy storage unit 2 dynamically adjusts the power supply priority of its corresponding terminal energy storage unit 3, preferentially supplies power to the high-priority terminal energy storage unit 3 through the secondary power supply network 7, and its corresponding charging switch remains in the open state.

[0071] Step S1005 : when the power level of the high-priority terminal energy storage unit 3 is higher than the preset maintenance threshold, the intermediate energy storage unit 2 supplies power to the low-priority terminal energy storage unit 3 .

[0072] During use, the distributed energy supply system can also control the charging switches of each energy storage unit according to the energy supply priority of different parts of the robot, so that the central energy storage unit 1 can replenish electric energy to the intermediate energy storage unit 2 with higher priority, and the intermediate energy storage unit 2 can replenish electric energy to the terminal energy storage unit 3 with higher priority, ensuring that the actuator 9 with higher priority obtains sufficient power support.

[0073] The above content describes the specific features and implementation schemes of the present invention. It should be noted that the specific implementation of the present invention is not limited to the above-mentioned methods. As long as various non-substantial improvements are made using the technical solutions of the present invention, or the concepts and technical solutions of the present invention are directly applied to other occasions without improvement, they are all within the scope of protection of the invention. The scope of protection claimed by the present invention is defined by the claims and their equivalents.

Claims

1. A distributed energy supply system for a mobile robot, characterized in that: include: Central energy storage unit, intermediate energy storage unit, terminal energy storage unit, primary power supply network, primary communication network, secondary power supply network, secondary communication network, actuator, main control computer; The central energy storage unit is electrically connected to the intermediate energy storage unit via a primary power supply network, and the central energy storage unit supplies power to the intermediate energy storage unit via the primary power supply network; The intermediate energy storage unit is electrically connected to the terminal energy storage unit via a secondary power supply network, and the intermediate energy storage unit supplies power to the terminal energy storage unit via the secondary power supply network; The terminal energy storage unit is electrically connected to the actuator, and the terminal energy storage unit is used to supply power to the actuator; The central energy storage unit communicates and transmits data with the intermediate energy storage unit via the primary communication network, and the intermediate energy storage unit communicates and transmits data with the terminal energy storage unit via the secondary communication network; The main control computer is used to collect the energy storage status of each part of the energy supply system and calculate the energy supply priority of each energy storage unit in real time. The main control computer issues energy storage distribution adjustment instructions to the upper-level energy storage unit according to the energy supply priority. The upper-level energy storage unit supplies power to the lower-level energy storage unit and the actuator according to the energy supply priority based on the energy storage distribution adjustment instructions. The energy supply priority of the actuator is determined by the execution priority of its task.

2. A distributed energy supply system for mobile robots according to claim 1, characterized in that: The central energy storage unit communicates with the main control computer of the mobile robot via the RS485 bus.

3. The distributed energy supply system for mobile robots according to claim 1, characterized in that: The central energy storage unit includes a lithium battery, a charging interface circuit, a single-chip microcomputer, a battery power detection circuit, and a battery output current detection circuit. The central energy storage unit is electrically connected to an external power supply through the charging interface circuit.

4. The distributed energy supply system for mobile robots according to claim 1, characterized in that: The intermediate energy storage unit includes: a lithium battery, a first charging switch, a single chip microcomputer, a battery power detection circuit and a battery output current detection circuit.

5. A distributed energy supply system for mobile robots according to claim 4, characterized in that: The terminal energy storage unit includes: a lithium battery, a second charging switch, a power supply switch, a single chip microcomputer, a battery power detection circuit and a battery output current detection circuit.

6. A distributed energy supply system for mobile robots according to claim 5, characterized in that: The first charging switch and the second charging switch both include a PMOS tube and a transistor. The single-chip microcomputer of the intermediate energy storage unit controls the power on and off of the primary power supply network by controlling the conduction and disconnection of the first charging switch. The single-chip microcomputer of the terminal energy storage unit controls the power on and off of the secondary power supply network by controlling the conduction and disconnection of the second charging switch.

7. The distributed energy supply system for mobile robots according to claim 5, characterized in that: The power supply switch includes a PMOS tube and a triode, and the single chip microcomputer of the terminal energy storage unit controls the power supply of the terminal energy storage unit to the actuator by controlling the conduction and disconnection of the power supply switch.

8. A control method for a mobile robot distributed energy supply system, applied to a mobile robot distributed energy supply system according to any one of claims 1 to 7, characterized in that: include: During the charging and usage phases, the main control computer dynamically adjusts the power supply priority of each energy storage unit according to the following rules: During the charging phase, priority is given to charging energy storage units whose power levels are lower than a preset low threshold. When the power levels of multiple energy storage units are all lower than the preset low threshold, the charging order is determined according to the executor's task priority. During the usage phase, priority is given to supplying power to the terminal energy storage units corresponding to the actuators whose current power demand exceeds the preset power threshold. When multiple actuators require power at the same time, the power supply path is dynamically allocated according to the urgency of the task. When the power level of a certain energy storage unit is higher than a preset maintenance threshold, the main control computer switches the power supply target to the energy storage unit or actuator of the next priority.

9. The control method of a mobile robot distributed energy supply system according to claim 8, characterized in that: The charging process includes the following steps: The central energy storage unit obtains energy from the external power supply through the charging interface, and the main control computer obtains the power information of each energy storage unit in real time through the primary communication network and the secondary communication network; The main control computer dynamically adjusts the charging priority of each energy storage unit, sending charging start instructions to the high-priority energy storage unit first, and the corresponding charging switch remains in the open state for continuous charging; When the power level of the high-priority energy storage unit reaches a preset high threshold, the main control computer sends a charging start instruction to the low-priority energy storage unit, and the corresponding charging switch is turned on for charging.

10. The control method of a distributed energy supply system for a mobile robot according to claim 8, characterized in that: The use process includes the following steps: The main control computer obtains the power information of each energy storage unit in real time through the primary communication network and the secondary communication network; The main control computer dynamically adjusts the power supply priority of each energy storage unit and sends control instructions to the central energy storage unit, so that the central energy storage unit preferentially supplies power to the high-priority intermediate energy storage unit through the primary power supply network, and its corresponding charging switch remains in the open state; When the power level of the high-priority intermediate energy storage unit is higher than the preset maintenance threshold, the main control computer controls the central energy storage unit to supply power to the low-priority intermediate energy storage unit; The intermediate energy storage unit dynamically adjusts the power supply priority of its corresponding terminal energy storage unit, giving priority to supplying power to the high-priority terminal energy storage unit through the secondary power supply network, and its corresponding charging switch remains in the open state; When the power level of the high-priority terminal energy storage unit is higher than the preset maintenance threshold, the intermediate energy storage unit supplies power to the low-priority terminal energy storage unit.

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