Humanoid robot uninterrupted work control circuit, control method and humanoid robot

Abstract

The invention discloses a humanoid robot uninterrupted work control circuit and method and a humanoid robot. The humanoid robot uninterrupted work control circuit comprises an equipment cabin, a first battery assembly, a second battery assembly and a main board. When the first battery assembly and the second battery assembly are both inserted into the equipment compartment, the electric quantity of the second battery assembly is monitored in real time, when the electric quantity of the second battery assembly is larger than a first preset threshold value, the second battery assembly supplies power to the humanoid robot, and when the electric quantity of the second battery assembly is smaller than or equal to the first preset threshold value, the humanoid robot is powered. When the second battery assembly is fully charged, the first battery assembly is switched to supply power to the load of the humanoid robot automatically or through a manual battery replacement button, meanwhile, a battery replacement prompt is given out until the second battery assembly which is fully charged is inserted into the equipment compartment again, and at the moment, it is automatically judged that the second battery assembly supplies power to the load of the humanoid robot and supplies power to the first battery assembly. According to the invention, live-line battery replacement of the humanoid robot is realized, and the influence of shutdown operation on the working efficiency is avoided.

Description

Technical Field

[0001] The present invention relates to the technical field of robots, and in particular to a control circuit for continuous operation of a humanoid robot, a control method, and a humanoid robot. Background Art

[0002] Currently, humanoid robots generally have a short battery life, and a single charge can only maintain an operating duration of about 2 hours. Moreover, when replacing the battery pack, the robot must be turned off first. After the replacement is completed, it is necessary to turn on the machine again and then perform calibration operations. This series of cumbersome processes greatly reduces the working efficiency of the robot and hinders its efficient operation in actual application scenarios. Summary of the Invention

[0003] The present invention aims to solve at least one of the technical problems existing in the prior art. For this purpose, the object of the present invention is to provide a control circuit for continuous operation of a humanoid robot, a control method, and a humanoid robot, so as to realize the hot-swap of the battery of the humanoid robot and avoid the impact of shutdown operations on work efficiency.

[0004] The object of the present invention is achieved by the following technical solutions: A control circuit for continuous operation of a humanoid robot, which includes an equipment compartment, a first battery assembly, a second battery assembly, and a main board. Among them, the equipment compartment is located in a receiving space provided on the humanoid robot, the first battery assembly is located in the equipment compartment, the second battery assembly is arranged in the equipment compartment or other positions of the humanoid robot, and the battery capacity of the second battery assembly is much larger than that of the first battery assembly; When the first battery assembly is plugged into the equipment compartment, the first battery assembly is communicatively connected to the main board, and the first battery assembly is electrically connected to the load of the humanoid robot; when the second battery assembly is plugged into the equipment compartment, the second battery assembly is communicatively connected to the main board, and the second battery assembly is electrically connected to the load of the humanoid robot. When both the first battery assembly and the second battery assembly are plugged into the equipment compartment, a communication connection is formed between any two of the first battery assembly, the second battery assembly, and the main board, and after the first battery assembly and the second battery assembly are electrically connected, the load of the humanoid robot is powered by the first battery assembly or the second battery assembly. When both the first battery assembly and the second battery assembly are plugged into the equipment cabin, the power of the second battery assembly is monitored in real time. When the power of the second battery assembly is greater than the first preset threshold, the second battery assembly supplies power to the humanoid robot. When the power of the second battery assembly is less than or equal to the first preset threshold, the power supply is automatically switched or switched to the first battery assembly to supply power to the load of the humanoid robot through a manual battery change button, and a battery change reminder is issued until the fully charged second battery assembly is plugged into the equipment cabin again. At this time, it is automatically determined that the second battery assembly supplies power to the load of the humanoid robot and charges the first battery assembly, and the first battery assembly enters the charging state.

[0005] In the embodiment of the present invention, the resident first battery assembly (small capacity) is used as a "transition" power source. When the user needs to replace the second battery assembly (large capacity main battery) that is about to run out, the system can seamlessly switch to the first battery assembly for power supply, so that the device will not shut down or stop working during the replacement of the second battery assembly, ensuring the continuous task execution ability.

[0006] When the power of the second battery assembly is less than or equal to the first preset threshold, if the power supply is automatically switched to the first battery assembly to supply power to the load of the humanoid robot, a control instruction to turn on the output can be sent to the first battery assembly through the second battery assembly or the main board; if the power supply is switched to the first battery assembly to supply power to the load of the humanoid robot through a manual battery change button, after the user presses the battery change button, the second battery assembly can send a control instruction to turn on the output to the first battery assembly.

[0007] Due to its small size, the first battery assembly can be directly installed in the equipment cabin and kept connected to the main board and the load. The first battery assembly only undertakes the main power supply task for a short time at necessary moments (during battery change), and its state of charge (SOC) can usually be maintained at a relatively high level (because it is designed to have a much smaller capacity than the second battery and is mainly used temporarily during battery change), which helps to extend its service life and reliability.

[0008] The second battery assembly can be flexibly placed according to different requirements (such as the structure of the humanoid robot, the center of gravity requirements, the heat dissipation conditions, etc.), without the need to force it into the equipment cabin, improving the versatility of the design and the adaptability to different robot forms.

[0009] In other embodiments, even if the second battery assembly suddenly fails or disconnects due to any unexpected reasons (such as poor contact, accidental unplugging), the system can be instantly taken over by the first battery assembly to maintain the core function or perform an emergency shutdown operation, avoiding equipment damage or function disorder that may be caused by sudden power failure.

[0010] In a preferred embodiment, the second battery assembly includes a second battery management system, a second battery pack, a second switch, and a second blade socket; a second blade plug adapted to the second blade socket is correspondingly provided on the equipment compartment, and a charging and discharging interface is also provided on the equipment compartment. After the second blade plug and the second blade socket are plugged together, a first connecting wire of the charging and discharging interface is connected to the positive electrode of the second battery pack, a second connecting wire of the charging and discharging interface is connected to the negative electrode of the second battery pack, and a third connecting wire connected to the first connecting wire of the charging and discharging interface is connected to the second battery management system through the second switch.

[0011] The hot-swap connection of the second battery assembly is realized through a second blade connector (the mating structure of the second blade socket and the second blade plug), which is suitable for transmitting / receiving high-power current to / from the second battery assembly. This interface design reduces the operation difficulty and risk during plugging and unplugging, and improves the mechanical reliability and electrical safety of the system.

[0012] The second switch can be a normally closed switch, which is connected to the detection port of the second battery management system, so that when a high level is obtained at this detection port, it indicates that the second battery assembly has been inserted into the equipment compartment. Of course, the second switch can also be a relay.

[0013] The second switch is used to detect whether the second battery assembly is inserted into the equipment compartment. When the second switch and the first connecting wire are in a disconnected state, for example, the signal received at the detection port is a low level, then the second battery assembly disconnects the output and stops charging; when the signal received at the detection port is a high level, the second battery assembly delays to turn on the output. After turning on the charging, it delays to send a control instruction to the first battery assembly to turn off the output of the first battery assembly, and the second battery assembly takes over the output to the load. At the same time, it can also supply power to the first battery assembly.

[0014] In a preferred embodiment, the second battery assembly further includes a fourth switch, and a battery replacement button is further provided at the edge of the equipment compartment. One end of the battery replacement button is connected to the first connecting wire, and the other end of the battery replacement button is connected to the second blade plug through a ninth connecting wire. After the second blade plug and the second blade socket are plugged together, the ninth connecting wire is connected to the second battery management system through the fourth switch.

[0015] A physical battery replacement button is provided at the edge of the equipment compartment, which is a signal button for actively initiating the operation of replacing the second battery assembly. When the battery replacement button is pressed, after the corresponding receiving port of the second battery management system receives the battery replacement signal (for example, the fourth switch is a normally closed switch or a relay), it will immediately send a control instruction to the first battery assembly to turn on the output. When the second battery assembly detects that the first battery assembly has turned on the output and sends the information that the battery can be replaced to the host, the second battery assembly will automatically shut down (turn off the output and charging. At this time, the battery power indicator of the second battery assembly is still on). After its battery power indicator goes out, the second battery assembly can be removed, significantly reducing the probability of physical damage, electrical damage (arc ablation), or even system downtime or data loss caused by improper operation.

[0016] Implementing the removal of the second battery assembly through the battery replacement button is more explicit than forced extraction or relying on system monitoring thresholds to trigger, significantly reducing the risk of damage or system chaos caused by accidental extraction. Moreover, pressing the battery replacement button does not directly cut off the output of the second battery assembly. Instead, the signal of the battery replacement button is transmitted through the ninth connection line to the inside of the plugged-in second battery assembly, passes through the fourth switch, and finally reaches the second battery management system (BMS). This means that pressing the battery replacement button triggers a signal notification, and the system software (executed by the BMS or the main board communicating with it) has the right to decide whether it is suitable for hot plugging at this time, ensuring that the main circuit (between the second battery assembly, the load, and the first battery assembly) is physically disconnected (hard power-off) before physically unplugging the battery plug, maximizing the avoidance of serious hazards (large current arcing, damage to the interface, or even fire or electric shock) that may occur when the user forcibly unplug the connector while the power is on (in a high-power state).

[0017] In a preferred embodiment, the first battery assembly includes a first battery management system, a first battery pack, a first switch, and a first blade socket; a first blade mating corresponding to the first blade socket is provided on the equipment compartment, and the equipment compartment further includes a plug-in component. The plug-in component is connected to the load of the humanoid robot through the seventh connection line and the eighth connection line. After the plug-in component and the charging and discharging interface are plugged in, the first connection line and the seventh connection line are electrically connected, and the second connection line and the eighth connection line are electrically connected; The first blade mating is connected with a fourth connection line, a fifth connection line, and a sixth connection line. The other ends of the fourth connection line and the fifth connection line are respectively connected to the seventh connection line and the eighth connection line. After the first blade mating and the first blade socket are plugged in, the fourth connection line is connected to the positive pole of the first battery pack, the fifth connection line is connected to the negative pole of the first battery pack, and the sixth connection line connected to the fourth connection line is connected to the first battery management system through the first switch.

[0018] The connection method of the first battery module to the equipment cabin is similar to that of the second battery module to the equipment cabin. The hot-swap connection of the first battery module is achieved through the first blade connector (the mating structure of the first blade socket and the first blade plug-in), which reduces the operation difficulty and risk during plugging and unplugging, and improves the mechanical reliability and electrical safety of the system.

[0019] The first switch can also be a normally closed switch, which is connected to the detection port of the first battery management system. Thus, when a high level is obtained at this detection port, it indicates that the first battery module has been inserted into the equipment cabin. Of course, the first switch can also be implemented by a relay.

[0020] The first switch is used to detect whether the first battery module is inserted into the equipment cabin. When the first switch and the fourth connection line are in a disconnected state, for example, when the signal received by the detection port is at a low level, the first battery module disconnects the output and the charging is turned on; when the signal received by the detection port is at a high level, the first battery module delays to turn on the output. The first battery module delays to turn on the output. The motherboard can send a shutdown command to the first battery module. After receiving the shutdown command, the first battery module disconnects the output and the charging is turned on.

[0021] In a preferred embodiment, the equipment cabin is further provided with a charging interface connected to an external charger, and the two charging lines of the charging interface are electrically connected to the seventh connection line and the eighth connection line respectively.

[0022] The unified centralized management of the first battery module and the second battery module is achieved through the seventh connection line and the eighth connection line. Whether to charge and how to charge, etc. can be determined by the motherboard or their respective battery management systems.

[0023] The robot can connect to an external charger at a specific location (such as a base station, a charging dock) for long-term operation. At this time, the load power consumption is preferentially provided by the external charger, and the surplus power is used to charge the battery, or the battery only provides additional support at the power consumption peak.

[0024] In a preferred embodiment, the first battery assembly further includes a first CAN connection line connected between the first battery management system and the first blade socket, and the second battery assembly further includes a second CAN connection line connected between the second battery management system and the second blade socket; a third CAN connection line that is inserted and connected to the first blade and a fourth CAN connection line that is inserted and connected to the second blade are further provided in the equipment compartment. The main board is communicatively connected to both the third CAN connection line and the fourth CAN connection line through a fifth CAN bus. After the first blade plug is inserted into the first blade socket, the first CAN connection line and the third CAN connection line are communicatively connected. After the second blade plug is inserted into the second blade socket, the second CAN connection line and the fourth CAN connection line are communicatively connected.

[0025] In the first battery assembly, the second battery assembly, and the main board, a communication connection based on the CAN (Controller Area Network) bus is comprehensively introduced, which can realize signal control and information sharing among them. Exemplarily, when the power of the second battery assembly is less than or equal to a first preset threshold, a battery replacement reminder is issued. When it is detected that the battery replacement button is pressed, the second battery assembly can send a control instruction to the first battery assembly. If the power of the second battery assembly is less than or equal to a second preset threshold and the battery replacement button is not detected to be pressed, the second battery assembly will also send a control instruction to the first battery assembly, and the first battery assembly will take over the power supply to the load.

[0026] Or at the initial stage when the first battery assembly is connected to the equipment compartment, since its initial state is output on (the so-called output on means that it can discharge to the load at this time) and charging off, a shutdown instruction can be sent to it through the main board to make it shut down, and then its state becomes output off and charging on.

[0027] In addition, the first battery assembly and the second battery assembly can also send power information to the main board. When an external charger is plugged in, the main board can control the charging of both of them.

[0028] In a preferred embodiment, the equipment compartment is further provided with a charging interface connected to an external charger. The fifth CAN connection line of the charging interface is communicatively connected to both the third CAN connection line and the fourth CAN connection line. When the charging interface is connected to the external charger, the fifth CAN connection line is also communicatively connected to the external charger.

[0029] By connecting the fifth CAN connection line of the charging interface to the existing battery communication network (the third / fourth CAN connection lines) inside the equipment cabin, when the external charger is physically connected for power supply, it can also access the CAN communication bus network of the entire robot, and the external charger becomes an intelligent node of the entire energy management system. It can receive information from the main board or the battery BMS, and can also send its own status and configuration information. For example, the main board or the battery BMS can send the real-time status of the target battery (such as temperature, SoC, voltage, health status) to the external charger through the CAN bus, and the external charger dynamically adjusts its output voltage, current limit, and charging mode (CC / CV / trickle / balancing) according to the received battery status (especially the detailed requirements of the BMS).

[0030] In a preferred embodiment, the second battery assembly further includes a first DET-C connection line connected between the second battery management system and the second blade socket, and a second DET-C connection line is also connected between the charging interface and the second blade plug. After the second blade plug and the second blade socket are plugged together, the first DET-C connection line and the second DET-C connection line are electrically connected. When the charging interface is connected to the external charger, the second DET-C connection line is also electrically connected to the positive output terminal of the external charger.

[0031] The second BMS can detect the level or on / off state on the first DET-C connection line through its I / O port, directly and at the hardware level sense whether the second battery assembly has been reliably physically connected in place (plugged in) to the equipment cabin, and can achieve precise "seated" state perception of the second battery assembly, and at the same time play a wake-up function. After that, the second battery assembly can send the required charging parameters to the external charger through the CAN bus, and the external charger outputs according to the received required charging parameters.

[0032] Specifically, when the second battery assembly is initially in the shutdown state and the external charger is plugged in (the DET-C connection line and B+ are short-circuited), the second battery assembly and the external charger communicate with each other. After the second battery assembly sends the required charging parameters, the external charger outputs. After the charging stops, the second battery assembly continues to enter the shutdown state (disconnect the output, disconnect the charging), and the first battery assembly maintains its previous state; When the second battery assembly is in the powered-on state and the external charger is plugged in (the DET-C connection line and B+ are short-circuited), the second battery assembly and the external charger communicate with each other. After the second battery assembly sends the required charging parameters, the external charger outputs. After the charging stops, the second battery assembly maintains the powered-on state, and the first battery assembly maintains its previous state.

[0033] A method for controlling the uninterrupted operation of a humanoid robot, which uses the above-mentioned circuit for controlling the uninterrupted operation of a humanoid robot, and includes the following steps: When both the first battery assembly and the second battery assembly are plugged into the equipment compartment, both the first battery assembly and the second battery assembly are communicatively connected to the main board; Monitor the power of the second battery assembly in real time. When the power of the second battery assembly is greater than the first preset threshold, the second battery assembly supplies power to the load of the humanoid robot; When the power of the second battery assembly is less than or equal to the first preset threshold, automatically or through a manual battery change button, switch to the first battery assembly to supply power to the load of the humanoid robot, and at the same time issue a battery change reminder; When the switch is completed using the manual battery change button and the user presses the battery change button, the second battery assembly immediately sends an output instruction to the first battery assembly so that the first battery assembly supplies power to the load of the humanoid robot; When the second battery assembly detects that the first battery assembly has started output, the second battery assembly automatically shuts down. After the battery power indicator of the second battery assembly goes out, remove the second battery assembly; When the charged second battery assembly is plugged into the equipment compartment, the second battery assembly supplies power to the load after a first preset time delay. After the second battery assembly is turned on for charging, it sends a control instruction to the first battery assembly after a second preset time delay. The first battery assembly shuts down and stops supplying power to the load. The charging of the first battery assembly is turned on, and the second battery assembly charges the first battery assembly.

[0034] In the embodiment of the present invention, the resident first battery assembly (small capacity) is used as a "transition" power source. When the user needs to replace the second battery assembly (large capacity main battery) that is about to run out, the system can seamlessly switch to the first battery assembly for power supply, so that the system will not shut down or stop working during the process of replacing the second battery assembly, ensuring the continuous task execution ability.

[0035] By setting a physical battery change button, which is a signal button for actively initiating the operation of replacing the second battery assembly. When the battery change button is pressed and the corresponding receiving port of the second battery management system receives a battery change signal (for example, the fourth switch is a normally closed switch or a relay), it will immediately send a control instruction to the first battery assembly to turn on the output. When the second battery assembly detects that the first battery assembly has turned on the output and the second battery assembly sends information to the host that the battery can be replaced, the second battery assembly automatically shuts down (turns off the output and charging. At this time, the battery power indicator of the second battery assembly is still on). After its battery power indicator goes out, the second battery assembly can be removed, significantly reducing the probability of physical damage, electrical damage (arc ablation), or even system downtime or data loss caused by improper operation.

[0036] The removal of the second battery module is achieved by means of a battery replacement button, which is more explicit than forced extraction or triggering based on system monitoring thresholds, significantly reducing the risk of damage or system chaos caused by accidental extraction. Moreover, pressing the battery replacement button does not directly cut off the output of the second battery module. Instead, the signal of the battery replacement button is transmitted through the ninth connecting wire to the inside of the plugged-in second battery module, passes through the fourth switch, and finally reaches the second battery management system (BMS). This means that pressing the battery replacement button triggers a signal notification, and the system software (executed by the BMS or the main board communicating with it) has the right to decide whether hot swapping is appropriate at this time, ensuring that the main circuit (between the second battery module, the load, and the first battery module) is physically disconnected (hard power-off) before physically unplugging the battery plug, thus minimizing the serious risks (such as large current arcing, damage to the interface, or even fire or electric shock) that may occur when the user forcibly unplug the connector while the power is on (in a high-power state).

[0037] A humanoid robot, including the uninterrupted working control circuit of the humanoid robot as described above.

[0038] The accompanying drawings forming a part of this application are used to provide a further understanding of the present invention. The schematic embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation to the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] Figure 1 It is a schematic block diagram of the uninterrupted working control circuit of the humanoid robot of the present invention; Figure 2 It is a schematic block diagram of the first battery module of the present invention; Figure 3 It is a schematic block diagram of the second battery module of the present invention; Figure 4 It is a schematic flow chart of the uninterrupted working control method of the humanoid robot of the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0040] Next, in combination with the accompanying drawings and specific embodiments, the present invention will be further described. It should be noted that, on the premise of no conflict, the following-described embodiments or technical features can be arbitrarily combined to form new embodiments. Unless otherwise specified, the materials and equipment used in this embodiment can be purchased from the market. The examples of the embodiments are shown in the accompanying drawings, where the same or similar reference numerals represent the same or similar elements or elements with the same or similar functions from beginning to end. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present application and should not be construed as a limitation to the present application.

[0041] In the description of the present application, it should be understood that the orientation or positional relationship indicated by the terms "upper", "lower", "front", "rear", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it should not be construed as a limitation to the present application. In the description of the present application, the meaning of "a plurality of" is two or more, unless otherwise specifically and precisely defined.

[0042] In the description of the present application, it should be noted that unless otherwise clearly specified and defined, the terms "connected", "communicated", "connected" should be understood in a broad sense. For example, it can be a fixed connection, or can be connected through an intermediate medium, and can be the communication inside two elements or the interaction relationship between two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present application can be understood according to specific circumstances.

[0043] The terms "first", "second", etc. in the description, claims and drawings of the present application are used to distinguish similar objects, and do not have to be used to describe a specific order or sequence. In addition, the terms "comprising" and "having" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device comprising a series of steps or units does not have to be limited to those steps or units clearly listed, but may include other steps or units not clearly listed or inherent to these processes, methods, products or devices.

[0044] Please refer to Figures 1-3 As shown, a control circuit for an anthropomorphic robot to work continuously is provided in the present invention, which mainly includes an equipment cabin 110, a first battery assembly 120, a second battery assembly 130 and a main board. Among them, the equipment cabin is located in the accommodation space provided on the anthropomorphic robot, and the main board and the corresponding connecting wires and quick connectors (such as the first blade-type plug-in, the second blade-type plug-in, and the charging interface, etc.) in the equipment cabin constitute a control host.

[0045] The battery capacity of the second battery module is much larger than that of the first battery module. For example, the second battery module uses batteries with high capacity and high discharge rate, while the first battery module uses batteries with small capacity and low requirements for discharge rate. Due to its small size, the first battery module can be directly installed in the equipment compartment and remain connected to the main board and the load. The first battery module only undertakes the main power supply task for a short time at necessary moments (during battery replacement), and its state of charge (SOC) can usually be maintained at a relatively high level (because it is designed with a much smaller capacity than the second battery and is mainly used temporarily during battery replacement), which helps to extend its service life and reliability. The second battery module can be placed flexibly according to different requirements (such as the structure, center of gravity requirements, and heat dissipation conditions of humanoid robots), without being forced to be stuffed into the equipment compartment, improving the versatility of the design and the adaptability to different robot forms.

[0046] Moreover, the power supply methods for the loads of the humanoid robot by the two can also be different. For example, the second battery module undertakes high-load tasks such as the robot's walking, standing, and carrying, providing strong power for the core operation of the robot. The first battery module is mainly responsible for maintaining the robot's standing or running in a low-power state, ensuring the maintenance of the robot's basic state with low energy consumption.

[0047] When both the first battery module and the second battery module are plugged into the equipment compartment, a communication connection is formed between any two of the first battery module, the second battery module, and the main board, and both the first battery module and the second battery module can supply power to the load of the humanoid robot after being electrically connected; in this case, the power of the second battery module is monitored in real time. When the power of the second battery module is greater than the first preset threshold, the second battery module supplies power to the humanoid robot. When the power of the second battery module is less than or equal to the first preset threshold, it automatically or through a manual battery replacement button switches to the first battery module to supply power to the load of the humanoid robot, and at the same time issues a battery replacement reminder until the fully charged second battery module is plugged into the equipment compartment again. At this time, it is automatically determined that the second battery module supplies power to the load of the humanoid robot and charges the first battery module, and the first battery module enters the charging state.

[0048] Among them, when the power of the second battery module is less than or equal to the first preset threshold, if it is automatically switched to the first battery module to supply power to the load of the humanoid robot, a control instruction to turn on the output can be sent from the second battery module or the main board to the first battery module; if it is switched to the first battery module to supply power to the load of the humanoid robot through a manual battery replacement button, after the user presses the battery replacement button, the second battery module can send a control instruction to turn on the output to the first battery module.

[0049] In the embodiments of the present invention, the resident first battery component (small capacity) is used as a "transition" power source. When the user needs to replace the second battery component (large capacity main battery) that is about to run out, the system can seamlessly switch to the first battery component for power supply, so that the device will not shut down or stop working during the replacement of the second battery component, ensuring the ability to execute continuous tasks.

[0050] Of course, in other embodiments, even if the second battery component suddenly fails or disconnects due to any accidental reasons (such as poor contact, accidental removal), the system can be instantaneously taken over by the first battery component to maintain the core function or perform an emergency shutdown operation, avoiding equipment damage or functional disorders that may be caused by sudden power failure.

[0051] Specifically, the second battery component includes a second battery management system (BMS2), a second battery pack (BAT2), a second switch K2, and a second blade socket (blade socket 2); a second blade plug-in (blade plug-in 2) adapted to the second blade socket is correspondingly provided on the equipment cabin, and a charging and discharging interface is also provided on the equipment cabin. After the second blade plug-in and the second blade socket are plugged in, the first connecting wire of the charging and discharging interface is connected to the positive electrode of the second battery pack, the second connecting wire of the charging and discharging interface is connected to the negative electrode of the second battery pack, and a third connecting wire connected to the first connecting wire of the charging and discharging interface is connected to the second battery management system through the second switch.

[0052] The hot-plug connection of the second battery component is realized through a second blade connector (the mating structure of the second blade socket and the second blade plug-in), which is suitable for transmitting / receiving high-power current to / from the second battery component. This interface design reduces the operation difficulty and risk during plugging and unplugging, and improves the mechanical reliability and electrical safety of the system.

[0053] The second switch can be a normally closed switch, which is connected to the detection port of the second battery management system, so that when a high level is obtained at this detection port, it indicates that the second battery component has been inserted into the equipment cabin. Of course, the second switch can also be a relay.

[0054] The second switch is used to detect whether the second battery component is inserted into the equipment cabin. When the second switch and the first connecting wire are in a disconnected state, for example, the signal received at the detection port is low level, then the second battery component disconnects the output and stops charging; when the signal received at the detection port is high level, the second battery component delays to turn on the output, and after turning on the charging, it delays to send a control instruction to the first battery component to turn off the output of the first battery component, and the second battery component takes over the output to the load. At the same time, when the first battery component is in an output-off and charging-on state, the second battery component can also supply power to the first battery component.

[0055] Since the second battery component is a replaceable power device, to avoid problems such as load power-off (resulting in system downtime or data loss), physical damage, and electrical damage (arc ablation) caused by hard plugging and unplugging, in a preferred embodiment of the present invention, the second battery component further includes a fourth switch K4. A battery replacement button is provided at the edge of the equipment compartment. One end of the battery replacement button is connected to the first connecting wire, and the other end of the battery replacement button is connected to the second blade-type plug through the ninth connecting wire. After the second blade-type plug is inserted into the second blade-type socket, the ninth connecting wire is connected to the second battery management system through the fourth switch.

[0056] A physical battery replacement button is provided at the edge of the equipment compartment, which is a signal button for actively initiating the operation of replacing the second battery component. When the battery replacement button is pressed, after the corresponding receiving port of the second battery management system receives the battery replacement signal (for example, the fourth switch is a normally closed switch or a relay), it will immediately send a control instruction to the first battery component to turn on the output. When the second battery component detects that the first battery component has turned on the output and the second battery component sends the information that the battery can be replaced to the host, the second battery component automatically shuts down (turns off the output and charging. At this time, the battery power indicator of the second battery component is still on). After the battery power indicator goes out, the second battery component can be removed, significantly reducing the probability of physical damage, electrical damage (arc ablation), or even system downtime or data loss caused by improper operation.

[0057] Removing the second battery component by means of the battery replacement button is more explicit than forced extraction or relying on the system monitoring threshold to trigger, significantly reducing the risk of damage or system chaos caused by accidental extraction. Moreover, pressing the battery replacement button does not directly cut off the output of the second battery component. Instead, the signal of the battery replacement button is transmitted through the ninth connecting wire to the inside of the second battery component after insertion, passes through the fourth switch, and finally reaches the second battery management system (BMS). This means that pressing the battery replacement button triggers a signal notification, and the system software (executed by the BMS or the main board communicating with it) has the right to decide whether it is suitable for hot plugging at this time, ensuring that the main circuit (between the second battery component, the load, and the first battery component) is physically disconnected (hard power-off) before physically unplugging the battery plug, maximizing the avoidance of serious hazards (large current arcing, damage to the interface, or even fire or electric shock) that may be caused by the user forcibly unplugging the connector while the power is on (under high power conditions).

[0058] Similar to the mating method of the second battery assembly and the equipment compartment, the first battery assembly includes a first battery management system (BMS1), a first battery pack (BAT1), a first switch K1, and a first blade socket (blade socket 1); a first blade plug-in (blade plug-in 1) adapted to the first blade socket is correspondingly provided on the equipment compartment, and the equipment compartment further includes a plug-in component. The plug-in component is connected to the load of the humanoid robot through a seventh connection line and an eighth connection line. After the plug-in component and the charging and discharging interface are plugged in, the first connection line and the seventh connection line are electrically connected, and the second connection line and the eighth connection line are electrically connected; A fourth connection line, a fifth connection line, and a sixth connection line are connected to the first blade plug-in. The other ends of the fourth connection line and the fifth connection line are respectively connected to the seventh connection line and the eighth connection line; after the first blade plug-in and the first blade socket are plugged in, the fourth connection line is connected to the positive electrode of the first battery pack, the fifth connection line is connected to the negative electrode of the first battery pack, and the sixth connection line connected to the fourth connection line is connected to the first battery management system through the first switch.

[0059] The first switch can also be a normally closed switch, which is connected to the detection port of the first battery management system. Thus, when a high level is obtained at this detection port, it indicates that the first battery assembly has been inserted into the equipment compartment. Of course, the first switch can also be implemented by a relay.

[0060] The first switch is used to detect whether the first battery assembly is inserted into the equipment compartment. When the first switch and the fourth connection line are in a disconnected state, for example, the signal received at the detection port is a low level, then the first battery assembly disconnects the output and the charging is turned on; when the signal received at the detection port is a high level, the first battery assembly delays turning on the output. The first battery assembly delays turning on the output. The motherboard can send a shutdown command to the first battery assembly. After receiving the shutdown command, the first battery assembly disconnects the output and the charging is turned on.

[0061] The equipment compartment is further provided with a charging interface connected to an external charger 140. The two charging lines of the charging interface are respectively electrically connected to the seventh connection line and the eighth connection line. Through the seventh connection line and the eighth connection line, unified centralized management of the first battery assembly and the second battery assembly can be achieved. Whether to charge and how to charge, etc. can be determined by the motherboard or their respective battery management systems.

[0062] The first battery assembly, the second battery assembly and the main board communicate with each other via a CAN line. For example, the first battery assembly also includes a first CAN connection line connected between the first battery management system and the first blade socket, and the second battery assembly also includes a second CAN connection line connected between the second battery management system and the second blade socket. A third CAN connection line connected to the first blade-type plug and a fourth CAN connection line connected to the second blade-type plug are also provided in the equipment compartment. The main board is communicatively connected to the third CAN connection line and the fourth CAN connection line via a fifth CAN bus. After the first blade-type plug and the first blade socket are plugged in, the first CAN connection line and the third CAN connection line are communicatively connected. After the second blade-type plug and the second blade socket are plugged in, the second CAN connection line and the fourth CAN connection line are communicatively connected.

[0063] A communication connection based on the CAN (Controller Area Network) bus is fully introduced between the first battery assembly, the second battery assembly and the mainboard, which can realize mutual signal control and information sharing, etc. For example, when the power of the second battery assembly is less than or equal to the first preset threshold, a battery replacement reminder is issued. When it is detected that the battery replacement button is pressed, the second battery assembly can send a control instruction to the first battery assembly. If the power of the second battery assembly is less than or equal to the second preset threshold, and the battery replacement button is still not detected to be pressed, the second battery assembly will also send a control instruction to the first battery assembly, and the first battery assembly will take over the power supply to the load.

[0064] Or in the initial stage when the first battery assembly is connected to the equipment compartment, since its initial state is output on (the so-called output on means that at this time, it can discharge to the load) and charging off, a shutdown command can be sent to it through the mainboard to shut it down, and its state becomes output off and charging on.

[0065] In addition, the first battery assembly and the second battery assembly can also send power information to the mainboard. When an external charger is plugged in, the mainboard can control the charging of the two.

[0066] The fifth CAN connection line of the charging interface is communicatively connected to both the third CAN connection line and the fourth CAN connection line. When the charging interface is connected to an external charger, the fifth CAN connection line is also communicatively connected to the external charger. By connecting the fifth CAN connection line of the charging interface to the existing battery communication network (the third / fourth CAN connection lines) inside the equipment compartment, the external charger can access the entire robot's CAN communication bus network while physically connecting for power supply, making the external charger an intelligent node of the entire energy management system. It can receive information from the main board or the battery BMS and can also send its own status and configuration information. For example, the main board or the battery BMS can send the real-time status of the target battery (such as temperature, SoC, voltage, health status) to the external charger via the CAN bus, and the external charger dynamically adjusts its output voltage, current limit, and charging mode (CC / CV / trickle / balancing) according to the received battery status (especially the detailed requirements of the BMS).

[0067] In a preferred embodiment of the present invention, to accurately detect the state of the second battery assembly inserted into the equipment compartment, the second battery assembly further includes a first DET-C connection line connected between the second battery management system and the second blade socket. A second DET-C connection line is also connected between the charging interface and the second blade plug. After the second blade plug and the second blade socket are plugged together, the first DET-C connection line and the second DET-C connection line are electrically connected. When the charging interface is connected to an external charger, the second DET-C connection line is also electrically connected to the positive output terminal of the external charger.

[0068] The second BMS can detect the level or on / off state on the first DET-C connection line through its I / O port, directly and at the hardware level, sense whether the second battery assembly has been reliably physically connected in place (plugged in) to the equipment compartment, and can achieve accurate "seated" state sensing of the second battery assembly, while also serving as a wake-up function. Thereafter, the second battery assembly can send the required charging parameters to the external charger via the CAN bus, and the external charger outputs according to the received required charging parameters.

[0069] Specifically, when the second battery assembly is initially in the shutdown state and an external charger is plugged in (the DET-C connection line and B+ are short-circuited), the second battery assembly and the external charger communicate with each other. After the second battery assembly sends the required charging parameters, the external charger outputs. After charging stops, the second battery assembly continues to enter the shutdown state (disconnect the output, disconnect the charging), and the first battery assembly maintains its previous state. When the second battery module is in the powered-on state and an external charger is plugged in (the DET-C connection line is shorted to B+), the second battery module communicates with the external charger. After the second battery module sends a demand for charging parameters, the external charger outputs. After charging stops, the second battery module maintains the powered-on state, and the first battery module maintains its previous state.

[0070] Similarly, when the second battery module is directly connected to the external charger for charging (the DET-C connection line is shorted to B+), the second battery module communicates with the external charger. After the second battery module sends a demand for charging parameters, the external charger outputs. After charging stops, the second battery module enters the powered-off state (disconnecting the output and the charging).

[0071] Based on the above-mentioned uninterrupted working control circuit of the humanoid robot, for the specific method of powering the humanoid robot, please refer to Figure 4 as shown, which may include the following steps: S210. When both the first battery module and the second battery module are plugged into the equipment cabin, both the first battery module and the second battery module are communicatively connected to the main board.

[0072] S220. Continuously monitor the power of the second battery module. When the power of the second battery module is greater than the first preset threshold, the second battery module powers the load of the humanoid robot.

[0073] S230. When the power of the second battery module is less than or equal to the first preset threshold, automatically or through a manual battery change button, switch to the first battery module to power the load of the humanoid robot, and at the same time issue a battery change reminder.

[0074] S240. When the manual battery change button is used to complete the switch and the user presses the battery change button, the second battery module immediately sends an output instruction to the first battery module so that the first battery module powers the load of the humanoid robot; S250. When the second battery module detects that the first battery module has started to output, the second battery module automatically shuts down. After the battery power indicator of the second battery module goes out, remove the second battery module; S260. When the charged second battery module is plugged into the equipment cabin, the second battery module supplies power to the load after a delay of the first preset time. After the second battery module starts charging, it sends a control instruction to the first battery module after a delay of the second preset time. The first battery module shuts down and stops supplying power to the load. The charging of the first battery module is turned on, and the second battery module charges the first battery module.

[0075] In the embodiment of the present invention, the resident first battery component (small capacity) is used as a "transition" power source. When the user needs to replace the second battery component (large capacity main battery) that is about to run out, the system can seamlessly switch to the first battery component for power supply, so that the device will not shut down or stop working during the replacement of the second battery component, ensuring the ability to execute continuous tasks.

[0076] By setting a physical battery replacement button, which is a signal button used to actively initiate the operation of replacing the second battery component. When the battery replacement button is pressed and the second battery management system receives a power replacement signal (for example, the fourth switch is a normally closed switch or a relay) at the corresponding receiving port, it will immediately send a control instruction to turn on the output to the first battery component. When the second battery component detects that the first battery component has turned on the output and sends the information that the battery can be replaced to the host, the second battery component will automatically shut down (turn off the output and charging. At this time, the battery power indicator of the second battery component is still on). After its battery power indicator goes out, the second battery component can be removed, significantly reducing the probability of physical damage, electrical damage (arc ablation), or even system downtime or data loss caused by improper operation.

[0077] Implementing the removal of the second battery component through the battery replacement button is clearer than forced extraction or relying on system monitoring thresholds to trigger, significantly reducing the risk of damage or system chaos caused by accidental extraction. Moreover, pressing the battery replacement button does not directly cut off the output of the second battery component. Instead, the signal of the battery replacement button is transmitted through the ninth connecting wire to the inside of the plugged-in second battery component, passes through the fourth switch, and finally reaches the second battery management system (BMS). This means that pressing the battery replacement button triggers a signal notification, and the system software (executed by the BMS or the main board communicating with it) has the right to decide whether it is suitable for hot swapping at this time, ensuring that the main circuit (between the second battery component, the load, and the first battery component) is physically disconnected (hard power-off) before physically unplugging the battery plug, maximizing the avoidance of serious hazards (large current arcing, damage to the interface, or even fire or electric shock) that may be caused by the user forcibly unplugging the connector while the device is powered on (in a high-power state).

[0078] The humanoid robot of the present invention includes the above-mentioned uninterrupted working control circuit for the humanoid robot. The other structures of the humanoid robot are the same as those in the prior art and will not be described in detail here.

[0079] Although only some components and embodiments of the present application have been illustrated and described, many modifications and changes can be conceived by those skilled in the art without actually departing from the scope and spirit of the claims, such as changes in the size, dimensions, structure, shape, and ratio of each component, installation layout, material use, color, orientation, etc.

[0080] The above embodiments are only preferred embodiments of the embodiments of the present invention, and cannot be used to limit the scope of protection of the embodiments of the present invention. Any non-substantive changes and substitutions made by those skilled in the art based on the embodiments of the present invention fall within the scope of protection required by the embodiments of the present invention.

Claims

1. The uninterrupted working control circuit of a humanoid robot, characterized in that, It includes an equipment cabin, a first battery assembly, a second battery assembly, and a main board. Among them, the equipment cabin is located in the accommodation space provided on the humanoid robot, the first battery assembly is located in the equipment cabin, the second battery assembly is arranged in the equipment cabin or other positions of the humanoid robot, and the battery capacity of the second battery assembly is much larger than that of the first battery assembly; When the first battery assembly is plugged into the equipment cabin, the first battery assembly is communicatively connected to the main board, and the first battery assembly is electrically connected to the load of the humanoid robot; when the second battery assembly is plugged into the equipment cabin, the second battery assembly is communicatively connected to the main board, and the second battery assembly is electrically connected to the load of the humanoid robot. When both the first battery assembly and the second battery assembly are plugged into the equipment cabin, a communication connection is formed between any two of the first battery assembly, the second battery assembly, and the main board, and after the first battery assembly and the second battery assembly are electrically connected, the load of the humanoid robot is powered by the first battery assembly or the second battery assembly; When both the first battery assembly and the second battery assembly are plugged into the equipment cabin, the power of the second battery assembly is monitored in real time. When the power of the second battery assembly is greater than the first preset threshold, the humanoid robot is powered by the second battery assembly. When the power of the second battery assembly is less than or equal to the first preset threshold, it is automatically or manually switched to the first battery assembly to power the load of the humanoid robot through the battery replacement button, and at the same time, a battery replacement reminder is issued until the fully charged second battery assembly is plugged into the equipment cabin again. At this time, it is automatically judged that the second battery assembly powers the load of the humanoid robot and charges the first battery assembly, and the first battery assembly enters the charging state.

2. The uninterrupted working control circuit of the humanoid robot according to claim 1, characterized in that, The second battery assembly includes a second battery management system, a second battery pack, a second switch, and a second blade socket; a second blade plug adapted to the second blade socket is correspondingly arranged on the equipment cabin. The equipment cabin is also provided with a charge and discharge interface. After the second blade plug and the second blade socket are plugged in, the first connecting wire of the charge and discharge interface is connected to the positive electrode of the second battery pack, the second connecting wire of the charge and discharge interface is connected to the negative electrode of the second battery pack, and the third connecting wire connected to the first connecting wire of the charge and discharge interface is connected to the second battery management system through the second switch.

3. The uninterrupted working control circuit of the humanoid robot according to claim 2, characterized in that, The second battery assembly further includes a fourth switch. A battery replacement button is also arranged on the edge of the equipment cabin. One end of the battery replacement button is connected to the first connecting wire, and the other end of the battery replacement button is connected to the second blade plug through a ninth connecting wire. After the second blade plug and the second blade socket are plugged in, the ninth connecting wire is connected to the second battery management system through the fourth switch.

4. The uninterrupted working control circuit of the humanoid robot according to claim 2, characterized in that, The first battery assembly includes a first battery management system, a first battery pack, a first switch, and a first blade socket; a first blade plug adapted to the first blade socket is correspondingly provided on the equipment cabin, and the equipment cabin further includes a plug-in component. The plug-in component is connected to the load of the humanoid robot through a seventh connecting wire and an eighth connecting wire. After the plug-in component is plugged into the charging and discharging interface, the first connecting wire and the seventh connecting wire are electrically connected, and the second connecting wire and the eighth connecting wire are electrically connected; A fourth connecting wire, a fifth connecting wire, and a sixth connecting wire are connected to the first blade plug. The other ends of the fourth connecting wire and the fifth connecting wire are respectively connected to the seventh connecting wire and the eighth connecting wire. After the first blade plug is plugged into the first blade socket, the fourth connecting wire is connected to the positive electrode of the first battery pack, the fifth connecting wire is connected to the negative electrode of the first battery pack, and the sixth connecting wire connected to the fourth connecting wire is connected to the first battery management system through the first switch.

5. The uninterrupted working control circuit of the humanoid robot according to claim 4, wherein The equipment cabin is further provided with a charging interface connected to an external charger. Two charging wires of the charging interface are electrically connected to the seventh connecting wire and the eighth connecting wire respectively.

6. The uninterrupted working control circuit of the humanoid robot according to claim 5, wherein, The first battery assembly further includes a first CAN connecting wire connected between the first battery management system and the first blade socket. The second battery assembly further includes a second CAN connecting wire connected between the second battery management system and the second blade socket. The equipment cabin is further provided with a third CAN connecting wire connected to the first blade plug and a fourth CAN connecting wire connected to the second blade plug. The main board is communicatively connected to both the third CAN connecting wire and the fourth CAN connecting wire through a fifth CAN bus. After the first blade plug is plugged into the first blade socket, the first CAN connecting wire and the third CAN connecting wire are communicatively connected. After the second blade plug is plugged into the second blade socket, the second CAN connecting wire and the fourth CAN connecting wire are communicatively connected.

7. The uninterrupted working control circuit of the humanoid robot according to claim 6, characterized in that, The equipment cabin is further provided with a charging interface connected to an external charger. The fifth CAN connecting wire of the charging interface is communicatively connected to both the third CAN connecting wire and the fourth CAN connecting wire. When the charging interface is connected to the external charger, the fifth CAN connecting wire is also communicatively connected to the external charger.

8. The uninterrupted working control circuit of the humanoid robot according to claim 6, characterized in that, The second battery assembly further includes a first DET-C connecting wire connected between the second battery management system and the second blade socket. A second DET-C connecting wire is also connected between the charging interface and the second blade plug. After the second blade plug is plugged into the second blade socket, the first DET-C connecting wire and the second DET-C connecting wire are electrically connected. When the charging interface is connected to the external charger, the second DET-C connecting wire is also electrically connected to the positive output terminal of the external charger.

9. A control method for continuous operation of a humanoid robot, which uses the control circuit for continuous operation of the humanoid robot described in any one of claims 1-8, characterized in that, It includes the following steps: When both the first battery assembly and the second battery assembly are plugged into the equipment cabin, both the first battery assembly and the second battery assembly are communicatively connected to the main board; Monitor the power of the second battery component in real time. When the power of the second battery component is greater than the first preset threshold, the second battery component supplies power to the load of the humanoid robot; When the power of the second battery component is less than or equal to the first preset threshold, automatically or through a manual battery change button, switch to the first battery component to supply power to the load of the humanoid robot, and at the same time issue a battery change reminder; When the switch is completed using the manual battery change button and the user presses the battery change button, the second battery component immediately sends an output instruction to the first battery component so that the first battery component supplies power to the load of the humanoid robot; When the second battery component detects that the first battery component has started output, the second battery component automatically shuts down. After the power indicator of the second battery component goes out, remove the second battery component; When the recharged second battery component is plugged into the equipment compartment, the second battery component supplies power to the load after a first preset time delay. After the second battery component is turned on for charging, it sends a control instruction to the first battery component after a second preset time delay. The first battery component shuts down and stops supplying power to the load. The charging of the first battery component is turned on, and the second battery component charges the first battery component.

10. Humanoid robot, characterized in that, Comprising the humanoid robot uninterrupted operation control circuit according to any one of claims 1-8.

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