Robot power supply system and robot

Abstract

This application relates to a robot power supply system and a robot. This application enables the robot to adaptively switch between battery power supply mode and PoE power supply mode based on battery status: when the battery status meets requirements, the battery module powers the robot; when the battery status does not meet requirements, the system switches to PoE module power supply while simultaneously charging the battery module. This reduces the system's dependence on remaining battery power and health status, improving the continuity and efficiency of online parameter configuration, program maintenance, and firmware upgrades. Simultaneously, when switching to battery module power supply, this application disconnects the PoE module's power supply circuit, retaining only the PoE module's communication link, reducing mutual interference between different power sources. Furthermore, it allows the robot to still perform data interaction and real-time parameter updates via Ethernet in battery power mode, thus balancing power supply reliability, communication continuity, and system operational stability.

Description

Technical Field

[0001] This application relates to the field of robotics technology, and in particular to a robot power supply system and a robot. Background Technology

[0002] With the continuous development of China's robotics and automation industries, robots are increasingly being used in intelligent manufacturing, warehousing and logistics, flexible production lines, and "lights-out factories." A "lights-out factory" refers to a production model that achieves continuous and automated operations with minimal or no human intervention, relying on robots, sensors, control systems, and network communication systems. For example, in SMT (Surface Mount Technology) assembly, multiple small robots can perform automated material handling, loading, transport, and collaborative scheduling, effectively reducing labor costs and improving operational continuity and accuracy. To meet the stable operation requirements of these small robots in complex production environments, their control systems typically require real-time power supply, communication connectivity, parameter configuration, and program upgrades.

[0003] In traditional technologies, small robots are mostly powered by batteries to meet the requirements of mobility and deployment flexibility. However, when relying solely on battery power, the robot's configuration parameters, remote maintenance, and firmware upgrades are often limited by the remaining battery power. For example, some systems require a relatively high battery level to perform upgrade operations; otherwise, power outages during the upgrade process can easily lead to upgrade failures or even system malfunctions, resulting in low maintenance efficiency. Summary of the Invention

[0004] The purpose of this application is to provide a robot power supply system and robot, so as to overcome the shortcomings of traditional small robots that mostly use battery power, which means that upgrade operations can only be performed when the battery power is at a high level, which is prone to failure or abnormality and results in low maintenance efficiency.

[0005] In a first aspect, this application provides a robot power supply system, the system comprising: A battery module includes a battery and a detection unit, wherein the detection unit is used to detect the battery state of the battery and output a switching command according to the battery state; The PoE module is used to connect to an external PoE power source via an Ethernet interface to obtain power and communication signals. A switching module is configured to, in response to the switching command, switch to the battery module to power the robot while maintaining the communication link of the POE module; or switch to the POE module to power the robot while charging the battery module.

[0006] In one embodiment, the system further includes: An isolation module is used to isolate and transform the output power of the POE module or the battery module before outputting it to the control module of the robot, so as to achieve electrical isolation between the output power and the control module.

[0007] In one embodiment, the isolation module includes: An inverter unit is used to convert the DC power output from the POE module or the battery module into an AC signal. An isolation transformer is used for the isolated transmission of the AC signal; The first rectifier unit is used to convert the isolated AC signal into a DC signal. The first voltage regulator unit is used to regulate the DC signal and output it to the control module.

[0008] In one embodiment, the POE module includes: The second rectifier unit is connected to the output of the Ethernet interface and is used to rectify the POE power supply into a DC signal. The first protection unit is used to provide overcurrent protection and polarity blocking protection for the DC signal output by the rectifier unit. The second voltage regulator unit is used to convert the unstable DC signal output by the first protection unit into a stable DC signal.

[0009] In one embodiment, the POE module further includes: A signal matching module, connected to the output of the Ethernet interface, is used for impedance matching of Ethernet communication signals; A communication module is disposed between the signal matching module and the robot's control module, and is used to isolate and transmit the Ethernet communication signal to realize signal transmission between the Ethernet interface and the control module.

[0010] In one embodiment, the switching module includes: A first switching unit is configured to switch to the battery module or the POE module in response to the switching command; The second switching unit is used to unidirectionally transmit the output power of the POE module to the battery when the first switching unit switches to the POE module.

[0011] In one embodiment, the battery module further includes: The second protection unit is used to protect the output power of the battery module from abnormal operating conditions; the abnormal operating condition protection includes at least one of overcurrent protection, short circuit protection, overvoltage protection, undervoltage protection, temperature protection, and electromagnetic interference protection.

[0012] In one embodiment, the battery module further includes: A charging unit is used to charge the battery according to a preset strategy; the preset strategy includes at least one of constant current charging, constant voltage charging, and staged charging.

[0013] In one embodiment, the detection unit outputs a switching command based on the battery state, including: When the battery status meets the preset power supply conditions, a switching command to switch to the battery module is output; otherwise, a switching command to switch to the POE module is output. The battery status includes at least one of the following: remaining battery power, battery output voltage, battery health status, and battery temperature.

[0014] Secondly, this application also provides a robot, comprising: The robot power supply system described in the first aspect is used to provide the robot with working power and to receive Ethernet communication signals through an Ethernet interface; The control module is used to control the robot to perform preset tasks based on the Ethernet communication signals and to update the configuration parameters in real time.

[0015] The above-mentioned robot power supply system and robot have the following beneficial effects: This application enables the robot to adaptively switch between battery power supply mode and PoE power supply mode based on battery status by setting up a battery module, a PoE module, and a switching module. When the battery status meets the requirements, the battery module powers the robot; when the battery status does not meet the requirements, the system switches to the PoE module to power the robot and simultaneously charges the battery module. This reduces the system's dependence on the remaining battery power and health status, and improves the continuity and efficiency of online parameter configuration, program maintenance, and firmware upgrades. At the same time, this application cuts off the power supply circuit of the PoE module when switching to battery power supply, retaining only the communication link of the PoE module, reducing mutual interference between different power sources. It also allows the robot to still perform data interaction and real-time parameter updates via Ethernet in battery power mode, thus balancing power supply reliability, communication continuity, and system operation stability. Attached Figure Description

[0016] To more clearly illustrate the technical solutions in the embodiments of this application or related technologies, the drawings used in the description of the embodiments of this application or related technologies will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0017] Figure 1This is a structural block diagram of the robot power supply system in one embodiment; Figure 2 Here is a structural block diagram of the robot power supply system in another embodiment; Figure 3 This is a structural block diagram of an isolation module in one embodiment; Figure 4 This is a schematic diagram of the connection of the isolation module in one embodiment; Figure 5 This is a structural block diagram of the POE module in one embodiment; Figure 6 This is a connection diagram of the POE module in one embodiment; Figure 7 This is a structural block diagram of the battery module and the switching module in one embodiment; Figure 8 This is a schematic diagram showing the connection between the battery module and the switching module in one embodiment; Figure 9 This is a structural block diagram of a robot in one embodiment. Detailed Implementation

[0018] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0019] Please see Figure 1 In one exemplary embodiment, this application provides a robot power supply system, including: a battery module, a POE module, and a switching module.

[0020] The battery module includes a battery and a detection unit. The detection unit includes an input terminal and an output terminal; its input terminal is connected to the battery output terminal, and its output terminal is connected to the control terminal of the switching module. The detection unit detects the battery state and outputs a switching command to the switching module based on the battery state. The battery output terminal is connected to the switching module.

[0021] Specifically, battery status refers to state parameters that characterize whether the battery is currently suitable as a power source for the robot. For example, battery status includes at least one of the following: remaining battery charge, battery output voltage, battery health status, and battery temperature. Remaining battery charge characterizes the amount of available electrical energy in the battery; battery output voltage characterizes the stability of the battery output; battery health status characterizes the degree of battery aging, capacity decay, or cyclic usage; and battery temperature characterizes whether the battery is within a safe temperature range suitable for charging and discharging. The detection unit can determine whether the battery status meets preset power supply conditions based on one or more of these parameters.

[0022] The PoE module includes an input terminal, a first output terminal, and a second output terminal. The input terminal has an Ethernet interface for connecting to an external PoE power source to obtain power and communication signals. The first output terminal is connected to a switching module, and the second output terminal is connected to the robot's control module. Specifically, PoE (Power over Ethernet) refers to a power supply method that transmits both electrical energy and data simultaneously via an Ethernet cable. In this embodiment, the PoE module can not only obtain electrical energy from an external PoE power source to drive the robot, but also receive communication data from an external control system, such as task instructions, path planning information, parameter configuration data, and upgrade data, through the same Ethernet interface. By laying an Ethernet interface or cable chain-type Ethernet connection connected to the PoE power source within the robot's preset working area, the robot maintains an electrical connection with the PoE module via the Ethernet interface throughout its movement within that area.

[0023] The switching module includes a first input terminal, a second input terminal, a control terminal, and an output terminal. Its first input terminal is connected to the output terminal of the battery, its second input terminal is connected to the first output terminal of the POE module, its control terminal is connected to the output terminal of the detection unit, and its output terminal is connected to the power supply terminal of the robot load. It is used to switch to the battery module to power the robot in response to a switching command, while maintaining the communication link of the POE module; or to switch to the POE module to power the robot and charge the battery module.

[0024] Specifically, the switching module is connected to the battery module, the POE module, and the robot load end respectively. It is used to switch the robot's power supply path between the battery module and the POE module in response to the switching command output by the detection unit. That is, when the battery status meets the preset power supply conditions, it outputs a switching command to switch to the battery module; otherwise, it outputs a switching command to switch to the POE module.

[0025] Optionally, the determination method for meeting the preset power supply conditions includes at least one of the following: the remaining battery power is higher than the preset power threshold, the output voltage is within the preset range, the health status meets the requirements, and the temperature is within the safe range.

[0026] The robot load end refers to the electrical components inside the robot. In this embodiment, the electrical components include the robot's control module, motion execution mechanism, and end effector.

[0027] Providing power to a robot refers to supplying electrical energy to its internal electrical components for control, communication, and mechanical movement. For example, powering the robot's control module enables it to start and execute preset programs; powering the motion actuators puts them into a working state, such as moving along a preset trajectory; and powering the end effector enables it to perform grasping, handling, or placement actions. Taking a small robot in an SMT (Surface Mount Technology) assembly process as an example, after powering on, the control module can receive and process external task commands, drive the walking mechanism to the target position, and simultaneously control the robotic arm, gripping mechanism, or material handling mechanism to perform actions such as extending, grasping, handling, retrieving, and placing materials.

[0028] In a specific application scenario, when the robot is in standby or idle state, if the detection unit detects that the battery status does not meet the preset power supply conditions, the switching module switches to the PoE module. The PoE module continuously supplies power to the robot's control module and mechanical actuators, while simultaneously charging the battery. During this process, the PoE module maintains the communication link, enabling the control module to continue receiving parameter configuration updates, task adjustment information, or software upgrade information from external systems. When the battery status is detected to have recovered to meet the preset power supply conditions, the switching module can switch to a more stable battery module to support stable operation of the robot during subsequent mobile operations.

[0029] By adopting the above scheme, the robot power supply system of this application can flexibly select the power source according to the battery status. While ensuring the normal power-on operation of the robot control module, robotic arm, and other execution components, it achieves coordinated power supply, charging, and communication, thereby improving the continuity of robot operation and the flexibility of system use. Furthermore, when using a PoE module for power supply, the PoE module can not only provide working power to the robot but also charge the battery simultaneously, thereby reducing the system's dependence on the battery's remaining power and health status, and improving the convenience and continuity of online updates. Furthermore, when using a battery module for power supply, this application disconnects the PoE power supply circuit, retaining only the PoE communication link. This effectively reduces the interference of the PoE power supply branch on robot operation, avoids crosstalk between PoE power supply and battery power supply, ensures the reliability and stability of PoE communication, and thus improves the overall operational reliability of the robot power supply system.

[0030] Please see Figure 2 Optionally, the above-mentioned robot power supply system also includes an isolation module.

[0031] An isolation module is used to isolate and transform the output power of the POE module or battery module before outputting it to the robot's control module, thereby achieving electrical isolation between the output power and the control module.

[0032] Specifically, the isolation module is located between the switching module and the robot's control module. It is used to receive the power supply after the switching module selects the power, isolate it, and transmit it to the robot's control module.

[0033] By adopting the above solution, the power supply and the robot's control module are isolated, which improves the anti-interference capability of the signal link under the condition of unstable power supply or strong interference, and can better adapt to the electromagnetic environment.

[0034] It should be noted that the isolation module in this embodiment only isolates the power supplied to the control module. In practical applications, the output of the isolation module can also be connected to other electrical components on the robot load side to provide working power to the entire load side.

[0035] Please see Figure 3 Optionally, the isolation module includes: an inverter unit, an isolation transformer, a first rectifier unit, and a first voltage regulator unit connected in sequence.

[0036] The input terminal of the inverter unit is connected to the output terminal of the switching module to convert the DC power output from the POE module or battery module into an AC signal.

[0037] An isolation transformer is used to isolate and transmit the AC signal output from the inverter unit.

[0038] The first rectifier unit is used to convert the isolated AC signal into a DC signal.

[0039] The first voltage regulator unit is used to regulate the DC signal and output it to the control module.

[0040] Please see Figure 4 The following is combined Figure 4 The structure of the isolation module is described in detail.

[0041] For example, the switching module outputs a first voltage VCC1; the inverter unit includes a sixth chip U6, a power switching unit, and multiple resistors and capacitors; wherein, the power switching unit includes multiple switching transistors (such as... Figure 4 The transistors T1-T4 shown are used to control the switching of the input first voltage VCC1 under the drive of the sixth chip U6. In this embodiment, the sixth chip U6 is an LM5164.

[0042] Specifically, an eighteenth capacitor is connected in series between the first and third pins of the sixth chip U6; a seventeenth resistor is connected in series between the second and third pins; the fourth, fifth, sixth, seventh, eighth, ninth, and twelfth pins are connected to one end of the sixteenth capacitor, one end of the twentieth resistor, one end of the twenty-first resistor, the second end of the first switch T1, and the second end of the second switch T2, respectively; the other end of the sixteenth capacitor is connected to the fourteenth pin, one end of the seventeenth capacitor, and the first voltage VCC1, and the other end of the seventeenth capacitor is connected to the first ground line GND1; the tenth pin is connected to the eighteenth resistor and the nineteenth capacitor in sequence, and the other end of the nineteenth capacitor is connected to the other end of the twentieth resistor and the first end of the first switch T1, respectively; the eleventh pin is connected to the nineteenth resistor and the twentieth capacitor in sequence, and the other end of the twentieth capacitor is connected to the other end of the twenty-first resistor and the first end of the second switch T2, respectively.

[0043] The third terminal of the first switch transistor T1 is connected to the third terminal of the third switch transistor T3, the first terminal of the fourth switch transistor T4, and the fifth pin of the isolation transformer TR1C, respectively. The third terminal of the second switch transistor T2 is connected to the first terminal of the third switch transistor T3, the third terminal of the fourth switch transistor T4, and the sixth pin of the isolation transformer TR1C, respectively. The second terminal of the first switch transistor T1 is connected to the second terminal of the second switch transistor T2, the second voltage VCC1', and one end of the twenty-first capacitor, and the other end of the twenty-first capacitor is connected to the first ground wire GND1.

[0044] Using the above scheme, the tenth and eleventh pins of the sixth chip U6 are a pair of complementary output terminals, outputting drive signals with opposite phases. These drive signals control the switching transistors in the power switching unit to conduct alternately, so that the first voltage VCC1 is applied across the primary winding of the isolation transformer TR1C (e.g., Figure 4 Pins 5 and 6 (as shown) form an AC voltage signal VCC1', which is then transmitted to the secondary side (such as...) via the isolation transformer TR1C. Figure 4 (Pin 7 and pin 8 are shown).

[0045] Furthermore, the first rectifier unit includes two diodes connected in reverse, with the negative terminal of the reverse connection being the first end of the first rectifier unit, the positive terminal being the second end of the first rectifier unit, and the intermediate node being the third end of the first rectifier unit.

[0046] The seventh pin of the isolation transformer TR1C is connected to the third terminal of the first rectifier unit, and the eighth pin is connected to the second ground GND2. The second terminal of the first rectifier unit is connected to the input terminal of the first voltage regulator unit, and the first terminal is connected to the third ground VEE2. The first rectifier unit converts the isolated AC voltage signal VCC1' into a DC third voltage VCC2.

[0047] Furthermore, the first voltage regulator unit in this embodiment includes a voltage regulator chip U7 and multiple capacitors, wherein the voltage regulator chip U7 is model 78L05. The first pin of the voltage regulator chip U7 is connected to one end of the twenty-second capacitor and the second end of the first rectifier unit, respectively. The second pin is connected to the other end of the twenty-second capacitor, one end of the twenty-fourth capacitor, one end of the twenty-fifth capacitor, and the second ground line GND2, respectively. A twenty-third capacitor is connected in series between the second ground line GND2 and the third ground line VEE2. The third pin of the voltage regulator chip U7 is connected to the other end of the twenty-fourth capacitor and the other end of the twenty-fifth capacitor, thereby stabilizing the fourth voltage VCC3 at 3V and providing the operating voltage for the control module.

[0048] By employing the above scheme, an isolation module is installed to first convert the DC power output from the PoE module or battery module into an AC signal. Then, after electrical isolation via an isolation transformer, it is converted back into DC and regulated for output. This achieves electrical isolation between the input side and the control module side in the power supply path. This effectively blocks the transmission of ground potential difference, common-mode interference, and power supply fluctuations to the control module, reducing the impact of external electromagnetic interference and power ripple on the control module's operation.

[0049] Please see Figure 5 Optionally, the POE module includes: a second rectifier unit, a first protection unit, and a second voltage regulator unit.

[0050] The second rectifier unit is connected to the output of the Ethernet interface and is used to rectify the PoE power supply into a DC signal.

[0051] The first protection unit is used to provide overcurrent protection and polarity blocking protection for the DC signal output by the rectifier unit.

[0052] The second voltage regulator unit is used to convert the unstable DC signal output by the first protection unit into a stable DC signal.

[0053] Specifically, the external PoE power is transmitted to the PoE module by an external PoE power supply device through an Ethernet interface.

[0054] Please see Figure 6 The following is combined Figure 6 The structure of the POE module is explained in detail.

[0055] Figure 6 The CN2 shown is an Ethernet interface, which includes eight pins. Pins four, five, seven, and eight are power interfaces, and the remaining pins are signal interfaces. Pins four and five are connected, and pins seven and eight are connected.

[0056] The second rectifier unit includes a first rectifier B1 and a second rectifier B2. The fourth pin of the first rectifier B1 is connected to the fourth pin of the second rectifier B2 and the fourth pin of the Ethernet interface CN2, respectively. The third pin of the first rectifier B1 is connected to the third pin of the second rectifier B2 and the seventh pin of the Ethernet interface CN2, respectively. The second pin of the first rectifier B1 and the second pin of the second rectifier B2 are connected to the switching module. The first pin of the first rectifier B1 and the first pin of the second rectifier B2 are connected to the first protection unit.

[0057] The first protection unit includes a second fuse and a second diode. One end of the second fuse is connected to the first pin of the first rectifier B1 and the first pin of the second rectifier B2, and the other end is connected to the positive terminal of the second diode. The negative terminal of the second diode is connected to the second voltage regulator unit.

[0058] The second voltage regulator unit includes a second chip U2, a third chip U3, and multiple resistors and capacitors. The second chip U2 is a TMI7303B, and the third chip U3 is an LM5164.

[0059] The sixth pin of the second chip U2 is connected to one end of the second resistor. The other end of the second resistor is connected to the first protection unit, one end of the second capacitor, the seventh pin of the second chip U2, the positive terminal of the polarized capacitor E1, one end of the third capacitor, one end of the fourth capacitor, and the second and third pins of the third chip U3. The other end of the second capacitor, one end of the third resistor, the first pin of the second chip U2, and the eleventh pin of the second chip U2 are connected to the fourth ground line VSS. The tenth pin of the second chip U2, the negative terminal of the polarized capacitor E1, the other end of the third capacitor, the other end of the fourth capacitor, one end of the fourth resistor, the first pin of the third chip U3, one end of the eighth resistor, one end of the eighth capacitor, and the ninth... One end of the capacitor is connected to the first ground line GND1. The eighth pin of the third chip U3 is connected to one end of the first inductor, one end of the fifth resistor, and one end of the fifth capacitor. The other end of the fifth capacitor is connected to the seventh pin of the third chip U3. The other end of the fifth resistor is connected to one end of the sixth capacitor and one end of the seventh capacitor. The other end of the sixth capacitor is connected to the other end of the first inductor, one end of the fourth diode, one end of the seventh resistor, and the other end of the eighth capacitor. The other end of the seventh capacitor is connected to the fifth pin of the third chip U3, one end of the sixth resistor, and the other end of the eighth resistor. The other end of the seventh resistor is connected to the other end of the sixth resistor. The negative terminal of the fourth diode is connected to the other end of the ninth capacitor. The first pin of the third chip U3 is also connected to the heat sink on the bottom of the third chip U3 (e.g., Figure 6 Connect pin 0 of the third chip U3.

[0060] Using the above scheme, the unstable PoE voltage is converted into a stable DC voltage by the PoE power receiving dedicated control chip U2, and then a stable DC voltage VCC1 is output by the dedicated high-efficiency DC / DC chip U3, which is denoted as the first voltage.

[0061] Please see Figure 5 Optionally, the PoE module may also include a signal matching module and a communication module.

[0062] The signal matching module connects to the output of the Ethernet interface and is used to perform impedance matching on Ethernet communication signals.

[0063] The communication module, located between the signal matching module and the robot's control module, is used to isolate and transmit Ethernet communication signals, thereby enabling signal transmission between the Ethernet interface and the control module.

[0064] Please see Figure 6 The Ethernet interface CN2 is also used to connect to an external Ethernet line and receive Ethernet communication signals transmitted by an external PoE power supply. The signal pins of the Ethernet interface CN2 are electrically connected to the corresponding pins of the communication module. In this embodiment, the communication chip U4 is model 11FB-05NL.

[0065] Specifically, the signal matching module includes multiple resistors and capacitors. The communication module includes a communication chip U4, a tenth capacitor, and a thirteenth capacitor. The first pin of the Ethernet interface CN2 is connected to the sixteenth pin of the communication chip U4 and one end of the ninth resistor. The second pin of the Ethernet interface CN2 is connected to the fourteenth pin of the communication chip U4 and one end of the tenth resistor. The third pin of the Ethernet interface CN2 is connected to the tenth pin of the communication chip U4 and one end of the eleventh resistor. The sixth pin of the Ethernet interface CN2 is connected to the ninth pin of the communication chip U4 and one end of the twelfth resistor. The other ends of the ninth, tenth, eleventh, and twelfth resistors, one end of the eleventh capacitor, and one end of the twelfth capacitor are connected. The other ends of the eleventh and twelfth capacitors are connected to the first ground line GND1. One end of the tenth capacitor is connected to the fifteenth and tenth pins of the communication chip U4. The other end of the tenth capacitor is connected to the first ground line GND1.

[0066] The first pin of communication chip U4 is connected to one end of the thirteenth resistor and the corresponding pin of the robot control module. The third pin of communication chip U4 is connected to one end of the fourteenth resistor and the corresponding pin of the robot control module. The sixth pin of communication chip U4 is connected to one end of the fifteenth resistor and the corresponding pin of the robot control module. The eighth pin of communication chip U4 is connected to one end of the sixteenth resistor and the corresponding pin of the robot control module. The other ends of the thirteenth, fourteenth, fifteenth, and sixteenth resistors, one end of the fourteenth capacitor, and one end of the fifteenth capacitor are connected. The other ends of the fourteenth and fifteenth capacitors are connected to the second ground line GND2. The second and seventh pins of communication chip U4 are connected to the fifth voltage VCC3.3, and the fifth voltage VCC3.3 is connected to the second ground line GND2 through the thirteenth capacitor.

[0067] It should be noted that the fifth voltage, VCC3.3, is obtained by boosting the fourth voltage, VCC3, output by the voltage regulator chip U7 of the aforementioned isolation module. Specifically, Figure 6 The first and third pins of the boost converter chip U8, one end of the twenty-fifth capacitor, and one end of the twenty-fourth capacitor are connected to the fourth voltage VCC3. The second pin of the boost converter chip U8, the other end of the twenty-fifth capacitor, and the other end of the twenty-fourth capacitor are connected to the second ground GND2. The fifth pin of the boost converter chip U8 is connected to one end of the twenty-sixth capacitor, and the other end of the twenty-sixth capacitor is connected to the second ground GND2. The fifth voltage VCC3.3 output from the fifth pin of the boost converter chip U8 provides the operating voltage for the communication chip U4.

[0068] Using the above scheme, the Ethernet interface CN2 connects to the differential communication signal of the Ethernet network. The communication chip U4 receives, processes, and isolates the impedance-matched Ethernet communication signal before transmitting it to the robot's control module. On one hand, the signal matching network achieves impedance matching of the communication link, improving signal integrity; on the other hand, the communication chip U4 provides electrical isolation between the Ethernet interface and the control module, thereby reducing the impact of external electromagnetic interference, ground potential differences, and transient disturbances on the control module, and improving communication reliability and system stability.

[0069] Please see Figure 7 Optionally, the battery module may also include a second protection unit.

[0070] The second protection unit is used to protect the output power of the battery module from abnormal operating conditions; the abnormal operating condition protection includes at least one of the following: overcurrent protection, short circuit protection, overvoltage protection, undervoltage protection, temperature protection, and electromagnetic interference protection.

[0071] Please see Figure 7Optionally, the switching module includes: a first switching unit and a second switching unit.

[0072] The first switching unit is used to switch to the battery module or the POE module in response to a switching command.

[0073] The second switching unit is used to unidirectionally transfer the output power of the POE module to the battery when the first switching unit switches to the POE module.

[0074] Please see Figure 8 The following is combined Figure 8 The structure of the battery module and the switching module is described in detail.

[0075] Exemplarily, the second protection unit includes a first fuse F1; the detection unit includes a power monitoring chip U1, a first resistor, a first capacitor, and a first diode; the first switching unit includes a relay K1, and the second switching unit includes a second diode. It should be noted that in this embodiment, the second protection unit uses the first fuse F1 to achieve overcurrent protection. In practical applications, the components used in the second protection unit can be replaced according to protection requirements. In this embodiment, the power monitoring chip U1 is a TPS3842.

[0076] Figure 8 CN1 represents the positive and negative terminals of the battery output. The positive terminal of the battery is connected to one end of the first fuse. The other end of the first fuse is connected to the first pin of the power monitoring chip U1, the negative terminal of the second diode, and the fifth pin of the relay K1. The negative terminal of the battery, one end of the first capacitor, the second pin of the power monitoring chip U1, the positive terminal of the first diode, and the first pin of the relay K1 are connected to the first ground line GND1. The other end of the first capacitor is connected to the fifth ground line PE. The third pin of the power monitoring chip U1 is connected to one end of the first resistor. The other end of the first resistor is connected to the negative terminal of the first diode and the eighth pin of the relay K1. The positive terminal of the second diode is connected to the seventh pin of the relay K1. The second pin of the relay K1 is connected to the POE module. The sixth pin of the relay K1 serves as the output terminal of the switching module and is connected to the isolation module at the back end, outputting the first voltage VCC1.

[0077] Using the above scheme, when the battery status meets the preset power supply conditions, the power monitoring chip U1 outputs a high level to energize the coil of relay K1. Contact 3 (third pin) of relay K1 connects to contact 4 (fourth pin), cutting off the power supply circuit of the PoE module. At the same time, contact 5 (fifth pin) connects to contact 6 (sixth pin), and the battery supplies power normally, outputting the first voltage VCC1. The PoE port only retains the communication function.

[0078] When the battery status does not meet the preset power supply conditions, the power monitoring chip U1 outputs a low level, the coil of relay K1 is de-energized, and contact 7 (seventh pin) of relay K1 connects to contact 6 (sixth pin), cutting off the power supply circuit of the battery module; at the same time, contact 3 (third pin) connects to contact 2 (second pin), the PoE module starts to supply power, enabling the subsequent circuits to work normally. Meanwhile, excess power charges the battery with low power through the second diode D2, thus charging the battery during the configuration process and extending its battery life.

[0079] Furthermore, the battery module also includes a charging unit for charging the battery according to a preset strategy based on the accessed electrical energy; the preset strategy includes at least one of constant current charging, constant voltage charging, and staged charging. For example, constant current charging can be used in the initial stage of charging to quickly charge the battery with a relatively stable charging current; when the battery voltage rises to a preset voltage threshold, it switches to constant voltage charging to maintain a constant voltage and gradually reduce the charging current until the battery reaches a preset fully charged state, thereby achieving safe and efficient charging of the battery.

[0080] In a specific application scenario, after completing its task, the robot enters an idle state and remains at a preset docking position. This preset docking position is equipped with a power supply interface to provide external power input to the robot. For example, the power supply interface may include a PoE power supply interface and an AC power interface, allowing the robot to connect to different types of power sources while docked. Furthermore, the charging unit also has a priority control function to select or manage the input power source when both PoE and AC power are connected simultaneously. For example, when AC power is detected, AC power can be prioritized for charging the battery, and the charging path of the PoE power source can be restricted or shut down; when AC power is not connected, the battery is charged by the PoE power source. Through this method, mutual interference or reverse current problems between different power sources can be avoided, improving the safety of the charging process and the reliability of system operation.

[0081] It should be noted that multiple ground wires are provided in this embodiment to correspond to the reference potentials of different functional circuits. By separating the ground wires of different circuits, interference coupling between different functional areas can be reduced, the impact of ground loop current on the system can be reduced, thereby improving the system's anti-interference capability and operational stability. In practical applications, the number and connection method of ground wires can be set and adjusted according to the specific circuit structure and anti-interference requirements, and this application does not limit this.

[0082] Each module in the aforementioned testing system can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in the processor of a computer device in hardware form or independent of it, or stored in the memory of the computer device in software form, so that the processor can call and execute the corresponding operations of each module.

[0083] Please see Figure 9 In one exemplary embodiment, this application also provides a robot, including: the robot power supply system and control module provided in the above embodiments.

[0084] The robot power supply system provides the robot with operating power and receives Ethernet communication signals through an Ethernet interface.

[0085] The control module is used to control the robot to perform preset tasks based on Ethernet communication signals and to update the configuration parameters in real time.

[0086] Furthermore, robots also include motion actuators and end effectors.

[0087] A motion actuator is used to move to a target position according to a preset trajectory. An end effector is used to perform grasping, transporting, or placing actions according to a preset program.

[0088] The aforementioned robot's power supply system enables the robot to adaptively switch between battery power supply mode and PoE power supply mode based on battery status: when the battery status meets requirements, the battery module powers the robot, ensuring its mobility; when the battery status does not meet requirements, the system switches to PoE module power supply and simultaneously charges the battery module, thereby reducing the system's dependence on remaining battery power and health status, and improving the continuity and efficiency of online parameter configuration, program maintenance, and firmware upgrades. Furthermore, this application disconnects the PoE module's power supply circuit and retains only the PoE module's communication link when switching to battery power supply, reducing mutual interference between different power sources. Simultaneously, it allows the robot to still perform data interaction and real-time parameter updates via Ethernet in battery power mode, thus balancing power supply reliability, communication continuity, and system operational stability.

[0089] It should be understood that although the steps in the flowcharts of the embodiments described above are shown sequentially according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some steps in the flowcharts of the embodiments described above may include multiple steps or multiple stages. These steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these steps or stages is not necessarily sequential, but can be performed alternately or in turn with other steps or at least some of the steps or stages of other steps.

[0090] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this application.

[0091] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of this patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this application should be determined by the appended claims.

Claims

1. A robot power supply system, characterized in that, The system includes: A battery module includes a battery and a detection unit, wherein the detection unit is used to detect the battery state of the battery and output a switching command according to the battery state; The PoE module is used to connect to an external PoE power source via an Ethernet interface to obtain power and communication signals. A switching module is configured to, in response to the switching command, switch to the battery module to power the robot while maintaining the communication link of the POE module; or switch to the POE module to power the robot while charging the battery module.

2. The robot power supply system according to claim 1, characterized in that, The system also includes: An isolation module is used to isolate and transform the output power of the POE module or the battery module before outputting it to the control module of the robot, so as to achieve electrical isolation between the output power and the control module.

3. The robot power supply system according to claim 2, characterized in that, The isolation module includes: An inverter unit is used to convert the DC power output from the POE module or the battery module into an AC signal. An isolation transformer is used for the isolated transmission of the AC signal; The first rectifier unit is used to convert the isolated AC signal into a DC signal. The first voltage regulator unit is used to regulate the DC signal and output it to the control module.

4. The robot power supply system according to claim 1, characterized in that, The PoE module includes: The second rectifier unit is connected to the output of the Ethernet interface and is used to rectify the POE power supply into a DC signal. The first protection unit is used to provide overcurrent protection and polarity blocking protection for the DC signal output by the rectifier unit. The second voltage regulator unit is used to convert the unstable DC signal output by the first protection unit into a stable DC signal.

5. The robot power supply system according to claim 4, characterized in that, The POE module also includes: A signal matching module, connected to the output of the Ethernet interface, is used for impedance matching of Ethernet communication signals; A communication module is disposed between the signal matching module and the robot's control module, and is used to isolate and transmit the Ethernet communication signal to realize signal transmission between the Ethernet interface and the control module.

6. The robot power supply system according to claim 1, characterized in that, The switching module includes: A first switching unit is configured to switch to the battery module or the POE module in response to the switching command; The second switching unit is used to unidirectionally transmit the output power of the POE module to the battery when the first switching unit switches to the POE module.

7. The robot power supply system according to claim 1, characterized in that, The battery module also includes: The second protection unit is used to protect the output power of the battery module from abnormal operating conditions; the abnormal operating condition protection includes at least one of overcurrent protection, short circuit protection, overvoltage protection, undervoltage protection, temperature protection, and electromagnetic interference protection.

8. The robot power supply system according to claim 1, characterized in that, The battery module also includes: A charging unit is used to charge the battery according to a preset strategy; the preset strategy includes at least one of constant current charging, constant voltage charging, and staged charging.

9. The robot power supply system according to claim 1, characterized in that, The detection unit outputs a switching command based on the battery state, including: When the battery status meets the preset power supply conditions, a switching command to switch to the battery module is output; otherwise, a switching command to switch to the POE module is output. The battery status includes at least one of the following: remaining battery power, battery output voltage, battery health status, and battery temperature.

10. A robot, characterized in that, include: The robot power supply system according to any one of claims 1-9 is used to provide working power to the robot and receive Ethernet communication signals through an Ethernet interface; The control module is used to control the robot to perform preset tasks based on the Ethernet communication signals and to update the configuration parameters in real time.

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