Humanoid switching robot joint charging and abnormality processing device

Abstract

The application discloses a kind of humanoid switching robot joint charging and abnormal processing device, belong to humanoid robot joint energy safety control technical field.Device mainly includes distributed joint charging module, multi-source sensing fusion module, abnormal identification and hierarchical processing module, dynamic switching control module, global collaborative scheduling module and joint driving execution module.The application relies on multi-path independent charging structure design, realizes the autonomous switching of three charging modes of contact type, wireless and emergency energy storage.Through the synchronous acquisition, fusion analysis of electrical, mechanical, environmental and communication multidimensional data, accurately identify various operating abnormalities and divide four levels of disposal grades.Combined with dynamic power regulation, thermal control linkage, global energy balance and fault posture collaborative protection design, solve the problems of single charging mode, passive abnormal protection, weak joint collaboration and poor dynamic working condition adaptation of traditional equipment.The device has reasonable structure layout, comprehensive fault prevention and control, and strong running stability.

Description

Technical Field

[0001] The invention belongs to the technical field of energy management and fail-safe control for humanoid robot joints, and specifically relates to a device structure design of adaptive charging regulation and full-dimensional active abnormal handling for multi-degree-of-freedom humanoid robot joints. Background Art

[0002] A humanoid robot is equipped with multiple sets of independent driving joints, and completes power output and action execution by relying on the built-in energy storage unit. Due to the long-term high-frequency reciprocating motion of the joints, the internal electrical lines are prone to wear and aging, and the charging docking structure repeatedly deforms, so that the charging stability and the safety of equipment operation will continue to decline under long-term operating conditions. At the present stage, there are many common industrial defects in the supporting charging structures and protection systems of humanoid robot joints.

[0003] The charging operation mode of conventional equipment is fixed, and electric energy supply is completed only by a single mode of hard contact docking or wireless coupling. During the operation of the robot, the joint posture changes continuously, and the conventional contact docking structure cannot adapt to angular offset and position floating. The decrease in docking fitting degree directly causes charging interruption. Intermittent circuit conduction is easy to induce various electrical faults. A single wireless charging structure is highly affected by spatial position, environmental occlusion, and posture deviation, and the fluctuation range of energy transmission efficiency is relatively large. Long-term low-efficiency charging accelerates the aging and attenuation of the energy storage unit, and shortens the overall service life of the equipment.

[0004] The detection dimension of the existing protection system has limitations, and only basic threshold protection is set for loop current and operating voltage. The actual operating conditions of robot joints are complex, and problems such as mechanical stuck, structural deformation, internal temperature change, line insulation attenuation, communication link interruption, and external foreign matter intrusion can all cause cascading faults. Conventional equipment cannot complete synchronous collection and comprehensive research and judgment of multi-dimensional state data, and the abnormal judgment method is simple and fixed, which can only passively cut off the loop after the fault occurs, and does not have the capabilities of early warning, graded disposal and fault-tolerant operation. Local isolation cannot be achieved for a single point of fault, and the fault signal will continue to spread along the power supply line and communication network, eventually resulting in shutdown and locking of the whole machine joints, which greatly reduces the continuous working time of the equipment.

[0005] The traditional charging architecture adopts a centralized power supply management and control mode for the whole machine, and the energy storage states of each joint operate independently without linkage, so that the global energy distribution is in an unbalanced state for a long time. High-load joints consume energy faster, while low-load joints maintain surplus remaining power for a long time, and there is no automatic balance regulation mechanism in the whole system. The charging process requires the equipment to maintain a fixed stationary posture, and cannot achieve continuous energy replenishment in motion, and operation-interrupted charging directly reduces the multi-scenario adaptability of the equipment. After a sudden joint fault and power outage, there is a lack of mechanical locking support structure, and the free settlement and deformation of the limb is very prone to cause the equipment to topple and collide, which further expands the scope of fault loss.

[0006] Existing publicly available technical solutions mostly focus on static charging structure optimization or single electrical parameter protection design, failing to integrate the design with the mechanical motion characteristics, electrical transmission characteristics, and multi-node collaborative control requirements of humanoid robot joints. There is no integrated device in the existing technology capable of simultaneously achieving autonomous switching between multi-path charging, multi-source state fusion detection, anomaly level classification and handling, global energy collaborative allocation, and fault posture safety protection. In response to the actual needs of the rapidly developing humanoid robot industry and addressing the inherent shortcomings of existing technologies, this paper proposes to develop a novel joint charging and anomaly handling device with a novel structure, possessing practical promotional value and engineering application significance. Summary of the Invention

[0007] The purpose of this invention is to overcome the technical shortcomings of existing technologies, such as fixed and unadjustable charging modes, narrow anomaly detection range, passive fault handling methods, weak multi-joint collaborative control capabilities, and poor adaptability to dynamic working conditions. This invention provides a charging and anomaly handling device for humanoid switching robot joints. Based on a modular and layered architecture design, this invention achieves autonomous switching of multi-path charging modes, real-time monitoring of all-dimensional operating status, precise classification and grading of abnormal events, proactive fault isolation and fault-tolerant operation, dynamic and balanced energy allocation of the entire robot's joints, and stable posture protection under abnormal working conditions. This improves the charging stability, energy replenishment efficiency, fault prevention capabilities, and long-term reliability of humanoid robot joints in complex environments.

[0008] To achieve the above objectives, the present invention adopts the following technical solution:

[0009] A joint charging and anomaly handling device for a humanoid-switching robot includes a distributed joint charging module, a multi-source sensor fusion module, an anomaly identification and hierarchical processing module, a dynamic switching control module, a global collaborative scheduling module, and a joint drive execution module. The distributed joint charging module, multi-source sensor fusion module, and dynamic switching control module are electrically connected to the anomaly identification and hierarchical processing module. The global collaborative scheduling module provides bidirectional communication between the dynamic switching control module and the joint drive execution module. The distributed joint charging module is electrically connected to the joint drive execution module.

[0010] The distributed joint charging module includes a contact charging unit, a wireless inductive charging unit, an energy storage emergency replenishment unit, and a charging interface switching unit. The contact charging unit features an adaptive floating contact array, a contact pressure detection component, and an arc protection circuit. The adaptive floating contact array utilizes an elastic structure to achieve multi-directional position compensation, adapting to positional offsets and angular deflections caused by joint movement. The contact pressure detection component collects the contact bonding force values ​​in real time. The arc protection circuit smoothly releases the induced electrical energy during the circuit disconnection phase, suppressing the generation of electrical sparks. The wireless inductive charging unit includes a transmitting coil assembly, a flexible receiving coil assembly, and a resonant compensation circuit. The transmitting coil assembly is fixedly installed inside the external charging base station. The flexible receiving coil is attached and fixed to the outer surface of the robot joint. The resonant compensation circuit adjusts the operating resonant frequency in real time to compensate for the coupling efficiency attenuation caused by posture changes. The energy storage emergency replenishment unit is equipped with a micro-energy storage capacitor bank and a bidirectional DC-DC converter. The micro-energy storage capacitor bank stores backup energy to maintain basic joint power supply for a short period after the main power supply path fails. The bidirectional DC-DC converter enables bidirectional energy transfer between the capacitor bank and the joint's energy storage battery. The charging interface switching unit adopts a relay array structure, receives instructions from the dynamic switching control module, and completes the switching of the three types of charging unit paths and electrical interlocking isolation.

[0011] The multi-source sensing fusion module includes an electrical sensing submodule, a mechanical sensing submodule, an environmental sensing submodule, and a communication status monitoring submodule. The electrical sensing submodule is equipped with a voltage acquisition chip, a current detection component, a temperature detection element, and an insulation monitoring circuit. The voltage acquisition chip continuously acquires the operating voltage of the individual energy storage battery cells, ensuring accurate voltage data acquisition. The current detection component monitors the current changes throughout the charging and discharging circuit in real time, quickly capturing sudden current changes. The temperature detection element is attached to the surface of the battery body and power devices, comprehensively acquiring temperature data from key heat sources. The insulation monitoring circuit continuously monitors the insulation performance of the drive circuit to ground, promptly detecting insulation aging and damage. The mechanical sensing submodule includes a torque detection component, a vibration acquisition component, a position encoding component, and a pressure sensing component. The torque detection component is installed at the output position of the joint reducer, providing real-time feedback on changes in the joint load torque. The vibration acquisition component captures triaxial vibration signals during joint operation, determining mechanical jamming and abnormal wear. The position encoding component accurately feeds back the real-time rotation angle and spatial position of the joint. The pressure sensing component detects the contact pressure value of the charging docking structure. The environmental sensing submodule integrates a temperature and humidity detection component, a foreign object detection component, and a smoke detection component. The temperature and humidity detection component monitors the internal environmental parameters of the joint cavity. The foreign object detection component uses the principle of impedance change to identify metal foreign objects adhering to the charging interface. The smoke detection component captures smoke particles inside the cavity, predicting the risk of thermal runaway in advance. The communication status monitoring submodule collects bus signal strength, data transmission error rate, and device heartbeat signals in real time, continuously determining the stability of multiple communication links.

[0012] The anomaly identification and hierarchical processing module comprises a data preprocessing unit, an anomaly feature extraction unit, a fusion identification and classification unit, and a hierarchical instruction output unit. The data preprocessing unit receives multiple sets of raw monitoring data and sequentially performs signal filtering and noise reduction, digital signal conversion, data standardization correction, and erroneous data removal, outputting standardized monitoring data in a unified format. The anomaly feature extraction unit conducts joint time-domain and frequency-domain analysis on the standardized data, extracting multiple core feature parameters such as voltage fluctuation amplitude, current distortion degree, temperature rise rate, vibration peak value, insulation performance decay rate, and communication transmission stability. The fusion identification and classification unit, relying on multi-source evidence fusion logic and a pre-set standard feature database, automatically distinguishes specific fault types such as electrical anomalies, mechanical anomalies, environmental anomalies, and communication anomalies. The hierarchical instruction output unit classifies anomalies into four levels based on fault type, hazard level, and impact range: Level 1 is for minor fluctuation anomalies, Level 2 for docking and transmission stability anomalies, Level 3 for electrical and structural functional faults, and Level 4 for short-circuit overheating and structural jamming emergency faults. Based on the level differences, the hierarchical instruction output unit outputs differentiated handling instructions, including current limiting control, path switching, power reduction operation, and emergency power-off locking.

[0013] The dynamic switching control module comprises a mode decision unit, a path drive unit, a power regulation unit, and a thermal control coordination unit. The mode decision unit integrates multiple parameters, including docking pressure, wireless coupling efficiency, joint spatial attitude, remaining battery capacity, and equipment operating temperature. Based on a closed-loop control algorithm, it determines the optimal charging mode, prioritizing fixed contact charging, followed by wireless inductive charging, and then emergency energy storage as a backup. The path drive unit receives commands from the mode decision unit and drives the charging interface switching unit to perform relay on / off actions, enabling smooth switching between multiple charging paths and avoiding instantaneous current surges during switching. The power regulation unit uses a closed-loop control mechanism with the DC-DC converter to regulate output power parameters, dividing charging levels according to the remaining capacity range of the joint's energy storage battery. It also incorporates temperature data to limit high-power output and proactively reduces charging load in high-temperature environments. The thermal control coordination unit connects the heat dissipation structure and auxiliary heating structure, adjusting the operating speed of the heat dissipation components or the output power of the heating components based on real-time temperature values ​​to stabilize the operating temperature range of internal components within the joint.

[0014] The global collaborative scheduling module includes an energy balancing unit, a fault linkage unit, an attitude coordination unit, and a data interaction unit. The energy balancing unit summarizes the remaining capacity and charging / discharging status of all joint energy storage batteries in real time, adjusting energy flow across joints using intelligent allocation algorithms to automatically reduce energy storage differences between multiple joints and achieve rational energy distribution across the entire machine. The fault linkage unit receives fault signals uploaded by the anomaly identification and hierarchical processing module and executes a hierarchical linkage strategy according to the anomaly level. Low-level anomalies only restrict the operating parameters of a single joint; medium-level anomalies isolate the faulty joint and reduce the overall machine output power; high-level emergency anomalies cut off power to the faulty area and lock the attitude of the core joint. The attitude coordination unit coordinates all joint drive structures, fine-tuning the small attitude angles of the joints during charging to maintain optimal contact with the charging docking structure. Upon triggering an emergency fault, it uniformly controls limb movements, quickly switching to a stable support posture. The data interaction unit adopts a dual-link redundant communication architecture to complete data interaction between modules and remote terminal data upload, synchronously storing historical operating data and anomaly records, supporting subsequent fault tracing and analysis.

[0015] The joint drive execution module includes a joint drive motor, a reduction gear transmission assembly, a motor drive assembly, a joint energy storage battery, and a posture locking unit. The joint drive motor serves as the joint's power output source, with its output end fixedly connected to the input end of the reduction gear transmission assembly. The reduction gear transmission assembly reduces operating speed and increases output torque, ensuring smooth joint movement. The motor drive assembly receives action commands from the global coordination scheduling module, precisely controlling the motor's operating speed, output torque, and rotation direction. The joint energy storage battery independently provides daily power for the single-joint load device, with built-in battery management logic, autonomously performing single-cell voltage balancing and basic overcharge / over-discharge protection. The posture locking unit employs an electromagnetic braking structure. During normal operation, it releases the lock; during charging operation, it applies slight braking to maintain posture stability; and in emergency fault conditions, it completely locks and fixes the joint position, preventing free sinking and deformation of the limb.

[0016] The adaptive floating contact array adopts a symmetrical three-contact arrangement structure with rounded transition structures at the contact ends and internal elastic buffer components. The compression stroke of the elastic buffer components covers the normal movement offset range of the joint, compensating for radial, axial, and angular offsets generated during equipment operation. The arc protection circuit incorporates varistor devices and freewheeling components to absorb the instantaneous high voltage generated when the circuit is disconnected, providing a stable energy release circuit for the inductive load and preventing the continuous generation of arcs during the separation phase.

[0017] The fusion identification and classification unit adopts an improved multi-source evidence fusion calculation method, setting differentiated confidence weights for different categories of sensing and monitoring components. The weight values ​​are calibrated based on the long-term operational accuracy of the equipment, weakening the judgment ratio of data collected by environmental interference, strengthening the reference weight of core electrical parameters in the fault identification process, reducing the probability of abnormal misjudgments caused by conflicts in multiple types of signal data, and improving the accuracy of fault identification under complex operating conditions.

[0018] During normal charging operation, the posture coordination unit limits the range of joint posture movement to a small range, stabilizing the contact pressure of the charging docking structure and the efficiency of wireless energy coupling. After the device triggers the level four emergency anomaly handling logic, the posture coordination unit coordinates the core joints of the lower limbs to quickly complete the angle adjustment. After the adjustment, the overall center of gravity is completely within the device's support range, relying on the coordinated operation of multiple joints to avoid the risk of the device tipping over.

[0019] The humanoid switching robot joint charging and fault handling device has the following beneficial effects:

[0020] First, this invention employs a multi-path parallel charging architecture, breaking the limitations of traditional single-mode charging. Relying on hardware structure and dedicated control logic, it achieves seamless switching between three operating modes: contact-based power replenishment, wireless inductive power transmission, and emergency power replenishment from energy storage units. It determines the optimal charging method in real-time based on attitude data and docking status, adapting to dynamic joint movements and angular offset conditions. This overcomes the rigid limitations of fixed-posture charging, enabling dynamic power replenishment during work intervals, effectively increasing the equipment's continuous operating time and scenario adaptability.

[0021] Secondly, this invention establishes a multi-source, full-domain sensing and acquisition system, breaking through the limitations of traditional single electrical parameter detection. It simultaneously covers operational data acquisition across four dimensions: electrical, mechanical, environmental, and communication, and relies on fusion computing algorithms to accurately identify various types of latent faults. A four-level anomaly classification standard is established, matching differentiated handling strategies, upgrading traditional passive power-off protection to multi-level active protection including tiered current limiting, path switching, load reduction operation, and emergency locking. This blocks the propagation path of single-point faults, reducing the probability of sudden faults and the extent of equipment damage.

[0022] Third, this invention adopts a two-layer control architecture combining distributed node management and global collaborative scheduling. Each joint independently completes local charging regulation and anomaly monitoring, while the global end uniformly completes energy balancing and fault linkage management for multiple joints. This avoids local faults causing overall machine downtime, ensures priority power supply to core functional joints, enables downgraded operation in fault states, and reduces equipment downtime for maintenance.

[0023] Fourth, this invention integrates a mechanical adaptive docking structure with an electrical shock-resistant control design. The charging docking component has multi-directional position compensation capabilities, adapting to minute positional offsets and angular deviations caused by joint movements. The circuit switching is equipped with interlocking isolation logic to prevent parallel short circuits and synchronously suppress electrical pulse impacts during switching on and off, extending the overall service life of the charging interface and internal circuitry.

[0024] Fifth, this invention achieves coordinated regulation of temperature control and charging power, dynamically adjusting charging output parameters based on the remaining capacity of the energy storage unit and real-time temperature. It employs pre-regulation strategies under high and low temperature environments to balance charging efficiency and energy storage unit usage losses. Combined with a full-area heat dissipation and auxiliary heating structure, it stabilizes the internal operating temperature of the joints, slows down the aging of the battery and power devices, and reduces maintenance costs during long-term use. Attached Figure Description

[0025] Figure 1 This is a diagram of the overall system architecture.

[0026] Figure 2 Internal block diagram of the distributed joint charging module;

[0027] Figure 3 This is an internal block diagram of the multi-source sensor fusion module;

[0028] Figure 4 This is a flowchart of the anomaly identification and hierarchical processing procedure;

[0029] Figure 5 This is a flowchart for control and execution. Detailed Implementation

[0030] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be described in detail below with reference to specific embodiments.

[0031] This invention comprises a complete device architecture consisting of six functional modules, which are assembled strictly according to their electrical connections and communication interactions. The distributed joint charging module, multi-source sensor fusion module, and dynamic switching control module independently interface with the anomaly identification and hierarchical processing module. The global collaborative scheduling module serves as the central control structure of the entire machine, bidirectionally interfaceing with both the dynamic switching control module and the joint drive execution module. The distributed joint charging module directly supplies operating power to the joint drive execution module, ensuring stable operation of both independent power supply and integrated charging for each joint.

[0032] During normal standby charging, the multi-source sensor fusion module continuously collects all monitored parameters. Data is transmitted in real-time to the anomaly identification and hierarchical processing module for centralized analysis. When no abnormal fault signals are detected, the mode decision unit defaults to using the contact charging unit to complete the main charging operation. The charging interface switching unit closes the corresponding control loop, while other charging paths remain open and locked to avoid circuit interference caused by multiple parallel circuits. The power regulation unit matches the standard charging current and voltage parameters step-by-step based on the real-time remaining capacity of the energy storage battery. The thermal control coordination unit synchronously monitors the surface temperature of the power devices and battery; when the temperature is within the standard range, the heat dissipation components maintain stable low-speed operation.

[0033] The global collaborative scheduling module synchronously aggregates the energy storage data of all robot joints, and the energy balancing unit compares the remaining capacity values ​​of different joints in real time. When there is a significant difference in the energy storage capacity of multiple groups of joints, the system automatically initiates the cross-joint energy balancing control process. Excess electrical energy from high-capacity joints is transferred to low-capacity joints through an internal balancing circuit to balance the overall energy consumption distribution of the robot and avoid frequent deep discharges in a single joint that accelerate structural aging.

[0034] During the robot's operation, its joints continuously oscillate and rotate, causing a continuous shift in the contact charging docking position. The bonding pressure data collected by the multi-source sensor fusion module continuously decreases, and the angle shift exceeds the preset standard range. The anomaly identification and classification module determines it to be a level two stable anomaly and issues a path switching command to the dynamic switching control module. The path drive unit controls the contact charging circuit to disconnect, simultaneously activating the wireless inductive charging unit's working circuit. The device seamlessly switches to wireless replenishment mode, ensuring uninterrupted power supply during operation. When the wireless coupling efficiency remains low, the system automatically activates the emergency energy storage unit, relying on the capacitor bank's stored energy to maintain basic equipment operation.

[0035] During equipment operation, a sudden increase in line current and a rapid rise in component surface temperature occurred. The electrical sensing submodule promptly detected the abnormal parameter changes, and the abnormal feature extraction unit identified the core characteristics of overheating and overcurrent. The fusion identification and classification unit determined it to be a level three functional fault, and the hierarchical instruction output unit issued an isolation and load reduction command. The dynamic switching control module directly cut off the current charging output, and the thermal control coordination unit activated the heat dissipation structure at full speed. The global coordination scheduling module marked the faulty joint number, cut off the external linkage signal of that node, limited the maximum range of motion of the faulty joint, and maintained stable operation of the remaining normal joints in their normal working state.

[0036] When the equipment experiences extreme conditions such as a short circuit, smoke generation inside the cavity, or complete mechanical jamming, the system determines it to be a Level 4 emergency anomaly. The graded command output unit issues an emergency protection command, and all charging paths are simultaneously and forcibly disconnected. The attitude locking unit completely locks all moving structures of the faulty joint, and the global collaborative scheduling module immediately activates the safety attitude control logic. Multiple sets of core support joints adjust their angles synchronously, and the equipment quickly transitions to a stable sitting or kneeling posture. The fault linkage unit triggers local audible and visual alerts and simultaneously uploads the fault code and abnormal data remotely to the backend management platform, facilitating timely inspection and maintenance by staff.

[0037] The distributed joint charging module features three types of charging units with independent physical structures. Multiple relays within the charging interface switching unit are configured with interlocking control logic. When any single circuit is operational, the relays in the other circuits remain forcibly disconnected, eliminating parallel conflicts between different charging power supplies at the hardware level. The adaptive floating contact array, relying on its built-in elastic structure, adapts to the minute deformations of joint movement throughout the entire process, significantly reducing the frequency of hard-contact wear and poor contact failures.

[0038] The multi-source sensor fusion module consists of four sub-modules that acquire data synchronously and in parallel, maintaining a consistent data sampling period to ensure complete correspondence across the timelines of multi-dimensional data. The anomaly identification and hierarchical processing unit performs standardized processing on the acquired data, eliminating judgment errors caused by differences in the accuracy of different sensors. An improved fusion algorithm balances the reference weight of multi-source data, effectively avoiding false alarms and missed detections caused by drift due to single sensor failure.

[0039] The dynamic switching control module achieves closed-loop regulation throughout the charging process, ensuring coordinated matching between charging power, operating mode, and heat dissipation intensity. In low-temperature environments, the equipment prioritizes the preheating control process, initiating high-power charging only after the core component temperatures have risen to a reasonable range, thus preventing damage to the battery's internal structure caused by low-temperature charging. In high-temperature environments, the charging output power is actively limited, using a low-current, slow-speed energy replenishment method to reduce heat accumulation and balance charging efficiency with equipment operational safety.

[0040] The joint drive module integrates multiple functions, including motion actuation, energy storage and power supply, and mechanical locking. During normal operation, the posture locking unit is fully released, ensuring smooth and flexible joint movements. During the charging and resting phase, it applies slight braking to counteract minor deformations caused by the joint's own weight, maintaining the stability of the docking structure. In emergency fault locking mode, the braking torque output is sufficient to completely fix the joint's spatial position, preventing secondary damage caused by structural loosening.

[0041] The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in the present invention, based on the technical solution and inventive concept of the present invention, should be covered within the scope of protection of the present invention.

Claims

1. A joint charging and anomaly handling device for a humanoid switching robot, characterized in that, It includes a distributed joint charging module, a multi-source sensor fusion module, an anomaly identification and hierarchical processing module, a dynamic switching control module, a global collaborative scheduling module, and a joint drive execution module; the distributed joint charging module, the multi-source sensor fusion module, and the dynamic switching control module are electrically connected to the anomaly identification and hierarchical processing module respectively; The global collaborative scheduling module is bidirectionally connected to the dynamic switching control module and the joint drive execution module; the distributed joint charging module is electrically connected to the joint drive execution module.

2. The humanoid switching robot joint charging and anomaly handling device according to claim 1, characterized in that, The distributed joint charging module includes a contact charging unit, a wireless inductive charging unit, an energy storage and emergency power replenishment unit, and a charging interface switching unit; the contact charging unit is equipped with an adaptive floating contact array, a contact pressure detection component, and an anti-arc protection circuit; the adaptive floating contact array relies on an elastic structure to achieve multi-directional position compensation, adapting to the position offset and angle deflection caused by joint movement. The contact pressure detection component collects the contact bonding force value in real time; the anti-arc protection circuit smoothly releases the induced electrical energy of the line during the circuit disconnection stage, suppressing the generation of electric sparks; the wireless inductive charging unit includes a transmitting coil assembly, a flexible receiving coil assembly, and a resonant compensation circuit; the transmitting coil assembly is fixedly installed inside the external charging base station; the flexible receiving coil is attached and fixed to the outer surface of the robot joint; the resonant compensation circuit adjusts the working resonant frequency in real time to offset the coupling efficiency attenuation caused by attitude changes; the energy storage emergency replenishment unit is equipped with a micro energy storage capacitor bank and a bidirectional DC-DC converter; the micro energy storage capacitor bank stores backup electrical energy to maintain the basic power supply of the joint for a short time after the main power supply path fails; the bidirectional DC-DC converter realizes bidirectional energy transfer between the capacitor bank and the joint energy storage battery. The charging interface switching unit adopts a relay array structure, receives instructions from the dynamic switching control module, and completes the switching of the three types of charging unit paths and electrical interlocking isolation.

3. The humanoid switching robot joint charging and anomaly handling device according to claim 1, characterized in that, The multi-source sensing fusion module includes an electrical sensing submodule, a mechanical sensing submodule, an environmental sensing submodule, and a communication status monitoring submodule. The electrical sensing submodule is equipped with a voltage acquisition chip, a current detection component, a temperature detection element, and an insulation monitoring circuit. The voltage acquisition chip continuously acquires the operating voltage of the individual energy storage battery cells, ensuring accurate voltage data acquisition. The current detection component monitors the changes in current throughout the charging and discharging circuit in real time, quickly capturing sudden current changes. The temperature detection element is attached to the surface of the battery body and power devices, comprehensively acquiring temperature data from key heat sources. The insulation monitoring circuit continuously monitors the insulation performance of the drive circuit to ground, promptly detecting insulation aging and damage. The mechanical sensing submodule includes a torque detection component, a vibration acquisition component, a position encoding component, and a pressure sensing component. The torque detection component is installed at the output position of the joint reducer, providing real-time feedback on changes in the joint load torque. The vibration acquisition component captures triaxial vibration signals during joint operation to determine mechanical jamming and abnormal wear conditions. The position encoding component accurately feeds back the real-time rotation angle and spatial position of the joint; the pressure sensing component detects the contact pressure value of the charging docking structure; the environmental sensing submodule integrates a temperature and humidity detection component, a foreign object identification component, and a smoke monitoring component; the temperature and humidity detection component monitors the internal environmental parameters of the joint cavity; the foreign object identification component identifies the attachment of metal foreign objects at the charging interface location based on the principle of impedance change; the smoke monitoring component captures smoke particles inside the cavity to predict the risk of thermal runaway in advance; the communication status monitoring submodule collects bus signal strength, data transmission error rate, and device heartbeat signal in real time to continuously determine the stability of multiple communication links.

4. The humanoid switching robot joint charging and anomaly handling device according to claim 1, characterized in that, The anomaly identification and hierarchical processing module includes a data preprocessing unit, an anomaly feature extraction unit, a fusion identification and classification unit, and a hierarchical instruction output unit. The data preprocessing unit receives multiple sets of raw monitoring data and sequentially performs signal filtering and noise reduction, digital signal conversion, data standardization correction, and erroneous data removal, outputting standardized monitoring data in a unified format. The anomaly feature extraction unit conducts joint time-domain and frequency-domain analysis on the standardized data, extracting multiple core feature parameters such as voltage fluctuation amplitude, current distortion degree, temperature rise rate, vibration peak value, insulation performance decay rate, and communication transmission stability. The fusion identification and classification unit, relying on multi-source evidence fusion operation logic and combined with a preset standard feature database, automatically distinguishes specific fault types such as electrical anomalies, mechanical anomalies, environmental anomalies, and communication anomalies. The hierarchical instruction output unit classifies anomalies into four levels based on fault type, hazard level, and impact range: Level 1 is for minor fluctuation anomalies, Level 2 is for docking and transmission stability anomalies, Level 3 is for electrical and structural functional faults, and Level 4 is for short-circuit overheating and structural jamming emergency faults. Based on the level differences, the hierarchical instruction output unit outputs differentiated handling instructions such as current limiting control, path switching, power reduction operation, and emergency power-off locking.

5. The humanoid switching robot joint charging and anomaly handling device according to claim 1, characterized in that, The dynamic switching control module includes a mode decision unit, a path drive unit, a power adjustment unit, and a thermal control coordination unit. The mode decision unit integrates multiple parameters such as docking pressure, wireless coupling efficiency, joint spatial attitude, remaining battery capacity, and equipment operating temperature. Based on a closed-loop control algorithm, it determines the optimal charging mode, prioritizing fixed contact charging, followed by wireless inductive charging, and then emergency energy storage as a backup. The path drive unit receives commands from the mode decision unit and drives the charging interface switching unit to perform relay switching actions, achieving smooth switching between multiple charging paths and avoiding instantaneous current surges during switching. The power adjustment unit relies on the closed-loop control of the DC-DC converter to regulate the output power parameters, dividing different charging levels according to the remaining capacity range of the joint's energy storage battery. It also combines temperature data to limit high-power output and actively reduces the charging load in high-temperature environments. The thermal control coordination unit connects the heat dissipation structure and the auxiliary heating structure, adjusting the operating speed of the heat dissipation component or the output power of the heating component based on real-time temperature values ​​to stabilize the operating temperature range of the internal components of the joint.

6. The humanoid switching robot joint charging and anomaly handling device according to claim 1, characterized in that, The global collaborative scheduling module includes an energy balancing unit, a fault linkage unit, an attitude coordination unit, and a data interaction unit. The energy balancing unit summarizes the remaining capacity and charging / discharging status of all joint energy storage batteries in real time, and adjusts the energy flow across joints based on intelligent allocation algorithms to automatically reduce the energy storage difference between multiple joints and achieve reasonable energy allocation of the whole machine. The fault linkage unit receives fault signals uploaded by the anomaly identification and hierarchical processing module and executes a hierarchical linkage strategy according to the anomaly level. Low-level anomalies only restrict the operating parameters of a single joint, medium-level anomalies isolate the faulty joint and reduce the overall machine output power, and high-level emergency anomalies cut off the power supply to the faulty area and lock the attitude of the core joint. The posture coordination unit links all joint drive structures and fine-tunes the small posture angles of the joints during the charging operation to maintain the optimal fit of the charging docking structure. After an emergency failure is triggered, limb movements are uniformly controlled to quickly switch to a stable support posture; The data interaction unit adopts a dual-link redundant communication architecture to complete data interaction between modules and data upload to remote terminals, synchronously store historical operation data and anomaly records, and support subsequent fault tracing and analysis.

7. The humanoid switching robot joint charging and anomaly handling device according to claim 1, characterized in that, The joint drive execution module includes a joint drive motor, a reduction transmission assembly, a motor drive assembly, a joint energy storage battery, and an attitude locking unit. The joint drive motor serves as the joint power output source, with its power output end fixedly connected to the input end of the reduction transmission assembly. The reduction transmission assembly reduces the operating speed and increases the output torque, ensuring smooth joint movement. The motor drive assembly receives action commands from the global coordination scheduling module to precisely control the motor's operating speed, output torque, and rotation direction. The joint energy storage battery independently provides daily power for the single-joint load device, and has built-in battery management basic logic to autonomously complete the single-cell voltage balancing and basic overcharge and over-discharge protection; the attitude locking unit adopts an electromagnetic braking structure, which unlocks during normal operation, lightly brakes during charging operation to maintain attitude stability, and completely locks and fixes the joint position in emergency fault conditions to prevent the limb from sinking and deforming freely.

8. The humanoid switching robot joint charging and anomaly handling device according to claim 2, characterized in that, The adaptive floating contact array adopts a symmetrical three-contact arrangement structure, with a rounded transition structure at the contact ends and an internal elastic buffer component. The compression stroke of the elastic buffer component covers the normal movement offset range of the joint, which can compensate for the radial offset, axial offset and angular deflection generated during equipment operation. The anti-arc protection circuit is equipped with a varistor and a freewheeling element to absorb the instantaneous high voltage generated when the circuit is disconnected, providing a stable energy release circuit for the inductive load and preventing the continuous generation of arc during the separation stage.

9. The humanoid switching robot joint charging and anomaly handling device according to claim 4, characterized in that, The fusion identification and classification unit adopts an improved multi-source evidence fusion calculation method and sets differentiated confidence weights for different categories of sensing and monitoring components; The weight values ​​are calibrated based on the long-term operation and detection accuracy of the equipment, weakening the judgment ratio of data collected that are easily affected by environmental interference, strengthening the reference weight of core electrical parameters in the fault identification process, reducing the probability of abnormal misjudgment caused by conflicts of multiple types of signal data, and improving the accuracy of fault identification under complex working conditions.

10. The humanoid switching robot joint charging and anomaly handling device according to claim 6, characterized in that, During normal charging operation, the posture coordination unit limits the range of joint posture swing to a small range, stabilizing the contact pressure of the charging docking structure and the wireless energy coupling efficiency. After the device triggers the level four emergency abnormality handling logic, the posture coordination unit uniformly schedules the core joints of the lower limbs to quickly complete the angle adjustment. After the adjustment is completed, the overall center of gravity is completely placed within the support range of the device, relying on the coordinated cooperation of multiple joints to avoid the risk of the device tipping over.

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