Controller, operation method thereof and robot

Abstract

The invention relates to the technical field of circuit control, in particular to a controller, an operation method thereof and a robot. The controller comprises a plurality of driving circuits and is used for starting the corresponding first-class working unit or the second-class working unit based on the power supply, and a switch buffer protection circuit is arranged in the driving circuit of the second-class working unit; the first-class working unit comprises a functional unit and an enabling unit, and the functional unit is accessed from a first plate of the controller; the second-class working unit and the enabling unit are accessed from a second plate of the controller; after the power supply supplies power to the first-class working unit based on the driving circuit, the enabling unit is used for sending a secondary power supply signal after monitoring that the first-class working unit is started; and the switch buffer protection circuit is used for receiving and responding to the secondary power supply signal, conducting the switch buffer protection circuit so as to synchronously conduct the driving circuit corresponding to the second-class working unit, and starting the second-class working unit based on the switch buffer protection circuit. And the overall starting efficiency and safety of the controller are improved.

Description

[0001] Priority application This application claims priority to the Chinese invention patent application [application number 2024108688719] filed on June 28, 2024 [titled “A controller, a secondary power supply circuit and a circuit based on optocoupler isolation design”], which is incorporated by reference in its entirety. Technical Field

[0002] The present invention relates to the field of circuit control technology, and in particular to a controller, an operating method thereof, and a robot. Background Art

[0003] Photovoltaic panels are mostly made of silicon, which uses the voltaic effect of semiconductor materials under sunlight to convert solar energy directly into electricity. To ensure power generation efficiency, photovoltaic panels are often tilted at an angle relative to the horizontal plane. When multiple photovoltaic panels are arranged to form a photovoltaic array, one or two photovoltaic panels are arranged along their length as a unit, and then these units are arranged along the width of the photovoltaic panel to form a photovoltaic panel array.

[0004] Photovoltaic panels are mounted to the ground using panel brackets, with adjacent panels connected sequentially. Because the photovoltaic panel array is laid over a large area with many low-lying and high-protruding surfaces, it can only be flat within certain areas, and it's impossible to guarantee a uniformly flat surface across the entire installation surface. Furthermore, the connection points between edge panels and other panels are reduced, making them prone to sagging. This results in height differences between adjacent panels, making it impossible to guarantee that the surfaces of adjacent panels are on the same plane.

[0005] Photovoltaic panels are installed outdoors, so dust and other debris easily accumulate on their surfaces, reducing their power generation efficiency. Regular cleaning of photovoltaic panels is essential. To reduce manual cleaning costs and improve cleaning efficiency, photovoltaic power plants often use photovoltaic maintenance robots to clean the panel surfaces.

[0006] Moreover, as the cleaning range of photovoltaic panels becomes larger and larger, the functions of operation and maintenance robots are integrated more and more, which also puts higher requirements on the working performance of the controller.

[0007] For example, the invention patent application with patent application publication number CN109176523A discloses a control circuit, a circuit board and a robot, which includes: a control chip, a power module and at least two functional modules; the power module is connected to the control chip for supplying power to the control chip so that the control chip works; the control chip is connected to each of the functional modules, and each of the functional modules is connected to the power module; after the control chip works, the functional modules are started in sequence according to a preset startup sequence; if any of the functional modules fails to start, the startup of the other functional modules that have not yet started is stopped, which solves the problem of poor stability caused by the common power supply of multiple functional modules, so as to realize the sequential power-on and fault detection of the functional modules and ensure the stability of the robot's operation.

[0008] For another example, the invention patent application with the patent application publication number CN117175916A discloses a drive system, a power-on control method, and a robot. The drive system includes: a power supply circuit, a sub-control circuit, and a main control circuit; the power supply circuit, the sub-control circuit, and the main control circuit are connected in sequence, and the power supply circuit is used to connect to an input power source; the power supply circuit is configured to supply power to the sub-control circuit and the main control circuit after the power supply circuit is powered on, so that the sub-control circuit and the main control circuit are powered on and started in sequence; the power supply circuit and the sub-control circuit are used to connect to corresponding functional circuits, and the power supply circuit is further configured to supply power to the functional circuits after the main control circuit and the sub-control circuit are operating normally.

[0009] However, the current multifunctional integrated controller has low activation efficiency and insufficient practicality. Summary of the Invention

[0010] The main purpose of the present invention is to provide a controller and its operating method, and a robot. In order to solve the above-mentioned technical problems, the present invention specifically adopts the following technical solutions: A first aspect of the present invention provides a controller, comprising a plurality of drive circuits, the drive circuits being configured to activate corresponding first-category operating units or second-category operating units based on a power supply, and the drive circuits of the second-category operating units being provided with switch buffer protection circuits; wherein the load of the first-category operating units is smaller than that of the second-category operating units, and / or the operating voltage of the first-category operating units is smaller than that of the second-category operating units; The first type of working unit includes a functional unit and an enabling unit, and the functional unit is connected from the first board of the controller; the second type of working unit and the enabling unit are connected from the second board of the controller; After the power supply supplies power to the first type of working unit based on the driving circuit, the enabling unit is used to send a secondary power supply signal after the preset monitoring first type of working unit is enabled; The switch buffer protection circuit is used to receive and respond to the secondary power supply signal, turn on the switch buffer protection circuit to synchronously turn on the drive circuits corresponding to the two types of working units, and enable the two types of working units based on the switch buffer protection circuit.

[0011] In some embodiments, the switch buffer protection circuit is disposed in the second block, and a plurality of the second type working units share one switch buffer protection circuit.

[0012] In some embodiments, the switch buffer protection circuit includes: a switch circuit, which is used to turn on the switch in response to the secondary power supply signal to connect the power supply to the drive circuit of the second type of working unit; and a buffer circuit, which is used to absorb and smooth the voltage spikes in the drive circuit.

[0013] In some embodiments, the first plate and the second plate are different regions of the same circuit board; or, the first plate and the second plate are different circuit boards, and the first plate is disposed above the second plate.

[0014] In some embodiments, the second plate is provided with a heat dissipation device.

[0015] In some embodiments, an optocoupler isolation circuit is provided between the first type of working unit and the second type of working unit.

[0016] A second aspect of the present invention is to provide a method for operating a controller, wherein the controller is the controller provided by any embodiment of the present invention, and the method comprises: S101, turning on a power switch of a type of working unit, and supplying power to the type of working unit based on a driving circuit of the type of working unit, so as to enable a plurality of the type of working units; S102, reading the preset working data of the monitoring type 1 working unit; when the working data meets the preset working data standard, confirming that the monitoring type 1 working unit is activated; S103, after the monitoring type 1 working unit is enabled, based on the secondary power supply signal sent by the enabling unit, turning on the switch buffer protection circuit to synchronously turn on the drive circuit corresponding to the type 2 working unit; S104 : Powering the second type of working units based on the driving circuits of the second type of working units and the switch buffer protection circuit, so as to enable a plurality of the second type of working units.

[0017] In some embodiments, the method further includes: if the monitored type-one working unit is not confirmed to be enabled within a second preset time period, obtaining the power-on status of the enabling unit, the power-on status including current and / or voltage; counting the actual enabled number of the enabling units whose power-on status meets the preset enabling status; when the actual enabled number is greater than or equal to the preset number, issuing the secondary power supply signal based on the enabling unit.

[0018] In some embodiments, the method includes: dividing the first type of working unit into a first working unit and a second working unit according to the load and / or voltage of several of the first type of working units; turning on the power switch of the first working unit; after a third preset time interval, turning on the power switch of the second working unit; when all the driving circuits of the first type of working units are turned on, executing step S102.

[0019] A third aspect of the present invention is to provide a robot, comprising the controller provided by any embodiment of the present invention, wherein the controller is configured to execute the steps of the operating method of the controller provided by any embodiment of the present invention.

[0020] Beneficial effects: The embodiments of the present invention provide a controller, an operating method thereof, and a robot, and specifically provide a solution for accelerating the startup of a controller under multi-level safety protection. The solution improves the overall startup efficiency of the controller through the rapid parallel startup of a type of working unit and the seamless connection startup of a type of working unit. In the connection, the safety of the controller startup is improved through the software and hardware linkage design such as dynamic verification and switch buffer protection circuit, thereby achieving rapid startup within a controllable risk range, and realizing high-speed startup, safe operation and long-term reliability of the controller in complex industrial scenarios, thereby effectively improving the overall work efficiency of the robot.

[0021] Specifically, the system divides the working units into Class I with low load / low voltage and Class II with high load / high voltage. The enabling unit immediately sends a secondary power supply signal after a specific Class I working unit is enabled to trigger the power supply of the Class II working unit. The phased power supply can effectively avoid the synchronous startup conflict between the high-power and low-power working units, thereby making the overlapping power supply of the Class I working units and the Class II working units occasional, small, and short-term, thus building the first level of safety protection.

[0022] Furthermore, a switch buffer protection circuit is embedded in the power supply path of the second-class working unit, which is used to receive and respond to the secondary power supply signal of the enabling unit, turn on the corresponding drive circuit, and absorb voltage spikes and smooth voltage fluctuations during the power supply process, thereby improving the electrical stability of the second-class working unit when it is started, and effectively preventing the second-class working unit from interfering with the first-class working unit that has been powered on or has not yet been powered on during short-term overlapping power supply, thereby forming a second level of safety protection.

[0023] Furthermore, a three-level safety protection system is established using a physical partitioning layout and optocoupler isolation circuit design. Class I working units are primarily deployed in the first section, while Class II working units and their corresponding enabling units are concentrated in the second section. This facilitates the targeted configuration of heat sinks. Combined with optocoupler isolation circuits, this effectively blocks electrical interference caused by load / voltage differences, reduces potential circuit fluctuations caused by brief overlapping power supplies, and improves power supply security.

[0024] A dynamic verification and fault-tolerance mechanism for the startup status of the second-class working unit is also proposed. By monitoring the first-class working unit in real time, the secondary power supply is triggered only after its activation, thereby improving the safety and responsiveness of the second-class working unit startup. If the conditions are not met within the preset time, to avoid stagnation or blockage of the entire power supply process due to the failure or delay of a single working unit, the system switches to evaluating the current / voltage status of the enabling unit, rather than forcing the activation of the first-class working unit, thus improving overall timeliness. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following is a brief introduction to the drawings required for the embodiments or the description of the prior art. In all drawings, similar elements or parts are generally identified by similar reference numerals. In the drawings, the various elements or parts are not necessarily drawn according to the actual scale. Obviously, the drawings described below are some embodiments of the present invention. For those of ordinary skill in the art, other drawings can also be obtained based on these drawings without inventive work.

[0026] Figure 1 A schematic diagram of hardware design in an exemplary embodiment of the present invention; Figure 2 A schematic diagram of a circuit structure of a secondary power supply design in an exemplary embodiment of the present invention; Figure 3 for Figure 2 Specific device schematic diagram of the circuit structure shown; Figure 4 24V circuit schematic diagram; Figure 5 is an exemplary structural diagram of a 12V circuit; Figure 6 is an exemplary structural diagram of a 5V circuit; Figure 7 is an exemplary structural diagram of a 3.3V circuit; Figure 8 Schematic diagram of an exemplary structure of a communication circuit between an MCU and a motor; Figure 9 Schematic diagram of the connection relationship of the photoelectric coupler in the circuit; Figure 10 Schematic diagram of the structure of the reverse current absorption circuit; Figure 11 This is a schematic diagram of the circuit structure of the suction cup motor; Figure 12 A schematic block diagram of a controller provided in an embodiment of the present invention; Figure 13 A schematic diagram of a switch buffer protection circuit provided by an embodiment of the present invention; Figure 14 Schematic diagram of hardware design of the first section in an exemplary embodiment of the present invention; Figure 15 Schematic diagram of hardware design of the second section in an exemplary embodiment of the present invention; Figure 16 A schematic flow chart of a controller operation method provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0027] To make the purpose, technical solutions, and advantages of the embodiments of the present invention more clear, 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 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.

[0028] Herein, suffixes such as "module," "component," or "unit" used to represent elements are only used to facilitate description of the present invention and have no specific meaning. Therefore, "module," "component," or "unit" may be used interchangeably.

[0029] As used herein, terms such as "upper," "lower," "inner," "outer," "front," "back," "one end," and "the other end" indicate positions or locations based on those shown in the accompanying drawings. These terms are intended solely to facilitate and simplify the description of the present invention and are not intended to indicate or imply that the devices or components referred to must have, be constructed, or operate in a specific orientation. Therefore, they should not be construed as limitations on the present invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0030] As used herein, unless otherwise expressly specified or limited, the terms "installed," "provided with," and "connected" should be understood broadly. For example, "connected" may refer to a fixed connection, a detachable connection, or an integral connection; it may refer to a mechanical connection, a direct connection, an indirect connection via an intermediate medium, or internal communication between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention on a case-by-case basis.

[0031] As used herein, "and / or" includes any and all combinations of one or more of the associated listed items.

[0032] Herein, "plurality" means two or more than two, ie, it includes two, three, four, five, etc.

[0033] It should be noted that, in this document, the terms "comprises," "includes," or any other variations thereof are intended to encompass non-exclusive inclusion, such that a process, method, article, or apparatus comprising a series of elements includes not only those elements but also other elements not explicitly listed, or elements inherent to such process, method, article, or apparatus. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of other identical elements in the process, method, article, or apparatus comprising the element.

[0034] As used in this specification, the term "about" typically means + / - 5% of the stated value, more typically + / - 4% of the stated value, more typically + / - 3% of the stated value, more typically + / - 2% of the stated value, even more typically + / - 1%, and even more typically + / - 0.5% of the stated value.

[0035] In this specification, certain embodiments may be disclosed in a format that is within a range. It should be understood that this description of "within a range" is merely for convenience and brevity and should not be interpreted as a rigid limitation on the disclosed range. Therefore, the description of a range should be considered to have specifically disclosed all possible subranges and individual numerical values ​​within this range. For example, the description of a range of 1-6 should be considered to have specifically disclosed subranges such as from 1 to 3, from 1 to 4, from 1 to 5, from 2 to 4, from 2 to 6, from 3 to 6, etc., as well as individual numbers within this range, such as 1, 2, 3, 4, 5, and 6. Regardless of the breadth of the range, the above rules apply.

[0036] See Figure 1 As shown, the present invention provides a controller for a photovoltaic maintenance robot (a photovoltaic inspection robot, or robot). The controller is used to control the robot's movements. The robot comprises a robot body and at least one functional module disposed within the robot body, including a cleaning module. Correspondingly, the controller comprises at least one first drive circuit configured to drive a corresponding first motor, which is used to drive the movement of the functional module; and at least one second drive circuit configured to drive a corresponding second motor, which is used to drive the movement of the robot body. The at least one drive circuit comprises a power supply, a system, a switching circuit, a buffer circuit, and a motor circuit. The output of the power supply is connected to the input of the switching circuit and the system, respectively. The system is further connected to the input of the switching circuit via a buffer circuit. The output of the switching circuit is connected to a motor circuit, which is connected to the corresponding motor.

[0037] The robot may include: two roller brushes arranged at the front and rear of the robot.

[0038] A braking mechanism can also be provided on the chassis of the robot body, including: the braking mechanism includes: a suction cup mechanism, which can move up and down under the drive of a motor; wherein, when the suction cup moves toward the photovoltaic panel under the action of the motor, a closed negative pressure environment is formed between the adsorption surface of the suction cup and the photovoltaic panel, so that the photovoltaic robot can be restricted from moving under the action of negative pressure; on the contrary, the suction cup is driven upward by the motor, and the negative pressure environment is destroyed, so that the photovoltaic robot can move freely.

[0039] Preferably, in some embodiments, a motor is provided on each of the left and right tracks of the robot chassis.

[0040] Preferably, in some embodiments, the front and rear roller brushes are driven and controlled by two motors.

[0041] Among them, the two roller brush motors are 300w each, and the two motors on the left and right tracks of the chassis are 100w each.

[0042] Among them, the driving circuits of the four motors preferably adopt an independent circuit design to facilitate functional expansion. For example, if market demand changes and the chassis or roller brush motor needs to have higher power, for our controller, it is only necessary to replace the four resistors of the corresponding four-way motor drive. There is no need to redesign the entire circuit board. Functionally, it can realize four three-phase DC brushless motors within 600W.

[0043] In some embodiments, the main control part is designed as follows: The controller is designed with STMicroelectronics STM32F405VGT6, the core is ARM 32-bit CortexTM-M4CPU with FPU, and the main frequency is 168MHz.

[0044] In some embodiments, the power supply is designed as follows: The wide input voltage supports 24-60V, and the multi-channel power supply adopts an independent design to ensure that each working unit can work independently and stably. For the circuit of the high-power part of the motor, a secondary power supply design is adopted to avoid the generation of very large current at the moment of power-on. The high-power circuit of the motor is powered only after the system is stable. In addition, a buffer circuit (including capacitors and resistors) is designed to allow the high-power part to climb slowly, avoid the generation of instantaneous large current, and improve overall stability.

[0045] See also Figure 2-3 As shown in the figure, after the power is input, the system, for example, the MCU (Microcontroller Unit) system, is powered. After the system starts and stabilizes, the circuit switch of the motor part is turned on. The switch of the motor part consists of two MOS tubes. By controlling the gate (Gate) of the MOS tube, the MOS tube is turned on to supply power to the motor circuit. The gate (Gate) of the MOS tube is connected in parallel with a capacitor, so that the control signal level rises slowly due to the charging effect of the capacitor, thereby slowly turning on the MOS.

[0046] Furthermore, the power supply is designed as follows: See also Figure 4 As shown, the 24V circuit uses two Gubang GBI1620MOAR high-performance asynchronous step-down DC converters, with a maximum input voltage of 60V and a maximum continuous operating current of 2.5A.

[0047] See also Figure 5 As shown, the 12V circuit also uses a Gubang GBI1620MOAR high-performance asynchronous step-down DC converter with a maximum input voltage of 60V and a maximum continuous operating current of 2.5A.

[0048] See also Figure 6 As shown, the 5V circuit uses the JW5372F high-performance synchronous step-down DC converter from JW Watt, with a maximum continuous operating current of 4A.

[0049] See also Figure 7 As shown, the 3.3V system power supply uses Silergy's SY8089A high-efficiency synchronous buck converter with a switching frequency of up to 1MHz, a continuous operating current of 2A, and a peak current of up to 3A.

[0050] In some embodiments, the motor design is as follows: the motor driver IC uses the commonly used JY01. It supports independent control of four motors, motor drive up to 300W, overcurrent and overvoltage protection, stall protection, speed regulation, and brake force control. All signals communicating with the MCU utilize optocoupler isolation to prevent high voltage from damaging low-voltage circuits and improve system stability.

[0051] This embodiment provides a circuit based on an optocoupler isolation design, comprising: at least one microcontroller unit capable of generating a first control electrical signal E1 for controlling the operating state of a corresponding motor; at least one photocoupler, a first end of the photocoupler being connected to the microcontroller unit; the first control electrical signal E1 being converted by the photocoupler into a first control optical signal L1, which is then converted by the first control optical signal L1 into a second control electrical signal E2, which is then output to a corresponding drive circuit via the photocoupler; At least one drive circuit connected to the motor is arranged corresponding to the microcontroller, and the drive circuit is connected to the second end of the optocoupler; the drive circuit can generate a third electrical control signal E3, and the third electrical control signal E3 is converted into a second optical control signal L2 via the optocoupler, and then converted into a fourth control electrical signal E4 via the second optical control signal L2, and output to the corresponding drive circuit via the optocoupler.

[0052] See also Figure 8 As shown in the figure, the left and right sides of the photocoupler are connected to the MCU and the motor, respectively. A photocoupler is an electrical-to-optical-to-electrical conversion device that uses light as a medium to transmit electrical signals. It consists of a light source and a light receiver. These two components are assembled in a sealed housing and isolated by a transparent insulator. The pins of the light source are the input terminals, while the pins of the light receiver are the output terminals. Common light sources are light-emitting diodes, and light receivers are photodiodes, phototransistors, and so on.

[0053] like Figure 9As shown, the two signals are connected through a photoelectric coupler. The front-end electrical signal is first converted into an optical signal, and the back-end optical signal is then converted into an electrical signal, thereby achieving physical isolation during signal transmission.

[0054] In some embodiments, the IO part is designed as follows: all the bit output IOs are isolated and controlled by high-power MOS tubes to improve system stability, and a reverse current absorption circuit is designed to cope with the reverse current input caused by the inductive load and further improve the stability of the circuit. Figure 10 As shown, a diode (such as D14, D15, etc. in the figure) is connected to the output end (negative pole) of the power supply.

[0055] In some embodiments, see Figure 11 The design of the suction cup motor is as follows: the suction cup motor is controlled by a high-reliability relay, supports positive and negative voltage output, and the control signal is isolated by a MOS tube. A reverse current absorption circuit is also designed to cope with the reverse current input caused by the inductive load to further improve the stability of the circuit.

[0056] In some embodiments, the IMU design is as follows: The IMU utilizes the JY02 module from Witt Intelligent, a high-performance 3D dynamic attitude measurement system based on MEMS technology. It includes a triaxial gyroscope and a triaxial accelerometer. By integrating various high-performance sensors and utilizing a core attitude dynamics algorithm engine, combined with a high-dynamic Kalman filter fusion algorithm, it provides users with high-precision, high-dynamic, and real-time compensation of triaxial attitude angles. Flexible selection and configuration of various data types allows for diverse application scenarios.

[0057] The sensor fusion algorithm based on the Kalman filter principle can provide real-time data with an update rate of up to 100Hz, thereby meeting various high-precision application requirements and achieving accurate motion capture and posture estimation.

[0058] An embodiment of the present invention also provides a controller, an operating method thereof, and a robot, and specifically provides a solution for accelerating the startup of a controller under multi-level safety protection. By quickly and in parallel starting a type of working unit and seamlessly starting a type of working unit, the overall startup efficiency of the controller is improved, and high-speed startup, safe operation, and long-term reliability of the controller are achieved in complex industrial scenarios.

[0059] In the absence of conflict, the following embodiments and features of the embodiments may be combined with each other. Figure 12 , Figure 12 A schematic block diagram of a controller provided in an embodiment of the present invention; Figure 12 As shown, an embodiment of the present invention provides a controller.

[0060] The controller includes a plurality of drive circuits, each of which is used to activate a corresponding first-class working unit or second-class working unit based on a power supply, and a switch buffer protection circuit is provided in the drive circuit of the second-class working unit; wherein the load of the first-class working unit is smaller than the load of the second-class working unit, and / or the operating voltage of the first-class working unit is smaller than the operating voltage of the second-class working unit; The first type of working unit includes a functional unit and an enabling unit, and the functional unit is connected from the first board of the controller; the second type of working unit and the enabling unit are connected from the second board of the controller; After the power supply supplies power to the first type of working unit based on the driving circuit, the enabling unit is used to send a secondary power supply signal after the preset monitoring first type of working unit is enabled; The switch buffer protection circuit is used to receive and respond to the secondary power supply signal, turn on the switch buffer protection circuit to synchronously turn on the drive circuits corresponding to the two types of working units, and enable the two types of working units based on the switch buffer protection circuit.

[0061] Specifically, during the activation process, the power supply first supplies power to the first type of working unit in parallel through the drive circuit to improve startup efficiency and obtain the activation status of the monitored first type of working unit in real time. After the preset monitored first type of working unit is activated, it is inferred that all or most of the first type of working units have completed initialization and are operating stably. The enabling unit sends a secondary power supply signal to seamlessly activate the second type of working unit. The secondary power supply signal is transmitted to the switch buffer protection circuit, which is arranged in the drive circuit between the second type of working unit and the power supply. In response to the secondary power supply signal, the switch buffer protection circuit synchronously conducts its own internal path, that is, it conducts the switch buffer protection circuit and the drive circuit that supplies power to the second type of working unit. During the power supply process for the second type of working unit, the drive circuit with an internal buffer circuit enables the second type of working unit in a slow start mode, thereby avoiding possible conflicts in the synchronous startup of the first type of working unit and the second type of working unit, and improving the overall startup safety of the controller. It should be noted that the completion of activation or startup of the working unit means that the working unit has completed initialization, self-test, and system configuration loading, and is in a state where it can execute preset tasks.

[0062] In some embodiments, a type of working unit refers to a working unit connected to the controller with a low load and / or a low operating voltage, a type of working unit with low power consumption, and can be quickly started in parallel. The type of working unit includes a functional unit and an enabling unit.

[0063] A functional unit is a working unit used to perform specific tasks. It can be a data acquisition unit used to sense environmental information, such as an ultrasonic unit, a flow meter unit, an IMU inertial measurement unit, a current sensor, a temperature sensor, or a graphic acquisition device. It can also be a communication unit used for communication interaction, such as a WIFI unit, a CAN unit, a Bluetooth unit, etc. It can also be a storage unit, such as various hard disks, flash memories, etc. The specific functional unit is determined by the working unit used by the robot in the actual application scenario and is not limited here. Figure 1 As shown in the figure, in the controller of the photovoltaic operation and maintenance robot, the connected functional units include ultrasonic unit, flow meter unit, IMU inertial measurement unit, remote control unit, debugging serial port unit, flash memory unit with a storage capacity of 16 megabits (i.e. 16M FLASH), CAN unit, WIFI unit, etc.

[0064] The enabling unit is a working unit that issues a secondary power supply signal. It can interact directly with the monitoring unit (Class 1) or through the MCU to obtain its operating status, specifically whether it has been enabled. Upon confirming that the Class 1 unit has been enabled, the enabling unit automatically generates a secondary power supply signal. This secondary power supply signal is a control signal issued by the enabling unit and serves as an enable command input to the switch buffer protection circuit, triggering the power supply to the Class 2 unit.

[0065] For example, the specific enabling unit is flexibly selected according to the actual application scenario, and the enabling unit can be connected to the controller through an interface or integrated into the controller, which is not limited here.

[0066] For example, the enabling unit can also be used to control the function execution of the second type of working unit. For example, when the second type of working unit is a motor, the enabling unit can be a motor driver, such as the motor driver chip JY01. In this way, the enabling unit can perform both function execution and status monitoring without the need for a separate enabling unit.

[0067] In some embodiments, a type of working unit also includes a logic control unit, such as an MCU unit, etc. An enabling unit that has both function execution and status monitoring can also serve as a logic control unit, such as the motor driver chip JY01.

[0068] In some embodiments, a type of working unit can be centrally deployed in the first block of the controller; a type of working unit can also be deployed separately, with the functional unit and the enabling unit deployed separately. It should be understood that, in general, the number of enabling units is less than the number of functional units, and all functional units with a higher proportion can be deployed in the first block, not directly participating in power supply control, and only obtaining electrical energy from the first block through the driving circuit of the type one working unit; the enabling units with a lower proportion can be deployed in the second block, which is convenient for accessing the switch buffer protection circuit set between the driving circuit of the type two working unit and the power supply, so that the secondary power supply signal responds quickly. In particular, when the enabling unit is capable of both function execution and status monitoring, the enabling unit and the type two working unit are both distributed in the second block, which facilitates the enabling unit to control the function execution of the type two working unit.

[0069] In some embodiments, Class II work units refer to power-intensive work units with higher loads and / or operating voltages. These can be various high-power motors, such as brushless DC motors, stepper motors, and servo motors. Taking robots as an example, depending on the actuator, Class II work units can include roller brush motors, track motors, suction cup motors, and so on. These work units are concentrated in the second section of the controller, rely on a secondary power supply signal for activation, and feature a switch buffer protection circuit within the drive circuit to ensure electrical stability.

[0070] In some embodiments, the load and / or working voltage of several working units connected to the controller are obtained, and a set of working units that can be enabled in parallel among the several working units is determined based on a preset parallel enablement range, wherein the maximum load difference and / or the maximum working voltage difference between the respective working units in the working unit set is less than the preset parallel enablement range; when there are two working unit sets, the several working units are divided into Class I working units and Class II working units according to the working unit sets.

[0071] When there are more than two working unit sets, several working units are divided into several classes of working units according to the working unit sets, among which the working unit set with the smallest average load or average working voltage is a class one working unit, and the working unit set with the largest average load or average working voltage is a class two working unit. They are enabled in batches according to the load or average working voltage from small to large and with the working unit set as the unit.

[0072] It should be understood that the operating voltage, load, and power are closely related through basic electrical formulas. Devices with larger loads usually require higher voltages to maintain stable operation. High loads correspond to greater power requirements. Devices with large differences in power requirements need to be powered on separately to ensure safety during activation. Correspondingly, the parallel activation range refers to the load range and / or operating voltage range of the working units that support parallel power-on. It is determined by a variety of factors, including application scenarios, technical limitations, cost control, etc. The specific values ​​can be set as needed and are not limited here. In some embodiments, the power supply is an external power supply that provides input power to the controller, such as the power supply part in the above embodiment, which can be a multi-channel independent power supply system with a wide input range (24-60V). Figure 1 The battery in the

[0073] In some embodiments, the drive circuit is a power path connecting the power supply to various operating units connected to the controller. For example, the drive circuit of a first type of operating unit is directly connected to the power supply, while the drive circuit of a second type of operating unit has a switch buffer protection circuit embedded in it and is connected to the power supply through the switch buffer protection circuit.

[0074] In some embodiments, the switch buffer protection circuit is a protection circuit in the second-type working unit driving circuit, which includes at least a switch element, a capacitor and a resistor. It smoothly raises the voltage through the capacitor charging effect to improve the electrical stability when the high-power working unit is started.

[0075] In some embodiments, the switch buffer protection circuit includes: a switch circuit, which is used to turn on the switch in response to the secondary power supply signal to connect the power supply to the drive circuit of the second type of working unit; and a buffer circuit, which is used to absorb and smooth the voltage spikes in the drive circuit.

[0076] Specifically, the switch circuit controls the conduction state of an internal switching element (e.g., a MOS transistor) in response to a secondary power supply signal. This not only connects the buffer circuit to the drive circuit of the second-class working unit but also establishes a connection path between the second-class working unit and the power supply. Furthermore, the buffer circuit absorbs voltage spikes during the power supply process and smoothes the power supply curve, preventing transient fluctuations from interfering with the powered-on class of working units or any remaining class of working units that have not yet completed startup. It should be understood that the conduction state of the switch element in the switch buffer protection circuit corresponds to the conduction state of the drive circuit of the second-class working unit. When the switch element is turned on, the corresponding drive circuit of the second-class working unit is turned on, and power supply begins. When the switch element is turned off, the corresponding drive circuit of the second-class working unit is turned off, and power is no longer supplied.

[0077] In some embodiments, the switch buffer protection circuit further includes: a signal receiving circuit configured to receive a secondary power supply signal sent by the enabling unit.

[0078] Exemplarily, when the second-class working unit is a motor and the enabling unit is the motor driver chip JY01, the driving circuit of the second-class working unit includes: a power supply (i.e., a power supply), a system (i.e., the motor driver chip JY01), a switching circuit, a buffer circuit, and a motor circuit (i.e., the driving circuit of the second-class working unit).

[0079] See also Figure 13 , Figure 13 A schematic diagram of a switch buffer protection circuit provided by an embodiment of the present invention is shown in FIG. Figure 13 As shown, the switching circuit 10 includes two switching elements. One end of the switching element is connected to GND, indicating grounding; the other end is connected to VBAT-, indicating connection to the negative terminal of the power supply. When receiving the enable signal "MOTOR EN" from the motor driver chip JY01, the switching circuit responds to the secondary power supply signal to turn on the two switching elements, turning on the drive circuit of the second type of working unit and starting to supply power to the second type of working unit through the buffer circuit. The buffer circuit includes capacitor C and resistor R to provide buffering to achieve a slow increase in current and voltage, and diode D for voltage regulation. Thus, during the power supply process, voltage spikes in the drive circuit are dynamically absorbed, and voltage fluctuations are smoothed by the capacitor and resistor, ensuring electrical stability when the second type of working unit starts.

[0080] It should be understood that the switch buffer protection circuit not only realizes responsive startup control of the secondary power supply signal, but also ensures the electrical stability of other working units during the startup process of the high-load working unit, further strengthening the multi-level safety protection system.

[0081] In some embodiments, the switch buffer protection circuit is disposed within the second block, and multiple Class II working units share one switch buffer protection circuit. It should be understood that the switch buffer protection circuit is integrated within the second block and shared by multiple Class II working units. This centralized layout reduces hardware redundancy, space usage, and costs. Furthermore, the conduction of the switching elements within the switch buffer protection circuit simultaneously turns on the buffer circuit and the corresponding drive circuits of the Class II working units. By sharing the switch buffer protection circuit, all associated Class II working units can achieve synchronous startup based on the same secondary power supply signal, ensuring smooth and synchronized power supply, further improving startup speed.

[0082] In some embodiments, the switch buffer protection circuit is provided in the second block, and each of the second type of working units is respectively configured with one switch buffer protection circuit.

[0083] In some embodiments, the first plate and the second plate are different regions of the same circuit board; or, the first plate and the second plate are different circuit boards, and the first plate is disposed above the second plate.

[0084] Specifically, the first plate and the second plate can be physically arranged in different areas on the same circuit board, and the electrical isolation between the first type of working unit and the second type of working unit can be achieved through the physical partition layout, such as Figure 1 As shown in the figure, the upper part of the controller's hardware design is the first block, which concentrates on the first type of working units, such as ultrasonic units, flow meter units, IMU inertial measurement units, CAN units, WIFI units and other functional units, as well as MCU units. The lower part is the second block, which concentrates on the second type of working units and their corresponding enabling units, such as motor driver chip JY01, motor 1, motor 2, etc.

[0085] The first and second panels can also be physically arranged as independent circuit boards, with the first panel positioned above the second panel to form a stacked structure. Figures 14 and 15 , Figure 14 Schematic diagram of hardware design of the first section in an exemplary embodiment of the present invention; Figure 15 FIG. 1 is a schematic diagram of the hardware design of the second section in an exemplary embodiment of the present invention. Figure 14 As shown in FIG, the first block centrally distributes a type of working units, such as ultrasonic units, flow meter units, IMU inertial measurement units, CAN units, WIFI units and other functional units, as well as MCU units, and the MCU units are connected to other types of working units to perform activation control or subsequent operation control on other types of working units; Figure 15 As shown, the second block centrally distributes the two types of working units and their corresponding enabling units, such as the motor driver chip JY01 corresponding to the enabling unit, and motors 1 and 2 corresponding to the two types of working units. The MCU unit can be connected to JY01 to control the motors through JY01. The second block also includes the MOS transistors corresponding to the motors. A brushless DC motor can be composed of six MOS transistors to form a three-phase bridge arm. Each phase contains a high-side MOS and a low-side MOS, respectively connected to the U, V, and W phase windings of the motor. For example, the first block can be a control board, and the second block can be a driver board.

[0086] In some embodiments, the second plate is provided with a heat sink. The heat sink can be a metal heat sink, a heat pipe structure, thermally conductive silicone, or the like, without limitation. It should be understood that high-power Class II operating units are prone to heat generation during operation. Leveraging the centralized layout of the second plate, the heat sink can be configured only for the second plate to optimize thermal management efficiency.

[0087] It should be understood that based on the need for functional isolation, direct interference between high-power and low-power working units is blocked through spatial partitioning. Furthermore, when the physical layout of independent circuit boards is adopted, the low-power unit of the first plate and the high-power unit of the second plate exchange signals through the optocoupler isolation circuit, further reducing electromagnetic interference. In addition, since the second plate concentrates high-power components, a heat dissipation device can be configured in a targeted manner. The first plate is set above the second plate, and heat can be prevented from spreading to the working unit of the first plate, thereby ensuring the long-term stable operation of the controller under high load.

[0088] In some embodiments, an optocoupler isolation circuit is provided between the first type of working unit and the second type of working unit.

[0089] Specifically, an optocoupler isolation circuit is set between the first type of working unit and the second type of working unit to block the electrical interference between the high and low power working units. The optocoupler isolation circuit consists of a light source (such as a light emitting diode) and a light receiver (such as a phototransistor). There is no direct electrical connection between the two, and they only rely on optical signals to transmit information. Figure 9 As shown, the electrical signal is converted into an optical signal and then restored to an electrical signal, thereby achieving physical isolation between the input and output ends.

[0090] For example, when a type 1 operating unit (such as an MCU or enable unit) sends a control signal to a type 2 operating unit (such as a motor) via an optocoupler, the input current only drives the LED to emit light, while the output current is independently generated by the photoreceiver based on the optical signal strength, completely isolating the current paths between the high-voltage and low-voltage sides. This ensures reliable signal transmission while preventing short circuits or noise interference caused by voltage differences, further enhancing safety protection.

[0091] See also Figure 16 , Figure 16 A schematic flow chart of a controller operation method provided in an embodiment of the present invention is shown in FIG. Figure 16 As shown, an embodiment of the present invention provides an operating method of a controller, where the controller is the controller provided by any embodiment of the present invention, and the method includes S101 to S104.

[0092] S101 , turning on a power switch of a type of working unit, and supplying power to the type of working unit based on a driving circuit of the type of working unit, so as to enable a plurality of the type of working units.

[0093] Specifically, the power supply first turns on the power switch of one type of working unit to enable the one type of working unit through its corresponding driving circuit, thereby achieving rapid parallel startup of the low-load / low-voltage working units.

[0094] In some embodiments, the method includes: dividing the first type of working unit into a first working unit and a second working unit according to the load and / or voltage of several of the first type of working units; turning on the power switch of the first working unit; after a second preset time interval, turning on the power switch of the second working unit; when all the driving circuits of the first type of working units are turned on, executing step S102.

[0095] Specifically, to optimize the startup process of a type of working unit, the first type of working unit is further subdivided into a first working unit and a second working unit based on their load and / or operating voltage differences. For example, in a photovoltaic operation and maintenance robot, the operating voltage of the MCU unit is 3V, the operating voltage of the ultrasonic unit is 5V, the operating voltage of the flow meter unit is 5V, and the operating voltage of the remote control unit is 24V. In this case, the MCU unit, ultrasonic unit, and flow meter unit are the first working unit, and the remote control unit is the second working unit.

[0096] During startup, the power switch of the first working unit is first turned on, powering it through the driver circuit. Simultaneously, a built-in timer starts timing a third preset duration. When the third preset duration expires, the power switch of the second working unit is turned on, powering it through the driver circuit. After the driver circuits of both the first and second working units are in the on state, the system begins reading the operating data of the preset Class 1 monitoring working unit. When the operating data meets the preset operating data standards, the preset Class 1 monitoring working unit is confirmed to be activated.

[0097] It should be understood that the hierarchical startup of working units is carried out within a type of working unit, and staggered power supply is achieved only through delay control, without verifying whether the first working unit has been started, so as to strictly control the parallel startup efficiency and avoid the risk of power supply fluctuations caused by simultaneous power-on of multiple working units.

[0098] In some embodiments, the method includes: determining an activation order among the working units of the class according to the loads and / or voltages of several working units of the class, wherein a working unit of the class with a smaller load and / or voltage is activated earlier in the activation order; turning on the drive circuits of the corresponding working units of the class in sequence based on the activation order and a preset time interval; and executing step S102 when all the drive circuits of the working units of the class are turned on.

[0099] It should be understood that implementing refined batch startup management for a class of working units and strictly controlling the startup intervals between batches can reduce transient current shocks while improving parallel startup efficiency, achieving a coordinated optimization of safety and startup speed. Furthermore, when the load and / or voltage differences between working units of a class are small, they can also be activated simultaneously.

[0100] S102, reading the preset working data of the monitoring type 1 working unit; when the working data meets the preset working data standard, confirming that the monitoring type 1 working unit is activated.

[0101] Specifically, after a type of working unit is powered on, the working data of the type of working unit is periodically collected and monitored through polling or interrupt triggering, and compared with the corresponding working data standard. When the working data meets the preset working data standard, it is determined that the corresponding type of monitoring working unit has been enabled and is running stably.

[0102] Here, work data refers to the key operating parameters of the preset monitoring objects (i.e., the monitored work units) within a Class I work unit. Correspondingly, work data standards are thresholds for expected operational behavior based on the corresponding work data, used to determine whether the monitored work units have completed startup. It should be understood that each monitored work unit can select verification dimensions based on its functional characteristics and determine the work data and corresponding work data standards for verification based on these verification dimensions, and this is not limited here.

[0103] For example, when the monitored working unit is a sensor, the working data can be the sensor data collected by it, and the corresponding working data standard is that the sensor data output within three consecutive sampling cycles is a reasonable value; when the monitored working unit is a communication unit, the working data can be the signal received by it, and the corresponding working data standard is a handshake signal or other response signal; when the monitored working unit is a flash memory, the working data can be the data that can be read at a specified address, and the corresponding working data standard is a standard data structure pre-stored at the specified address, such as a version number, a check value, etc.

[0104] S103 , after the monitoring type 1 working unit is enabled, based on the secondary power supply signal sent by the enabling unit, the switch buffer protection circuit is turned on to synchronously turn on the drive circuit corresponding to the type 2 working unit.

[0105] Specifically, after a pre-set monitored Class I operating unit meets the operating data standards, the enabling unit triggers the output of a secondary power supply signal through internal logic. This secondary power supply signal first acts on the switch buffer protection circuit, turning on the internal switching element. The buffer circuit then connects to the drive circuit of the Class II operating unit. During the subsequent power supply process, the buffer circuit absorbs voltage spikes and smoothes current fluctuations during the instantaneous power supply to the Class II operating unit. Simultaneously, as the switching element turns on, the corresponding drive circuit of the Class II operating unit turns on simultaneously. It should be understood that by synchronizing the conduction of the buffer circuit and the drive circuit through the switching element built into the switch buffer protection circuit, the startup delay of the Class II operating unit is reduced, further improving startup efficiency.

[0106] In some embodiments, monitoring a Class I work unit refers to a preselected status verification target, which may be all Class I work units or one or more key Class I work units. The Class I work units may be easily enabled through operational data to verify their enabled status; and / or, the startup time of the Class I work units may be longer or moderate compared to the startup time of other Class I work units, representing the overall startup progress of all Class I work units; and / or, the Class I work units may be Class I work units that, based on prior data or attributes, cannot be enabled in parallel with Class II work units.

[0107] For example, pre-set watchdog timers, built-in self-test programs and other tools monitor the operating status of a type of working unit, and monitor whether the sensor initialization is completed, whether the communication link is ready, the power-on status of the enabling unit, etc. through the monitored working data standards.

[0108] In some embodiments, the monitoring type one working unit includes at least one of a data acquisition unit, a communication unit, and a storage unit.

[0109] It should be understood that by selecting key Class I work units as monitoring targets (i.e., monitoring Class I work units), when the operating status of at least one monitored target meets preset standards, it is inferred that most Class I work units have completed startup. At this point, there is no need to verify or wait for all Class I work units to fully start before powering on the Class II work units, thereby significantly shortening startup time. For example, if a sensor requires additional time to stabilize due to a complex initialization process, it can be set as a monitoring Class I work unit. When the operating data output by the sensor meets the operating data standards, it indicates that it has been activated (started), thereby indirectly inferring that all or most of the other Class I work units have completed activation. Furthermore, the reliability of this indirect inference can be effectively improved by accurately selecting the monitoring Class I work units. For example, the startup time of the selected monitoring Class I work unit can be longer or more moderate than the startup time of other Class I work units, representing the overall startup progress of all Class I work units. This allows the timely startup of the Class II work units after the startup of the Class I work units has completed.

[0110] During this process, a small number of Class I and Class II working units may be started in parallel. Since Class I working units are started first and the startup process is redundant, the parallel startup is controlled within a very short time, and the number of Class I working units that have not yet been fully started is very small. At the same time, relying on the multi-level safety protection mechanism of switch buffer circuit, optocoupler isolation, and partition layout, the short overlapping startup window of Class I and Class II working units is controlled within the safe startup range. The switch buffer protection circuit absorbs voltage spikes and smoothes transient current fluctuations, and the optocoupler isolation and physical partition layout block the electrical interference between high and low voltage working units. The circuit fluctuation caused by short-term overlapping power supply is relatively low, thereby accelerating startup while ensuring electrical safety and stability.

[0111] In some embodiments, if the working data of a type of working unit is continuously abnormal, such as no sensor data, communication timeout or verification failure, the issuance of the secondary power supply signal is delayed until it exceeds the first preset time period, triggering the fault tolerance mechanism.

[0112] In some embodiments, the method further includes: if the monitored type of working unit is not confirmed to be enabled within a first preset time period, obtaining the power-on status of the enabling unit, the power-on status including current and / or voltage; when the actual enabled number is greater than or equal to the preset number, issuing the secondary power supply signal based on the enabling unit.

[0113] Specifically, when a monitored type-one working unit fails to confirm that it has been fully enabled within a first preset duration, the enabling unit collects its own power-on status, i.e., its operating parameters after power supply, such as input current and output voltage. Correspondingly, the preset enabling status is a threshold range for the normal operation of the enabling unit, e.g., the voltage must be stable at a preset value, and the current must be within a preset interval, to determine whether the enabling unit has been fully enabled. Furthermore, the number of enabling units that currently meet the preset enabling status, i.e., the actual enabled number, is counted. If the actual enabled number is greater than or equal to the preset number, although the monitored type-one working unit has not been fully enabled at this time, it can be inferred that the other type-one working units have been fully enabled within the first preset duration, and that the enabling unit used to enable the type-two working unit has been fully enabled. Based on the sending of a secondary power supply signal by the enabling unit, the drive circuit and the switch buffer protection circuit of the type-two working unit can be turned on.

[0114] The preset number can be flexibly set based on actual needs and can be the total number of enabled units or slightly less than the total number of enabled units, and is not limited here. The first preset duration refers to the maximum initialization waiting time reserved for a type of work unit. The specific value can be flexibly set based on actual needs and prior data. For example, the first preset duration can be greater than the shortest startup time of a type of work unit in prior data, and is not limited here.

[0115] In some embodiments, when the actual number of enabled units is greater than or equal to a preset number, the enabling unit sends a secondary power supply signal, turns on the drive circuit corresponding to the second type of working unit and the switch buffer protection circuit, and also includes: stopping enabling and monitoring the first type of working unit, and starting a number of the second type of working units in batches to reduce risks.

[0116] It should be understood that the present invention proposes a dynamic verification and fault-tolerance mechanism for the startup status of the second type of working unit. By monitoring the first type of working unit in real time, the secondary power supply is triggered only after it is enabled, thereby improving the safety and response speed of the startup of the second type of working unit. If the conditions are not met within the preset time, in order to avoid the stagnation or blockage of the entire power supply process due to the failure or delay of a single working unit, the system switches to the evaluation of the current / voltage status of the enabling unit, rather than forcing the monitoring of the first type of working unit to be enabled, thereby improving the overall timeliness.

[0117] S104 : Powering the second type of working units based on the driving circuits of the second type of working units and the switch buffer protection circuit, so as to enable a plurality of the second type of working units.

[0118] Specifically, the driver circuit and the buffer circuit in the switch buffer protection circuit work together to power the two types of working units. If there are multiple type II working units, the current distribution capability of the buffer circuit can be used to achieve parallel power supply, ensuring that high-load units are gradually started within a safe range and maintaining power supply stability.

[0119] An embodiment of the present invention further provides a robot, comprising the controller provided in any embodiment of the present invention, the controller being configured to execute the steps of the controller operation method provided in any embodiment of the present invention. The controller is configured to control the robot's movements, and the robot comprises: a robot body, and at least one type I working unit and at least one type II working unit disposed within the robot body. The robot may be the photovoltaic operation and maintenance robot described in the aforementioned embodiments, or may be another intelligent robot, without limitation herein.

[0120] It should be understood that current robots generally have a high demand for quick startup. For example, photovoltaic operation and maintenance robots need to start up quickly to efficiently respond to operation and maintenance needs under complex working conditions (such as sudden obstruction, pollution or failure, etc.), and efficiently handle heavy inspection, cleaning and other tasks to maximize the use of precious sunshine time windows and ensure the power generation efficiency of power stations.

[0121] Inferring the startup progress of all Class I work units based on the operating status of the monitored objects significantly shortens startup time. The reliability of this indirect inference is effectively improved by accurately selecting the monitored Class I work units, minimizing the overlapped startup of Class I and Class II work units and improving accelerated startup safety. Furthermore, the ability to tolerate the overlapped startup of a small number of low-power Class I work units and high-power Class II work units ensures that the potential risks of transient current surges or local overloads, which theoretically could occur, are strictly controlled and acceptable in practice.

[0122] First, through a multi-level safety protection mechanism consisting of switch buffer circuits, optocoupler isolation, and partitioned layout, the brief overlapping startup windows of Class I and Class II working units are controlled within the safe startup range, accelerating startup while ensuring electrical safety and stability.

[0123] Secondly, in practical applications, photovoltaic operation and maintenance robots generally adopt a modular design, making key components easy to replace independently and relatively inexpensively, offering inherent cost advantages compared to large-scale power generation equipment. Furthermore, the increased power generation benefits from rapid startup (such as increased daily coverage of component areas and more timely fault detection) far outweigh the cost of repairing or replacing individual components due to potential impact damage, effectively improving overall economic benefits. Furthermore, large-scale photovoltaic power plants typically deploy multiple robots working in collaboration, so occasional failures of individual photovoltaic operation and maintenance robots have limited impact on the overall operation and maintenance plan, ensuring overall fault tolerance.

[0124] Therefore, achieving rapid startup within a controllable risk range can effectively improve the overall efficiency of photovoltaic operation and maintenance, enhance power generation benefits, and its short-term adverse effects are strictly controlled within acceptable limits.

[0125] It should be noted that, in this document, the terms "comprises," "includes," or any other variations thereof are intended to encompass non-exclusive inclusion, such that a process, method, article, or apparatus comprising a series of elements includes not only those elements but also other elements not explicitly listed, or elements inherent to such process, method, article, or apparatus. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of other identical elements in the process, method, article, or apparatus comprising the element.

[0126] The embodiments of the present invention are described above in conjunction with the accompanying drawings, but the present invention is not limited to the above-mentioned specific implementation methods. The above-mentioned specific implementation methods are merely illustrative and not restrictive. Under the guidance of the present invention, ordinary technicians in this field can also make many forms without departing from the scope of protection of the present invention and the claims, all of which are protected by the present invention.

Claims

1. A controller, characterized in that: The controller includes a plurality of drive circuits, each of which is used to activate a corresponding first-class working unit or second-class working unit based on a power supply, and a switch buffer protection circuit is provided in the drive circuit of the second-class working unit; wherein the load of the first-class working unit is smaller than the load of the second-class working unit, and / or the operating voltage of the first-class working unit is smaller than the operating voltage of the second-class working unit; The first type of working unit includes a functional unit and an enabling unit, and the functional unit is connected from the first board of the controller; the second type of working unit and the enabling unit are connected from the second board of the controller; After the power supply supplies power to the first type of working unit based on the driving circuit, the enabling unit is used to send a secondary power supply signal after the preset monitoring first type of working unit is enabled; The switch buffer protection circuit is used to receive and respond to the secondary power supply signal, turn on the switch buffer protection circuit to synchronously turn on the drive circuits corresponding to the two types of working units, and enable the two types of working units based on the switch buffer protection circuit.

2. The controller according to claim 1, wherein The switch buffer protection circuit is arranged on the second plate, and a plurality of the second type working units share one switch buffer protection circuit.

3. The controller according to claim 2, wherein: The switch buffer protection circuit includes: a switch circuit, configured to turn on a switch in response to the secondary power supply signal, so as to connect the power supply to the drive circuit of the second type of working unit; The buffer circuit is used to absorb and smooth the voltage spikes in the driving circuit.

4. The controller according to claim 1, wherein The first plate and the second plate are different areas of the same circuit board; or, the first plate and the second plate are different circuit boards, and the first plate is arranged above the second plate.

5. The controller according to any one of claims 1 to 4, characterized in that: The second plate is provided with a heat dissipation device.

6. The controller according to any one of claims 1 to 4, characterized in that: An optical coupling isolation circuit is provided between the first type of working unit and the second type of working unit.

7. A controller operation method, characterized in that: The controller is a controller according to any one of claims 1 to 6, and the method comprises: S101, turning on a power switch of a type of working unit, and supplying power to the type of working unit based on a driving circuit of the type of working unit, so as to enable a plurality of the type of working units; S102, reading the preset working data of the monitoring type 1 working unit; when the working data meets the preset working data standard, confirming that the monitoring type 1 working unit is activated; S103, after the monitoring type 1 working unit is enabled, based on the secondary power supply signal sent by the enabling unit, turning on the switch buffer protection circuit to synchronously turn on the drive circuit corresponding to the type 2 working unit; S104 : Powering the second type of working units based on the driving circuits of the second type of working units and the switch buffer protection circuit, so as to enable a plurality of the second type of working units.

8. The method according to claim 7, wherein The method further comprises: If the monitoring type one working unit is not confirmed to be enabled within the second preset time period, obtaining the power-on state of the enabling unit, the power-on state including current and / or voltage; Counting the actual number of enabled units whose power-on states meet a preset enabled state; When the actual enabled number is greater than or equal to a preset number, the secondary power supply signal is issued based on the enabling unit.

9. The method according to claim 7, wherein: The method comprises: Dividing the working units of the type into first working units and second working units according to the loads and / or voltages of the working units of the type; Turning on the power switch of the first working unit; after a third preset time interval, turning on the power switch of the second working unit; When all the driving circuits of the working units of the type are turned on, step S102 is executed.

10. A robot, characterized in that: The robot comprises the controller according to any one of claims 1 to 6 , and the controller is configured to execute the operating method of the controller according to any one of claims 7 to 9 .

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