Humanoid robot uninterrupted operation control method and device

Abstract

The application discloses a humanoid robot uninterrupted work control method and device. The humanoid robot uninterrupted work control method comprises the following steps: monitoring the electric quantity of a first battery in real time; when the electric quantity of the first battery is greater than a first preset threshold, supplying power for a first load of a humanoid robot by the first battery; when the electric quantity of the first battery is less than or equal to the first preset threshold, supplying power for a second load of the humanoid robot by a second battery, so that the humanoid robot keeps a standing state or runs in a low-power state. The application realizes the battery replacement of the humanoid robot with power, and avoids the influence of shutdown operation on work efficiency.

Description

Technical Field

[0001] This invention relates to the field of robotics, and more specifically to a method and apparatus for controlling the uninterrupted operation of a humanoid robot. Background Technology

[0002] Humanoid robots, with their anthropomorphic structure and movement, show broad application prospects in service, education, scientific research, and industrial collaboration. One of the core elements for maintaining their stable operation is a continuous and reliable energy supply. Currently, most mainstream humanoid robots use a single battery pack as their primary power source.

[0003] Traditional humanoid robots generally suffer from short battery life, lasting only about two hours on a single charge. When the single battery pack is depleted, the robot must be completely shut down for battery replacement or recharging. Replacing the battery pack requires shutting down the robot, then restarting it for calibration. This cumbersome process significantly reduces the robot's efficiency, hindering its effective operation in real-world applications.

[0004] Furthermore, a sudden power outage caused by a depleted battery directly cuts off power to critical loads such as the robot's joint motors, which can easily cause the humanoid robot to lose its balance and fall or tip over. A robot falling can not only cause damage to its own hardware (such as precision sensors, shell, and joint structures), but also pose a safety threat to surrounding people or objects in environments where it coexists with humans, severely limiting the robot's reliability and safety. 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 uninterrupted operation control of humanoid robots, realize the live battery swapping of humanoid robots, maintain the basic state of humanoid robots through a second battery, and avoid the impact of shutdown operation on work efficiency.

[0006] The objective of this invention is achieved through the following technical solution: A method for controlling the uninterrupted operation of a humanoid robot, comprising the following steps: The power level of the first battery is monitored in real time. When the power level of the first battery is greater than a first preset threshold, the first battery supplies power to the first load of the humanoid robot. When the charge 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, so that the humanoid robot can maintain a standing state or operate in a low-power state. The second battery powers the second load of the humanoid robot to enable the humanoid robot to 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 based on the first load state; The second battery powers the second load of the humanoid robot, enabling the humanoid robot to operate in a low-power state.

[0007] This invention, through its basic control logic of dual-battery switching, triggers the switching between primary and backup batteries based on a power threshold, ensuring the continuous operation of the robot's core functions (standing / low-power operation) and resolving the risk of robot tipping over due to power failure caused by a traditional single battery, as well as the calibration operation after restarting.

[0008] When the second load is defined as the power system (such as some joint motors) required to achieve "maintaining a standing position", it can ensure that the humanoid robot can maintain basic balance and not fall even if the first battery is depleted; it prevents physical damage caused by sudden power outages or loss of posture control, and protects the robot assets and the surrounding environment.

[0009] When powered by the second battery, keeping the robot in a "low-power state" means that core, minimal functions are preserved (e.g., monitoring alarms, communication module standby, positioning, waiting for instructions, or issuing alarms), rather than being completely shut down. This provides a valuable window of time for operators or remote monitoring systems to take action (e.g., scheduling charging, terminating secondary tasks, or remotely checking the status), improving the manageability of the system.

[0010] It is understandable that the first battery, which serves as the main battery, can be a high-capacity battery with a high discharge rate, while the second battery, which serves as the backup battery, can be a small-capacity battery with a lower discharge rate requirement.

[0011] The first load can be understood as the workload, such as the actuators for tasks like walking, standing, and carrying, or all the electrical equipment of the humanoid robot. The second load can be understood as all the actuators that keep the humanoid robot standing, or all the actuators that maintain the lowest power state. For example, assuming that the humanoid robot consumes the least amount of power when sitting, the sitting state can be regarded as the lowest power state of the humanoid robot. Of course, the state that keeps the humanoid robot standing when the first battery is off can also be regarded as the lowest power state of the humanoid robot. All the actuators in this state are called the second load.

[0012] In this embodiment of the invention, in addition to powering the first load or the second load, power is also supplied to the storage device unless otherwise specified, in order to avoid calibration operations after a restart. In a preferred embodiment, in a first aspect of the present invention, when the charge of the first battery is less than or equal to a first preset threshold, the second battery supplies power to the second load of the humanoid robot, including: Receives a battery replacement reminder from the first battery; When the user presses the battery replacement button, the first battery immediately sends a control command to the second battery to turn on the output; When the first battery detects that the second battery has started outputting power, the first battery automatically shuts down, and the second battery supplies power to the second load of the humanoid robot.

[0013] As one implementation method, users need to manually switch between the first and second batteries, which effectively prevents unnecessary state switching caused by system misjudgment or signal interference. The timing control of power-off is performed only after the first battery actively detects the output status of the second battery, thus completely eliminating the risk of system instability caused by power supply gaps.

[0014] Understandably, the battery replacement button is a physical switch. Triggering this switch sends a corresponding signal to the first battery, which then sends control commands 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 its output, ensuring no voltage fluctuations during the power supply switching process (eliminating power supply gaps) and mitigating the risk of the robot tipping over due to a sudden power outage.

[0015] In a preferred embodiment, in a first aspect of the present invention, when the charge of the first battery is less than or equal to a 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 motherboard immediately sends an output command to the second battery to enable the second battery to turn on the output, and at the same time the first battery issues a battery replacement reminder. When the first battery detects that the second battery has started outputting power, 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 operation of the first and second batteries can be automatically switched. The first battery or the motherboard directly issues the command, eliminating the confirmation step of the physical button, thus improving the system's rapid response capability. The time from switching trigger to execution can be shortened to less than 100ms, meeting the needs of highly dynamic scenarios (such as maintaining balance when the battery suddenly drops while the robot is running). The battery replacement reminder and the switching command are issued simultaneously, ensuring both automatic system protection and prompting the user to intervene in a timely manner.

[0017] In a preferred embodiment, in a first aspect of the present invention, when the first battery detects that the second battery has started outputting power, 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 on the first battery goes out, the first battery is removed, and the second battery powers the second load of the humanoid robot. The method further includes: When the first battery is plugged into the humanoid robot after being charged, it supplies power to the load after a first preset time delay. After the first battery starts charging, it sends a control command to the second battery after a second preset time delay. The second battery then shuts down and stops supplying power to the load. The second battery starts charging, and the first battery also starts charging the second battery.

[0018] Remove the battery after the power indicator light goes out to prevent arcing from hot-plugging and damaging the interface or components. By delaying power supply from the first battery and delaying shutdown from the second battery, a power supply responsibility chain is established to avoid conflicts caused by parallel dual power supplies. This minimizes voltage fluctuations in the power supply circuit, reducing actuator jitter. Furthermore, the delayed power supply from the first battery avoids introducing instantaneous high current surges into the circuit; while the delayed shutdown from the second battery ensures that the first battery outputs a stable output before switching, achieving seamless power supply continuity.

[0019] In a preferred embodiment, in a first aspect of the present invention, when the charge of the first battery is less than or equal to a first preset threshold, the second battery supplies power to the second load of the humanoid robot, so that the humanoid robot remains standing or operates in a low-power state, including: Real-time monitoring of the second battery's power level; 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 continues to maintain the operating state before the first battery stopped supplying power; When the charge 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 can maintain a standing state or operate in a low-power state. When the power of the second battery is less than a third preset threshold, the second battery only powers the storage device of the humanoid robot.

[0020] This invention employs dynamic load-level power supply to achieve fine-grained multi-level power management. Non-core loads are shut down progressively based on power levels, maximizing the runtime of critical functions. Specifically, when the power level exceeds a second preset threshold (determined based on the total capacity of the second battery, e.g., 20%-30%), the first load is seamlessly taken over, maintaining full functionality and eliminating perceived battery life gaps (crucial for improving user experience). When the power level is between the second and third preset thresholds (e.g., 5%-10%), the system is forcibly downgraded to core loads, maintaining only stand-alone or low-power operation to ensure basic safety. When the power level is below the third threshold, isolated storage power is supplied, maintaining only RAM / SSD power (typical power consumption: 3.3V / 50mA) to prevent data loss and avoid subsequent recalibration.

[0021] As a preferred embodiment, in a first aspect of the present invention, a second battery supplies power to a second load of the humanoid robot to keep the humanoid robot standing, including: The second battery powers the humanoid robot's leg actuators, foot actuators, and storage device. The leg actuators include a hip pitch actuator, a hip horizontal actuator, and a knee joint actuator. The foot actuators include a foot pitch actuator and a foot left and right actuator.

[0022] For the standing state, the topology design that powers only the 5-DOF actuators of the lower limbs (hip pitch / horizontal, knee flexion / extension, foot pitch / roll) avoids the energy waste of starting the actuators of the whole body. Taking a 50kg humanoid robot as an example, it saves 48%±3% energy compared to powering all joints.

[0023] As a preferred embodiment, in a first aspect of the present invention, determining a second load based on the first load state includes: Obtain the rotation angle of all first loads; The second load is determined based on the rotation angle and a preset correlation table; The second battery powers the second load of the humanoid robot so that the second load maintains the state in which the first battery is not operating.

[0024] The second load is dynamically determined based on the first load state, avoiding the abrupt shutdown of all functions in low-power mode. The load priority is dynamically configured through the association table to adapt to the energy-saving needs of different task scenarios. The association table can determine the associated second load under each first load state by simulating various states of the humanoid robot through animation. By maintaining the joint angle of the second load to keep the posture at the moment of power failure, the posture reset problem after restarting in traditional solutions can be solved.

[0025] A second aspect of this invention discloses a control device for uninterrupted operation of a humanoid robot, comprising: The first power supply unit is used to monitor the power level of the first battery in real time. When the power level 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 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 can maintain a standing state or operate in a low power state. The second battery powers the second load of the humanoid robot to enable the humanoid robot to 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 based on the first load state; The second battery powers the second load of the humanoid robot, enabling the humanoid robot to operate in a low-power state.

[0026] This invention, through its basic control logic of dual-battery switching, triggers the switching between primary and backup batteries based on a power threshold, ensuring the continuous operation of the robot's core functions (standing / low-power operation) and resolving the risk of robot tipping over due to power failure caused by a traditional single battery, as well as the calibration operation after restarting.

[0027] The third aspect of this invention discloses an electronic device, which, as a component of a humanoid robot, 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, it implements the steps of the uninterrupted operation control method for the humanoid robot disclosed in the first aspect of this invention.

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

[0029] The accompanying drawings, which form part of this application, are used to provide a further understanding of the invention. The illustrative embodiments of the invention and their descriptions are used to explain the invention and do not constitute an improper limitation of the invention. Attached Figure Description

[0030] Figure 1 This is a flowchart illustrating the uninterrupted operation control method for a humanoid robot according to an embodiment of the present invention; Figure 2 This is a schematic diagram of the structure of the humanoid robot according to an embodiment of the present invention; Figure 3 for Figure 2 A schematic diagram of the structure of the middle leg and foot; Figure 4 This is a schematic diagram of the structure of the humanoid robot uninterrupted work control device provided in an embodiment of the present invention; Figure 5 This is a schematic diagram of the structure of an electronic device provided in an embodiment of the present invention. Detailed Implementation

[0031] The present invention will now be further described in conjunction with the accompanying drawings and specific embodiments. It should be noted that these specific embodiments are merely explanations of the embodiments of the present invention and are not intended to limit the embodiments of the present invention. After reading this specification, those skilled in the art can make modifications to these embodiments without contributing any inventive step, but as long as they are within the scope of the claims of the embodiments of the present invention, they are protected by patent law.

[0032] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of the embodiments of the present invention.

[0033] The term "comprising" and any variations 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 is not necessarily limited to those steps or units that are explicitly listed, but may include other steps or units that are not explicitly listed or that are inherent to such process, method, product or device.

[0034] In embodiments of the present invention, the terms "exemplary" or "for example" are used to indicate that something is an example, illustration, or description. Any embodiment or design described as "exemplary" or "for example" in embodiments of the present invention should not be construed as being more preferred or advantageous than other embodiments or designs. Specifically, the use of the terms "exemplary" or "for example" is intended to present the relevant concepts in a specific manner.

[0035] Example 1

[0036] This invention, through its basic control logic of dual-battery switching, triggers the switching between primary and backup batteries based on a power threshold, ensuring the continuous operation of the robot's core functions (standing / low-power operation) and resolving the risk of robot tipping over due to power failure caused by a traditional single battery, as well as the calibration operation after restarting.

[0037] When the second load is defined as the power system (such as some joint motors) required to achieve "maintaining a standing position", it can ensure that the humanoid robot can maintain basic balance and not fall even if the first battery is depleted; it prevents physical damage caused by sudden power outages or loss of posture control, and protects the robot assets and the surrounding environment.

[0038] When powered by the second battery, keeping the robot in a "low-power state" means that core, minimal functions are preserved, rather than being completely shut down. This provides operators or remote monitoring systems with a valuable window of time to take action (such as scheduling charging, terminating secondary tasks, or remotely checking the status), improving the manageability of the system.

[0039] It is understandable that the first battery, which serves as the main battery, can be a high-capacity battery with a high discharge rate, while the second battery, which serves as the backup battery, can be a small-capacity battery with a lower discharge rate requirement.

[0040] The first load can be understood as the workload, such as the actuators for tasks like walking, standing, and carrying, or all the electrical equipment of the humanoid robot. The second load can be understood as all the actuators that keep the humanoid robot standing, or all the actuators that maintain the lowest power state. For example, assuming that the humanoid robot consumes the least amount of power when sitting, the sitting state can be regarded as the lowest power state of the humanoid robot. Of course, the state that keeps the humanoid robot standing when the first battery is off can also be regarded as the lowest power state of the humanoid robot. All the actuators in this state are called the second load.

[0041] In this embodiment of the invention, in addition to powering the first load or the second load, power is also supplied to the storage device unless otherwise specified, in order to avoid calibration operations after a restart. The following is a detailed description in conjunction with the accompanying drawings.

[0042] Please see Figure 1 , Figure 1 This is a flowchart illustrating a method for controlling the uninterrupted operation of a humanoid robot according to an embodiment of the present invention. Figure 1 As shown, the uninterrupted operation control method for this humanoid robot includes: S110. Monitor the power level of the first battery in real time. When the power level of the first battery is greater than the first preset threshold, the first battery supplies power to the first load of the humanoid robot.

[0043] Monitoring the charge level of the first battery can be achieved through the battery management system (BMS). It is understood that subsequent physical devices such as battery replacement buttons and charge indicator lights 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 different scenario needs. 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. At this time, the second battery is in the off state, and the first battery can also charge the second battery.

[0045] S120. When the charge 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 so that the humanoid robot can maintain a standing state or operate in a low-power state.

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

[0047] The process of manually switching by the user is as follows: Receives a battery replacement reminder from the first battery; When the user presses the battery replacement button, the first battery immediately sends a control command to the second battery to turn on the output; When the first battery detects that the second battery has started outputting power, the first battery automatically shuts down, and the second battery supplies power to the second load of the humanoid robot.

[0048] Users can manually switch between the first and second batteries, effectively preventing unnecessary state switching caused by system misjudgment or signal interference. The timing control of powering off is achieved by the first battery actively detecting the output status of the second battery, completely eliminating the risk of system instability caused by power supply gaps.

[0049] Understandably, the battery replacement button is a physical switch. Triggering this switch allows the first battery to receive a corresponding signal, which it then uses to send control commands to the second battery. The first battery will only shut down when it detects that the second battery has turned on its output, ensuring no voltage fluctuations during the power supply switching process (eliminating power supply gaps) and mitigating the risk of the robot tipping over due to a sudden power outage.

[0050] The automatic switching process 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 motherboard immediately sends an output command to the second battery to enable the second battery to turn on the output, and at the same time the first battery issues a battery replacement reminder. When the first battery detects that the second battery has started outputting power, the first battery automatically shuts down, and the second battery supplies power to the second load of the humanoid robot.

[0051] By automatically switching the operation of the first and second batteries, the first battery or the mainboard directly issues the command, eliminating the need for physical button confirmation. This improves the system's rapid response capability, reducing the time from switching trigger to execution to less than 100ms, meeting the needs of highly dynamic scenarios (such as maintaining balance when the robot's battery suddenly drops while running). The battery swap reminder and switching command are issued simultaneously, ensuring both automatic system protection and prompting timely user intervention.

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

[0053] When the first battery is a removable battery, it can be removed from the humanoid robot for charging. However, the first battery should only be removed after the robot has automatically shut down and the battery indicator light has turned off. This is to prevent arcing from hot plugging and unplugging from damaging the interface or components.

[0054] When the first battery, after being charged, is plugged back into the humanoid robot, it supplies power to the load after a first preset time delay. After the first battery starts charging, it sends a control command to the second battery after a second preset time delay. The second battery then shuts down and stops supplying power to the load. The second battery starts charging, and the first battery also starts charging the second battery.

[0055] By delaying power supply from the first battery and delaying power off from the second battery, a power supply responsibility chain is established to avoid conflicts caused by parallel connection of dual power supplies. This can reduce voltage fluctuations in the power supply circuit and decrease actuator jitter. Furthermore, delaying power supply from the first battery can prevent the introduction of instantaneous large currents that could impact the circuit. Meanwhile, delaying power off from the second battery ensures that the first battery outputs a stable output before switching, achieving seamless power supply.

[0056] As the first power supply method for 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 its standing position. Figure 2 A humanoid robot structure is shown in which, in order to keep the robot standing, the actuators on the legs and below need to continue to work. The so-called continued work means that these actuators are powered on, and the rotors and corresponding stators of these actuators are kept fixed by the magnetic field force.

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

[0058] For the standing state, the topology design only supplies power to 10 actuators in 5 degrees of freedom of the lower limbs (hip pitch / horizontal, knee flexion / extension, foot pitch / roll), avoiding energy waste when starting actuators throughout the body. Taking a 50kg humanoid robot as an example, it saves 48%±3% energy compared to powering all joints.

[0059] As a second power supply method for the second battery, the second load is determined based on the humanoid robot's state when the first battery stops operating. This ensures the humanoid robot operates in a low-power state, avoiding a one-size-fits-all shutdown of functions in low-power mode. For example, if the humanoid robot is standing, the 10 actuators of the lower limbs can be used as the second load, similar to the method described above. If the humanoid robot is sitting, the 4 actuators for hip pitch / horizontal movement can be used as the second load. If the humanoid robot is lying down or prone, there may be no second load.

[0060] Therefore, the location and quantity of the second load corresponding to the low-power operation are actually determined by the first load state of the humanoid robot when the first battery is stopped. Thus, the second load can be determined based on the first load state of the humanoid robot when the first battery is stopped.

[0061] For example, load priority can be dynamically configured through an association table to adapt to the energy-saving needs of different task scenarios. The association table can determine the associated second load under each first load state (the state of each first load is determined by the rotation angle of all first loads) by simulating various states of a humanoid robot through animation. By maintaining the joint angle of the second load to keep the posture at the moment of power failure, the posture reset problem after restarting in traditional solutions can be solved.

[0062] When the second battery powers the humanoid robot, it also enables multi-level fine-grained power management, gradually shutting down non-core loads based on power levels to maximize the runtime of critical functions. For example: Real-time monitoring of the second battery's power level; 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 continues to maintain the operating state before the first battery stopped supplying power; When the charge 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 can maintain a standing state or operate in a low-power state. When the power of the second battery is less than a third preset threshold, the second battery only powers the storage device of the humanoid robot.

[0063] This invention employs dynamic load-level power supply. When the battery level exceeds a second preset threshold (determined based on the total capacity of the second battery, e.g., 20%-30%), the system seamlessly takes over the first load, maintaining full functionality and eliminating any perceived battery life gap (a key improvement for user experience). When the battery level is between the second and third preset thresholds (e.g., 5%-10%), the system is forcibly downgraded to the core load, maintaining only stand-alone or low-power operation to ensure basic safety. When the battery level is below the third threshold, isolated storage power is supplied, maintaining only RAM / SSD power (typical power consumption: 3.3V / 50mA) to prevent data loss and avoid subsequent recalibration.

[0064] Example 2

[0065] Please see Figure 4 , Figure 4 This is a schematic diagram of the structure of a humanoid robot uninterrupted operation control device disclosed in an embodiment of the present invention. Figure 4 As shown, the uninterrupted operation control device for the humanoid robot may include: The first power supply unit 310 is used to monitor the power level of the first battery in real time. When the power level 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 unit 320 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 can maintain a standing state or operate in a low power state.

[0066] This invention, through its basic control logic of dual-battery switching, triggers the switching between primary and backup batteries based on a power threshold, ensuring the continuous operation of the robot's core functions (standing / low-power operation) and resolving the risk of robot tipping over due to power failure caused by a traditional single battery, as well as the calibration operation after restarting.

[0067] Example 3

[0068] Please see Figure 5 , Figure 5A schematic diagram of an electronic device that can be used to implement 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, smartphones, 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 merely illustrative and are not intended to limit the implementation of the embodiments of the invention described herein or claimed.

[0069] like Figure 5 As shown, the electronic device includes at least one processor 410 and a memory, such as a ROM (Read-Only Memory) 420 or a RAM (Random Access Memory) 430, communicatively connected to the at least one processor 410. The memory stores computer programs executable by the at least one processor. The processor 410 can perform various appropriate actions and processes based on the computer program stored in the ROM 420 or loaded into the RAM 430 from storage unit 480. The RAM 430 can also store various programs and data required for the operation of the electronic device. The processor 410, ROM 420, and RAM 430 are interconnected via a bus 440. An 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: input units 460, such as a keyboard, mouse, etc.; output units 470, such as various types of displays, speakers, etc.; storage units 480, such as disks, optical disks, etc.; and communication units 490, such as network interface cards, modems, wireless transceivers, etc. The communication unit 490 allows the electronic device to exchange information / data with other devices through computer networks such as the Internet and / or various telecommunications networks.

[0071] Processor 410 can be a variety of general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of processor 410 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special-purpose artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, digital signal processors (DSPs), and any suitable processor, controller, microcontroller, etc. Processor 410 performs one or more steps of the uninterrupted operation control method for a humanoid robot described in Embodiment 1 above.

[0072] In some embodiments, a method for controlling the uninterrupted operation of a humanoid robot can be implemented as a computer program tangibly contained in a computer-readable storage medium, such as storage unit 480. In some embodiments, part or all of the computer program can be loaded into or / and installed on an electronic device via ROM 420 and / or 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 the uninterrupted operation of a humanoid robot described in Embodiment 1 above can be performed. Alternatively, in other embodiments, processor 410 can be configured to perform a method for controlling the uninterrupted operation of a humanoid robot by any other suitable means (e.g., by means of firmware).

[0073] Various embodiments of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field-programmable gate arrays (FPGAs), application-specific integrated circuits (ASICs), application-specific standard products (ASSPs), systems-on-a-chip (SoCs), payload-programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments may include implementations in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which may be a dedicated or general-purpose programmable processor, capable of receiving data and instructions from a storage system, at least one input device, and at least one output device, and transmitting data and instructions to the storage system, the at least one input device, and the at least one output device.

[0074] Computer programs for implementing the methods of 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 when executed by the processor, the computer programs cause the functions / operations specified in the flowcharts and / or block diagrams to be implemented. The computer programs may be executed entirely on a machine, partially on a machine, or as a standalone software package, partially on a 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 may be a tangible medium that may contain or store a computer program for use by or in conjunction with an instruction execution system, apparatus, or device. A computer-readable storage medium may 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, a computer-readable storage medium may be a machine-readable signal medium. More specific examples of machine-readable storage media include electrical connections based on one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fibers, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination of the foregoing.

[0076] 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 pointing device (e.g., a mouse or trackball) through which the user provides input to the electronic device. Other types of devices can also be used to provide interaction with the user; for example, 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 sound input, voice input, or tactile input).

[0077] The systems and technologies described herein can be implemented in computing systems that include backend components (e.g., as data servers), or middleware components (e.g., application servers), or frontend components (e.g., user computers with graphical user interfaces or web browsers through which users can interact with implementations of the systems and technologies described herein), or any combination of such backend, middleware, or frontend components. The components of the system can be interconnected via digital data communication of any form or medium (e.g., communication networks). Examples of communication networks include local area networks (LANs), wide area networks (WANs), blockchain networks, and the Internet.

[0078] A computing system can include clients and servers. Clients and servers are generally located far apart and typically interact through communication networks. The client-server relationship is created by computer programs running on the respective computers and having a client-server relationship with each other. The server can be a cloud server, also known as a cloud computing server or cloud host, which is a hosting product within the cloud computing service system to address the shortcomings of traditional physical hosts and VPS services, such as high management difficulty and weak business scalability.

[0079] The present invention has provided a detailed description of a method and apparatus for controlling the uninterrupted operation of a humanoid robot. Specific examples have been used to illustrate the principles and implementation methods of the present invention. The descriptions of the above embodiments are only for the purpose of helping to understand the method and core ideas of the present invention. At the same time, for those skilled in the art, there will be changes in the specific implementation methods and application scope based on the ideas of the present invention. Therefore, the content of this specification should not be construed as a limitation of the present invention.

Claims

1. A method for controlling the uninterrupted operation of a humanoid robot, characterized in that, It includes the following steps: The power level of the first battery is monitored in real time. When the power level of the first battery is greater than a first preset threshold, the first battery supplies power to the first load of the humanoid robot. The first load is the workload or all electrical equipment of the humanoid robot. When the charge 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, so that the humanoid robot can maintain a standing state or operate in a low-power state. The second battery powers the second load of the humanoid robot to enable the humanoid robot to operate in a low-power state, including: Obtain the first load state of the humanoid robot when the first battery stops operating; A second load is determined based on the first load state, and the second load is all actuators that maintain the state of the humanoid robot when the first battery stops. The second battery powers the second load of the humanoid robot, enabling the humanoid robot to operate in a low-power state.

2. The method for uninterrupted operation control of a humanoid robot as described in claim 1, characterized in that, When the charge of the first battery is less than or equal to a first preset threshold, the second battery supplies power to the second load of the humanoid robot, including: Receives a battery replacement reminder from the first battery; When the user presses the battery replacement button, the first battery immediately sends a control command to the second battery to turn on the output; When the first battery detects that the second battery has started outputting power, the first battery automatically shuts down, and the second battery supplies power to the second load of the humanoid robot.

3. The method for uninterrupted operation control of a humanoid robot as described in claim 1, characterized in that, When the charge of the first battery is less than or equal to a 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 motherboard immediately sends an output command to the second battery to enable the second battery to turn on the output, and at the same time the first battery issues a battery replacement reminder. When the first battery detects that the second battery has started outputting power, the first battery automatically shuts down, and the second battery supplies power to the second load of the humanoid robot.

4. The method for uninterrupted operation control of a humanoid robot as described in claim 2 or 3, characterized in that, When the first battery detects that the second battery has started outputting power, 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 on the first battery goes out, the first battery is removed, and the second battery powers the second load of the humanoid robot. The method further includes: When the first battery is plugged into the humanoid robot after being charged, it supplies power to the load after a first preset time delay. After the first battery starts charging, it sends a control command to the second battery after a second preset time delay. The second battery then shuts down and stops supplying power to the load. The second battery starts charging, and the first battery also starts charging the second battery.

5. The method for uninterrupted operation control of a humanoid robot as described in claim 1, characterized in that, When the charge of the first battery is less than or equal to a first preset threshold, the second battery supplies power to the second load of the humanoid robot, so that the humanoid robot can maintain a standing state or operate in a low-power state, including: Real-time monitoring of the second battery's power level; 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 continues to maintain the operating state before the first battery stopped supplying power; When the charge 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 can maintain a standing state or operate in a low-power state. When the power of the second battery is less than a third preset threshold, the second battery only powers the storage device of the humanoid robot.

6. The method for uninterrupted operation control of 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 standing, including: The second battery powers the humanoid robot's leg actuators, foot actuators, and storage device. The leg actuators include a leg horizontal swing actuator, a hip horizontal actuator, and a knee joint actuator. The foot actuators include a foot pitch actuator and a foot left and right actuator.

7. The method for uninterrupted operation control of a humanoid robot as described in claim 1, characterized in that, The second battery powers the second load of the humanoid robot to enable the humanoid robot to 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 based on the first load state; The second battery powers the second load of the humanoid robot, enabling the humanoid robot to operate in a low-power state.

8. A humanoid robot uninterrupted operation control device, characterized in that, It includes: The first power supply unit is used to monitor the power level of the first battery in real time. When the power level of the first battery is greater than a first preset threshold, the first battery supplies power to the first load of the humanoid robot. The first load is the workload or all electrical equipment of the humanoid robot. The second power supply 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 can maintain a standing state or operate in a low power state. The second battery powers the second load of the humanoid robot to enable the humanoid robot to operate in a low-power state, including: Obtain the first load state of the humanoid robot when the first battery stops operating; A second load is determined based on the first load state, and the second load is all actuators that maintain the state of the humanoid robot when the first battery stops. The second battery powers the second load of the humanoid robot, enabling the humanoid robot to operate in a low-power state.

9. An electronic device, characterized in that, The method includes a memory, a processor, and a computer program stored in the memory and capable of running on the processor, wherein the processor executes the computer program to implement the steps of the uninterrupted operation control method for a humanoid robot as described in 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 a computer to perform the steps of the uninterrupted operation control method for a humanoid robot according to any one of claims 1-7.

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