Redundant power supply equipment of robot low-voltage power supply system and method thereof

Abstract

The invention provides redundant power supply equipment of a robot low-voltage power supply system and a method thereof, and relates to the technical field of robot low-voltage power supply. The equipment comprises a storage and charging system power supply module, a chassis and domain control power supply module, a voltage monitoring module and a control unit; the power supply A and the power supply B are connected to the front end of the main positive and main negative relay to form hot standby power supply and provide redundancy for the storage and charging master control; the power source C and the 12V storage battery are connected in parallel to form hot standby power supply, redundancy is provided for the chassis VCU and domain control, the voltage monitoring module monitors the voltage of each power source in real time, and the control unit achieves power source switching accordingly. The power supply A initially supplies power, the power supply B is electrified to form hot standby after the main positive and main negative relays are switched on, and the other power supply is switched when any power supply fails; in a chassis and domain control system, a 12V storage battery supplies power initially, a power source C and the storage battery are in hot standby after being powered on, the power source C supplies power preferentially and supplements power below 13.2 V, the power source C is switched to the storage battery when a fault occurs, and output is cut off 30 seconds after the storage battery lacks power. And the stability and reliability of low-voltage power supply are improved.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of redundant power supply equipment, and more particularly relates to a redundant power supply equipment of a robot low-voltage power supply system and a method thereof. BACKGROUND

[0002] In the actual application of robots (such as automatic charging robots and mobile operation robots) with automatic power-on and power-off control, storage and charging management and emergency stop safety response functions, the stability of the low-voltage power supply system directly determines the operation reliability and operation safety of the equipment, but the existing technology has the following outstanding problems:

[0003] The power supply redundancy design is missing, and a single fault can easily cause a chain failure: in actual application, the storage and charging system (responsible for high-voltage management) of the robot, the chassis control unit (VCU, responsible for motion control) and the domain controller (responsible for coordinating peripherals and logic) often share a set of low-voltage power supply circuit. When the storage and charging system generates voltage fluctuations due to high-voltage conversion, or a single power module (such as a high-to-low voltage module) fails, it will directly cause power supply abnormalities of core components such as chassis VCU and domain control - for example, a short circuit of the storage and charging power supply may cause the entire low-voltage network to lose power, causing the chassis to lose braking ability and the domain control to fail to execute emergency stop instructions, and in severe cases, even causing equipment collision or high-voltage safety accidents. This "all-for-one" power supply mode is difficult to meet the reliability requirements of continuous operation of the robot.

[0004] Poor compatibility with power-on and power-off processes, and prominent power supply risks during start and stop phases: the robot needs to trigger the power-on and power-off processes through specific operations (such as long-pressing the power switch), but the existing low-voltage power supply is not optimized for this feature: during actual power-on, if the 12V battery is discharged (such as after long-term storage with a voltage lower than 12V), the initial power supply may be insufficient to cause power-on instruction monitoring failure, and the system cannot be started; after power-on, if the low-voltage power supply has extensive charging logic for the battery (such as continuous full-power charging), it may cause the battery to overcharge and swell, or insufficient charging may cause power supply interruption during subsequent power-off; during power-off, if the power supply closing timing is chaotic, the relay may not be completely closed due to sudden power supply interruption, and the peripheral state may fail to be saved, leaving safety hazards.

[0005] The power supply continuity is insufficient in safety scenarios such as emergency stop, and the safety risk is amplified: Emergency stop is a key operation for robots to respond to emergencies, and the core components are required to maintain power supply throughout the emergency stop to execute safety responses (such as chassis braking and high-voltage cutoff). However, in actual applications, emergency stop is often accompanied by rapid high-voltage circuit cutoff. If the low-voltage power supply relies too much on the high-voltage conversion power supply (such as the conversion power supply failing immediately after the high-voltage is disconnected), and there is no seamless takeover mechanism for the standby power supply, the storage and charging master control, chassis VCU and other components will lose power instantaneously. For example, the power failure of the storage and charging master control may not completely shut down the high-voltage relay, and the power failure of the chassis VCU may cause the brake to fail, turning the emergency stop from a "safety operation" into a "risk source", which seriously threatens the safety of the equipment and the surrounding environment.

[0006] Significant electromagnetic interference between subsystems affects the stability of low-voltage power supply: The robot storage and charging system has high-frequency high-voltage conversion, and the chassis motor generates strong electromagnetic interference when running. However, the existing low-voltage power supply mostly uses a common circuit design, resulting in voltage ripple on the storage and charging side and electromagnetic noise on the chassis, which is conducted to the domain control, sensors and other sensitive components through the power supply line. In actual operation, this can cause domain control communication packet loss, sensor data anomalies (such as false alarms of laser radar), reduce system control accuracy, and even cause misoperation.

[0007] Based on the above technical problems in actual applications, there is an urgent need for a low-voltage power supply solution that adapts to the power-on and power-off process of robots, ensures safety response in emergency stop, and has independent redundancy capability for subsystems, to improve the stability, reliability and safety of low-voltage power supply for robots. SUMMARY

[0008] To solve the above technical problems, the present application provides a redundant power supply device for a robot low-voltage power supply system and a method thereof to solve the above problems.

[0009] A redundant power supply device for a robot low-voltage power supply system, comprising: a storage and charging system power supply module, a chassis and domain control power supply module, a 12V storage battery, a voltage monitoring module and a control unit;

[0010] The storage and charging system power supply module includes power supply A and power supply B. Power supply A is connected to the front end of the main positive and negative relay, and power supply B is connected to the rear end of the main positive and negative relay, forming a hot standby power supply circuit to provide low-voltage redundant power supply for the storage and charging master control;

[0011] The chassis and domain control power supply module includes power supply C, which is connected to the high-voltage input circuit and has its output end connected in parallel with the 12V storage battery, forming a hot standby power supply circuit to provide low-voltage redundant power supply for the chassis VCU and the domain control;

[0012] The voltage monitoring module is connected to power supply A, power supply B, power supply C and the 12V storage battery respectively for real-time monitoring of the output voltage of each power supply;

[0013] The control unit is connected with the voltage monitoring module, each power supply and the relay, and is used for controlling switching of the hot backup power supply circuit and charging and discharging of the 12V storage battery according to the voltage monitoring result.

[0014] Preferably, the power supply A and the power supply B are independent power supplies, the input end of the power supply A is directly connected with the high-voltage circuit in front of the main positive main negative relay, and the power supply B is powered on after the main positive main negative relay is turned on, and the output ends of the two are connected to the power supply interface of the storage and charging master control in parallel.

[0015] Preferably, the output voltage of the power supply C is configured to be 0.6-0.8V higher than the rated voltage of the 12V storage battery, and when the system is powered on, the power supply C preferentially supplies power to the chassis VCU and the domain control, and simultaneously supplements the electric quantity of the 12V storage battery.

[0016] Preferably, the voltage monitoring module comprises a first monitoring unit (monitoring the power supply A and the power supply B) and a second monitoring unit (monitoring the power supply C and the 12V storage battery), and monitoring data is transmitted to the control unit in real time, and when the voltage of any working power supply is lower than a set threshold, the standby power supply switching is triggered.

[0017] Preferably, the control unit is integrated in the chassis VCU, communicates with the domain control and the storage and charging master control through the CAN bus, and is used for receiving voltage monitoring data and outputting power supply switching instructions.

[0018] Another technical problem to be solved by the application is to provide a redundant power supply method of a robot low-voltage power supply system, comprising a storage and charging system redundant power supply process and a chassis and domain control system redundant power supply process.

[0019] The storage and charging system redundant power supply process comprises:

[0020] S1. When the system is initially powered on, the 12V storage battery provides starting voltage for the storage and charging master control, and triggers the power supply A to be powered on;

[0021] S2. After the output voltage of the power supply A is stabilized, the power supply A supplies power for the storage and charging master control, and meanwhile the main positive main negative relay is turned on, and the power supply B is triggered to be powered on;

[0022] S3. The power supply A and the power supply B form a hot backup power supply, and the voltage monitoring module monitors the output voltages of the two in real time;

[0023] S4. When the voltage of the power supply A is lower than a set threshold (such as 11.5V), the control unit controls the power supply B to supply power for the storage and charging master control alone; when the voltage of the power supply B is lower than a set threshold, the control unit controls the power supply A to supply power alone; and when both of them fail, the storage and charging system is triggered to be powered off;

[0024] The chassis and domain control system redundant power supply process comprises:

[0025] S5. When the system is initially powered on, the 12V storage battery provides normal power for the chassis VCU and the domain control;

[0026] S6. After the system is powered on, the power supply C connects the high-voltage input and outputs a 13.8V voltage to form a hot backup power supply with the 12V storage battery;

[0027] S7. When the output voltage of the power supply C is higher than the voltage of the 12V storage battery, the power supply C preferentially supplies power to the chassis VCU and the domain control, and at the same time, the power supply C supplements the power to the storage battery to 13.2V;

[0028] S8. The voltage monitoring module monitors the voltage of the power supply C and the storage battery in real time, and when the voltage of the power supply C is lower than 12.5V, the system automatically switches to the 12V storage battery alone to supply power; when the voltage of the storage battery is lower than 12V, the control unit triggers the power supply C to preferentially supplement the power, and if the voltage is still lower than 12V after 30 seconds of power supplement, the output of the storage battery is turned off.

[0029] Preferably, in step S2, the output ends of the power supply A and the power supply B are isolated by diodes to avoid mutual backflow and ensure that there is no power supply interruption during hot backup switching;

[0030] In step S6, the output voltage of the power supply C is configured as 13.8V, and the float charging voltage threshold of the 12V storage battery is set as 13.2V, and when the voltage of the storage battery reaches 13.2V, the power supply C stops power supplement;

[0031] In step S8, the voltage monitoring module is integrated by the chassis VCU, and the monitoring frequency is 10Hz, and when the voltage of the power supply C and the storage battery is abnormal, the domain control triggers the external device power-off protection, and only the core control components are powered.

[0032] The power supply module of the storage and charging system is independently isolated from the chassis and the domain control power supply module, and when the low-voltage power supply of the storage and charging system fails, the low-voltage power supply of the chassis and the domain control system is not affected, and vice versa.

[0033] Compared with the prior art, the present application has the following beneficial effects:

[0034] 1. By means of the independent hot backup design of the subsystem, the anti-interference ability and stability of the low-voltage power supply are improved: the storage and charging system adopts the power supply A and the power supply B to form a hot backup power supply, the chassis and the domain control system adopt the power supply C and the 12V storage battery to form a hot backup power supply, and the two subsystem power supply loops are independently isolated. This design avoids the spread of single-system power supply failure (such as storage and charging power supply abnormality) to the entire low-voltage network, and eliminates the power supply interference between the subsystems; at the same time, the double power supply hot backup ensures that the standby power supply can seamlessly take over the power supply when any power supply fails (such as the power supply B works alone after the power supply A fails), and the stability of the single power supply is improved, which effectively guarantees the continuous power supply of the storage and charging master control, the chassis VCU, the domain control and other core components.

[0035] 2. Cooperate with the power-on and power-off process depth to ensure power-on reliability and power-off safety: When initially powering on, the 12V battery provides normal power to ensure the power-on signal monitoring (press and hold the power switch for 3 seconds to trigger power-on); after power-on is completed, the power supply C and the battery are hot standby powered, the power supply C preferentially outputs and charges the battery (voltage is stable below 13.2V), avoiding power failure caused by battery depletion; when powering off, the power supply C is gradually turned off, and the battery is automatically switched to single power supply, ensuring the orderly execution of the power-off process (such as the storage and charging master control power-off logic, peripheral shutdown). This cooperative design reduces the power supply interruption risk by 90% during the power-on and power-off process, improving the system start-stop reliability.

[0036] 3. Support reliable execution of safety processes such as emergency stop, and strengthen safety response continuity: When the emergency stop is triggered, the storage and charging system is powered by the power supply A alone (the power supply B is temporarily turned off with the main positive and negative relays disconnected), ensuring the monitoring and control of the high-voltage loop by the storage and charging master control; the chassis VCU and domain control are hot standby powered by the power supply C and the battery, ensuring uninterrupted emergency stop signal monitoring and chassis brake control. Even if there is a single point failure of the power supply C or the battery, the other power supply can still maintain power supply, avoiding the risk of emergency stop process interruption or failure due to power supply interruption, providing solid power supply support for emergency stop safety response.

[0037] 4. Extend battery life and avoid over-discharge risk through voltage adaptive cooperation and intelligent charging: The output voltage of the power supply C (13.8V) is slightly higher than the 12V battery voltage, and during normal operation, the power supply C is preferentially powered, and the battery is charged to below 13.2V (to avoid overcharging); when the battery voltage is below 12V, the power supply C is preferentially charged through voltage monitoring, and if it is not restored within 30 seconds, the battery output is turned off (to avoid over-discharge). This design extends the cycle life of the battery by more than 30%, reducing system downtime caused by battery failure.

[0038] 5. Real-time monitoring and automatic switching mechanism to improve system fault tolerance and availability: The voltage monitoring module monitors the voltage of each power supply in real time (frequency 10Hz), and when any power supply fails (such as power supply A voltage below 11.5V, power supply C voltage below 12.5V), the control unit automatically switches to the backup power supply, and there is no power supply interruption during the switching process (through diode isolation to achieve seamless connection). Compared with traditional single power supply design, the downtime of the system caused by power supply failure is shortened, especially suitable for unattended scenarios, significantly improving the continuous operation capability of the robot. BRIEF DESCRIPTION OF DRAWINGS

[0039] Fig. 1 is the connection diagram of the power supply module of the storage and charging system in the present application;

[0040] Fig. 2 is the connection diagram of the voltage monitoring module in the present application;

[0041] Fig. 3 Figure 8 is a schematic diagram of the connection of the chassis and the domain control power supply module and the 12V storage battery in the application. DETAILED DESCRIPTION

[0042] Referring to Figs. 1-3 The application provides a redundant power supply device and method for a robot low-voltage power supply system, which are described in detail through system architecture, core process and multi-scenario embodiments.

[0043] System overall architecture:

[0044] The redundant design of the low-voltage power supply system of the application takes "independent subsystem power supply + hot standby redundancy" as the core, adapts to the power-on and power-off logic and emergency stop safety requirements of the robot, and the overall architecture is as follows:

[0045] 1. Hardware composition and connection relationship:

[0046] The storage and charging system power supply module is composed of power supply A and power supply B, power supply A is connected to the front end of the main positive and main negative relay, power supply B is connected to the rear end of the main positive and main negative relay, and the output ends are connected to the power supply interface of the storage and charging master control in parallel to form a hot standby power supply loop (isolated by a diode to avoid mutual backflow).

[0047] The chassis and domain control power supply module includes power supply C (high-voltage input conversion module) and 12V storage battery, the input end of power supply C is connected to the high-voltage loop (connected after power-on), the output end is connected to the 12V storage battery in parallel, and the two are commonly connected to the power supply interface of the chassis VCU and the domain control to form a hot standby power supply loop.

[0048] The voltage monitoring module is integrated in the chassis VCU and the storage and charging master control, and monitors the output voltages of power supply A, power supply B, power supply C and 12V storage battery (monitoring frequency 10Hz), and transmits the data to the control unit through the CAN bus.

[0049] The control unit is integrated in the chassis VCU, communicates with the domain control and the storage and charging master control through the CAN bus, receives the voltage monitoring data and outputs the power supply switching instructions (such as disconnecting the faulty power supply and activating the standby power supply).

[0050] 2. Power supply basic logic:

[0051] Initial power-on stage: when the system is not powered on, the 12V storage battery provides constant power (to start the power supply for the chassis VCU and the storage and charging master control) to ensure that the power-on process is triggered (such as pressing the power switch for 3 seconds, the VCU can monitor the signal).

[0052] Normal power-on stage: After the system is powered on, the storage and charging system is powered by power supply A and power supply B in hot standby, and the chassis and domain control system are powered by power supply C and 12V storage battery in hot standby (power supply C outputs 13.8V, slightly higher than the storage battery voltage 12V, and preferentially supplies power and charges the storage battery to below 13.2V).

[0053] Power-off / emergency stop stage: when powering off, power supply C is gradually turned off, and the storage battery is switched back to single power supply; when emergency stopping, the redundant power supply ensures the continuous power supply of core components such as chassis VCU and storage and charging master control (emergency stop process components do not power off).

[0054] Core redundant power supply process:

[0055] 1. Storage and charging system redundant power supply process:

[0056] Step 1: Start power supply: when the system is initially powered on (triggered by pressing the power switch for 3 seconds), the 12V storage battery provides startup voltage for the storage and charging master control, and the storage and charging master control controls the self-kill board to connect the high-voltage input of power supply A, and power supply A starts and outputs 12V stable voltage to supply power to the storage and charging master control.

[0057] Step 2: Hot standby activation: after the storage and charging master control completes initialization, it controls the main positive and negative relays to be connected (connect the main positive and negative relays), and power supply B starts due to the connection of the high-voltage loop, and outputs 12V voltage, forming a hot standby power supply with power supply A (the outputs of the two are connected in parallel, and are isolated by diodes to avoid voltage conflict).

[0058] Step 3: Real-time monitoring and switching: the voltage monitoring module (integrated in the storage and charging master control) monitors the output voltage of power supply A and B in real time (the threshold is set to 11.5V):

[0059] If the voltage of power supply A is ≥11.5V and the voltage of power supply B is ≥11.5V, the two supply power in parallel (load is evenly divided);

[0060] If the voltage of power supply A is <11.5V (fault), the control unit (storage and charging master control) cuts off the input of power supply A, and power supply B supplies power alone;

[0061] If the voltage of power supply B is <11.5V (fault), cut off the input of power supply B, and power supply A supplies power alone;

[0062] If both voltages are <11.5V, the storage and charging master control triggers protection, sends a "low voltage fault" signal to the domain control through the interface board, and the domain control starts the power-off process.

[0063] 2. Chassis and domain control system redundant power supply process:

[0064] Step 1: Initial power supply: when the system is powered off, the 12V battery provides power to the chassis VCU (sleep low-power state) and domain control (waiting for start state) (ensure that the power switch signal monitoring is not interrupted, and the VCU is powered on).

[0065] Step 2: Hot standby activation: after the system is powered on (domain control sends 370 power-on success instruction), the domain control controls the storage and charging master to connect the power supply relay, the high voltage is input to the power supply C, the power supply C is started and outputs 13.8V voltage, and the hot standby power supply is formed with the 12V battery (parallel connection to the chassis VCU and domain control power supply interface).

[0066] Step 3: Priority power supply and power compensation: because the output voltage of power supply C (13.8V) is higher than the rated voltage of the battery (12V), power supply C preferentially supplies power to the chassis VCU and domain control, while compensating power to the battery (the upper limit of the compensation voltage is set to 13.2V, and the reverse charging voltage is less than 13.2V).

[0067] Step 4: Real-time monitoring and switching: the voltage monitoring module (integrated in the chassis VCU) monitors the output voltage of power supply C (threshold 12.5V) and the battery voltage (threshold 12V) in real time:

[0068] If the voltage of power supply C is ≥12.5V and the voltage of the battery is ≥12V, power supply C continues to supply power and compensates the battery voltage to 13.2V, then stops;

[0069] If the voltage of power supply C is <12.5V (fault), automatically switch to battery alone power supply (because the battery voltage 12V is ≥ the load demand, to ensure that the chassis VCU and domain control do not power off);

[0070] If the battery voltage is <12V (power loss), the control unit (chassis VCU) notifies the domain control, and the domain control cuts off the power supply of non-core peripherals (such as display screen) through the interface board, to preferentially ensure the power supply of the chassis VCU and domain control; at the same time, power supply C increases the compensation current, if the battery voltage is still <12V after 30 seconds, the VCU controls to turn off the battery output (turn off the battery output after 30 seconds), to avoid over-discharge of the battery.

[0071] Example 1: Redundant power supply in normal working state (hot standby cooperation):

[0072] System state: the robot is in a powered-on working state, the storage and charging system compensates power externally, and the chassis motor operates normally.

[0073] Storage and charging system: power supply A (12.2V) and power supply B (12.1V) are both normal, hot standby power supply, and the storage and charging master load is shared by both (each bearing 50% current), and the voltage monitoring module displays normally.

[0074] Chassis and domain control system: power supply C outputs 13.8V, battery voltage 12.8V (not reaching 13.2V upper limit of power supply), power supply C priority power supply and power supply to the battery (current 0.5A); chassis VCU, domain control by power supply C, 12V battery in standby state (only as a redundant backup).

[0075] Redundancy effect: dual power supply works in parallel, avoids single power overload, prolongs power supply life; at the same time, any power supply failure can be seamlessly switched without affecting system operation.

[0076] Example 2: Power supply A fault scenario of storage and charging system (single power supply switching):

[0077] Trigger condition: power supply A output voltage drops to 11.2V (lower than 11.5V threshold) due to high voltage input fluctuation.

[0078] Response process:

[0079] The voltage monitoring module of the storage and charging master detects that the voltage of power supply A = 11.2V < 11.5V, and immediately sends a fault signal to the control unit (storage and charging master);

[0080] The control unit cuts off the high voltage input of power supply A (through the self-kill board), and power supply A stops output;

[0081] Power supply B (12.0V) alone powers the storage and charging master, output current increases from original 1A to 2A (bearing all loads), and the storage and charging master runs normally (continues to power externally, and the main positive and negative relays remain on);

[0082] The storage and charging master sends an "power supply A fault" alarm to the domain control through CAN, and the domain control records the fault information but does not affect normal work (because power supply B redundancy is effective).

[0083] Redundancy effect: no power interruption when single power supply fails, storage and charging system continues to work, ensuring uninterrupted power supply process.

[0084] Example 3: Power supply C fault scenario (battery seamless takeover)

[0085] Trigger condition: high voltage loop fluctuation causes power supply C output to drop to 12.0V (lower than 12.5V threshold).

[0086] Response process:

[0087] The voltage monitoring module of the chassis VCU detects that the voltage of power supply C = 12.0V < 12.5V, and immediately notifies the domain control through CAN;

[0088] The control unit (chassis VCU) triggers the switching logic, power supply C is marked as "fault", and stops charging the battery;

[0089] The battery (voltage 12.5V) automatically takes over the power supply to provide 12.5V voltage (load current 1.2A) for the chassis VCU and domain control, ensuring normal transmission of chassis motor control signals and domain control keep-alive messages (370 messages);

[0090] After the domain control receives a power supply C failure alarm, it closes non-core peripherals such as laser radar (reduces power consumption), and the battery supply current drops to 0.8A, prolonging the power supply time; at the same time, the domain control sends a "power supply C failure" to the platform and waits for maintenance.

[0091] Redundancy effect: After power supply C failure, the battery seamlessly takes over, and the power supply for core control components is uninterrupted, avoiding robot loss of control due to low-voltage power failure.

[0092] Example 4: Battery power loss and power supply C cooperative power compensation (low power protection):

[0093] Trigger condition: The battery has an initial voltage of 11.6V (lower than the 12V threshold) due to long-term storage, and the system starts the power-on process.

[0094] Response process:

[0095] After pressing the power switch for 3 seconds, the battery (11.6V) provides startup voltage for the chassis VCU and storage and charging main control, and the system starts to power on;

[0096] After power-on is completed, power supply C starts and outputs 13.8V, detects that the battery voltage is 11.6V < 12V, and immediately starts large-current power compensation (current 2A);

[0097] The domain control cuts off the power supply of peripherals such as the display screen and loudspeaker through the interface board (only the chassis VCU and domain control are retained), and prioritizes power compensation;

[0098] After 15 seconds, the battery voltage rises to 12.1V (higher than the 12V threshold), and the power supply C power compensation current drops to 0.3A; after 30 seconds, the voltage reaches 12.5V, and the domain control controls the interface board to restore the power supply of peripherals;

[0099] Finally, the battery voltage stabilizes at 12.8V (not reaching the upper limit of 13.2V), and power supply C continues to supply small current, and the redundant power supply returns to normal.

[0100] Redundancy effect: Through the cooperative power compensation of power supply C and the battery and load management, the problem of power-on failure caused by battery power loss is solved, and the system startup reliability is ensured.

[0101] Example 5: Redundant power supply in emergency stop state (safety guarantee)

[0102] Trigger condition: The emergency stop switch is pressed, and the system enters the emergency stop state (emergency stop trigger).

[0103] Power supply response:

[0104] After the emergency stop trigger, the main positive and negative relays of the storage and charging master control are cut off, the power supply B stops outputting because the high-voltage loop is disconnected, and only the power supply A (maintained by the suicide board) supplies power to the storage and charging master control (to ensure emergency stop state monitoring);

[0105] The chassis VCU and domain control are still powered by power supply C (13.8V) and the battery (12.6V) in hot standby, ensuring that the emergency stop signal monitoring and chassis brake control are not interrupted;

[0106] After the emergency stop is released, the power supply B restarts with the main positive and negative relays turned on, and the storage and charging system resumes dual-power hot standby; power supply C and the battery continue to cooperate to supply power, and the system quickly recovers to work.

[0107] Redundancy effect: In the emergency stop state, the core control components are not interrupted, ensuring that the emergency stop response and release process are reliably executed, avoiding safety hazards caused by power interruption.

[0108] Subsystem independent redundancy: The storage and charging system and the chassis / domain control system use independent hot standby design (power supply A / B and power supply C / battery are separated), avoiding single system failure spreading to the entire low-voltage network (such as storage and charging power failure not affecting chassis power supply), improving system anti-interference ability (independent power supply to exclude interference).

[0109] Voltage adaptive cooperation: Power supply C outputs 13.8V higher than the battery voltage, realizing "priority power supply + automatic power compensation", which not only guarantees the stability of power supply, but also avoids overcharging the battery; dual-power hot standby is isolated by diodes, with no arc and no voltage fluctuation during switching.

[0110] Deep integration with power-on and power-off processes: The redundancy power supply process seamlessly cooperates with power-on (power supply activation sequence) and power-off (power supply shutdown logic), such as initial power-on relying on the battery start, and preferentially turning off non-core power supply during power-off, ensuring that the low-voltage power supply matches the system state (power-on and power-off timing).

[0111] Fault classification protection: Multiple levels of protection are achieved through voltage threshold settings (such as 11.5V and 12V), with only power switching for minor faults and triggering power-off for serious faults, balancing safety and availability.

[0112] The above implementation methods are based on the core design of the disclosure document, and through redundant power supply, the robot's low-voltage stability in complex working conditions is ensured, complementing the emergency stop safety response system and improving the overall reliability of the robot.

[0113] The embodiments of the present application are presented by way of example and description, and are not intended to be exhaustive or to limit the application to the form disclosed. Many modifications and variations will be apparent to those skilled in the art. Embodiments are chosen and described in order to best explain the principles of the application and its practical application, and to thereby enable others skilled in the art to best utilize the application in various embodiments and with various modifications as are suited to the particular use contemplated.

Claims

1. A redundant power supply apparatus for a robot low-voltage power supply system, characterized by comprising: include: Power supply module for energy storage and charging system, chassis and domain control power supply module, 12V battery, voltage monitoring module and control unit; The power supply module of the energy storage and charging system includes power supply A and power supply B. Power supply A is connected to the front end of the main positive and main negative relays, and power supply B is connected to the back end of the main positive and main negative relays, forming a hot standby power supply circuit to provide low-voltage redundant power supply for the energy storage and charging main controller. The chassis and domain controller power supply module includes a power supply C. The power supply C is connected to the high-voltage input circuit and its output is connected in parallel with a 12V battery to form a hot standby power supply circuit, providing low-voltage redundant power supply for the chassis VCU and domain controller. The voltage monitoring module is connected to power supply A, power supply B, power supply C and 12V battery respectively, and is used to monitor the output voltage of each power supply in real time. The control unit is connected to the voltage monitoring module, each power supply and relay, and is used to control the switching of the hot standby power supply circuit and the charging and discharging of the 12V battery according to the voltage monitoring results.

2. The apparatus of claim 1, wherein, Power supply A and power supply B are independent power supplies. The input terminal of power supply A is directly connected to the high-voltage circuit at the front end of the main positive and main negative relays. Power supply B is powered on after the main positive and main negative relays are turned on. The output terminals of the two are connected in parallel to the power interface of the main control of the energy storage and charging system.

3. The apparatus of claim 1, wherein, The output voltage of power supply C is configured to be 0.6-0.8V higher than the rated voltage of the 12V battery. When the system is powered on, power supply C prioritizes powering the chassis VCU and domain controller, while simultaneously replenishing the 12V battery.

4. The apparatus of claim 1, wherein, The voltage monitoring module includes a first monitoring unit, which transmits monitoring data to the control unit in real time. When the voltage of any working power supply is lower than a set threshold, the backup power supply is switched on.

5. The apparatus of claim 1, wherein, The control unit is integrated into the chassis VCU and communicates with the domain controller and the main controller of the energy storage and charging station via the CAN bus. It is used to receive voltage monitoring data and output power switching commands.

6. A redundant power supply method for a robot low-voltage power supply system, characterized by, This includes redundant power supply processes for the energy storage and charging system and redundant power supply processes for the chassis and domain control system; The redundant power supply process of the energy storage and charging system includes: S1. When the system is initially powered on, the 12V battery provides the starting voltage for the main control unit, triggering power supply A to power on; S2. After the output voltage of power supply A stabilizes, it supplies power to the main control of the storage and charging system. At the same time, the main positive and main negative relays are turned on, triggering power supply B to power on. S3. Power supply A and power supply B form a hot standby power supply, and the voltage monitoring module monitors the output voltage of both in real time; S4. When the voltage of power supply A is lower than the set threshold, the control unit controls power supply B to supply power to the main control unit of the energy storage and charging system alone; when the voltage of power supply B is lower than the set threshold, the control unit controls power supply A to supply power alone; when both fail, the power-down protection of the energy storage and charging system is triggered. The redundant power supply process for the chassis and domain control system includes: S5. When the system is initially powered on, the 12V battery provides constant power to the chassis VCU and domain controller; S6. After the system is powered on, power supply C connects to the high voltage input and outputs 13.8V voltage, forming a hot standby power supply with the 12V battery; S7. The output voltage of power supply C is higher than the 12V battery voltage, giving priority to powering the chassis VCU and domain controller, while replenishing the battery to 13.2V; S8. The voltage monitoring module monitors the power supply C and the battery voltage in real time. When the power supply C voltage is lower than 12.5V, it automatically switches to 12V battery single power supply. When the battery voltage is lower than 12V, the control unit triggers the power supply C to preferentially supplement power. If the voltage is still lower than 12V after 30 seconds of power supplement, the battery output is turned off.

7. The method of claim 6, wherein, In step S2, the output ends of the power supply A and the power supply B are isolated by diodes to avoid mutual backflow and ensure that there is no power supply interruption during hot standby switching.

8. The method of claim 6, wherein, In step S6, the output voltage of the power supply C is configured as 13.8V, and the float charging voltage threshold of the 12V battery is set as 13.2V. When the battery voltage reaches 13.2V, the power supply C stops power supplement.

9. The method of claim 6, wherein, In step S8, the voltage monitoring module is integrated by the chassis VCU, and the monitoring frequency is 10Hz. When the voltage of the power supply C and the battery is abnormal, the domain control triggers the external power-off protection, and only the core control components are powered.

10. The method of claim 6, wherein, The power supply module of the storage and charging system is independently isolated from the chassis and the domain control power supply module. When the low-voltage power supply of the storage and charging system fails, it does not affect the low-voltage power supply of the chassis and the domain control system, and vice versa.

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