A solid-state dual power supply parallel management and energy recovery system supporting zero-inductive hot swapping

Abstract

The application provides a solid-state dual-power parallel management and energy recovery system supporting non-inductive hot plug, comprising a hot plug pre-charging module, a backflow prevention module, a bus connection module and a reverse high-dynamic energy recovery module; a first connection end of the hot plug pre-charging module is used for connecting the solid-state dual-power, and a second connection end of the hot plug pre-charging module is used for connecting a battery current input end of the backflow prevention module; a battery current output end of the backflow prevention module is connected with a circuit bus of a robot via the bus connection module; a signal output end of the backflow prevention module is connected with a signal input end of the reverse high-dynamic energy recovery module; a bus current input end of the reverse high-dynamic energy recovery module is connected with the circuit bus of the robot via the bus connection module, and a bus current output end of the reverse high-dynamic energy recovery module is connected with the solid-state dual-power; and the signal input end of the reverse high-dynamic energy recovery module is used for controlling the conduction state of the bus current input end and the bus current output end.

Description

Technical Field

[0001] This application relates to the technical field of power management, specifically to a solid-state dual-power parallel management and energy recovery system that supports seamless hot-swapping. Background Technology

[0002] As humanoid robots evolve towards higher dynamic performance (such as rapid running, jumping, and heavy-duty transport), the number and power density of joint modules have increased significantly. Due to the high degree of uncertainty and transient explosiveness of humanoid robot motion, actuators generate enormous back electromotive force (Back-EMF) when braking or subjected to external impacts. If these transient energies are not handled promptly and safely, the sharp rise in bus voltage will directly threaten expensive actuators and sensitive sensor networks. Summary of the Invention

[0003] The purpose of this application is to overcome the shortcomings and deficiencies in the prior art and provide a solid-state dual power supply parallel management and energy recovery system that supports seamless hot-swapping. This system can prevent the drivers and sensitive components in the circuit module from being damaged due to reverse voltage difference when the bus voltage of the robot circuit bus rises sharply, thus protecting the drivers and sensitive components in the circuit module.

[0004] The first aspect of this application provides a solid-state dual-power parallel management and energy recovery system supporting seamless hot-swapping, including: a hot-swappable pre-charge module, an anti-backflow module, a bus connection module, and a reverse high-dynamic energy recovery module; wherein, the hot-swappable pre-charge module includes a first connection terminal and a second connection terminal, the anti-backflow module includes a battery current input terminal, a battery current output terminal, and a signal output terminal, and the reverse high-dynamic energy recovery module includes a signal input terminal, a bus current input terminal, and a bus current output terminal;

[0005] The first connection terminal of the hot-swappable precharge module is used to connect to the solid-state dual power supply, and the second connection terminal of the hot-swappable precharge module is connected to the battery current input terminal of the anti-backflow module; wherein, when the first connection terminal of the hot-swappable precharge module is connected to a newly inserted solid-state dual power supply, the hot-swappable precharge module slowly turns on.

[0006] The battery current output terminal of the anti-backflow module is connected to the circuit bus of the robot via the bus connection module; the signal output terminal of the anti-backflow module is connected to the signal input terminal of the reverse high dynamic energy recovery module.

[0007] The bus current input terminal of the reverse high dynamic energy recovery module is connected to the circuit bus of the robot via the bus connection module, and the bus current output terminal of the reverse high dynamic energy recovery module is connected to the solid-state dual power supply; the signal input terminal of the reverse high dynamic energy recovery module is used to control the conduction state of the bus current input terminal and the bus current output terminal.

[0008] In one implementation, the system also includes a step-down module, which includes a power input terminal and a power output terminal;

[0009] The power input terminal of the step-down module is connected to the battery current output terminal of the anti-backflow module, and the power output terminal of the step-down module is used to connect to the robot's system motherboard.

[0010] In one implementation, the hot-swappable pre-charge module includes a first switching unit and a hot-swappable controller;

[0011] Wherein, the first end of the first switching unit is the first connection end of the hot-swappable pre-charge module, the second end of the first switching unit is the second connection end of the hot-swappable pre-charge module, and the driving end of the first switching unit is connected to the hot-swappable controller; when the first connection end is connected to a newly inserted solid-state dual power supply, the hot-swappable controller is used to detect the insertion of the solid-state dual power supply and control the first switching unit to work in the linear region, so that the output voltage of the first switching unit rises slowly to achieve slow conduction.

[0012] In one implementation, the anti-backflow module includes a second switching unit and a diode controller;

[0013] Wherein, the first end of the second switching unit is the battery current input terminal of the anti-backflow module, the second end of the second switching unit is the battery current output terminal, and the driving terminal of the second switching unit is connected to the diode controller to serve as the signal output terminal of the anti-backflow module.

[0014] In one implementation, the reverse high dynamic energy recovery module includes a third switching unit, a logic gate circuit, and a control chip; the logic gate circuit includes a first signal terminal and a second signal terminal.

[0015] Wherein, the first end of the third switching unit is the bus current input end of the reverse high dynamic energy recovery module, and the second end of the third switching unit is the bus current output end of the reverse high dynamic energy recovery module;

[0016] The first signal terminal of the logic gate circuit is the signal input terminal of the reverse high dynamic energy recovery module, and the second signal terminal of the logic gate circuit is connected to the driving terminal of the third switching unit via the control chip to control the conduction state of the third switching unit.

[0017] In one implementation, the diode controller tracks the difference between the terminal voltage of the solid-state dual power supply and the circuit bus voltage in real time, using this as a dynamic trigger threshold to achieve adaptive energy recovery triggering.

[0018] In one implementation, the second connection terminal of the hot-swappable precharge module is grounded via a plurality of soft-start capacitors.

[0019] In one implementation, the first connection terminal of the hot-swappable precharge module is connected to the solid-state dual power supply via a first resistor.

[0020] In one implementation, the battery current output terminal of the anti-backflow module and the bus current input terminal of the reverse high dynamic energy recovery module are both connected to the bus connection module via a second resistor.

[0021] In one implementation, the bus connection module includes a fourth switching unit and a soft-start controller;

[0022] The first end of the fourth switch unit is connected to the second resistor, and the second end of the fourth switch is connected to the circuit bus. The soft-start controller is connected to the drive end of the fourth switch unit, and the soft-start controller controls the conduction state of the third switch unit.

[0023] Compared to related technologies, the solid-state dual power supply parallel management and energy recovery system supporting seamless hot-swapping in this application has the following advantages:

[0024] 1. When the bus voltage of the robot's circuit bus is normal, the power supply voltage of the solid-state dual power supply is higher than the bus voltage. At this time, the hot-swappable pre-charge module, the anti-backflow module, and the bus connection module are all turned on, while the reverse high dynamic energy recovery module is turned off. The solid-state dual power supply supplies power to the circuit bus through the hot-swappable pre-charge module, the anti-backflow module, and the bus connection module. When the bus voltage of the robot's circuit bus rises sharply, the anti-backflow module is turned off to prevent electrical energy from flowing back to the second connection terminal of the hot-swappable pre-charge module. The reverse high dynamic energy recovery module is turned on, and the increased electrical energy from the circuit bus can be used to reverse charge the solid-state dual power supply. This not only prevents a reverse voltage difference between the first and second connection terminals of the hot-swappable pre-charge module, protecting the driver and sensitive components in the hot-swappable pre-charge module, but also achieves energy recovery and improves the robot's power utilization rate.

[0025] 2. When the first connection terminal of the hot-swappable pre-charge module is connected to the newly inserted solid-state dual power supply, the hot-swappable pre-charge module slowly turns on, which can also realize linear soft start when the new battery is inserted and seamless passive switching when the old battery is removed, completely eliminating insertion and removal sparks.

[0026] 3. When the bus connection module is disconnected, although the solid-state dual power supply can no longer supply power to the robot's circuit bus, the solid-state dual power supply can still supply power to the robot's system motherboard through the hot-swappable pre-charge module, anti-backflow module, and buck module, so that the robot's system motherboard can still perform data processing and data storage normally, preventing data loss from the robot.

[0027] To provide a clearer understanding of this application, the specific embodiments of this application will be described below in conjunction with the accompanying drawings. Attached Figure Description

[0028] Figure 1 This is a schematic diagram of a solid-state dual-power parallel management and energy recovery system supporting seamless hot-swapping, according to an embodiment of this application.

[0029] Figure 2 This is a circuit diagram of a solid-state dual-power parallel management and energy recovery system supporting non-inductive hot-swapping, according to one embodiment of this application.

[0030] 101. Hot-swappable pre-charge module; 103. Anti-backflow module; 105. Busbar connection module; 107. Reverse high-dynamic energy recovery module. Detailed Implementation

[0031] To make the objectives, technical solutions, and advantages of this application clearer, the embodiments of this application will be described in further detail below with reference to the accompanying drawings.

[0032] It should be understood that the described embodiments are merely some, not all, of the embodiments of this application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are within the scope of protection of the embodiments of this application.

[0033] In the following description, when referring to the accompanying drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. In the description of this application, it should be understood that the terms "first," "second," "third," etc., are used only to distinguish similar objects and are not necessarily used to describe a specific order or sequence, nor should they be construed as indicating or implying relative importance. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances. The singular forms "a," "the," and "the" used in this application and the appended claims are also intended to include the plural forms, unless the context clearly indicates otherwise. The word "if" as used herein can be interpreted as "when," "when," or "in response to determination."

[0034] Furthermore, in the description of this application, unless otherwise stated, "multiple" means two or more. "And / or" describes the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A alone, A and B simultaneously, or B alone. The character " / " generally indicates that the preceding and following related objects have an "or" relationship.

[0035] Please see Figure 1 This is a schematic diagram of a solid-state dual-power parallel management and energy recovery system supporting seamless hot-swapping according to the first embodiment of this application. The system includes: a hot-swappable pre-charge module 101, an anti-backflow module 103, a bus connection module 105, and a reverse high-dynamic energy recovery module 107; wherein, the hot-swappable pre-charge module 101 includes a first connection terminal and a second connection terminal, the anti-backflow module 103 includes a battery current input terminal, a battery current output terminal, and a signal output terminal, and the reverse high-dynamic energy recovery module 107 includes a signal input terminal, a bus current input terminal, and a bus current output terminal;

[0036] The first connection terminal of the hot-swappable pre-charge module 101 is used to connect to the solid-state dual power supply, and the second connection terminal of the hot-swappable pre-charge module 101 is connected to the battery current input terminal of the anti-backflow module 103.

[0037] The battery current output terminal of the anti-backflow module 103 is connected to the circuit bus of the robot via the bus connection module 105; the signal output terminal of the anti-backflow module 103 is connected to the signal input terminal of the reverse high dynamic energy recovery module 107.

[0038] The bus current input terminal of the reverse high dynamic energy recovery module 107 is connected to the circuit bus of the robot via the bus connection module 105, and the bus current output terminal of the reverse high dynamic energy recovery module 107 is connected to the solid-state dual power supply; the signal input terminal of the reverse high dynamic energy recovery module 107 is used to control the conduction state of the bus current input terminal and the bus current output terminal.

[0039] In one feasible embodiment, the hot-swap precharge module 101 includes a first switching unit and a hot-swap controller;

[0040] Wherein, the first end of the first switching unit is the first connection end of the hot-swappable pre-charge module 101, the second end of the first switching unit is the second connection end of the hot-swappable pre-charge module 101, and the driving end of the first switching unit is connected to the hot-swappable controller; when the first connection end is connected to a newly inserted solid-state dual power supply, the hot-swappable controller is used to detect the insertion of the solid-state dual power supply and control the first switching unit to work in the linear region, so that the output voltage of the first switching unit rises slowly to achieve slow conduction.

[0041] Specifically, in the hot-swappable pre-charge module 101, a hot-swappable controller (preferably an automotive-grade / industrial-grade hot-swappable chip such as XDP710) and its driven current-limiting MOSFET are connected in series at the positive input terminal of each power supply. A high-precision current-sensing resistor (e.g., 0.5mΩ) and a soft-start capacitor are configured externally to soft-start the bus soft-start capacitor at a set dV / dt slope when the battery is inserted, limiting the inrush current to within 20A and eliminating connector arcing.

[0042] by Figure 2 For example, the hot-swap pre-charge module 101 includes a first hot-swap pre-charge branch and a second hot-swap pre-charge branch. Both the first and second hot-swap pre-charge branches include a first switching unit and a hot-swap controller. Specifically, the first switching unit of the first hot-swap pre-charge branch is a MOSFET Q21. The drain of the MOSFET Q21 is connected to the battery A via a resistor R8, and the gate of the MOSFET Q21 is connected to the corresponding hot-swap controller. The first switching unit of the second hot-swap pre-charge branch is a MOSFET Q23. The drain of the MOSFET Q23 is connected to the battery B via a resistor R9, and the gate of the MOSFET Q23 is connected to the corresponding hot-swap controller.

[0043] In one feasible embodiment, the anti-backflow module 103 includes a second switching unit and a diode controller;

[0044] Wherein, the first end of the second switching unit is the battery current input terminal of the anti-backflow module 103, the second end of the second switching unit is the battery current output terminal, and the driving terminal of the second switching unit is connected to the diode controller to serve as the signal output terminal of the anti-backflow module 103.

[0045] Specifically, in the anti-backflow module 103, an ideal diode controller (preferably a JW7201 chip) with a physical status feedback pin and a low-resistance parallel MOSFET are connected in series. The drain-source detection pin of the JW7201 is connected across the two ends of the MOSFET, and its built-in gate driver directly controls the switching on and off of the MOSFET. Its status feedback pin (VGSFLT) is output as the core status bit to the reverse high dynamic energy recovery module 107.

[0046] by Figure 2 For example, the anti-backflow module 103 includes a first anti-backflow branch and a second anti-backflow branch. Both the first and second anti-backflow branches include a second switching unit and a diode controller. The second switching unit in the first anti-backflow branch is a MOSFET Q25. The source of MOSFET Q25 is connected to the source of MOSFET Q21. The drain of MOSFET Q25 is the battery current output terminal of the first anti-backflow branch. The gate of MOSFET Q25 is connected to the corresponding diode controller. The second switching unit in the second anti-backflow branch is a MOSFET Q26. The source of MOSFET Q26 is connected to the source of MOSFET Q23. The drain of MOSFET Q26 is the battery current output terminal of the second anti-backflow branch. The gate of MOSFET Q26 is connected to the corresponding diode controller.

[0047] When the bus voltage of the circuit bus BUS is normal, the solid-state dual power supply outputs current to MOSFETs Q25 and Q26 through MOSFETs Q21 and Q23, which are in the on state, respectively. The parasitic diodes in MOSFETs Q25 and Q26 flow to the bus connection module 105 and the circuit bus BUS.

[0048] In one feasible embodiment, the reverse high dynamic energy recovery module 107 includes a third switching unit, a logic gate circuit, and a control chip; the logic gate circuit includes a first signal terminal and a second signal terminal;

[0049] Wherein, the first end of the third switching unit is the bus current input end of the reverse high dynamic energy recovery module 107, and the second end of the third switching unit is the bus current output end of the reverse high dynamic energy recovery module 107.

[0050] The first signal terminal of the logic gate circuit is the signal input terminal of the reverse high dynamic energy recovery module 107. The second signal terminal of the logic gate circuit is connected to the driving terminal of the third switching unit via the control chip to control the conduction state of the third switching unit.

[0051] Specifically, in the reverse high dynamic energy recovery module 107, the logic gate circuit uses a pure hardware combinational logic gate chip with extremely low propagation delay (<5ns) (such as the 74LVC series high-speed logic gate). The VGSFLT signal pin output by the JW7201 chip is connected to the input terminal of the AND gate (or equivalent NOR gate circuit) after level matching. The output terminal (EN signal) of the AND gate is directly connected to the input side of the high-speed isolation driver (Gate Driver IC, i.e., control chip) of the subsequent energy recovery branch.

[0052] The aforementioned third switching unit preferably employs a single-transistor enhancement-mode gallium nitride (VGaN) device with a withstand voltage of 100V and support for transient currents in the hundreds of amperes. The drain of the VGaN is connected to the main bus, and the source is connected to the battery terminal. The driving terminal of the third switching unit: the gate of the VGaN receives the EN drive signal from the logic gate circuit. Since VGaN natively lacks a body diode, this branch is bidirectionally blocked when EN is low; when EN is high, it provides an extremely low-impedance recharge path. This characteristic avoids the risk of uncontrollable shoot-through short circuits caused by current flowing through the body diode during the power-on pre-charge phase or in anti-return-current state.

[0053] by Figure 2 For example, the reverse high-dynamic energy recovery module 107 includes a first energy recovery branch and a second energy recovery branch. Both the first and second energy recovery branches include a third switching unit and a control chip. The first and second energy recovery branches share a single logic gate circuit. The two first signal terminals of the logic gate circuit are respectively connected to the diode controllers of the first and second anti-backflow branches. The two second signal terminals of the logic gate circuit are respectively connected to the corresponding third switching units via the control chips of the first and second energy recovery branches.

[0054] In one feasible embodiment, the diode controller tracks the difference between the terminal voltage of the solid-state dual power supply and the circuit bus voltage in real time, using this as a dynamic trigger threshold to achieve adaptive energy recovery triggering.

[0055] For example, when the voltage at the first terminal of the second switching unit is greater than or equal to the voltage at the second terminal of the second switching unit, the second switching unit is turned on, the diode controller outputs a first electrical signal to the logic gate circuit, and the logic gate circuit drives the third switching unit to turn off through the control chip;

[0056] When the voltage at the first terminal of the second switching unit is less than that at the second terminal of the second switching unit, the second switching unit is disconnected, the diode controller outputs a second electrical signal to the logic gate circuit, and the logic gate circuit drives the third switching unit to conduct through the control chip, so that the circuit bus BUS can reverse charge the solid-state dual power supply through the bus connection module 105 and the third unit.

[0057] by Figure 2 For example, when the bus voltage of the circuit bus BUS is abnormal (e.g., rises sharply), the ideal diodes (parasitic diodes) in MOSFETs Q25 and Q26 will instantly determine "reverse current" and immediately shut off the physical channel to prevent current reverse flow. Simultaneously, based on the state feedback of MOSFETs Q25 and Q26, the logic gate circuit quickly turns on the two third switching units through the diode controllers of the first and second anti-backflow branches. This allows the bus connection module 105 to connect to battery A through the first energy recovery branch and to battery B through the second energy recovery branch, enabling the high-voltage dangerous energy on the circuit bus BUS to be returned to batteries A and B without loss.

[0058] In one feasible embodiment, the system further includes a step-down module, the step-down module including a power input terminal and the power output terminal;

[0059] The power input terminal of the step-down module is connected to the battery current output terminal of the anti-backflow module 103, and the power output terminal of the step-down module is used to connect to the robot's system motherboard.

[0060] Specifically, a high-power solid-state circuit breaker is connected in series at the rear end of the circuit bus as a global emergency stop switch (E-Stop). Its output is connected to the servo drivers of the motors of each joint of the robot. The system motherboard (the brain of the system, including the brain motherboard, IMU sensors, etc.) is powered by a step-down module. The step-down module can be a 48V-12V step-down converter (DC-DC). Its power-taking pins are physically soldered to the front bus of the emergency stop switch to ensure that it is in the same node network as the battery current output terminal of the anti-backflow module 103 and the bus current input terminal of the reverse high dynamic energy recovery module 107.

[0061] In one feasible embodiment, the second connection terminal of the hot-swappable precharge module 101 is grounded via a plurality of soft-start capacitors.

[0062] In one feasible embodiment, the first connection terminal of the hot-swappable precharge module 101 is connected to the solid-state dual power supply via a first resistor.

[0063] In one feasible embodiment, the battery current output terminal of the anti-backflow module 103 and the bus current input terminal of the reverse high dynamic energy recovery module 107 are both connected to the bus connection module 105 via a second resistor.

[0064] In one feasible embodiment, the bus connection module 105 includes a fourth switching unit and a soft-start controller;

[0065] The first end of the fourth switch unit is connected to the second resistor, and the second end of the fourth switch is connected to the circuit bus. The soft-start controller is connected to the drive end of the fourth switch unit, and the soft-start controller controls the conduction state of the third switch unit.

[0066] Based on the above connections, the system can automatically execute the following processes without microprocessor (MCU) intervention, relying solely on hardware principles:

[0067] Operating Condition 1. Battery swapping and cold start (hot-swappable soft start)

[0068] The operator inserts a fully charged 14-cell (14S) lithium battery array with the system powered on, corresponding to a full charge voltage of 58.8V.

[0069] The hot-swap controller detects the voltage input and controls the current-limiting MOSFET to operate in the constant current / linear region, so that the main bus voltage smoothly rises from 0V to 58.8V.

[0070] During this period, the VGSFLT output of JW7201 is in "normal operation" state, and the logic interlocking center blocks the EN signal. VGaN is in a forced shutdown state, and its body diode-less characteristic blocks the path of battery B bypassing the pre-charge circuit to directly inject current into the bus large capacitor, thus pre-charging is safely completed.

[0071] Operating Condition 2. High-Power Parallel Discharge Operating Condition

[0072] After pre-charging is completed, the two JW7201s automatically turn on their respective series MOSFETs normally, with VSD less than 0.6V and VSD>0V.

[0073] The dual batteries automatically discharge by sharing the current based on their internal resistance. At this time, both VGSFLT outputs of the JW7201 are in the "conducting" state, the logic interlocking center keeps the EN signal low, the VGaN branch remains silent, and the main bus outputs power to the motor stably.

[0074] Operating Condition 3. High-Speed ​​Kinetic Energy Recovery and High-Voltage Clamping Condition (Core Action)

[0075] When the robot brakes suddenly at high frequency, the motor coil generates a back electromotive force, causing the main bus voltage to surge to 55V (higher than the battery voltage of 48V).

[0076] The high-speed comparators inside the two JW7201s detect that the bus voltage is higher than the battery voltage (i.e., negative voltage difference) within 0.3μs, and instantly force the gate voltage (VGS) of their respective MOSFETs to cut off the reverse feed path.

[0077] Interlock trigger: As VGS goes low, the VGSFLT pins of both JW7201s simultaneously undergo a physical level flip.

[0078] Nanosecond-level absorption: The hardware logic gate captures the dual blocking signals and outputs a high-level EN signal within approximately 5-10 ns, driving the VGaN to conduct instantaneously. High-voltage spikes on the main bus are losslessly fed back into the 48V battery pack through the VGaN. Once the bus voltage drops to a safe level, the JW7201 resumes conduction, and the logic gate automatically flips to shut down the VGaN, completing a seamless closed-loop protection cycle at the microsecond level.

[0079] Operating Condition 4. Emergency Stop Data Lockout Condition

[0080] When the system triggers E-Stop, the solid-state emergency stop switch cuts off power to the downstream motor.

[0081] The residual inductive energy of the motor flows into the bus, triggering the action of the above-mentioned condition 3, and is discharged to the battery through VGaN.

[0082] Meanwhile, the DC-DC buck converter at the emergency stop front end continuously draws power from the bus or battery, ensuring the control system remains powered and writes the core data (black box) before and after the fault into non-volatile memory.

[0083] In summary, with Figure 2 For example, the work of this application on a solid-state dual-power parallel management and energy recovery system supporting seamless hot-swapping includes:

[0084] 1. Forward Power Supply and Hot-Swap Path (from left to right): This is the main channel for the battery pack to supply power to the robot system. The system includes two completely symmetrical input branches: Battery A and Battery B. Hot-Swap Controller and Current-Limiting MOSFET (Q21 / Q23): At the very beginning of each power input, a current-sensing resistor (R8 / R9) and a MOSFET (Q21 / Q23) driven by the "Hot-Swap Controller" are connected in series. When a new battery is inserted, this module controls the voltage to rise slowly (soft start), thereby limiting inrush current and preventing connector arcing. Ideal Diode Controller and Reverse-Connection Protection MOSFET (Q25 / Q26): Following the hot-swap module is the "Ideal Diode Controller" and its driven MOSFET (Q25 / Q26). Under normal dual-battery power supply, this module conducts with an extremely low voltage drop. Its core function is to prevent reverse connection and circulating current: when one battery is removed or a voltage difference occurs, it can quickly block current backflow, allowing the other battery to seamlessly take over the load.

[0085] 2. The reverse high-dynamic energy recovery module 107 (upper bridging branch) is the core innovation of this invention, used to rapidly absorb the back electromotive force (Back-EMF) generated by the motor's emergency braking. Physical state feedback and logic gate circuit: The "logic gate circuit" in the middle of the circuit diagram is the "hardware logic interlock hub" in the document. It is directly connected to and receives the state feedback signals from the two "ideal diode controllers" below. Submicrosecond hardware triggering: When the robot motor generates an extremely high back EMF, causing the bus voltage to surge instantaneously and exceed the battery voltage, the two ideal diode controllers will instantly cut off the reverse flow path within 0.3μs. At this time, they output a blocking signal to the "logic gate circuit". After capturing the signal, the logic gate circuit directly outputs an enable signal (EN signal) to the "high-side discharge control chip" above without any microcontroller (MCU) software processing. Bidirectional GaN (GaN) or Back-to-Back MOSFETs: Upon receiving a command, the bidirectional GaN or back-to-back MOSFETs connected between the main bus and the battery terminals are instantly turned on, allowing the high-voltage dangerous energy on the bus to be fed back into batteries A and B without loss. Normally, when not triggered, these devices utilize their bodyless diode or back-to-back characteristics to maintain complete bidirectional disconnection, preventing the risk of direct leakage and short circuit from the battery to the bus during the power-on pre-charging phase.

[0086] 3. Decoupling of Power and Logic in the Power Supply Network (Right Load Output Terminal): The main bus (BUS) features a physical topology shunt design at the output terminal to ensure safety: Logic Brain Power Supply: The buck12V module (DC-DC step-down circuit) at the bottom of the diagram draws power directly from the main bus to power the "brain" and "cerebellum" (main control system, sensors, etc.). Its power draw point is located before the subsequent power switch. System Load / Joint Power Supply: On the right side of the diagram, a MOSFET (Q24) controlled by the "soft start controller" is connected in series, corresponding to the "solid-state emergency stop switch" in the document. It is responsible for supplying high-power power to "all joint power supplies" (motor units). Emergency Stop Survival Mode Principle: When the system encounters an emergency and disconnects Q24 to cut off motor power, since the buck12V is connected before Q24, it can continue to use the residual power on the bus to maintain operation. This ensures that the control system remains online even when the robot loses power, enabling it to record fault data and achieve a "black box" function.

[0087] Compared to related technologies, the solid-state dual power supply parallel management and energy recovery system supporting seamless hot-swapping in this application has the following advantages:

[0088] 1. When the bus voltage of the robot's circuit bus is normal, the power supply voltage of the solid-state dual power supply is higher than the bus voltage. At this time, the hot-swappable pre-charge module 101, the anti-backflow module 103, and the bus connection module 105 are all turned on, while the reverse high dynamic energy recovery module 107 is turned off. The solid-state dual power supply supplies power to the circuit bus through the hot-swappable pre-charge module 101, the anti-backflow module 103, and the bus connection module 105. When the bus voltage of the robot's circuit bus rises sharply, the anti-backflow module 103 is turned off, and the power supply voltage of the solid-state dual power supply is turned off through the anti-backflow module 101. 03. To prevent electrical energy from flowing back to the second connection terminal of the hot-swappable pre-charge module 101, the reverse high dynamic energy recovery module 107 is turned on. At this time, the electrical energy raised by the circuit bus can be used by the reverse high dynamic energy recovery module 107 to reverse charge the solid-state dual power supply. This not only prevents a reverse voltage difference between the first and second connection terminals of the hot-swappable pre-charge module 101, thus protecting the driver and sensitive components in the hot-swappable pre-charge module 101, but also enables energy recovery and improves the robot's power utilization rate.

[0089] 2. When the first connection terminal of the hot-swappable pre-charge module 101 is connected to the newly inserted solid-state dual power supply, the hot-swappable pre-charge module 101 slowly turns on, which can also realize linear soft start when the new battery is inserted and seamless passive switching when the old battery is removed, completely eliminating insertion and removal sparks.

[0090] 3. When the bus connection module 105 is disconnected, although the solid-state dual power supply can no longer supply power to the robot's circuit bus, the solid-state dual power supply can still supply power to the robot's system motherboard through the hot-swappable pre-charge module 101, anti-backflow module 103 and step-down module, so that the robot's system motherboard can still perform data processing and data storage normally, preventing data loss in the robot.

[0091] It should be noted that, in order to achieve the inventive objectives of "submicrosecond-level transient energy recovery" and "parallel connection of dual power supplies without circulating current" as described in this invention, the following alternative technical solutions can also be adopted, all of which should fall within the protection scope of this invention:

[0092] 1. Alternative solutions for triggering the logic hub (replacements for the logic processing layer)

[0093] Alternative solution: Use a CPLD (Complex Programmable Logic Device) or FPGA (Field Programmable Gate Array) to replace the pure hardware combinational logic gate chip. The implementation is as follows: connect the physical state feedback signals of each ideal diode to the I / O pin of the CPLD / FPGA, and write a combinational logic circuit with extremely low latency using a hardware description language (such as Verilog / VHDL). When it is determined that all discharge paths are blocked, the CPLD / FPGA instantaneously outputs a high-level enable signal (EN) to open the energy recovery branch.

[0094] Effect: The clock and interrupt system, which does not require MCU software code, can achieve nanosecond-level deterministic hardware response, thus fulfilling the purpose of the invention.

[0095] 2. Alternatives to physical state feature extraction (alternatives to the signal sensing layer)

[0096] Alternative: Use an external ultra-high-speed independent comparator network to replace the physical state feedback pin of the ideal diode controller (such as VGSFLT).

[0097] Implementation: A precision analog comparator with a response time in the tens of nanoseconds (ns) is connected between the main bus and each battery input terminal. When the difference between the main bus voltage and the battery voltage reaches a set threshold, the independent comparator directly flips the output state level and feeds this level signal to the subsequent hardware logic interlocking hub.

[0098] Results: Although it increases the complexity of peripheral components and PCB area, it can still physically sense back electromotive force in sub-microseconds, skip software sampling, and achieve rapid protection.

[0099] 3. Alternatives to high dynamic energy cross-domain routing switches (replacement of actuators)

[0100] Alternatives: Replace single-transistor wide-bandgap enhancement-mode gallium nitride (VGaN) devices with silicon carbide (SiC) MOSFETs or conventional silicon-based back-to-back MOSFET arrays.

[0101] Implementation: Two high-power conventional NMOS transistors are connected in series in a common-drain or common-source configuration, bridging the bus and the battery. Utilizing the reverse series connection characteristic of the two parasitic body diodes, bidirectional complete physical blocking is achieved when no EN signal is received (preventing pre-charge leakage); upon receiving the EN signal, both transistors are simultaneously activated by high-voltage overdrive, providing an energy feedback path.

[0102] Results: It is compatible with the traditional semiconductor device supply chain. Although its parasitic parameters (such as $Q_{rr}$) are slightly inferior to those of VGaN, it can still achieve the "bidirectional controlled blocking and instantaneous conduction" function required by this solution.

[0103] 4. Alternative energy storage media for kinetic energy recovery pathways (alternative energy destinations)

[0104] Alternative solution: Use an independent supercapacitor array buffer pool instead of the topology that directly feeds back into the battery pack.

[0105] Implementation: The output of the energy recovery branch is not directly connected to the positive terminal of the battery, but rather to a set of supercapacitor buffer modules connected in parallel with the bus. Back EMF spikes are preferentially released to the supercapacitors through a controlled branch for "peak clipping," and then the supercapacitors supply power to the system or slowly charge the battery through a slow-release circuit.

[0106] Effects: It further reduces the physical impact of high-frequency reverse voltage pulses on the cycle life of electrochemical batteries (lithium batteries) and also solves the problem of overvoltage breakdown of the main bus.

[0107] In addition, to facilitate understanding of the technical solution of this application, the abbreviations and key terms in the technical solution will be defined and supplemented below:

[0108] PDB (Power Distribution Board): The power distribution board is responsible for system power scheduling and safety protection.

[0109] Back-EMF (Back Electromotive Force): The transient high-voltage energy generated by the recirculation of kinetic energy from the motor.

[0110] GaN (Gallium Nitride): A wide-bandgap semiconductor with body diode characteristics.

[0111] V_GS (Gate-Source Voltage): Gate-source voltage, characterizing the actual physical on or off state of the switching transistor. Core Terminology Definitions

[0112] Ideal Diode: A technology that uses a power MOSFET to simulate unidirectional conduction, achieving extremely low voltage drop and instantaneous reverse current turn-off.

[0113] Hardware State Interlock: A zero-delay control mechanism implemented by pure hardware logic gates without microprocessor sampling.

[0114] Logic / Power Decoupling: The power bus and logic power supply are physically separated to ensure that the control system remains online when power is cut off.

[0115] Sub-microsecond response: refers to a physical delay of less than 1µs from the detection of a bus fault to the activation of the protection circuit (typical value 300ns~500ns).

[0116] PG (Power Good): Power Ready signal. A hardware status indicator flag indicating that the front-end power supply voltage has smoothly climbed to the rated operating range and the system precharge operation has been safely completed.

[0117] EN (Enable): Enable signal. Output from the hardware interlock hub, used to directly drive the high dynamic energy recovery branch to open or close.

[0118] dV / dt: Rate of change of voltage. In this scheme, it specifically refers to the slope of the main bus voltage rising smoothly over time by controlling the capacitor charging current during hot-plugging or system cold start-up, in order to suppress plugging and unplugging surges.

[0119] BMS (Battery Management System): A circuit responsible for monitoring the internal state of the battery pack. In this application, when a catastrophic failure such as a short circuit occurs on one side of the BMS, this system can provide microsecond-level physical isolation.

[0120] The device embodiments described above are merely illustrative. The components described as separate parts may or may not be physically separate, and the components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this application according to actual needs. Those skilled in the art can understand and implement this without any inventive effort.

[0121] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0122] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1 The computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function selected in one or more boxes.

[0123] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function selected in one or more boxes.

[0124] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0125] Memory may include non-persistent memory in computer-readable media, such as random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM. Memory is an example of computer-readable media.

[0126] Computer-readable media includes both permanent and non-permanent, removable and non-removable media that can store information using any method or technology. Information can be computer-readable instructions, data structures, modules of programs, or other data. Examples of computer storage media include, but are not limited to, phase-change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, CD-ROM, digital versatile optical disc (DVD) or other optical storage, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other non-transferable medium that can be used to store information accessible by a computing device. As defined herein, computer-readable media does not include transient computer-readable media, such as modulated data signals and carrier waves.

[0127] It should also be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

[0128] The above are merely embodiments of this application and are not intended to limit the scope of this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of the claims of this application.

Claims

1. A solid-state dual-power parallel management and energy recovery system supporting seamless hot-swapping, characterized in that, include: The system includes a hot-swappable pre-charge module, an anti-backflow module, a bus connection module, and a reverse high-dynamic energy recovery module; wherein the hot-swappable pre-charge module includes a first connection terminal and a second connection terminal, the anti-backflow module includes a battery current input terminal, a battery current output terminal, and a signal output terminal, and the reverse high-dynamic energy recovery module includes a signal input terminal, a bus current input terminal, and a bus current output terminal. The first connection terminal of the hot-swappable pre-charge module is used to connect to the solid-state dual power supply, and the second connection terminal of the hot-swappable pre-charge module is connected to the battery current input terminal of the anti-backflow module. The battery current output terminal of the anti-backflow module is connected to the circuit bus of the robot via the bus connection module; the signal output terminal of the anti-backflow module is connected to the signal input terminal of the reverse high dynamic energy recovery module. The bus current input terminal of the reverse high dynamic energy recovery module is connected to the circuit bus of the robot via the bus connection module, and the bus current output terminal of the reverse high dynamic energy recovery module is connected to the solid-state dual power supply; the signal input terminal of the reverse high dynamic energy recovery module is used to control the conduction state of the bus current input terminal and the bus current output terminal.

2. The solid-state dual power supply parallel management and energy recovery system supporting seamless hot-swapping as described in claim 1, characterized in that, The system also includes a step-down module, which has a power input terminal and a power output terminal; The power input terminal of the step-down module is connected to the battery current output terminal of the anti-backflow module, and the power output terminal of the step-down module is used to connect to the robot's system motherboard.

3. The solid-state dual power supply parallel management and energy recovery system supporting seamless hot-swapping according to claim 2, characterized in that, The hot-swap pre-charge module includes a first switching unit and a hot-swap controller; Wherein, the first end of the first switching unit is the first connection end of the hot-swappable pre-charge module, the second end of the first switching unit is the second connection end of the hot-swappable pre-charge module, and the driving end of the first switching unit is connected to the hot-swappable controller; when the first connection end is connected to a newly inserted solid-state dual power supply, the hot-swappable controller is used to detect the insertion of the solid-state dual power supply and control the first switching unit to work in the linear region, so that the output voltage of the first switching unit rises slowly to achieve slow conduction.

4. The solid-state dual power supply parallel management and energy recovery system supporting seamless hot-swapping as described in claim 3, characterized in that, The anti-backflow module includes a second switching unit and a diode controller; Wherein, the first end of the second switching unit is the battery current input terminal of the anti-backflow module, the second end of the second switching unit is the battery current output terminal, and the driving terminal of the second switching unit is connected to the diode controller to serve as the signal output terminal of the anti-backflow module.

5. The solid-state dual power supply parallel management and energy recovery system supporting seamless hot-swapping according to claim 4, characterized in that, The reverse high-dynamic energy recovery module includes a third switching unit, a logic gate circuit, and a control chip; the logic gate circuit includes a first signal terminal and a second signal terminal. Wherein, the first end of the third switching unit is the bus current input end of the reverse high dynamic energy recovery module, and the second end of the third switching unit is the bus current output end of the reverse high dynamic energy recovery module; The first signal terminal of the logic gate circuit is the signal input terminal of the reverse high dynamic energy recovery module, and the second signal terminal of the logic gate circuit is connected to the driving terminal of the third switching unit via the control chip to control the conduction state of the third switching unit.

6. The solid-state dual power supply parallel management and energy recovery system supporting seamless hot-swapping according to claim 5, characterized in that, The diode controller tracks the difference between the terminal voltage of the solid-state dual power supply and the circuit bus voltage in real time, using this as a dynamic trigger threshold to achieve adaptive energy recovery triggering.

7. The solid-state dual power supply parallel management and energy recovery system supporting seamless hot-swapping according to claim 2, characterized in that, The second connection terminal of the hot-swappable precharge module is grounded via several soft-start capacitors.

8. The solid-state dual power supply parallel management and energy recovery system supporting seamless hot-swapping according to claim 2, characterized in that, The first connection terminal of the hot-swappable precharge module is connected to the solid-state dual power supply via a first resistor.

9. The solid-state dual power supply parallel management and energy recovery system supporting seamless hot-swapping according to claim 2, characterized in that, The battery current output terminal of the anti-backflow module and the bus current input terminal of the reverse high dynamic energy recovery module are both connected to the bus connection module via a second resistor.

10. The solid-state dual power supply parallel management and energy recovery system supporting seamless hot-swapping according to claim 9, characterized in that, The bus connection module includes a fourth switch unit and a soft-start controller; The first end of the fourth switch unit is connected to the second resistor, and the second end of the fourth switch is connected to the circuit bus. The soft-start controller is connected to the drive end of the fourth switch unit, and the soft-start controller controls the conduction state of the third switch unit.

Images