Method and device for controlling uninterrupted work of humanoid robot

Abstract

The invention discloses an uninterrupted work control method and device for a humanoid robot, and the method comprises the steps: monitoring the electric quantity of a first battery in real time, and enabling the first battery to supply power to a first load of the humanoid robot when the electric quantity of the first battery is greater than a first preset threshold value; and when the electric quantity of the first battery is smaller than or equal to a first preset threshold value, a second battery supplies power to a second load of the humanoid robot, so that the humanoid robot is kept in a standing state or operates in a low-power state. 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 particularly to a method and device for controlling an anthropomorphic robot to work continuously. Background Art

[0002] Due to its anthropomorphic structure and movement mode, anthropomorphic robots show broad application prospects in the fields of service, education, scientific research, industrial collaboration, etc. One of the core elements to maintain its stable operation is continuous and reliable power supply. At present, the mainstream anthropomorphic robots generally use a single battery pack as the main energy source.

[0003] Previous anthropomorphic robots generally have a short battery life. A single charge can only maintain an operation duration of about 2 hours. When the single battery pack runs out of power, the robot must completely stop working to replace or charge the battery. When replacing the battery pack, the robot must be turned off first. After the replacement, 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.

[0004] Moreover, the sudden power-off caused by the battery depletion will directly cut off the power supply to key loads such as the joint motors of the robot, which is likely to cause the anthropomorphic robot to lose balance instantly and fall or topple. The robot falling may not only cause damage to its own hardware (such as precision sensors, the shell, and joint structures), but also pose a safety threat to surrounding personnel or objects in the environment where it coexists with people, severely limiting the reliability and safety of the robot. Summary of the Invention

[0005] The present invention aims to solve at least one of the technical problems existing in the prior art. To this end, the purpose of the present invention is to provide a method and device for controlling an anthropomorphic robot to work continuously, realizing battery replacement while the power is on, maintaining the basic state of the anthropomorphic robot through a second battery, and avoiding the impact of shutdown operations on work efficiency.

[0006] The purpose of the present invention is achieved by adopting the following technical solutions: A method for controlling an anthropomorphic robot to work continuously, which includes the following steps: Real-time monitor the power of the first battery. When the power of the first battery is greater than the first preset threshold, the first battery supplies power to the first load of the anthropomorphic robot; When the power of the first battery is less than or equal to the first preset threshold, the second battery supplies power to the second load of the anthropomorphic robot, so that the anthropomorphic robot maintains a standing state or operates in a low-power state; The second battery supplies power to the second load of the anthropomorphic robot, so that the anthropomorphic robot operates in a low-power state, including: Obtain the first load state of the humanoid robot when the first battery stops operating; Determine a second load according to the first load state; Power the second load of the humanoid robot with a second battery so that the humanoid robot operates in a low-power state.

[0007] In the embodiments of the present invention, through the basic control logic of dual-battery switching, the main and standby batteries are switched based on the power threshold to ensure the continuous operation of the core functions of the robot (standing / low-power operation), solving the risk of the robot tipping over caused by the power-off of a traditional single battery and the calibration operation after restarting.

[0008] Among them, when the second load is defined as the power system (such as some joint motors) required to achieve the "standing state", it can ensure that the humanoid robot can maintain basic balance and will not fall even if the first battery is exhausted; it prevents physical damage caused by sudden power-off or attitude out-of-control, protecting the machine assets and the surrounding environment.

[0009] When powered by the second battery, allowing the robot to operate in a "low-power state" means that the core and minimum functions are retained (for example: monitoring and alarming, standby of the communication module, positioning, waiting for instructions or issuing an alarm), rather than completely shutting down, providing a valuable time window for the operator or the remote monitoring system to take countermeasures (such as arranging charging, terminating secondary tasks, remotely viewing the status), improving the manageability of the system.

[0010] It can be understood that the first battery as the main battery can be a battery with high capacity and high discharge rate, while the second battery as the standby battery can be a battery with small capacity and low requirement for discharge rate.

[0011] The first load can be understood as the working load. For example, it can be the actuator for tasks such as the robot walking, standing, carrying, etc., or all the electrical devices of the humanoid robot. The second load can be understood as all the actuators that maintain the standing of the humanoid robot, or all the actuators that maintain the lowest power state. For example, assuming that the humanoid robot consumes the least power when sitting, the sitting state can be regarded as the lowest power state of the humanoid robot. Of course, it can also be the state that maintains the humanoid robot when the first battery stops, and all the actuators in this state are recorded as the second load.

[0012] In the embodiments of the present invention, when powering the first load or the second load, unless otherwise specified, the storage device will also be powered to avoid the calibration operation after restarting. As a preferred embodiment, in the first aspect of the embodiments of the present invention, when the power of the first battery is less than or equal to the first preset threshold, the second battery supplies power to the second load of the humanoid robot, including: Receiving a power replacement reminder sent by the first battery; When the user presses the battery replacement button, the first battery immediately sends a control instruction to the second battery to enable the second battery to turn on the output; When the first battery detects that the second battery has started to output, the first battery automatically shuts down, and the second battery supplies power to the second load of the humanoid robot.

[0013] As an implementation method, it is necessary for the user to manually complete the switching between the first battery and the second battery, which effectively prevents unnecessary state switching caused by system misjudgment or signal interference. Through the timing control of the first battery actively detecting the output state of the second battery before shutting down, the risk of system instability caused by power supply gaps is completely eliminated.

[0014] It can be understood that the battery replacement button is a physical switch. Triggering this physical switch can enable the first battery to generate corresponding signals, and the first battery can send control instructions to the second battery based on these signals. The first battery will only shut down when it detects that the second battery has turned on the output, which can ensure that there is no voltage fluctuation during the switching process of the power supply link (eliminating the power supply gap) and eliminate the risk of the robot tipping over due to instantaneous power failure.

[0015] As a preferred embodiment, in the first aspect of the embodiments of the present invention, when the power of the first battery is less than or equal to the first preset threshold, the second battery supplies power to the second load of the humanoid robot, including: When the power of the first battery is less than or equal to the first preset threshold, the first battery or the main board immediately sends an output instruction to the second battery to enable the second battery to turn on the output, and at the same time, the first battery sends a power replacement reminder; When the first battery detects that the second battery has started to output, the first battery automatically shuts down, and the second battery supplies power to the second load of the humanoid robot.

[0016] As another implementation method, the working states of the first battery and the second battery can be automatically switched. The first battery or the main board directly sends an instruction to cancel the confirmation link of the physical button, improving the system's fast response ability. The time from switching trigger to execution can be shortened to within 100 ms, meeting the requirements of high-dynamic scenarios (such as maintaining balance when the battery power of the robot drops suddenly during running). The power replacement reminder and the switching instruction are sent synchronously, which not only ensures automatic system protection but also prompts the user to intervene in a timely manner.

[0017] As a preferred embodiment, in the first aspect of the embodiments of the present invention, when the first battery detects that the second battery has started to output, the first battery automatically shuts down, and the second battery supplies power to the second load of the humanoid robot, including: The first battery automatically shuts down. After the power indicator light of the first battery goes out, remove the first battery, and the second battery supplies power to the second load of the humanoid robot; The method further includes: When the first battery after charging is plugged into the humanoid robot, the first battery supplies power to the load after a first preset time delay. After the first battery is turned on for charging, it delays for a second preset time to send a control command to the second battery. The second battery shuts down and stops supplying power to the load. The second battery is turned on for charging, and the first battery charges the second battery.

[0018] After the power indicator light goes out, remove the battery to prevent arc damage to the interface or device caused by plugging and unplugging while charged. By delaying the power supply of the first battery and delaying the shutdown of the second battery, a power supply responsibility chain transfer is constructed to avoid the conflict of dual power source parallel connection. The voltage fluctuation in the power supply circuit can be relatively small, reducing the actuator jitter. Moreover, the first battery delays the power supply to avoid introducing a large instantaneous current to impact the circuit; while the second battery delays the shutdown to ensure the stable output of the first battery before switching, realizing seamless power supply connection.

[0019] As a preferred embodiment, in the first aspect of the embodiments of the present invention, when the power of the first battery is less than or equal to the first preset threshold, the second battery supplies power to the second load of the humanoid robot to keep the humanoid robot standing or operating in a low-power state, including: Real-time detect the power of the second battery; When the power of the second battery is greater than the second preset threshold, the second battery supplies power to the first load of the humanoid robot to keep the humanoid robot running in the same state as before the first battery stops supplying power; When the power of the second battery is less than or equal to the second preset threshold and greater than or equal to the third preset threshold, the second battery supplies power to the second load of the humanoid robot to keep the humanoid robot standing or operating in a low-power state; When the power of the second battery is less than the third preset threshold, the second battery only supplies power to the storage device of the humanoid robot.

[0020] In the embodiments of the present invention, through dynamic load hierarchical power supply, multi-level refined power management and control are realized. Non-core loads are gradually shut down according to the power level, maximizing the running time of key functions. Among them, when it is greater than the second preset threshold (determined according to the total capacity of the second battery power, for example, 20%-30% of the second battery power), it seamlessly takes over the first load and maintains full-function operation, eliminating the battery life gap perceived by users (the key to improving user experience); when it is between the second preset threshold and the third preset threshold (such as 5%-10%), it is forced to degrade to the core load and only maintains the standing or low-power operation state to ensure basic safety; when it is less than the third threshold, it is powered by island-style storage, only maintaining the power of RAM / SSD (typical power consumption: 3.3V / 50mA) to prevent data loss and avoid subsequent recalibration.

[0021] As a preferred embodiment, in the first aspect of the embodiments of the present invention, the second battery powers the second load of the humanoid robot to keep the humanoid robot in a standing state, including: The second battery powers the leg actuators, foot actuators and storage devices of the humanoid robot. The leg actuators include hip pitch actuators, hip horizontal actuators, and knee joint actuators. The foot actuators include sole pitch actuators and sole left-right actuators.

[0022] For the standing state, only the topological design of power supply for the 5-degree-of-freedom actuators of the lower limbs (hip pitch / horizontal, knee flexion / extension, foot pitch / roll) is adopted to avoid energy waste caused by the startup of all body actuators. Taking a 50-kg humanoid robot as an example, it saves 48%±3% energy compared with full-joint power supply.

[0023] As a preferred embodiment, in the first aspect of the embodiments of the present invention, determining the second load according to the first load state includes: Obtaining the rotation angles of all first loads; Determining the second load based on the rotation angles and a preset association relationship table; The second battery powers the second load of the humanoid robot to keep the second load in the state when the first battery stops running.

[0024] Dynamically determining the second load based on the first load state, avoiding shutting down all functions in a one-size-fits-all manner in the low-power mode, realizing dynamic configuration of load priorities through the association relationship table, adapting to the energy-saving requirements of different task scenarios. The association relationship table can determine the second load associated with each first load state by animating and simulating various different states of the humanoid robot. By maintaining the joint angles of the second load to keep the posture at the moment of power-off, the problem of posture reset after restart in the traditional solution can be solved.

[0025] The second aspect of the embodiment of the present invention discloses a control device for continuous operation of a humanoid robot, which includes: The first power supply mode unit is used to monitor the power of the first battery in real time. When the power of the first battery is greater than the first preset threshold, the first battery supplies power to the first load of the humanoid robot; The second power supply mode unit is used to supply power to the second load of the humanoid robot by the second battery when the power of the first battery is less than or equal to the first preset threshold, so that the humanoid robot maintains a standing state or operates in a low-power state; Supplying power to the second load of the humanoid robot by the second battery so that the humanoid robot operates in a low-power state includes: Obtain the first load state of the humanoid robot when the first battery stops operating; Determine the second load according to the first load state; Supply power to the second load of the humanoid robot by the second battery so that the humanoid robot operates in a low-power state.

[0026] Through the basic control logic of dual-battery switching, the embodiment of the present invention triggers the main and standby battery switching based on the power threshold to ensure the continuous operation of the core functions of the robot (standing / low-power operation), and solves the risk of the robot tipping over caused by the power-off of the traditional single battery and the calibration operation after restarting.

[0027] The third aspect of the embodiment of the present invention discloses an electronic device. As a component of the humanoid robot, the electronic device may include a memory, a processor, and a computer program stored in the memory and capable of running on the processor. When the processor executes the computer program, the steps of the method for continuous operation control of the humanoid robot disclosed in the first aspect of the embodiment of the present invention are implemented.

[0028] The fourth aspect of the embodiment of the present invention discloses a humanoid robot, which may include the electronic device in the third aspect of the embodiment of the present invention.

[0029] 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

[0030] Figure 1 It is a schematic flow chart of the method for continuous operation control of the humanoid robot according to the embodiment of the present invention; Figure 2 It is a schematic structural diagram of the humanoid robot according to the embodiment of the present invention; Figure 3 is Figure 2 The schematic structural diagram of the legs and feet in ; Figure 4 It is a schematic structural diagram of the uninterrupted working control device for a humanoid robot provided by an embodiment of the present invention; Figure 5 It is a schematic structural diagram of an electronic device provided by an embodiment of the present invention. Specific embodiments

[0031] Next, in combination with the accompanying drawings and specific embodiments, the present invention will be further described. It should be noted that this specific embodiment is only an explanation of the embodiment of the present invention, and it does not limit the embodiment of the present invention. Those skilled in the art can make modifications without creative contributions to this embodiment as needed after reading this specification, but as long as they are within the scope of the claims of the embodiment of the present invention, they are protected by the patent law.

[0032] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are some, but not all, of the embodiments of the present invention. Based on the embodiments in the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without making creative efforts fall within the scope of protection of the embodiments of the present invention.

[0033] The term "including" and any variation thereof in the specification and claims of this application are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or device that includes a series of steps or units does not necessarily 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.

[0034] In the embodiments of the present invention, words such as "exemplary" or "for example" are used to represent examples, illustrations, or explanations. Any embodiment or design solution described as "exemplary" or "for example" in the embodiments of the present invention should not be construed as being more preferred or having more advantages than other embodiments or design solutions. Rather, the use of words such as "exemplary" or "for example" is intended to present relevant concepts in a specific manner.

[0035] Embodiment 1

[0036] In the embodiments of the present invention, through the basic control logic of dual-battery switching, the main and backup batteries are switched based on the power threshold to ensure the continuous operation of the core functions of the robot (standing / low-power operation), and solve the risk of the robot tipping over caused by the power-off of the traditional single battery and the calibration operation after restarting.

[0037] Among them, when the second load is defined as the power system (such as some joint motors) required to achieve "maintaining a standing state", it can ensure that the humanoid robot can maintain basic balance and will not fall even when the first battery runs out; it prevents physical damage caused by sudden power outages or postural loss of control, protecting the machine assets and the surrounding environment.

[0038] When powered by the second battery, running the robot in a "low-power state" means that the core, minimum functions are retained rather than a complete shutdown, providing a valuable time window for the operator or remote monitoring system to take countermeasures (such as arranging charging, terminating secondary tasks, remotely viewing the status), improving the manageability of the system.

[0039] It can be understood that as the main battery, the first battery can be a high-capacity, high-discharge-rate battery, while as the backup battery, the second battery can be a small-capacity battery with low requirements for the discharge rate.

[0040] The first load can be understood as the working load. For example, it can be the actuator for tasks such as the robot walking, standing, carrying, etc., or it can also be understood as all the electrical devices of the humanoid robot. The second load can be understood as all the actuators that maintain the humanoid robot's standing, or all the actuators that maintain the lowest power state. For example, assuming that the humanoid robot consumes the least amount of electricity when sitting, then the sitting state can be regarded as the lowest power state of the humanoid robot. Of course, it can also be that maintaining the state of the humanoid robot when the first battery stops is regarded as the lowest power state of the humanoid robot, and all the actuators in this state are recorded as the second load.

[0041] In the embodiments of the present invention, when powering the first load or the second load, unless otherwise specified, the storage device will also be powered to avoid the calibration operation after restart. The following will be described in detail with reference to the accompanying drawings.

[0042] Please refer to Figure 1 , Figure 1 which is a schematic flowchart of a method for controlling the uninterrupted operation of a humanoid robot disclosed in an embodiment of the present invention. As Figure 1 shown, the method for controlling the uninterrupted operation of the humanoid robot includes: S110. Real-time monitor the power of the first battery. When the power of the first battery is greater than the first preset threshold, the first battery powers the first load of the humanoid robot.

[0043] Monitoring the power of the first battery can be achieved through a battery management system (BMS). It can be understood that subsequent physical devices such as the battery replacement button and the power indicator light are all electrically connected to the battery management system of the first battery.

[0044] The first preset threshold can be set based on the total capacity of the first battery according to the requirements of different scenarios. When the power of the first battery is greater than the first preset threshold, the first battery powers the first load of the humanoid robot, and at this time, the second battery is in the shutdown state, and the first battery can also charge the second battery.

[0045] S120. When the power of the first battery is less than or equal to the first preset threshold, the second battery powers the second load of the humanoid robot to keep the humanoid robot standing or operating in a low-power state.

[0046] There are two ways to realize power supply to the second load of the humanoid robot by the second battery. One is manual switching by the user, and the other is automatic switching.

[0047] The process of manual switching by the user is as follows: Receive the power replacement reminder sent by the first battery; When the user presses the battery replacement button, the first battery immediately sends a control instruction to the second battery to enable the second battery to turn on the output; When the first battery detects that the second battery has started output, the first battery automatically shuts down, and the second battery powers the second load of the humanoid robot.

[0048] The user manually completes the switching work between the first battery and the second battery, effectively preventing unnecessary state switching caused by system misjudgment or signal interference. Through the timing control of the first battery actively detecting the output state of the second battery before shutting down, the risk of system instability caused by power supply gaps is completely eliminated.

[0049] It can be understood that the battery replacement button is a physical switch. Triggering this physical switch can enable the first battery to receive the corresponding signal, and the first battery can send a control instruction to the second battery based on this signal. The first battery will only shut down when it detects that the second battery has turned on the output, which can ensure that there is no voltage fluctuation during the switching process of the power supply link (eliminating the power supply gap) and eliminate the risk of the robot tipping over due to instantaneous power failure.

[0050] The process of automatic switching is as follows: When the power of the first battery is less than or equal to the first preset threshold, the first battery or the main board immediately sends an output instruction to the second battery to enable the second battery to turn on the output, and at the same time, the first battery sends a power replacement reminder; When the first battery detects that the second battery has started output, the first battery automatically shuts down, and the second battery powers the second load of the humanoid robot.

[0051] By automatically switching between the primary and secondary batteries, commands are sent directly from the primary battery or the motherboard, eliminating the need for physical button confirmation. This improves system responsiveness and reduces the time from trigger to execution to less than 100ms, meeting the demands of highly dynamic scenarios (such as maintaining balance during a sudden battery drop while a robot is running). Battery replacement reminders are issued simultaneously with the switching command, ensuring both automatic system protection and prompting users to intervene promptly.

[0052] Of course, in some other embodiments, a combination of manual switching and automatic switching may also be adopted. For example, when the power level of the first battery is less than or equal to the first preset threshold, if the battery change button is not pressed within the preset time, the automatic switching function is activated.

[0053] When the first battery is a pluggable battery, that is, it can be removed from the humanoid robot for charging, the first battery can be removed only after the first battery automatically shuts down and the power indicator light of the first battery goes out, so as to prevent arc damage to the interface or device caused by hot plugging.

[0054] When the charged first battery is plugged into the humanoid robot again, the first battery supplies power to the load after a first preset time delay. After the first battery starts charging, it delays a second preset time to send a control instruction to the second battery, the second battery shuts down and stops supplying power to the load. The second battery is turned on for charging, and the first battery charges the second battery.

[0055] By delaying the power supply of the first battery and delaying the shutdown of the second battery, a power supply responsibility chain transfer is established, avoiding conflicts in the parallel connection of dual power supplies. The voltage fluctuation in the power supply circuit can be reduced, and the actuator jitter can be reduced. In addition, the delayed power supply of the first battery can avoid the introduction of instantaneous large current to impact the circuit; and the delayed shutdown of the second battery ensures stable output of the first battery before switching, realizing seamless power supply.

[0056] As the first power supply mode of the second battery, the second load is determined according to the specific structural form of the humanoid robot so that the humanoid robot can maintain a standing state. Figure 2 A humanoid robot structure is shown. In this humanoid robot, in order to keep it standing, the actuators at and below the legs need to continue working. The so-called continued work means that these actuators are energized so that the rotors and corresponding stators of these actuators remain fixed based on the magnetic field force.

[0057] like Figure 3As shown in the figure, the second battery can supply power to the leg actuators, foot actuators (the leg actuators and foot actuators constitute the second load), and storage device of the humanoid robot 200. The leg actuators include a hip pitch actuator 210, a hip roll actuator 220, and a knee joint actuator 230. The foot actuators include a sole pitch actuator 240 and a sole left - right actuator 250.

[0058] For the standing state, only a topological design that supplies power to a total of 10 actuators with 5 degrees of freedom for the lower limbs (hip pitch / roll, knee flexion / extension, foot pitch / roll) is adopted to avoid energy waste caused by starting all body actuators. Taking a 50 - kg humanoid robot as an example, it can save 48% ± 3% energy compared with full - joint power supply.

[0059] As the second power - supply method of the second battery, the second load is determined according to the state of the humanoid robot when the first battery stops running, so that the humanoid robot can operate in a low - power state and avoid turning off all functions in a one - size - fits - all manner in the low - power mode. For example, if the humanoid robot is in a standing state, the 10 lower - limb actuators can be the second load in the same way as above. If the humanoid robot is in a sitting state, a total of 4 actuators for hip pitch / roll are the second load. If the humanoid robot is in a lying or prone state, there may be no second load.

[0060] Therefore, the position and quantity of the second load corresponding to the operation in the low - power state are actually determined by the first - load state of the humanoid robot when the first battery stops running. Thus, the second load can be determined according to the first - load state of the humanoid robot when the first battery stops running.

[0061] Exemplarily, a dynamic configuration of load priorities is realized through an association relation table to meet the energy - saving requirements of different task scenarios. The association relation table can determine the associated second load in each first - load state (determine the state of each first load through the rotation angles of all first loads) by animating and simulating various different states of the humanoid robot. By maintaining the joint angles of the second load to keep the posture at the moment of power - off, the problem of posture reset after restart in the traditional scheme can be solved.

[0062] When the second battery supplies power to the humanoid robot, multi - level refined power management can also be realized. Non - core loads are turned off step by step according to the power level to maximize the running time of key functions. For example: The power of the second battery is detected in real time; When the power of the second battery is greater than the second preset threshold, the second battery supplies power to the first load of the humanoid robot so that the humanoid robot can continue to maintain the running state before the first battery stops supplying power; When the power of the second battery is less than or equal to the second preset threshold and greater than or equal to the third preset threshold, the second battery supplies power to the second load of the humanoid robot, so that the humanoid robot maintains a standing state or operates in a low-power state; When the power of the second battery is less than the third preset threshold, the second battery only supplies power to the storage device of the humanoid robot.

[0063] In the embodiment of the present invention, power is supplied in a dynamic load grading manner. Among them, when it is greater than the second preset threshold (determined according to the total capacity of the second battery's power, for example, 20%-30% of the second battery's power), it seamlessly takes over the first load and maintains full-function operation, eliminating the endurance fault perceived by the user (the key to improving the user experience); when it is between the second preset threshold and the third preset threshold (such as 5%-10%), it is forced to degrade to the core load and only maintains a standing or low-power operation state to ensure basic safety; when it is less than the third threshold, it is powered by an isolated storage, only maintaining the power of RAM / SSD (typical power consumption: 3.3V / 50mA) to prevent data loss and avoid subsequent recalibration.

[0064] Embodiment 2

[0065] Please refer to Figure 4 , Figure 4 which is a schematic structural diagram of a control device for continuous operation of a humanoid robot disclosed in an embodiment of the present invention. As Figure 4 shown, the control device for continuous operation of the humanoid robot may include: The first power supply mode unit 310 is configured to monitor the power of the first battery in real time. When the power of the first battery is greater than the first preset threshold, the first battery supplies power to the first load of the humanoid robot; The second power supply mode unit 320 is configured to, when the power of the first battery is less than or equal to the first preset threshold, supply power to the second load of the humanoid robot by the second battery, so that the humanoid robot maintains a standing state or operates in a low-power state.

[0066] In the embodiment of the present invention, through the basic control logic of dual-battery switching, the main and standby batteries are switched based on the power threshold to ensure the continuous operation of the core functions of the robot (standing / low-power operation), and solve the risk of the robot tipping over caused by the power-off of the traditional single battery and the calibration operation after restarting.

[0067] Embodiment 3

[0068] Please refer to Figure 5 , Figure 5The schematic structural diagram of an electronic device that can be used to implement the embodiments of the present invention is shown. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital processors, cellular phones, smart phones, wearable devices (such as helmets, glasses, watches, etc.) and other similar computing devices. The components shown herein, their connections and relationships, and their functions are only examples and are not intended to limit the implementation of the embodiments of the present invention described herein or / and claimed.

[0069] As Figure 5 shown, the electronic device includes at least one processor 410, and a memory communicatively connected to the at least one processor 410, such as ROM (Read Only Memory) 420, RAM (Random Access Memory) 430, etc. Among them, the memory stores a computer program executable by the at least one processor. The processor 410 can execute various appropriate actions and processes according to the computer program stored in the ROM 420 or the computer program loaded from the storage unit 480 into the random access memory RAM 430. In the RAM 430, various programs and data required for the operation of the electronic device can also be stored. The processor 410, ROM 420, and RAM 430 are connected to each other through a bus 440. The I / O (Input / Output) interface 450 is also connected to the bus 440.

[0070] Multiple components in the electronic device are connected to the I / O interface 450, including: an input unit 460, such as a keyboard, a mouse, etc.; an output unit 470, such as various types of displays, speakers, etc.; a storage unit 480, such as a disk, an optical disc, etc.; and a communication unit 490, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 490 allows the electronic device to exchange information / data with other devices through a computer network such as the Internet or / and various telecommunication networks.

[0071] The processor 410 can be various general-purpose or / and dedicated processing components with processing and computing capabilities. Some examples of the processor 410 include but are not limited to a central processing unit (CPU), a graphics processing unit (GPU), various dedicated artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any appropriate processor, controller, microcontroller, etc. The processor 410 executes one or more steps of a method for controlling an anthropomorphic robot to work continuously described in the above Embodiment 1.

[0072] In some embodiments, a method for controlling an uninterrupted operation of a humanoid robot may be implemented as a computer program tangibly embodied in a computer-readable storage medium, such as storage unit 480. In some embodiments, part or all of the computer program may be loaded and / or installed onto the electronic device via ROM 420 or / and communication unit 490. When the computer program is loaded into RAM 430 and executed by processor 410, one or more steps of the method for controlling an uninterrupted operation of a humanoid robot described in Embodiment 1 above may be executed. Alternatively, in other embodiments, processor 410 may be configured to execute a method for controlling an uninterrupted operation of a humanoid robot by any other suitable means (e.g., by means of firmware).

[0073] The various embodiments of the systems and techniques described above in this document may be implemented in digital electronic circuitry, integrated circuit systems, field programmable gate arrays (FPGA), application specific integrated circuits (ASIC), application specific standard products (ASSP), systems on a chip (SOC), complex programmable logic devices (CPLD), computer hardware, firmware, software, or / and combinations thereof. These various embodiments may include: being implemented in one or more computer programs executable or / and interpretable on a programmable system including at least one programmable processor, which may be a special or general programmable processor, receiving data and instructions from a storage system, at least one input device, and at least one output device, and transmitting the data and instructions to the storage system, the at least one input device, and the at least one output device.

[0074] The computer programs for implementing the methods of the embodiments of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general purpose computer, a special purpose computer, or other programmable data processing apparatus, such that the computer programs, when executed by the processor, cause the functions / operations specified in the flowchart or / and block diagram to be implemented. The computer programs may be executed entirely on the machine, partially on the machine, as a stand-alone software package partially on the machine and partially on a remote machine, or entirely on a remote machine or server.

[0075] In the context of embodiments of the present invention, a computer-readable storage medium can be a tangible medium that can contain or store a computer program for use by or in connection with an instruction execution system, apparatus, or device. The computer-readable storage medium can include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination of the foregoing. Alternatively, the computer-readable storage medium can be a machine-readable signal medium. More specific examples of the machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer diskette, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or Flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0076] In order to provide interaction with a user, the systems and techniques described herein can be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and a pointing device (e.g., a mouse or a trackball) by which the user can provide input to the electronic device. Other kinds of devices can also be used to provide interaction with the user; for example, the feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including acoustic input, speech input, or tactile input).

[0077] The systems and techniques described herein can be implemented in a computing system that includes back-end components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes front-end components (e.g., a user computer having a graphical user interface or a web browser through which the user can interact with an implementation of the systems and techniques described herein), or a computing system that includes any combination of such back-end components, middleware components, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: local area network (LAN), wide area network (WAN), blockchain network, and the Internet.

[0078] A computing system may include a client and a server. The client and the server are generally far from each other and usually interact via a communication network. The relationship between the client and the server is generated by computer programs running on corresponding computers and having a client-server relationship with each other. The server may be a cloud server, also known as a cloud computing server or a cloud host, which is a host product in the cloud computing service system, and solves the defects of difficult management and weak business scalability existing in traditional physical hosts and VPS services.

[0079] The above has introduced in detail a method and device for controlling an anthropomorphic robot to work continuously. Specific examples are used in this article to elaborate on the principle and implementation manner of the present invention. The description of the above embodiments is only used to help understand the method and its core idea of the present invention; at the same time, for those of ordinary skill in the art, according to the idea of the present invention, there will be changes in the specific implementation manner and application scope. In summary, the content of this specification should not be construed as a limitation to the present invention.

Claims

1. Control method for continuous operation of humanoid robots, characterized in that, It includes the following steps: Monitor the power of the first battery in real time. When the power of the first battery is greater than the first preset threshold, the first battery supplies power to the first load of the humanoid robot; When the power of the first battery is less than or equal to the first preset threshold, the second battery supplies power to the second load of the humanoid robot to keep the humanoid robot standing or operating in a low-power state; Among them, the second battery supplies power to the second load of the humanoid robot to make the humanoid robot operate in a low-power state, including: Obtain the first load state of the humanoid robot when the first battery stops operating; Determine the second load according to the first load state; The second battery supplies power to the second load of the humanoid robot to make the humanoid robot operate in a low-power state.

2. The uninterrupted working control method for a humanoid robot according to claim 1, characterized in that, When the power of the first battery is less than or equal to the first preset threshold, the second battery supplies power to the second load of the humanoid robot, including: Receive the power replacement reminder sent by the first battery; When the user presses the battery replacement button, the first battery immediately sends a control instruction to the second battery to make the second battery turn on the output; When the first battery detects that the second battery has started to output, the first battery automatically shuts down, and the second battery supplies power to the second load of the humanoid robot.

3. The uninterrupted working control method for a humanoid robot according to claim 1, characterized in that, When the power of the first battery is less than or equal to the first preset threshold, the second battery supplies power to the second load of the humanoid robot, including: When the power of the first battery is less than or equal to the first preset threshold, the first battery or the main board immediately sends an output instruction to the second battery to make the second battery turn on the output, and at the same time the first battery sends a power replacement reminder; When the first battery detects that the second battery has started to output, the first battery automatically shuts down, and the second battery supplies power to the second load of the humanoid robot.

4. The uninterrupted working control method for a humanoid robot according to claim 2 or 3, characterized in that When the first battery detects that the second battery has started to output, the first battery automatically shuts down, and the second battery supplies power to the second load of the humanoid robot, including: The first battery automatically shuts down. After the power indicator of the first battery goes out, remove the first battery, and the second battery supplies power to the second load of the humanoid robot; The method further includes: When the charged first battery is plugged into the humanoid robot, the first battery supplies power to the load after a first preset time delay. After the first battery is turned on for charging, it sends a control instruction to the second battery after a second preset time delay. The second battery shuts down and stops supplying power to the load, and the second battery charging is turned on, and the first battery charges the second battery.

5. The uninterrupted work control method for a humanoid robot according to claim 1, wherein When the power of the first battery is less than or equal to the first preset threshold, the second battery supplies power to the second load of the humanoid robot to keep the humanoid robot standing or operating in a low-power state, including: Detect the power of the second battery in real time; When the power of the second battery is greater than the second preset threshold, the second battery supplies power to the first load of the humanoid robot to make the humanoid robot continue to maintain the operating state before the first battery stops supplying power; When the power of the second battery is less than or equal to a second preset threshold and greater than or equal to a third preset threshold, the second battery powers the second load of the humanoid robot to keep the humanoid robot in a standing state or operating in a low-power state; When the power of the second battery is less than the third preset threshold, the second battery only powers the storage device of the humanoid robot.

6. The uninterrupted working control method for a humanoid robot as described in claim 1, characterized in that, The second battery powers the second load of the humanoid robot to keep the humanoid robot in a standing state, including: The second battery powers the leg actuator, foot actuator, and storage device of the humanoid robot. The leg actuator includes an actuator for horizontal leg swing, a hip horizontal actuator, and a knee joint actuator. The foot actuator includes a sole pitch actuator and a sole left-right actuator.

7. The uninterrupted working control method for a humanoid robot according to claim 6, characterized in that, Determining the second load according to the first load state includes: Obtaining the rotation angles of all first loads; Determining the second load based on the rotation angles and a preset association relation table; The second battery powers the second load of the humanoid robot to maintain the state of the second load when the first battery stops operating.

8. Control device for continuous operation of humanoid robot, characterized in that, It includes: A first power supply mode unit for real-time monitoring of the power of the first battery. When the power of the first battery is greater than a first preset threshold, the first battery powers the first load of the humanoid robot; A second power supply mode unit for, when the power of the first battery is less than or equal to the first preset threshold, using the second battery to power the second load of the humanoid robot to keep the humanoid robot in a standing state or operating in a low-power state; Among them, using the second battery to power the second load of the humanoid robot to make the humanoid robot operate in a low-power state includes: Obtaining the first load state of the humanoid robot when the first battery stops operating; Determining the second load according to the first load state; Using the second battery to power the second load of the humanoid robot to make the humanoid robot operate in a low-power state.

9. An electronic device, characterized in that, It includes a memory, a processor, and a computer program stored in the memory and capable of running on the processor. When the processor executes the computer program, it implements the steps of the humanoid robot uninterrupted work control method according to any one of claims 1-7.

10. A computer-readable storage medium, characterized in that, It stores a computer program, wherein the computer program causes the computer to execute the steps of the humanoid robot uninterrupted work control method according to any one of claims 1-7.

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