A mobile robot intelligent multi-channel controllable power distribution system and a short circuit protection method thereof

Abstract

The present application relates to the technical field of automatic guided vehicle power supply control and intelligent power distribution, and particularly relates to a mobile robot intelligent multi-channel controllable power distribution system and a short circuit protection method thereof, the system comprising: a sensing module, which collects environmental temperature and humidity, circuit board surface temperature, power supply channel input voltage and power supply channel output current, and receives target demand current to generate a set of operating parameters; a dew point calculation module, which calculates air dew point temperature based on the set of operating parameters. In the present application, by correlating multi-dimensional parameters such as environmental temperature and humidity, line resistance change, transient voltage drop and mechanical transmission resistance, the system can dynamically adjust the protection boundary by comprehensively considering the physical environment state and electrical operation data, reducing the difficulty in distinguishing between environmental interference and real electrical fault due to the use of fixed protection threshold, and improving the overall power supply stability of the automatic guided vehicle in complex scenarios such as temperature difference alternation and load mutation.

Description

Technical Field

[0001] This invention relates to the field of power supply control and intelligent power distribution technology for automated guided vehicles, and in particular to an intelligent multi-channel controllable power distribution system for mobile robots and its short-circuit protection method. Background Technology

[0002] Automated guided vehicles (AGVs) are a type of mobile robot. With the development of automated logistics technology, mobile robots are widely used in complex scenarios such as cold chain warehousing and cross-regional handling. Mobile robots belong to the category of industrial robots and are controlled by a main controller. They have functions such as movement, automatic navigation, multi-sensor control, and network interaction. To achieve these functions, a mobile robot product integrates various controllers and sensor devices, with the number of devices reaching dozens. Its internal multi-channel controllable power distribution system undertakes the key task of energy allocation, responsible for providing stable power to various core control and drive components.

[0003] In cold chain warehousing or cross-regional transportation scenarios, automated guided vehicles (AGVs) often need to frequently shuttle between different areas with varying temperature differences. This alternating temperature and humidity can expose the equipment to the physical risk of internal condensation, and also increase the viscosity of the lubricating medium in mechanical transmission components, thereby increasing the mechanical resistance of the equipment during cold operation. Furthermore, when the equipment is handling heavy objects or undergoing frequent start-ups and shutdowns, it typically generates transient high-current surges, which places demands on the power supply system's ability to cope with environmental disturbances and sudden load changes.

[0004] However, existing power distribution systems typically employ fixed protection thresholds, lacking dynamic adaptation mechanisms to multi-dimensional environmental and physical factors. On one hand, the system lacks internal environmental intervention strategies, and under alternating hot and cold conditions, there is a risk of micro-short circuits caused by condensation on the switchboard surface. On the other hand, fixed protection logic struggles to distinguish between large cold-state currents caused by high resistance at low temperatures and actual line overloads, and it lacks preventative mechanisms against bus voltage drops caused by heavy loads. This can lead to false power outages or bus undervoltage collapses in complex environments, impacting the overall power supply reliability of the system. Summary of the Invention

[0005] To overcome the above shortcomings, this invention provides an intelligent multi-channel controllable power distribution system for mobile robots and its short-circuit protection method, aiming to improve the problem that existing power distribution systems typically use fixed protection thresholds and lack dynamic adaptation mechanisms to multi-dimensional environmental and physical factors.

[0006] In a first aspect, the present invention provides the following technical solution: a mobile robot intelligent multi-channel controllable power distribution system, comprising: The sensing module collects ambient temperature and humidity, circuit board surface temperature, power supply channel input voltage and power supply channel output current, and receives the target required current to generate a set of operating parameters. The dew point calculation module calculates the air dew point temperature based on the set of operating parameters. When the difference between the circuit board surface temperature and the air dew point temperature is less than a preset temperature threshold, it generates an efficiency intervention command and outputs the current environmental status set. The internal resistance identification module calculates the equivalent internal resistance of the power supply circuit based on the current environmental state set, the input voltage of the power supply channel, and the output current of the power supply channel, and generates internal resistance characteristic values. The voltage drop prediction module calculates the system transient voltage drop based on the internal resistance characteristic value and the target demand current. When the difference between the power supply channel input voltage and the system transient voltage drop is less than a preset voltage threshold, a current limiting threshold is generated. The overcurrent analysis module matches a preset mechanical resistance compensation coefficient based on the ambient temperature of the current environmental state set, calculates the target thermal accumulation overcurrent tolerance threshold according to the mechanical resistance compensation coefficient, compares the output current of the power supply channel with the target thermal accumulation overcurrent tolerance threshold and the current limiting threshold, and generates a power distribution control strategy. The execution module controls the power supply channel based on the power distribution control strategy and the efficiency intervention command, limits the output current of the power supply channel to the current limiting threshold, and cuts off the power supply channel whose output current exceeds the target thermal accumulation overcurrent tolerance threshold.

[0007] Preferably, in the perception module, the step of generating the set of operating parameters specifically includes: Acquire raw sampling signals from sensors, including ambient temperature and humidity, circuit board surface temperature, power supply channel input voltage, and power supply channel output current. Parse the received communication messages to extract the target required current; Perform timestamp alignment processing between the original sampled signal and the target required current; The aligned data is mapped to a preset data structure to generate a set of running parameters.

[0008] Preferably, in the dew point calculation module, the step of generating efficiency intervention instructions and outputting the current environmental state set specifically includes: Extract the ambient temperature and humidity and the circuit board surface temperature from the set of operating parameters, and identify the ambient temperature from the ambient temperature and humidity. Calculate the air dew point temperature corresponding to the ambient temperature and humidity; Perform a comparison of the difference between the circuit board surface temperature and the air dew point temperature; The ambient temperature is encapsulated into the current environmental state set, and an efficiency intervention command is generated when the difference between the circuit board surface temperature and the air dew point temperature is less than the preset temperature threshold.

[0009] Preferably, in the internal resistance identification module, generating internal resistance feature values ​​specifically includes the following steps: Extract the ambient temperature from the current environmental state set, as well as the input voltage and output current of the power supply channel; Calculate the equivalent internal resistance of the power supply loop corresponding to the input voltage and output current of the power supply channel; Match a preset internal resistance temperature compensation coefficient corresponding to the ambient temperature; The equivalent internal resistance of the power supply circuit is corrected and calculated according to the preset internal resistance temperature compensation coefficient to generate the internal resistance characteristic value.

[0010] Preferably, in the voltage drop prediction module, the step of generating the current limiting threshold specifically includes: Extract the internal resistance characteristic value, the target required current, and the power supply channel input voltage; Calculate the product of the internal resistance characteristic value and the target required current to generate the system transient voltage drop; Calculate the difference between the input voltage of the power supply channel and the transient voltage drop of the system; The quotient of the preset voltage threshold and the internal resistance characteristic value is used as the safe current boundary. When the difference is less than the preset voltage threshold, a current limiting threshold is generated based on the safe current boundary.

[0011] Preferably, in the overcurrent analysis module, the step of matching the preset mechanical resistance compensation coefficient based on the ambient temperature of the current environmental state set specifically includes the following steps: Extract the ambient temperature from the current environmental state set; Search the table showing the correspondence between preset temperature ranges and preset mechanical resistance compensation coefficients; Match the preset mechanical resistance compensation coefficient that corresponds to the preset temperature range to which the ambient temperature belongs.

[0012] Preferably, the correspondence table between the preset temperature range and the preset mechanical resistance compensation coefficient is generated through the following steps: Obtain the historical ambient temperature sequence and the corresponding historical drive current sequence under the test environment; Extract the reference drive current at the preset reference temperature; Calculate the difference between each historical drive current in the historical drive current sequence and the reference drive current to generate a current deviation value; The quotient of the current deviation value and the reference drive current is used as the rate of change of mechanical resistance; Based on the mapping between the historical ambient temperature sequence and the corresponding rate of change of mechanical resistance, a table of correspondence between preset temperature ranges and preset mechanical resistance compensation coefficients is generated.

[0013] Preferably, in the overcurrent analysis module, the generation of the power distribution control strategy specifically includes the following steps: The first round of comparison processing is performed between the output current of the power supply channel and the target thermal accumulation overcurrent tolerance threshold. When the output current of the power supply channel is greater than the target thermal accumulation overcurrent tolerance threshold, a cut-off control command is generated for the corresponding power supply channel. The second round of comparison processing between the output current of the power supply channel and the current limiting threshold is performed. When the output current of the power supply channel is greater than the current limiting threshold and less than or equal to the target thermal accumulation overcurrent tolerance threshold, a current adjustment command for the corresponding power supply channel is generated. The power distribution control strategy is generated by encapsulating the cut-off control command and the current regulation command.

[0014] Preferably, in the execution module, the step of cutting off the power supply channel whose output current exceeds the target thermal accumulation overcurrent tolerance threshold specifically includes: Extract the disconnection control command from the power distribution control strategy; Match the hardware index address of the power supply channel corresponding to the cut-off control command; Output a drive shutdown signal to the electronic switching device corresponding to the hardware index address of the power supply channel to cut off the power transmission circuit corresponding to the power supply channel.

[0015] Secondly, the present invention provides the following technical solution: a short-circuit protection method for a mobile robot intelligent multi-channel controllable power distribution system, the method comprising the following steps: S1. Collect ambient temperature and humidity, circuit board surface temperature, power supply channel input voltage and power supply channel output current, and receive the target required current to generate a set of operating parameters; S2. Calculate the air dew point temperature based on the set of operating parameters. When the difference between the circuit board surface temperature and the air dew point temperature is less than a preset temperature threshold, generate an efficiency intervention command and output the current environmental status set. S3. Calculate the equivalent internal resistance of the power supply circuit based on the current environmental state set, the input voltage of the power supply channel, and the output current of the power supply channel, and generate the internal resistance characteristic value. S4. Calculate the system transient voltage drop based on the internal resistance characteristic value and the target demand current. When the difference between the power supply channel input voltage and the system transient voltage drop is less than a preset voltage threshold, generate a current limiting threshold. S5. Based on the ambient temperature of the current environmental state set, a preset mechanical resistance compensation coefficient is matched, and the target thermal accumulation overcurrent tolerance threshold is calculated according to the preset mechanical resistance compensation coefficient. The output current of the power supply channel is compared with the target thermal accumulation overcurrent tolerance threshold and the current limiting threshold to generate a power distribution control strategy. S6. Based on the power distribution control strategy and the efficiency intervention command, control the power supply channel, limit the output current of the power supply channel to the current limiting threshold, and cut off the power supply channel whose output current is greater than the target thermal accumulation overcurrent tolerance threshold.

[0016] The present invention has the following beneficial effects: 1. In this invention, by associating multiple parameters such as ambient temperature and humidity, changes in line internal resistance, transient voltage drop, and mechanical transmission resistance, the system can dynamically adjust the protection boundary by comprehensively considering the physical environment and electrical operation data. This reduces the difficulty in distinguishing between environmental interference and actual electrical faults due to the use of fixed protection thresholds, and improves the overall power supply stability of automated guided vehicles in complex scenarios such as alternating temperature differences and sudden load changes.

[0017] 2. In this invention, the equivalent internal resistance of the power supply circuit is corrected by introducing ambient temperature, and the transient voltage drop of the system is estimated in combination with the target demand current to generate a dynamic current limiting threshold. At the same time, the target thermal accumulation overcurrent tolerance threshold is dynamically set by using a preset mechanical resistance compensation coefficient. This can reduce the risk of undervoltage on the bus and reduce the false triggering of power outage caused by cold-state large current caused by the increase of mechanical resistance in low-temperature environment, thereby improving the accuracy of overcurrent state judgment.

[0018] 3. In this invention, by comparing the circuit board temperature with the air dew point temperature to output intervention commands, the risk of internal short circuits caused by condensation on the power distribution board is reduced by utilizing the heating of the underlying components. On the other hand, by mapping the power distribution control strategy to the hardware driver, the output current is limited to the current limiting threshold by adjusting the duty cycle, and the abnormal branch of the actual overload is cut off according to the hardware index address. This ensures that the preliminary prediction and judgment results can be converted into corresponding hardware control actions, thereby improving the hardware protection capability and execution accuracy of the power distribution system under complex working conditions. Attached Figure Description

[0019] Figure 1 This is an architecture diagram of the intelligent multi-channel controllable power distribution system for mobile robots proposed in this invention. Figure 2 This is a flowchart of a short-circuit protection method for a mobile robot intelligent multi-channel controllable power distribution system proposed in this invention. Figure 3 This is a circuit integration diagram of an intelligent multi-channel controllable power distribution system for mobile robots. Detailed Implementation

[0020] The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0021] Example 1: In a first embodiment of the present invention, the present invention provides an intelligent multi-channel controllable power distribution system for mobile robots, such as... Figure 1 As shown, it includes: The sensing module collects ambient temperature and humidity, circuit board surface temperature, power supply channel input voltage and power supply channel output current, and receives the target required current to generate a set of operating parameters. Furthermore, in the perception module, the steps for generating the set of operating parameters specifically include: Acquire raw sampling signals from sensors, including ambient temperature and humidity, circuit board surface temperature, power supply channel input voltage, and power supply channel output current. Parse the received communication messages to extract the target required current; Perform timestamp alignment processing between the original sampled signal and the target required current; The aligned data is mapped to a preset data structure to generate a set of running parameters.

[0022] Specifically, the sensing module, as the initial data entry point for the multi-channel power distribution system, is responsible for collecting environmental and electrical status parameters and receiving drive requests from the upper-level main controller. The microcontroller reads the raw digital values ​​of ambient temperature and humidity from digital temperature and humidity sensors located on the exterior of the mobile robot via its internal communication bus. Simultaneously, the microcontroller collects the surface temperature of the circuit board using thermistors located in key heat-generating areas of the power distribution motherboard, and collects the input voltage and output current of each power supply channel through a voltage divider resistor network and Hall current sensors. These parameters, acquired by the sensors at different sampling periods, are stored in the data cache queue in the controller's memory, collectively forming the raw sampled signal.

[0023] While acquiring local hardware status, the perception module listens for control commands broadcast by the mobile robot's main control unit via the controller area network bus. The communication parsing unit within the module performs frame header comparison and checksum verification on the received communication messages. Upon successful verification, it extracts the target current requirement allocated to the corresponding power supply channel for the current scheduling task from the message's data payload segment. This target current requirement represents the theoretical energy allocation demand of the mobile robot under different mechanical resistance conditions, such as acceleration, heavy load, or constant speed.

[0024] Because there is a significant difference between the physical sampling frequency of the local sensor and the communication message receiving frequency of the control bus, the original sampled signal and the target demand current are asynchronous and discrete in time. To avoid phase deviations in subsequent power calculations and overcurrent assessments, the sensing module performs timestamp alignment processing between the original sampled signal and the target demand current. Using the system clock time from which the target demand current is extracted as the reference timestamp, the system retrieves adjacent frames of data from the data buffer queue and performs time-domain reconstruction and approximation calculations on the original sampled signal based on a linear interpolation algorithm. The algorithm formula for this timestamp alignment processing is as follows: ; In the formula, Reconstructed signal values ​​representing the power supply channel input voltage, power supply channel output current, ambient temperature and humidity, or circuit board surface temperature aligned to the reference timestamp; This represents the reference timestamp from which the target current requirement was extracted; This indicates the most recent valid sampling time in the data cache queue before the base timestamp; This indicates the most recent valid sampling time in the data cache queue after the base timestamp; Indicates in The actual physical quantity of the raw sampled signal collected at any time; Indicates in The actual physical quantity of the raw sampled signal collected at any time.

[0025] After completing the time-domain synchronization reconstruction, the sensing module will align the reconstructed signal values ​​of the ambient temperature and humidity, circuit board surface temperature, power supply channel input voltage, and power supply channel output current, as well as the extracted target current requirement, and map them to a preset data structure according to continuous memory physical addresses. This data structure will uniformly encapsulate the above feature data through a multi-dimensional array to generate a set of operating parameters and release memory read / write access permissions to the backend algorithm module.

[0026] By aligning timestamps and using structured encapsulation, the time difference between multi-source asynchronous sensors and the communication bus is reduced, ensuring the consistency of the data used for subsequent thermal accumulation and voltage drop calculations in the time dimension.

[0027] The dew point calculation module calculates the air dew point temperature based on the set of operating parameters. When the difference between the circuit board surface temperature and the air dew point temperature is less than the preset temperature threshold, it generates an efficiency intervention command and outputs the current environmental status set. Furthermore, in the dew point calculation module, the steps of generating efficiency intervention instructions and outputting the current environmental state set specifically include: Extract the ambient temperature and humidity, as well as the circuit board surface temperature, from the set of operating parameters, and identify the ambient temperature in the ambient temperature and humidity data; Calculate the air dew point temperature corresponding to ambient temperature and humidity; Perform a comparison of the difference between the circuit board surface temperature and the air dew point temperature; The ambient temperature is encapsulated into the current environmental state set, and an efficiency intervention command is generated when the difference between the circuit board surface temperature and the air dew point temperature is less than a preset temperature threshold.

[0028] Specifically, the dew point calculation module reads the set of operating parameters encapsulated by the sensing module through the system memory bus. The system parses the multi-dimensional array structure and extracts the ambient temperature and humidity, as well as the circuit board surface temperature, after timestamp alignment. Since the ambient temperature and humidity are usually present in the form of data packets with merged word lengths in the underlying sensor messages, the module decodes the merged data packets through data shifting and logical AND operations, separates the ambient relative humidity parameter, and identifies the pure ambient temperature.

[0029] After separating the environmental parameters, the dew point calculation module calculates the air dew point temperature corresponding to the ambient temperature and humidity. The calculation process is based on the thermodynamic phase transition theory, assessing the critical temperature point at which water vapor reaches saturation and precipitates liquid water droplets under local microclimate conditions. The specific algorithm formula is as follows: ; In the formula, This represents the calculated air dew point temperature, with the physical dimension limited to degrees Celsius. This represents the ambient temperature identified from the set of operating parameters, and its physical dimension is also limited to degrees Celsius. It represents the relative humidity parameter separated from ambient temperature and humidity, and its value range is defined as a pure decimal ratio greater than zero and less than or equal to one. and These are all empirical constants in the environmental wet-dry meter equation, and are taken as fixed values ​​of 17.27 and 237.3 respectively in the mobile robot operating environment; It represents the logarithmic operation with the natural constant as the base.

[0030] After acquiring the air dew point temperature, the module performs a comparison between the circuit board surface temperature and the air dew point temperature. The microprocessor subtracts the calculated air dew point temperature from the circuit board surface temperature in the set of operating parameters to obtain a temperature difference value characterizing the condensation risk margin. Simultaneously, the module maps the ambient temperature identified in the previous steps to an independent global memory region, encapsulating the ambient temperature into a current environmental state set to provide a unified environmental reference value to downstream modules for internal resistance identification and overcurrent assessment.

[0031] The module compares the calculated temperature difference with a preset temperature threshold pre-written into the read-only memory. When the difference between the circuit board surface temperature and the air dew point temperature is less than the preset temperature threshold, it indicates that the physical surface of the power system is about to break through the physical boundary of liquefaction and condensation. At this time, the dew point calculation module immediately generates an efficiency intervention command. The efficiency intervention command is then sent to the underlying hardware driver to forcibly adjust the switching transistor frequency and activate the onboard heating unit, actively increasing the motherboard temperature by intervening in the system's power conversion efficiency.

[0032] By analyzing operating parameters to calculate the air dew point temperature and outputting efficiency intervention commands when approaching the liquefaction boundary, the underlying components actively generate heat. This setup reduces the risk of internal short circuits caused by physical condensation on the power distribution circuit board in alternating hot and cold environments, improving the equipment's adaptability to harsh temperature and humidity environments from the hardware level.

[0033] The internal resistance identification module calculates the equivalent internal resistance of the power supply circuit based on the current environmental state set, the input voltage of the power supply channel, and the output current of the power supply channel, and generates internal resistance characteristic values. Furthermore, in the internal resistance identification module, generating internal resistance feature values ​​specifically includes the following steps: Extract the ambient temperature, power supply channel input voltage, and power supply channel output current from the current environmental status set. Calculate the equivalent internal resistance of the power supply loop corresponding to the input voltage and output current of the power supply channel. Matches the preset internal resistance temperature compensation coefficient corresponding to the ambient temperature; The equivalent internal resistance of the power supply circuit is corrected and calculated according to the preset internal resistance temperature compensation coefficient to generate the internal resistance characteristic value.

[0034] Specifically, the internal resistance identification module reads the current environmental state set output by the dew point calculation module through the system memory bus and extracts the environmental temperature identified and encapsulated in the previous step. At the same time, the internal resistance identification module accesses the set of operating parameters generated by the sensing module again and retrieves the power supply channel input voltage and power supply channel output current, which have been timestamped and processed according to the data structure address offset.

[0035] After obtaining the basic electrical parameters, the internal resistance identification module calculates the equivalent internal resistance of the power supply loop corresponding to the input voltage and output current of the power supply channel. The calculation process is based on the derivation of Ohm's law for closed loops, abstracting the entire upstream power supply link into a Thevenin equivalent circuit model containing a fixed source voltage and dynamic internal resistance. The specific algorithm formula is as follows: ; In the formula, This represents the equivalent internal resistance of the calculated power supply loop, with the physical dimension limited to ohms. It represents the open-circuit voltage of the power supply bus under no-load conditions, which is pre-calibrated and stored in the system's non-volatile memory. Its physical dimension is defined as volts. This represents the input voltage of the power supply channel retrieved from the set of operating parameters, with the physical dimension limited to volts; This represents the output current of the power supply channel retrieved from the set of operating parameters. Its physical dimension is limited to amperes. When the system performs calculations, it forcibly limits the output current of the power supply channel to a valid drive condition value that is greater than zero to prevent division by zero logic anomalies.

[0036] Since the physical resistance of the copper foil traces and electronic switching devices in the power supply circuit will drift significantly with the ambient thermodynamic state, the internal resistance identification module will use the extracted ambient temperature as an index parameter to look up the table in the system's built-in temperature coefficient matrix and match the preset internal resistance temperature compensation coefficient corresponding to the ambient temperature.

[0037] After matching is complete, the module will perform a multiplication correction calculation on the calculated equivalent internal resistance of the power supply loop according to the preset internal resistance temperature compensation coefficient, and generate the internal resistance characteristic value. The specific correction calculation formula is as follows: ; In the formula, This represents the internal resistance characteristic value generated after correction and calculation, with the physical dimension limited to ohms; This represents the equivalent internal resistance of the power supply loop obtained from the prior calculation. This represents the preset internal resistance temperature compensation coefficient obtained by table lookup matching, and its physical property is a dimensionless positive floating-point multiplication factor.

[0038] By introducing ambient temperature for dynamic resistance correction, the deviation in internal resistance calculation caused by temperature drift of physical conductors in alternating hot and cold environments is reduced, providing an accurate impedance reference parameter for subsequent calculation of transient voltage drop.

[0039] The voltage drop prediction module calculates the system transient voltage drop based on the internal resistance characteristic value and the target demand current. When the difference between the power supply channel input voltage and the system transient voltage drop is less than the preset voltage threshold, a current limiting threshold is generated. Furthermore, in the voltage drop prediction module, the step of generating the current limiting threshold specifically includes: Extract the internal resistance characteristic value, target required current, and power supply channel input voltage; Calculate the product of the internal resistance characteristic value and the target demand current to generate the system transient voltage drop; Calculate the difference between the input voltage of the power supply channel and the transient voltage drop of the system; The quotient of the preset voltage threshold and the internal resistance characteristic value is used as the safe current boundary. When the difference is less than the preset voltage threshold, a current limiting threshold is generated based on the safe current boundary.

[0040] Specifically, the voltage drop prediction module reads the internal resistance characteristic value output by the internal resistance identification module after correction through the system's internal high-speed bus. At the same time, the voltage drop prediction module accesses the set of operating parameters encapsulated in the sensing module, extracts the power supply channel input voltage after timestamp alignment processing according to the data structure address offset, and the target demand current extracted by communication parsing.

[0041] After acquiring the various physical parameters, the voltage drop prediction module calculates the product of the internal resistance characteristic value and the target required current to generate the system transient voltage drop. The calculation is based on Ohm's law and quantifies the expected voltage loss generated on the front-end physical lines when the target load is transiently connected. The specific algorithm formula is as follows: ; In the formula, This represents the calculated transient voltage drop of the system, with the physical dimension limited to volts. This represents the internal resistance characteristic value read from the internal resistance identification module, with the physical dimension limited to ohms; This represents the target current requirement extracted from the set of operating parameters, with the physical dimension limited to amperes.

[0042] Subsequently, the voltage drop prediction module calculates the difference between the input voltage of the power supply channel and the transient voltage drop of the system. The microcontroller uses its arithmetic logic unit to perform subtraction to predict the expected terminal voltage at the physical output node of the power supply channel during a high current load. The specific algorithm formula is as follows: ; In the formula, This represents the calculated expected terminal voltage difference, with the physical dimension limited to volts. This represents the input voltage of the power supply channel retrieved from the set of operating parameters, with the physical dimension limited to volts; This represents the transient voltage drop of the system obtained from the pre-calculation.

[0043] The voltage drop prediction module retrieves a preset voltage threshold from the system's non-volatile memory, which characterizes the system's minimum safe operating baseline. The microprocessor uses the quotient of the preset voltage threshold and the internal resistance characteristic value as the safe current boundary to establish a theoretical boundary parameter characterizing the energy required to maintain the minimum safe voltage. The specific calculation formula is as follows: ; In the formula, This represents the calculated safe current boundary, with the physical dimension limited to amperes; This indicates a preset voltage threshold, with the physical dimension limited to volts; This represents the internal resistance characteristic value of the pre-read.

[0044] After calculation, the module executes a numerical comparison and current limiting generation algorithm. When the expected terminal voltage difference is less than the preset voltage threshold, it indicates that direct discharge according to the target demand current will cause the bus voltage to drop to the physical safety lower limit. To ensure that the final terminal voltage remains constant below the preset voltage threshold, the voltage drop prediction module subtracts the safe current boundary from the quotient of the power supply channel input voltage and the internal resistance characteristic value. Based on this, it generates a current limiting threshold that conforms to Kirchhoff's voltage law for a closed loop. The specific generation algorithm formula is as follows: ; In the formula, This represents the generated current limiting threshold, with the physical dimension limited to amperes, and is written as an absolute instruction boundary into the current limiting register of the underlying hardware driver; Indicates the input voltage of the power supply channel; Indicates the characteristic value of internal resistance; This represents the safe current boundary generated by the pre-calculation.

[0045] By combining the target current demand with the corrected internal resistance, the transient voltage drop of the system is estimated in advance to generate a current limiting threshold. This setting can prevent the impact of sudden heavy loads on the total system voltage, reduce the undervoltage phenomenon of the bus caused by excessive transient voltage drop, and ensure the voltage stability of multi-channel power supply.

[0046] The overcurrent analysis module matches the ambient temperature based on the current environmental conditions with a preset mechanical resistance compensation coefficient, and calculates the target thermal accumulation overcurrent tolerance threshold based on the mechanical resistance compensation coefficient. It then compares the output current of the power supply channel with the target thermal accumulation overcurrent tolerance threshold and the current limiting threshold to generate a power distribution control strategy. Furthermore, in the overcurrent analysis module, matching the preset mechanical resistance compensation coefficient based on the ambient temperature of the current environmental state set specifically includes the following steps: Extract the ambient temperature from the current environmental status set; Search the table showing the correspondence between preset temperature ranges and preset mechanical resistance compensation coefficients; Match the preset mechanical resistance compensation coefficient corresponding to the preset temperature range of the ambient temperature.

[0047] Furthermore, the correspondence table between the preset temperature range and the preset mechanical resistance compensation coefficient is generated through the following steps: Obtain the historical ambient temperature sequence and the corresponding historical drive current sequence under the test environment; Extract the reference drive current at the preset reference temperature; Calculate the difference between each historical drive current and the reference drive current in the historical drive current sequence to generate the current deviation value; The quotient of the current deviation value and the reference drive current is used as the rate of change of mechanical resistance. Based on the mapping between historical environmental temperature sequences and corresponding rates of change of mechanical resistance, a table of correspondence between preset temperature ranges and preset mechanical resistance compensation coefficients is generated.

[0048] Furthermore, the overcurrent analysis module generates a power distribution control strategy, specifically including the following steps: The first round of comparison processing is performed between the output current of the power supply channel and the target thermal accumulation overcurrent tolerance threshold. When the output current of the power supply channel is greater than the target thermal accumulation overcurrent tolerance threshold, a cut-off control command is generated for the corresponding power supply channel. The second round of comparison processing between the output current of the power supply channel and the current limiting threshold is performed. When the output current of the power supply channel is greater than the current limiting threshold and less than or equal to the target thermal accumulation overcurrent tolerance threshold, a current adjustment command for the corresponding power supply channel is generated. Encapsulate cut-off control commands and current regulation commands to generate power distribution control strategies.

[0049] Specifically, the overcurrent assessment module constructs a correspondence table for dynamically adjusting the protection boundary during the offline calibration phase. The test platform operates an automated guided vehicle (AGV) within an environmental simulation chamber, traversing various preset temperature ranges to acquire historical ambient temperature sequences and corresponding historical drive current sequences under the test environment. The underlying processor extracts a pre-set reference temperature under ideal lubrication conditions at room temperature and extracts the reference drive current corresponding to that temperature.

[0050] After acquiring the basic data, the processor calculates the difference between each historical drive current in the historical drive current sequence and the reference drive current, generating a current deviation value characterizing additional heat loss. The algorithm formula for this step is as follows: ; In the formula, This represents the calculated current deviation value, with the physical dimension limited to amperes; This represents the historical driving current at a single sampling point in the historical driving current sequence, with the physical dimension limited to amperes. This represents the extracted reference drive current, with the physical dimension limited to amperes.

[0051] Subsequently, the processor uses the quotient of the calculated current deviation value and the reference drive current as the rate of change of mechanical resistance characterizing the additional load of the lubricating grease viscosity in the chassis transmission mechanism. The specific algorithm formula is as follows: ; In the formula, This represents the calculated rate of change of mechanical resistance, a dimensionless decimal ratio. This represents the current deviation value generated by the preceding steps; This represents the reference drive current.

[0052] After obtaining the rate of change corresponding to each temperature point, the overcurrent analysis module executes a mapping algorithm. The processor calculates the arithmetic mean of the rate of change of mechanical resistance corresponding to all historical ambient temperatures falling within the same preset temperature range, and directly assigns the obtained average rate of change value to the preset mechanical resistance compensation coefficient. Based on this mapping rule, the overcurrent analysis module generates a correspondence table between the preset temperature range and the preset mechanical resistance compensation coefficient, and stores it in non-volatile memory.

[0053] During online operation, the overcurrent assessment module extracts the ambient temperature from the current environmental state set encapsulated in the pre-dew point calculation module via the system memory bus. The microcontroller uses the extracted ambient temperature as a search key to retrieve the corresponding table in non-volatile memory and match it with a preset mechanical resistance compensation coefficient corresponding to the preset temperature range of the ambient temperature. After obtaining the compensation coefficient, the overcurrent assessment module calculates the target thermal accumulation overcurrent tolerance threshold based on the preset mechanical resistance compensation coefficient. The specific algorithm formula is as follows: ; In the formula, This represents the calculated target thermal accumulation overcurrent tolerance threshold, with the physical dimension limited to amperes; This represents the pre-written rated thermal tolerance current at room temperature for the controller, with the physical dimension limited to amperes. This represents the preset mechanical resistance compensation coefficient obtained by table lookup matching, and its physical property is a dimensionless floating-point number.

[0054] After setting the dynamic thermal threshold, the overcurrent assessment module retrieves the power supply channel output current from the set of operating parameters generated by the sensing module and reads the current limiting threshold generated and latched by the voltage drop prediction module. The module's arithmetic logic unit performs the first round of comparison between the power supply channel output current and the target thermal accumulation overcurrent tolerance threshold. When the power supply channel output current exceeds the target thermal accumulation overcurrent tolerance threshold, it indicates that the Joule heat accumulation of the physical cable has exceeded the physical limit. The overcurrent assessment module then generates a cut-off control command for the corresponding power supply channel, forcibly disconnecting the underlying solid-state switch.

[0055] If the first round of comparison determines that the power supply channel output current is less than or equal to the target thermal cumulative overcurrent tolerance threshold, the overcurrent assessment module continues to perform a second round of comparison between the power supply channel output current and the current limiting threshold. When the power supply channel output current is greater than the current limiting threshold but less than or equal to the target thermal cumulative overcurrent tolerance threshold, it indicates that the system has a risk of pulling down the bus terminal voltage but has not reached the thermal damage boundary. The module generates a current regulation command for the corresponding power supply channel, forcing the underlying pulse width modulation driver to perform constant current peak clipping output according to the current limiting threshold. Finally, the overcurrent assessment module encapsulates the cutoff control command and the current regulation command through communication data frames, generates a power distribution control strategy, and sends it to the power execution stage.

[0056] By utilizing a preset mechanical resistance compensation coefficient, the target thermal accumulation overcurrent tolerance threshold is dynamically set. This setting enables the protection mechanism to reasonably accommodate the normal cold-start large current caused by the sudden increase in mechanical resistance in low-temperature environments, reducing abnormal power outages caused by fixed logic misjudgments and improving the accuracy of overcurrent assessment.

[0057] The execution module controls the power supply channel based on the power distribution control strategy and efficiency intervention instructions, limits the output current of the power supply channel to the current limiting threshold, and cuts off the power supply channel whose output current exceeds the target thermal accumulation overcurrent tolerance threshold.

[0058] Furthermore, in the execution module, the step of cutting off the power supply channel when the output current exceeds the target thermal accumulation overcurrent tolerance threshold specifically includes: Extract disconnection control commands from the power distribution control strategy; Match the hardware index address of the power supply channel corresponding to the cut-off control command; Output a drive shutdown signal to the electronic switching device corresponding to the hardware index address of the power supply channel to cut off the power transmission circuit of the corresponding power supply channel.

[0059] Specifically, the execution module reads the power distribution control strategy generated by the pre-overcurrent analysis module through the system's underlying communication bus, and simultaneously retrieves the efficiency intervention command issued by the dew point calculation module. Upon receiving the efficiency intervention command, the microprocessor parses the drive level signal embedded in the command, forcibly adjusts the operating frequency of the power converter switching transistor, and activates the onboard heating unit to increase the physical motherboard temperature to avoid the risk of liquefaction and condensation.

[0060] Simultaneously, the execution module controls the power supply channel based on the power distribution control strategy, limiting the output current of the power supply channel to a current limiting threshold. The microprocessor extracts the current regulation instructions encapsulated in the power distribution control strategy and the current limiting threshold latched by the voltage drop prediction module, and uses a proportional-integral-derivative (PID) adjustment algorithm to dynamically intervene in the pulse width modulation duty cycle of the electronic switching device, forcibly limiting the conduction time of the upper bridge arm. The specific current limiting control boundary algorithm formula is as follows: ; In the formula, This represents the target rated value of the actual power supply channel output current after current limiting treatment, with the physical dimension limited to amperes; This represents the target current requirement read from the set of preceding operating parameters, with the physical dimension limited to amperes; This represents the current limiting threshold generated and latched by the voltage drop prediction module, with the physical dimension limited to amperes; This represents the logical function for taking the minimum value.

[0061] The execution module synchronously performs disaster prevention actions by cutting off power supply channels whose output current exceeds the target thermal accumulation overcurrent tolerance threshold. The microprocessor extracts the cutoff control instructions from the power distribution control strategy. The processor uses bitwise AND operations to strip the frame header and check bits from the cutoff control instruction data frame, accurately separating the embedded logical channel number from the data payload area.

[0062] After obtaining the logic channel number, the microcontroller matches the hardware index address of the power supply channel corresponding to the cut-off control command in the hardware mapping table pre-written into the read-only memory. The specific addressing algorithm formula is as follows: ; In the formula, This represents the hardware index address of the matched power supply channel, and the data type is limited to a hexadecimal memory address pointer; This indicates the starting address of the pre-configured underlying control register; This represents the logical channel number separated from the cut-off control command; the data attribute is a positive integer. This indicates the data width address offset of the single power supply channel control register.

[0063] After accurately locating the physical address, the microprocessor directly assigns a logic low level to the underlying control register corresponding to the hardware index address of the power supply channel, and outputs a drive shutdown signal to the electronic switching device corresponding to the hardware index address of the power supply channel. Upon receiving the drive shutdown signal, the electronic switching device instantly removes the charge from the gate of the field-effect transistor, forcibly blocking the conductive channel and completely cutting off the power transmission circuit of the corresponding power supply channel.

[0064] By mapping the power distribution control strategy to the underlying hardware driver, the output current is clamped within the limiting threshold using duty cycle adjustment, and the actual overload branch is precisely cut off based on the hardware index address. This setting ensures that the multi-dimensional judgment results from the front end can be accurately translated into physical cut-off actions, improving the fault isolation accuracy and execution rate of the system in response to abnormal impacts.

[0065] In summary, this embodiment constructs a multi-dimensional parameter-correlated power distribution control closed loop through the synergistic effect of the sensing module, dew point calculation module, internal resistance identification module, voltage drop prediction module, overcurrent analysis module, and execution module.

[0066] The system uses the ambient temperature extracted by the dew point calculation module as a cross-module reference parameter: on the one hand, the internal resistance identification module dynamically corrects the equivalent internal resistance of the power supply circuit based on this ambient temperature, and then the voltage drop prediction module calculates the transient voltage drop of the system, thereby generating a current limiting threshold; on the other hand, the overcurrent judgment module also matches a preset mechanical resistance compensation coefficient based on this ambient temperature, and then derives the target thermal accumulation overcurrent tolerance threshold. Finally, the actual output current of the power supply channel is compared with the above-mentioned dual-layer dynamic threshold derived from internal resistance, voltage drop, and mechanical resistance, and the execution module completes the physical action.

[0067] By passing parameters step by step and performing overlapping calculations, multi-dimensional parameters such as ambient temperature and humidity, changes in line internal resistance, transient voltage drop, and mechanical transmission resistance are logically correlated. This effectively improves the problem that traditional single static protection strategies cannot distinguish between environmental interference and real electrical faults, reduces the risk of condensation short circuits and bus undervoltage, and improves the power supply reliability of automated guided vehicles under complex operating conditions such as alternating temperature differences and sudden load changes.

[0068] Example 2: Power distribution systems typically employ fixed protection thresholds, lacking dynamic adaptation mechanisms to multi-dimensional environmental and physical factors. On one hand, the system lacks internal environmental intervention strategies; under alternating hot and cold conditions, condensation on the switchboard surface poses a risk of micro-short circuits. On the other hand, fixed protection logic struggles to distinguish between large cold-state currents caused by high resistance at low temperatures and actual line overloads, and it lacks preventative mechanisms against bus voltage drops caused by heavy loads. To address these issues, such as... Figure 2 As shown: The method includes the following steps: S1. Collect ambient temperature and humidity, circuit board surface temperature, power supply channel input voltage and power supply channel output current, and receive the target required current to generate a set of operating parameters; S2. Calculate the air dew point temperature based on the set of operating parameters. When the difference between the circuit board surface temperature and the air dew point temperature is less than the preset temperature threshold, generate an efficiency intervention command and output the current environmental status set. S3. Calculate the equivalent internal resistance of the power supply loop based on the current environmental state set, the input voltage of the power supply channel, and the output current of the power supply channel, and generate the internal resistance characteristic value. S4. Calculate the system transient voltage drop based on the internal resistance characteristic value and the target demand current. When the difference between the power supply channel input voltage and the system transient voltage drop is less than the preset voltage threshold, generate the current limiting threshold. S5. Based on the ambient temperature of the current environmental state, match the preset mechanical resistance compensation coefficient, and calculate the target thermal accumulation overcurrent tolerance threshold according to the preset mechanical resistance compensation coefficient. Compare the power supply channel output current with the target thermal accumulation overcurrent tolerance threshold and the current limiting threshold to generate a power distribution control strategy. S6. Based on the power distribution control strategy and efficiency intervention command, control the power supply channel, limit the output current of the power supply channel to the current limiting threshold, and cut off the power supply channel whose output current is greater than the target thermal accumulation overcurrent tolerance threshold.

[0069] Specifically, the system's bottom-level sensing unit collects ambient temperature and humidity, circuit board surface temperature, power supply channel input voltage, and power supply channel output current from the sensor network, and receives the target demand current from the host computer control node, encapsulating them into a unified set of operating parameters. The dew point calculation module calculates the air dew point temperature based on the thermodynamic multidimensional physical parameters in the operating parameter set. When the difference between the circuit board surface temperature and the air dew point temperature is strictly less than a preset temperature threshold, an efficiency intervention command is immediately generated, and a current environmental state set containing the pure ambient temperature parameter is simultaneously output. Subsequently, the internal resistance identification module, based on the environmental benchmark provided by the current environmental state set, dynamically derives and calculates the equivalent internal resistance of the power supply circuit by combining the power supply channel input voltage and power supply channel output current, generating a corrected internal resistance characteristic value. The voltage drop prediction module extracts the internal resistance characteristic value and the target demand current to calculate the system transient voltage drop. When the difference between the power supply channel input voltage and the system transient voltage drop falls below a preset voltage threshold, a current limiting threshold to prevent bus collapse is generated in advance. The overcurrent assessment module, based on the ambient temperature of the current environmental conditions, matches a preset mechanical resistance compensation coefficient in a built-in matrix and dynamically adjusts the target thermal accumulation overcurrent tolerance threshold according to the preset mechanical resistance compensation coefficient. Simultaneously, it performs a two-layer physical boundary comparison between the power supply channel output current and the target thermal accumulation overcurrent tolerance threshold and current limiting threshold to generate a power distribution control strategy. Finally, the execution module, based on the underlying logic and efficiency intervention instructions encapsulated in the power distribution control strategy, performs closed-loop control on the physical power supply channel, forcibly clamping and limiting the output current of the power supply channel to within the current limiting threshold, and uses nanosecond-level hardware addressing to cut off abnormal power supply channels with output currents exceeding the target thermal accumulation overcurrent tolerance threshold. The aforementioned execution steps completely connect the entire logic chain from environmental perception, impedance identification, voltage drop prediction, overcurrent assessment to end-point hardware execution, endowing the underlying power distribution system with highly reliable adaptive collaborative protection capabilities under extreme alternating hot and cold conditions and heavy-load transient changes.

[0070] Please see Figure 3Based on the above solution, the system also includes multiple integrated power supply channels, including an integrated 24V to 12V high-power DC-DC switching power supply, 24V to 5V and 12V to 3.3V low-current non-isolated power supplies. The 24V to 12V high-power power supply can provide a maximum output current of 30A. Internally, it integrates up to 50 controllable power output channels, each with overcurrent and short-circuit protection. These include 2 channels of 80V 1A, 5 channels of 24V 10A, 10 channels of 24V 5A, 12 channels of 24V 1A, 12 channels of 12V 3A, 1 channel of 12V 7A, 5 channels of 5V 2A, and 3 channels of 3.3V 1A. Through these multiple integrated power supply channels, each equipped with overcurrent, short-circuit protection, and temperature control protection, even if a channel experiences a short circuit or overcurrent fault, the corresponding channel can be shut down promptly to avoid affecting the normal operation of other equipment.

[0071] Please continue reading. Figure 3 , attached Figure 3 The circled A in the middle can be understood as Figure 1 The architecture has an A-architecture module that generates information commands, which are then executed by the execution module to control each power supply channel, thereby enabling short-circuit protection for each power supply channel.

[0072] It should be noted that when the surface temperature of the circuit board approaches the physical boundary of liquefaction, an efficiency intervention command is output in advance to actively adjust the underlying power switching frequency and activate the heating unit to increase the motherboard temperature. This avoids internal micro short circuit faults caused by condensation on the power distribution physical board in a hot and cold environment. This method is a short circuit protection method. This method is set on each channel of the current output by the system to achieve short circuit protection for each power supply channel.

[0073] Based on the above scheme, the system also includes a CAN communication module, a serial port debugging module, a serial port communication module, an IO control module, an AD acquisition module, an alarm processing module, a log module, and a configuration module.

[0074] The CAN communication module, through a custom CAN communication protocol, enables communication between the ACU and the distributor, and achieves functions such as power output channel switching control, DO control, system status acquisition, parameter configuration, Bluetooth module configuration, data communication, GPS differential data acquisition and positioning data reporting, NFC and remote control data acquisition, and system software upgrades.

[0075] The system includes several modules: a serial port debugging module (allowing the host computer to communicate with the PDU via the debugging serial port, enabling control functions similar to CAN communication, parameter configuration, and log reading); a serial port communication module (enabling control and data interaction with serial port modules such as Bluetooth, GPS, and NFC); ​​an I / O control module (controlling relevant MCU I / O and I2C expansion chip I / O); an AD acquisition module (acquiring and converting relevant voltage and current data through the MCU's ADC interface, and implementing overcurrent and short-circuit protection for the output power channel using intelligent algorithms); an alarm handling module (handling various hardware faults and alarms of the PDU); a log module (supporting alarm recording, up to 1000 records, stored in onboard Flash); and a configuration module (reading and writing parameters, storing configuration parameters in EEPROM).

[0076] Finally, it should be noted that the above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A mobile robot intelligent multi-channel controllable power distribution system, characterized in that, include: The sensing module collects ambient temperature and humidity, circuit board surface temperature, power supply channel input voltage and power supply channel output current, and receives the target required current to generate a set of operating parameters. The dew point calculation module calculates the air dew point temperature based on the set of operating parameters. When the difference between the circuit board surface temperature and the air dew point temperature is less than a preset temperature threshold, it generates an efficiency intervention command and outputs the current environmental status set. The internal resistance identification module calculates the equivalent internal resistance of the power supply circuit based on the current environmental state set, the input voltage of the power supply channel, and the output current of the power supply channel, and generates internal resistance characteristic values. The voltage drop prediction module calculates the system transient voltage drop based on the internal resistance characteristic value and the target demand current. When the difference between the power supply channel input voltage and the system transient voltage drop is less than a preset voltage threshold, a current limiting threshold is generated. The overcurrent analysis module matches a preset mechanical resistance compensation coefficient based on the ambient temperature of the current environmental state set, calculates the target thermal accumulation overcurrent tolerance threshold according to the mechanical resistance compensation coefficient, compares the output current of the power supply channel with the target thermal accumulation overcurrent tolerance threshold and the current limiting threshold, and generates a power distribution control strategy. The execution module controls the power supply channel based on the power distribution control strategy and the efficiency intervention command, limits the output current of the power supply channel to the current limiting threshold, and cuts off the power supply channel whose output current exceeds the target thermal accumulation overcurrent tolerance threshold.

2. The intelligent multi-channel controllable power distribution system for mobile robots according to claim 1, characterized in that, In the perception module, the step of generating the set of operating parameters specifically includes: Acquire raw sampling signals from sensors, including ambient temperature and humidity, circuit board surface temperature, power supply channel input voltage, and power supply channel output current. Parse the received communication messages to extract the target required current; Perform timestamp alignment processing between the original sampled signal and the target required current; The aligned data is mapped to a preset data structure to generate a set of running parameters.

3. The intelligent multi-channel controllable power distribution system for mobile robots according to claim 1, characterized in that, In the dew point calculation module, the step of generating efficiency intervention instructions and outputting the current environmental state set specifically includes: Extract the ambient temperature and humidity and the circuit board surface temperature from the set of operating parameters, and identify the ambient temperature from the ambient temperature and humidity. Calculate the air dew point temperature corresponding to the ambient temperature and humidity; Perform a comparison of the difference between the circuit board surface temperature and the air dew point temperature; The ambient temperature is encapsulated into the current environmental state set, and an efficiency intervention command is generated when the difference between the circuit board surface temperature and the air dew point temperature is less than the preset temperature threshold.

4. The intelligent multi-channel controllable power distribution system for mobile robots according to claim 1, characterized in that, In the internal resistance identification module, generating internal resistance feature values ​​specifically includes the following steps: Extract the ambient temperature from the current environmental state set, as well as the input voltage and output current of the power supply channel; The equivalent internal resistance of the power supply loop corresponding to the input voltage and output current of the power supply channel is calculated using the following formula: ,in This represents the equivalent internal resistance of the calculated power supply loop, with the physical dimension limited to ohms. This represents the no-load open-circuit voltage of the power supply bus, pre-calibrated and stored in the system's non-volatile memory, with the physical dimension defined as volts. This represents the input voltage of the power supply channel retrieved from the set of operating parameters, with the physical dimension limited to volts. This indicates the output current of the power supply channel retrieved from the set of operating parameters; Match a preset internal resistance temperature compensation coefficient corresponding to the ambient temperature; The equivalent internal resistance of the power supply circuit is corrected and calculated according to the preset internal resistance temperature compensation coefficient to generate an internal resistance characteristic value. The correction calculation formula is as follows: ,in This represents the internal resistance characteristic value generated after correction and calculation, with the physical dimension limited to ohms. This represents the equivalent internal resistance of the power supply loop obtained from the prior calculation. This represents the preset internal resistance temperature compensation coefficient obtained by table lookup matching, and its physical property is a dimensionless positive floating-point multiplication factor.

5. The intelligent multi-channel controllable power distribution system for mobile robots according to claim 1, characterized in that, In the voltage drop prediction module, the step of generating the current limiting threshold specifically includes: Extract the internal resistance characteristic value, the target required current, and the power supply channel input voltage; Calculate the product of the internal resistance characteristic value and the target required current to generate the system transient voltage drop; Calculate the difference between the input voltage of the power supply channel and the transient voltage drop of the system; The quotient of the preset voltage threshold and the internal resistance characteristic value is used as the safe current boundary. When the difference is less than the preset voltage threshold, the voltage drop prediction module subtracts the safe current boundary from the quotient of the power supply channel input voltage and the internal resistance characteristic value. Based on this, a current limiting threshold conforming to Kirchhoff's voltage law for a closed loop is generated. The generation algorithm formula is as follows: ,in This represents the current limiting threshold, with the physical dimension limited to amperes. Indicates the input voltage of the power supply channel. This represents the characteristic value of internal resistance. This represents the safe current boundary generated by the pre-calculation.

6. The intelligent multi-channel controllable power distribution system for mobile robots according to claim 1, characterized in that, In the overcurrent analysis module, the step of matching the preset mechanical resistance compensation coefficient based on the ambient temperature of the current environmental state set specifically includes the following steps: Extract the ambient temperature from the current environmental state set; Search the table showing the correspondence between preset temperature ranges and preset mechanical resistance compensation coefficients; Match the preset mechanical resistance compensation coefficient that corresponds to the preset temperature range to which the ambient temperature belongs.

7. The intelligent multi-channel controllable power distribution system for a mobile robot according to claim 6, characterized in that, The table showing the correspondence between the preset temperature range and the preset mechanical resistance compensation coefficient is generated through the following steps: Obtain the historical ambient temperature sequence and the corresponding historical drive current sequence under the test environment; Extract the reference drive current at the preset reference temperature; Calculate the difference between each historical drive current in the historical drive current sequence and the reference drive current to generate a current deviation value; The quotient of the current deviation value and the reference drive current is used as the rate of change of mechanical resistance; Based on the mapping between the historical ambient temperature sequence and the corresponding rate of change of mechanical resistance, a table of correspondence between preset temperature ranges and preset mechanical resistance compensation coefficients is generated.

8. The intelligent multi-channel controllable power distribution system for mobile robots according to claim 1, characterized in that, In the overcurrent analysis module, the generation of power distribution control strategy specifically includes the following steps: After obtaining the compensation coefficient, the overcurrent assessment module calculates the target thermal accumulation overcurrent tolerance threshold based on the preset mechanical resistance compensation coefficient. The algorithm formula is as follows: ,in This represents the calculated target thermal accumulation overcurrent tolerance threshold, with the physical dimension limited to amperes. This represents the pre-programmed rated thermal tolerance current at room temperature for the controller, with the physical dimension defined as amperes. This represents the preset mechanical resistance compensation coefficient obtained by table lookup matching, and its physical property is a dimensionless floating-point number; The first round of comparison processing is performed between the output current of the power supply channel and the target thermal accumulation overcurrent tolerance threshold. When the output current of the power supply channel is greater than the target thermal accumulation overcurrent tolerance threshold, a cut-off control command is generated for the corresponding power supply channel. The second round of comparison processing between the output current of the power supply channel and the current limiting threshold is performed. When the output current of the power supply channel is greater than the current limiting threshold and less than or equal to the target thermal accumulation overcurrent tolerance threshold, a current adjustment command for the corresponding power supply channel is generated. The power distribution control strategy is generated by encapsulating the cut-off control command and the current regulation command.

9. A mobile robot intelligent multi-channel controllable power distribution system according to claim 1, characterized in that, In the execution module, the step of cutting off the power supply channel whose output current exceeds the target thermal accumulation overcurrent tolerance threshold specifically includes: Extract the disconnection control command from the power distribution control strategy; Match the hardware index address of the power supply channel corresponding to the cut-off control command; Output a drive shutdown signal to the electronic switching device corresponding to the hardware index address of the power supply channel to cut off the power transmission circuit corresponding to the power supply channel.

10. A short-circuit protection method for a mobile robot intelligent multi-channel controllable power distribution system, characterized in that, The method for a mobile robot intelligent multi-channel controllable power distribution system according to any one of claims 1-9 includes the following steps: S1. Collect ambient temperature and humidity, circuit board surface temperature, power supply channel input voltage and power supply channel output current, and receive the target required current to generate a set of operating parameters; S2. Calculate the air dew point temperature based on the set of operating parameters. When the difference between the circuit board surface temperature and the air dew point temperature is less than a preset temperature threshold, generate an efficiency intervention command and output the current environmental status set. S3. Calculate the equivalent internal resistance of the power supply circuit based on the current environmental state set, the input voltage of the power supply channel, and the output current of the power supply channel, and generate the internal resistance characteristic value. S4. Calculate the system transient voltage drop based on the internal resistance characteristic value and the target demand current. When the difference between the power supply channel input voltage and the system transient voltage drop is less than a preset voltage threshold, generate a current limiting threshold. S5. Based on the ambient temperature of the current environmental state set, a preset mechanical resistance compensation coefficient is matched, and the target thermal accumulation overcurrent tolerance threshold is calculated according to the preset mechanical resistance compensation coefficient. The output current of the power supply channel is compared with the target thermal accumulation overcurrent tolerance threshold and the current limiting threshold to generate a power distribution control strategy. S6. Based on the power distribution control strategy and the efficiency intervention command, control the power supply channel, limit the output current of the power supply channel to the current limiting threshold, and cut off the power supply channel whose output current is greater than the target thermal accumulation overcurrent tolerance threshold.

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