Hot-line work robot control topology based on multi-power-supply dynamic switching

Abstract

The invention relates to the technical field of hot-line work robots, in particular to a hot-line work robot control topology based on multi-power-supply dynamic switching. The energy storage battery unit is used for supplying power to the hot-line work robot and carrying out electric quantity early warning; the control conversion unit monitors the electric quantity state of the energy storage battery and the multi-power-supply system in real time, controls switching of power supplies and carries out allocation of multi-power-supply input. The remote control unit receives state information of the energy storage battery monitoring unit and the control conversion unit in real time; and when the original power supply fails, the emergency unit executes a command of switching the power supply according to the signal sent by the remote control unit. Based on a real-time scheduling algorithm, cooperative control over multiple power supplies (diesel generator power supply / alternating current charging port power supply / 48V generator power supply) is achieved, the power supply switching time is smaller than or equal to 5 ms (90% higher than that in the prior art), and the power supply interruption rate is reduced to 0.2%.

Description

Technical Field

[0001] The present invention relates to the technical field of live-working robots, and in particular to a control topology of a live-working robot based on dynamic switching of multiple power sources. Background Art

[0002] In the field of live-working robots, the safety and reliability of power supplies are extremely important. Currently, live-working robots rely mostly on a single power supply or a multi-power static switching solution based on a mechanical switch, which has problems such as insufficient endurance, low power switching efficiency, and poor power supply reliability. Especially in complex outdoor working environments, power outages or fluctuations may cause the robot to lose control, affecting operational safety. Although there are multi-power switching solutions in the existing control technology for live-working robots, there are generally defects such as long switching delays, complex collaborative control logic, and insufficient anti-backflow and overload protection. Therefore, a control topology for live-working robots based on dynamic switching of multiple power supplies is designed. Summary of the Invention

[0003] The purpose of the present invention is to provide a control topology for a live working robot based on dynamic switching of multiple power sources, so as to solve the problems of low switching efficiency and poor stability when multiple power sources are collaboratively powered, and to prevent the risks of power backflow and overload, thereby improving the power supply continuity of the live working robot under complex working conditions.

[0004] To achieve the above objectives, the present invention provides a control topology for a live working robot based on dynamic switching of multiple power sources, comprising:

[0005] Energy storage battery unit, which is used to supply power to the live working robot and provide power warning;

[0006] A control conversion unit, which monitors the power status of the energy storage battery and the multi-power system in real time, controls power switching, and adjusts the multi-power input;

[0007] A remote control unit that receives status information of the energy storage battery monitoring unit and the control conversion unit in real time;

[0008] The emergency unit executes a command to switch power sources according to a signal sent by a remote control unit when the original power source fails.

[0009] As a further improvement of this technical solution, the energy storage battery unit includes a battery power supply module and a battery early warning module;

[0010] Wherein, the battery power supply module supplies power to the live working robot in the energy storage battery power mode;

[0011] When the energy storage battery triggers a low power warning, the battery warning module sends a notification signal to the control conversion unit via the CAN bus.

[0012] As a further improvement of the present technical solution, the control conversion unit includes a monitoring module, a power switching and control execution module and a communication and remote control interaction module;

[0013] The monitoring module monitors the power status of the energy storage battery and the status of the multi-power system in real time, and determines whether the power of the energy storage battery is sufficient. If the power is sufficient, the monitoring module feeds back the information to the battery power supply module for power supply; if the power is insufficient, the monitoring module feeds back the information to the battery warning module;

[0014] The power switching and control execution module executes the selection and switching of the power supply through the CAN bus according to the monitoring results of the monitoring module and the remote control instructions, and controls the power supply to the energy storage battery and the robot through the DC bus;

[0015] The communication and remote control interaction module performs wireless communication and communication verification with the remote control unit via the CAN bus, sends monitoring data and receives control instructions from the remote control unit.

[0016] As a further improvement of the present technical solution, the power switching and control execution module performs power selection switching through the CAN bus based on the monitoring results of the monitoring module and the remote control instructions, and controls the power supply to the energy storage battery and the robot through the DC bus, including the following steps:

[0017] S1.1. After receiving the instruction from the remote control unit, the monitoring module confirms via the CAN bus whether the corresponding power supply can supply power based on the monitoring data provided by the monitoring module. If not, an alarm operation is performed and feedback is sent to the remote control unit;

[0018] S1.2. If the energy storage battery is low and a power warning has been triggered, the original vehicle battery is used as a temporary power source. The original vehicle battery is boosted by the 12V to 48V power conversion module and then charged by the power switching and control execution module through the DC bus to the energy storage battery module.

[0019] S1.3. Based on the real-time scheduling algorithm of the MCU in the power switching and control execution module, multiple power supplies are coordinated and redundancy and reliability parameters are introduced into the real-time scheduling algorithm.

[0020] S1.4. If it is confirmed that the corresponding power source can supply power and the energy storage battery module needs to be charged, the power supply switching action is executed. At this time, the selected power source charges the energy storage battery module via the DC bus through the power supply switching and control execution module. If any of the conditions are not met, the power supply operation will not be performed;

[0021] S1.5. After receiving the power switching instruction, the system sends an instruction to the multi-power system via the CAN bus to determine whether power can be supplied, and feeds the signal back to the remote control unit.

[0022] As a further improvement of the present technical solution, in S1.3, based on the real-time scheduling algorithm of the MCU in the power switching and control execution module, the coordinated control of multiple power supplies includes the following steps:

[0023] S1.31. After the control conversion module is started, it initializes the status of all connected power supplies and energy storage batteries, and monitors the working status and power level of each power supply and the remaining power of the energy storage battery in real time;

[0024] S1.32, use the real-time scheduling algorithm in the MCU to evaluate the suitability of each available power source;

[0025] S1.33. Based on the evaluation results, the real-time scheduling algorithm calculates the optimal power supply combination plan and plans the specific switching sequence.

[0026] As a further improvement of the present technical solution, in S1.33, based on the evaluation results, the real-time scheduling algorithm calculates the optimal power supply combination solution and plans a specific switching sequence, including the following steps:

[0027] S1.331. Analyze the performance of each feasible power source, including response time, switching efficiency, power quality, and historical performance;

[0028] S1.332. Based on the above analysis results, score each available power source and use a comprehensive scoring function to evaluate the fitness score of each power source;

[0029] S1.333. Based on the fitness scores of all feasible power sources, select the power source with the highest score as the optimal choice.

[0030] As a further improvement of this technical solution, in S1.332, the comprehensive scoring function is:

[0031] S=w1·T+w2·E+w3·Q+w4·H;

[0032] To address the problem of job interruption caused by power failure, redundancy and reliability parameters are introduced into the comprehensive scoring function for optimization:

[0033] S1=w1·T+w2·E+w3·Q+w4·H+w5·R;

[0034] Where S represents the fitness score, T represents the response time, E represents the switching efficiency, Q represents the quantitative value of power quality, H represents the quantitative value of historical performance, w1 represents the weight of response time, w2 represents the weight of switching efficiency, w3 represents the weight of power quality, w4 represents the weight of historical performance, S1 represents the optimized fitness score, w5 represents the weight of redundancy and reliability parameters, and R represents the redundancy and reliability parameters.

[0035] As a further improvement of the present technical solution, the communication and remote control interaction module performs wireless communication and communication verification with the remote control unit via the CAN bus, sends monitoring data and receives control instructions from the remote control unit, including the following steps:

[0036] S2.1, collect monitoring data from the control conversion module and other related components in real time through the CAN bus;

[0037] S2.2. Receive control instructions from the remote control unit via wireless communication technology, parse and verify the received instructions, and send corresponding commands to the control conversion module and other related components via the CAN bus based on the instruction content;

[0038] S2.3. After executing the remote command, continue to monitor the system status and regularly send updated status information to the remote control unit via wireless communication.

[0039] As a further improvement of the present technical solution, the remote control unit receives and displays the real-time power status feedback from the control monitoring module, and sends commands wirelessly to the power switching and control execution module to remotely control the multi-power system, and receives the judgment result of whether the power switching and control execution module can supply power.

[0040] As a further improvement of the present technical solution, after confirming that a power supply has failed, the emergency unit isolates the failed power supply from the power supply network, and receives a signal from the remote control unit to perform a power supply switching operation.

[0041] Compared with the prior art, the present invention has the following beneficial effects:

[0042] In the control topology of the live working robot based on dynamic switching of multiple power sources, the real-time scheduling algorithm is used to realize the coordinated control of multiple power sources (diesel generator power supply / AC charging port power supply / 48V generator power supply), achieve a power switching time of ≤5ms (a 90% improvement compared to the existing technology), and reduce the power interruption rate to 0.2%; support the access of multiple power types (diesel generator power supply / AC charging port power supply / 48V generator power supply) to adapt to different working scenarios; multiple power sources can be switched through remote control to realize intelligent power management and early alarm system, greatly improving operation and maintenance efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] Figure 1 It is the overall flow chart of the present invention;

[0044] Figure 2 This is a control topology diagram of the live working robot based on dynamic switching of multiple power sources in this embodiment;

[0045] The meaning of each number in the figure is:

[0046] 1. Energy storage battery unit; 11. Battery power supply module; 12. Battery warning module; 2. Control conversion unit; 21. Monitoring module; 22. Power switching and control execution module; 23. Communication and remote control interaction module; 3. Remote control unit; 4. Emergency unit. DETAILED DESCRIPTION

[0047] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0048] Example: See Figure 1-2 As shown, a control topology for a live working robot based on dynamic switching of multiple power sources is provided, including:

[0049] The energy storage battery unit 1 is used to supply power to the live working robot and provide power warning;

[0050] In this embodiment, the energy storage battery unit 1 includes a battery power supply module 11 and a battery warning module 12 (in this embodiment, the energy storage battery unit is the energy storage battery module);

[0051] Wherein, the battery power supply module 11 supplies power to the live working robot in the energy storage battery power mode;

[0052] When the energy storage battery triggers a low battery warning, the battery warning module 12 sends a notification signal to the control conversion unit 2 via the CAN bus.

[0053] The control conversion unit 2 monitors the power status of the energy storage battery and the status of the multi-power system (original vehicle battery, diesel generator, AC charging port, 48V generator) in real time (including working status, power supply level, warning status, etc.), controls the switching of power supplies, and adjusts the input of multiple power supplies;

[0054] In this embodiment, the control conversion unit 2 includes a monitoring module 21, a power switching and control execution module 22, and a communication and remote control interaction module 23;

[0055] The monitoring module 21 monitors the power status of the energy storage battery and the status of the multi-power system (including working status, power supply power, warning status, etc.) in real time, and determines whether the power of the energy storage battery is sufficient. If the power is sufficient, the monitoring module 21 feeds back the information to the battery power supply module 11 for power supply; if the power is insufficient, the monitoring module 21 feeds back the information to the battery warning module 12;

[0056] The power switching and control execution module 22 executes the selection and switching of the main / backup power supply through the CAN bus according to the monitoring results of the monitoring module 21 and the remote control instructions, and controls the power supply to the energy storage battery and the robot through the DC bus (the CAN bus is used to achieve seamless switching between the main and backup power supplies and the auxiliary power supply, ensuring the switching time is ≤5ms, maintaining the continuity and stability of the system, supporting the access of multiple power types, and dynamically adjusting the power supply strategy according to actual needs to ensure the efficient operation of the live working robot). In this embodiment, the power switching and control execution module 22 is a control conversion module;

[0057] The communication and remote control interaction module 23 performs wireless communication and communication verification with the remote control unit 3 via the CAN bus, sends monitoring data and receives control instructions from the remote control unit 3 (realizing CAN bus communication between the control conversion module and the multi-power system, ensuring that instructions are accurately conveyed to each component, and feeding back execution results, supporting remote monitoring and control functions, allowing operators to view system status and issue commands in real time through the remote control panel, thereby improving operation and maintenance efficiency and flexibility).

[0058] The power switching and control execution module 22 performs the selection and switching of the main / backup power supply through the CAN bus according to the monitoring results of the monitoring module 21 and the remote control instructions, and controls the power supply to the energy storage battery and the robot through the DC bus, including the following steps:

[0059] S1.1. Receive instructions from the remote control unit 3 and, based on the monitoring data provided by the monitoring module 21, confirm via the CAN bus whether the corresponding power supply can supply power. If not, perform an alarm operation and feedback to the remote control unit 3;

[0060] S1.2. If the energy storage battery is low and a power warning has been triggered, the original vehicle battery is prioritized as a temporary power source. The original vehicle battery is boosted by the 12V to 48V power conversion module and then charged by the power switching and control execution module 22 via the DC bus to the energy storage battery module. If the energy storage battery is low, charging is required by default, and the original vehicle battery is prioritized for power supply.

[0061] S1.3. Based on the real-time scheduling algorithm of the MCU in the power switching and control execution module 22, multiple power sources (diesel generator power supply, AC charging port power supply, 48V generator power supply) are coordinated and redundancy and reliability parameters are introduced into the real-time scheduling algorithm;

[0062] Among them, based on the real-time scheduling algorithm of the MCU in the power switching and control execution module 22, multiple power sources (diesel generator power supply, AC charging port power supply, 48V generator power supply, etc.) are coordinated and controlled, including the following steps:

[0063] S1.31. After the control conversion module is started, it initializes the status of all connected power supplies and energy storage batteries, and monitors the working status and power level of each power supply and the remaining power of the energy storage battery in real time;

[0064] S1.32. Use the real-time scheduling algorithm in the MCU to evaluate the suitability of each available power source. This includes checking the operating status, power supply capabilities, and current power level of the selected power source.

[0065] S1.33. Based on the evaluation results, the real-time scheduling algorithm calculates the optimal power supply combination and plans the specific switching sequence to ensure seamless millisecond switching (≤5ms) during the switching process, thereby avoiding any possible power supply interruptions or fluctuations.

[0066] Furthermore, based on the evaluation results, the real-time scheduling algorithm calculates the optimal power supply combination solution and plans the specific switching sequence, including the following steps:

[0067] S1.331. Analyze the performance of each feasible power source, including response time, switching efficiency, power quality, and historical performance;

[0068] S1.332. Based on the above analysis results, score each available power source and use a comprehensive scoring function to evaluate the fitness score of each power source;

[0069] The comprehensive scoring function is:

[0070] S=w1·T+w2·E+w3·Q+w4·H;

[0071] To address the issue of work interruptions caused by power failures, redundancy and reliability parameters are introduced into the comprehensive scoring function for optimization. (In outdoor or complex operating environments, a single power supply solution is prone to interruptions in robot operations due to power failures (such as battery exhaustion and generator failure). By increasing redundancy and introducing the R parameter, a backup power source can be quickly switched to when a power source fails, reducing or even avoiding work interruptions. The introduction of the R parameter helps evaluate the redundancy and reliability of each power source and its related components, selecting solutions that can ensure stable power supply even if some components fail. This greatly improves the reliability of the entire power supply system and reduces the risk of unexpected downtime due to power problems. When an abnormality is detected in a power source, the system can automatically isolate it and quickly switch to other available power sources based on pre-set priority logic.)

[0072] S1=w1·T+w2·E+w3·Q+w4·H+w5·R;

[0073] Where S represents the fitness score, T represents the response time, E represents the switching efficiency, Q represents the quantitative value of power quality, H represents the quantitative value of historical performance, w1 represents the weight of response time, w2 represents the weight of switching efficiency, w3 represents the weight of power quality, w4 represents the weight of historical performance, S1 represents the optimized fitness score, w5 represents the weight of redundancy and reliability parameters, and R represents the redundancy and reliability parameters (T, E, Q, H, and R are normalized).

[0074] S1.333. Based on the fitness scores of all feasible power sources, the power source with the highest score is selected as the optimal choice. If there are multiple power sources with similar scores, their compatibility and ability to work together are further considered to select the best combination.

[0075] S1.4. If it is confirmed that the corresponding power source can supply power and the energy storage battery module needs to be charged, the power source switching action is executed. At this time, the selected power source charges the energy storage battery module via the DC bus through the power source switching and control execution module 22. If any of the conditions are not met, the power supply operation will not be performed (the CAN bus is used to confirm whether the corresponding power source can supply power, and at the same time, the CAN bus is used to determine whether the energy storage battery module needs to be powered. If both of the above instructions are "yes", the corresponding power source charges the energy storage battery module via the DC bus through the control conversion module; if any of the above instructions is "no", no power supply is performed).

[0076] S1.5. After receiving the power switching instruction, the system sends an instruction to the multi-power system (diesel generator power supply / AC charging port power supply / 48V generator power supply) via the CAN bus to determine whether power supply is available, and feeds the signal back to the remote control unit 3.

[0077] Furthermore, the communication and remote control interaction module 23 performs wireless communication and communication verification with the remote control unit 3 via the CAN bus, sends monitoring data and receives control instructions from the remote control unit 3, including the following steps:

[0078] S2.1. Collect monitoring data in real time from the control conversion module and other related components (such as the energy storage battery module and multi-power system) via the CAN bus. This data includes but is not limited to the energy storage battery power level, the operating status of each power source, and early warning signals.

[0079] S2.2. Receive control instructions from the remote control unit 3 via wireless communication technology. These instructions may involve selecting a specific power source for power supply, adjusting the charging strategy, or other related operations. Parse and verify the received instructions, and send corresponding commands to the control conversion module and other related components (including the energy storage battery module, multi-power system, etc.) via the CAN bus based on the instruction content to execute specific actions or adjustments.

[0080] S2.3. After executing the remote command, continue to monitor the system status and regularly send updated status information to the remote control unit 3 via wireless communication.

[0081] The remote control unit 3 receives status information of the energy storage battery monitoring unit 1 and the control conversion unit 2 in real time;

[0082] In this embodiment, the remote control unit 3 receives and displays the real-time power status (working status / power level / warning status) fed back by the control monitoring module 21, and sends commands to the power switching and control execution module 22 wirelessly to remotely control the multi-power system, and receives the judgment result of whether the power switching and control execution module 22 can supply power. In this embodiment, the remote control unit is the control panel. The control panel is based on remote monitoring and can realize device software updates, function optimization, vulnerability repairs, firmware or configuration files, etc.

[0083] When the original power supply fails, the emergency unit 4 executes the command to switch the power supply according to the signal sent by the remote control unit 3;

[0084] In this embodiment, after confirming that a power supply has failed, the emergency unit 4 isolates the failed power supply from the power supply network to prevent it from affecting other normally operating power supplies, thereby ensuring the stability of the overall power supply system, and receives signals from the remote control unit 3 to execute the operation of switching to the backup power supply. These instructions may include specific instructions on which backup power supply to select as an alternative.

[0085] In the control topology described in the present invention (such as Figure 2(As shown), a stable data and energy transmission chain is formed between each module via the CAN bus, DC cables, and wireless modules. The control conversion module, located at the center of the topology, is responsible for intelligently selecting the power input path and executing the power switching logic. The multi-power module includes three power supply methods: diesel generator, external charging port, and original vehicle battery. All of these are connected to the energy storage battery through the control module, and then power is supplied to the live working robot body.

[0086] The basic principles, main features, and advantages of the present invention are shown and described above. It should be understood by those skilled in the art that the present invention is not limited to the above-described embodiments. The above-described embodiments and descriptions are merely preferred examples of the present invention and are not intended to limit the present invention. Various changes and modifications may be made to the present invention without departing from the spirit and scope of the present invention, and such changes and modifications fall within the scope of the invention claimed.

Claims

1. A control topology for a live working robot based on dynamic switching of multiple power sources, characterized in that: include: An energy storage battery unit (1), the energy storage battery unit (1) being used to supply power to a live-working robot and to provide a power level warning; A control conversion unit (2), wherein the control conversion unit (2) monitors the power state of the energy storage battery and the multi-power system in real time, controls the switching of power supplies, and adjusts the multi-power input; A remote control unit (3), the remote control unit (3) receiving status information of the energy storage battery monitoring unit (1) and the control conversion unit (2) in real time; An emergency unit (4) executes a power switching command according to a signal sent by a remote control unit (3) when the original power supply fails.

2. The control topology of the live working robot based on dynamic switching of multiple power sources according to claim 1 is characterized in that: The energy storage battery unit (1) comprises a battery power supply module (11) and a battery early warning module (12); Wherein, the battery power supply module (11) supplies power to the live working robot in a power storage battery mode; When the energy storage battery triggers a low-battery warning, the battery warning module (12) sends a notification signal to the control conversion unit (2) via the CAN bus.

3. The control topology of the live working robot based on dynamic switching of multiple power sources according to claim 1 is characterized in that: The control conversion unit (2) includes a monitoring module (21), a power switching and control execution module (22), and a communication and remote control interaction module (23); The monitoring module (21) monitors the power status of the energy storage battery and the status of the multi-power system in real time, and determines whether the power of the energy storage battery is sufficient. If the power is sufficient, the monitoring module (21) feeds back the power to the battery power supply module (11) for power supply; if the power is insufficient, the monitoring module (21) feeds back the power to the battery warning module (12); The power switching and control execution module (22) performs power selection switching via the CAN bus according to the monitoring results of the monitoring module (21) and the remote control instructions, and controls the power supply to the energy storage battery and the robot via the DC bus; The communication and remote control interaction module (23) performs wireless communication and communication verification with the remote control unit (3) via the CAN bus, sends monitoring data, and receives control instructions from the remote control unit (3).

4. The control topology of the live working robot based on dynamic switching of multiple power sources according to claim 3 is characterized in that: The power switching and control execution module (22) performs power selection switching via the CAN bus according to the monitoring results of the monitoring module (21) and the remote control instructions, and controls the power supply to the energy storage battery and the robot via the DC bus, including the following steps: S1.1, receiving the instruction from the remote control unit (3), confirming whether the corresponding power supply can supply power based on the monitoring data provided by the monitoring module (21) through the CAN bus, and if it cannot supply power, performing an alarm operation and feeding back to the remote control unit (3); S1.

2. If the energy storage battery is low on power and a power warning has been triggered, the original vehicle battery is used as a temporary power source. The original vehicle battery is boosted by a 12V to 48V power conversion module and then charged by a power switching and control execution module (22) through a DC bus to the energy storage battery module. S1.3, based on the real-time scheduling algorithm of the MCU in the power switching and control execution module (22), multiple power supplies are coordinated and controlled, and redundancy and reliability parameters are introduced into the real-time scheduling algorithm; S1.

4. If it is confirmed that the corresponding power source can supply power and the energy storage battery module needs to be charged, the power switching action is executed. At this time, the selected power source charges the energy storage battery module via the DC bus through the power switching and control execution module (22). If any of the conditions is not met, the power supply operation will not be performed; S1.

5. After receiving the power switching instruction, the system sends an instruction to the multi-power system via the CAN bus to determine whether power can be supplied, and feeds the signal back to the remote control unit (3).

5. The control topology of the live working robot based on dynamic switching of multiple power sources according to claim 4 is characterized in that: In said S1.3, based on the real-time scheduling algorithm of the MCU in the power switching and control execution module (22), the coordinated control of multiple power supplies includes the following steps: S1.

31. After the control conversion module is started, it initializes the status of all connected power supplies and energy storage batteries, and monitors the working status and power level of each power supply and the remaining power of the energy storage battery in real time; S1.32, use the real-time scheduling algorithm in the MCU to evaluate the suitability of each available power source; S1.

33. Based on the evaluation results, the real-time scheduling algorithm calculates the optimal power supply combination plan and plans the specific switching sequence.

6. The control topology of the live working robot based on dynamic switching of multiple power sources according to claim 5 is characterized in that: In S1.33, based on the evaluation results, the real-time scheduling algorithm calculates the optimal power supply combination solution and plans a specific switching sequence, including the following steps: S1.

331. Analyze the performance of each feasible power source, including response time, switching efficiency, power quality, and historical performance; S1.

332. Based on the above analysis results, score each available power source and use a comprehensive scoring function to evaluate the fitness score of each power source; S1.

333. Based on the fitness scores of all feasible power sources, select the power source with the highest score as the optimal choice.

7. The control topology of the live working robot based on dynamic switching of multiple power sources according to claim 6 is characterized in that: In S1.332, the comprehensive scoring function is: S=w1·T+w2·E+w3·Q+w4·H; To address the problem of job interruption caused by power failure, redundancy and reliability parameters are introduced into the comprehensive scoring function for optimization: S1=w1·T+w2·E+w3·Q+w4·H+w5·R; Where S represents the fitness score, T represents the response time, E represents the switching efficiency, Q represents the quantitative value of power quality, H represents the quantitative value of historical performance, w1 represents the weight of response time, w2 represents the weight of switching efficiency, w3 represents the weight of power quality, w4 represents the weight of historical performance, S1 represents the optimized fitness score, w5 represents the weight of redundancy and reliability parameters, and R represents the redundancy and reliability parameters.

8. The control topology of the live working robot based on dynamic switching of multiple power sources according to claim 3 is characterized in that: The communication and remote control interaction module (23) performs wireless communication and communication verification with the remote control unit (3) via the CAN bus, sends monitoring data and receives control instructions from the remote control unit (3), including the following steps: S2.1, collect monitoring data from the control conversion module and other related components in real time through the CAN bus; S2.2, receiving control instructions from the remote control unit (3) through wireless communication technology, parsing and verifying the received instructions, and sending corresponding commands to the control conversion module and other related components through the CAN bus according to the content of the instructions; S2.

3. After executing the remote command, continue to monitor the system status and regularly send updated status information to the remote control unit (3) via wireless communication.

9. The control topology of the live working robot based on dynamic switching of multiple power sources according to claim 1 is characterized in that: The remote control unit (3) receives and displays the real-time power supply status fed back by the control monitoring module (21), sends a command to the power supply switching and control execution module (22) via wireless means to remotely control the multi-power supply system, and receives a judgment result of whether the power supply switching and control execution module (22) can supply power.

10. The control topology of the live working robot based on dynamic switching of multiple power sources according to claim 1 is characterized in that: After confirming that a power supply has failed, the emergency unit (4) isolates the failed power supply from the power supply network, receives a signal from the remote control unit (3), and performs a power supply switching operation.

Images