A robotic energy provisioning distribution method, system, device, and medium

Abstract

The application discloses a kind of robot energy supply distribution method, system, equipment and medium, belong to hybrid energy management technical field, the method is: obtaining the power demand of each task in current control period and determining its energy supply priority;Obtain system operation data, respectively determine the first energy supply constraint of fuel unit and the second energy supply constraint of lithium battery unit;According to the first, second energy supply constraint and load power, determine the available energy supply of current period;When available energy supply cannot meet the power demand of all tasks, adjust the task execution mode according to the energy supply priority, obtain the target total load power;Within the first, second energy supply constraint range, allocate the output power that fuel unit and lithium battery unit should bear, generate power supply control instruction and control hydrogen power system.The application can improve the operation stability of power inspection robot when facing extreme power demand.

Description

Technical Field

[0001] This application relates to the field of hybrid energy management technology, and in particular to a robot power distribution method, system, device and medium. Background Technology

[0002] As power inspection robots are increasingly used in long-endurance and complex environments, they simultaneously operate multiple functional modules such as motion control, environmental perception, communication, and data processing. The power requirements of each module vary greatly and change frequently. A single power source cannot simultaneously ensure both endurance and dynamic response. Therefore, a hydrogen-electric hybrid power supply method combining fuel power units and lithium battery power units has become an important technical route, requiring reasonable allocation of hydrogen-electric hybrid power.

[0003] During power line inspection tasks, robots are prone to sudden, short-duration, high-power robotic arm movements. At this point, the total power demand instantaneously exceeds the system's energy supply capacity. Existing hydrogen-electric hybrid power supply methods typically combine all concurrent tasks into a single load, determining the output allocation between the fuel cell and lithium battery based solely on the total load power and according to preset fixed rules or state switching logic. When the total power demand exceeds the energy supply limit, existing methods can only reduce the overall output power or switch to a protection mode. This may cause critical tasks maintaining the robot's basic operation to be forced to reduce frequency or be interrupted due to insufficient power, while low-priority, non-critical tasks continue to consume energy resources. Therefore, improving the operational stability of power line inspection robots when facing extreme power demands is a key technical problem that needs to be solved. Summary of the Invention

[0004] This application provides a robot power distribution method, system, device, and medium, which can improve the operational stability of power inspection robots when facing extreme power demands.

[0005] This application provides a robot power distribution method in some embodiments, applied to a hydrogen-electric power supply system, the hydrogen-electric power supply system including: a fuel power supply unit and a lithium battery power supply unit; the robot power distribution method includes: The task data of the robot to be executed in the current control cycle is obtained, and the power supply priority of each task to be executed is determined according to the task data; the task data includes: the power requirement corresponding to the task to be executed; Obtain the operating data of the hydrogen-electric power supply system within the current control cycle, and determine the first power supply constraint of the fuel power supply unit and the second power supply constraint of the lithium battery power supply unit based on the operating data; Obtain the load power of the robot in the current control cycle, and determine the available power supply of the hydrogen-electric power supply system in the current control cycle based on the first power supply constraint, the second power supply constraint and the load power; When the available power supply is insufficient to meet the power requirements of all the tasks to be executed, the execution mode of each task to be executed is adjusted according to the power supply priority to determine the target total load power required by the robot. Within the range of the first energy supply constraint and the second energy supply constraint, the output power that the fuel energy supply unit and the lithium battery energy supply unit need to undertake are allocated respectively, corresponding power control commands are generated, and the hydrogen-electric energy supply system is controlled according to the power control commands.

[0006] Compared with the prior art, the above embodiments have the following beneficial effects: This application obtains the task data of the tasks to be executed within the current control cycle and determines the energy supply priority. At the same time, it combines the operation data of the hydrogen-electric power supply system to determine the first energy supply constraint of the fuel power supply unit and the second energy supply constraint of the lithium-ion power supply unit. Thus, it can accurately calculate the available energy supply within the current control cycle based on the real-time comparison between the multi-task load demand and the actual energy supply boundary of the dual energy units. On this basis, when a sudden high-power task causes a gap in available energy supply, the system does not indiscriminately reduce the overall output or directly switch to the protection mode. Instead, it adjusts the execution mode of each task to be executed according to the energy supply priority, reduces the peak energy consumption at the load end, and reconstructs the target total load power that matches the actual output capacity of the current hybrid power supply system. Finally, it completes the precise allocation and control of output within the first and second energy supply constraints. Thus, when the robot faces sudden extreme high-power demands such as robotic arm movements, it effectively improves the operational continuity and system stability of the power inspection robot.

[0007] Further, the operating data includes: the first output power, first temperature, remaining fuel quantity, and current of the fuel supply unit; the remaining charge, charge / discharge power, and second temperature of the lithium battery supply unit; and determining the first power supply constraint of the fuel supply unit and the second power supply constraint of the lithium battery supply unit based on the operating data includes: Based on the first temperature of the fuel supply unit, the current, and the remaining fuel quantity, determine the upper limit of the power output allowed by the fuel supply unit within the current control cycle; The second output power of the fuel supply unit in the previous control cycle is obtained, and the output power variation of the fuel supply unit in the current control cycle is determined based on the difference between the first output power and the second output power. Based on the remaining power of the lithium battery power supply unit and the second temperature, determine the maximum allowable discharge compensation power of the lithium battery power supply unit within the current control cycle; Based on the charging and discharging power of the lithium battery power supply unit and the second temperature, determine the maximum allowable charging recovery power of the lithium battery power supply unit within the current control cycle; The upper limit of power and the range of output power variation together constitute the first power supply constraint, and the maximum discharge compensation power and the maximum charge recovery power together constitute the second power supply constraint.

[0008] Compared to existing technologies, the above embodiments have the following beneficial effects: By collecting the first temperature, current, and remaining fuel quantity of the fuel supply unit, the upper limit of its allowable output power within the current control cycle is dynamically established. Based on the difference between the current output power and the output power of the previous cycle, the allowable range of output power variation is locked. Simultaneously, by combining the remaining charge, charging / discharging power, and second temperature of the lithium battery supply unit, the maximum discharge compensation power and maximum charge recovery power are established respectively. This allows the energy supply constraints of the hydrogen-electric hybrid system to accurately reflect the current real-time physical and electrochemical states of the two energy units. In particular, by introducing the output power variation range of the fuel supply unit, dynamic limits are applied to its output fluctuations at the control level. Combined with the maximum discharge and charge recovery boundaries of the lithium battery unit, the system can effectively suppress the frequent and significant output adjustments of the fuel cell due to severe transient load fluctuations. The impact of high-frequency fluctuations is rationally handled by the rapidly responding lithium battery unit, thereby preventing system bus overload while significantly reducing internal fatigue losses of the fuel cell stack and effectively extending the lifespan of the dual-energy system.

[0009] Further, the operating data includes: the remaining power of the lithium battery power supply unit; the step of determining the available power supply of the hydrogen-electric power supply system within the current control cycle based on the first power supply constraint, the second power supply constraint, and the load power includes: A first correction factor is determined based on the remaining fuel quantity; The second correction factor is determined based on the remaining power. The power limit is adjusted according to the first correction factor to obtain the target power limit; The maximum discharge compensation power is corrected according to the second correction coefficient to obtain the target maximum discharge compensation power; The available power supply of the hydrogen-electric power supply system is determined based on the target power limit and the target maximum discharge compensation power.

[0010] Compared with the prior art, the above embodiments have the following beneficial effects: By using the first and second correction coefficients based on the remaining fuel quantity and remaining power quantity, the calculated power limit and maximum discharge compensation power are corrected in real time, establishing a feedforward adjustment mechanism for power supply allocation that considers material consumption and power decay. When the inspection task enters the middle and late stages and the remaining fuel quantity or remaining power quantity is in a low range, the correction coefficient can actively tighten the output constraint boundary of the fuel power supply unit and the lithium battery power supply unit, thereby prompting the load side to trigger the corresponding task execution mode adjustment and energy consumption compression strategy in advance. This avoids the battery over-discharge or irreversible physical damage caused by excessive load extraction in the power system under the state of insufficient energy reserves, ensuring that the inspection robot can still smoothly transition and maintain basic operation under the state of low energy reserves.

[0011] Further, within the range of the first power supply constraint and the second power supply constraint, the step of allocating the output power that the fuel power supply unit and the lithium battery power supply unit need to undertake respectively, and generating corresponding power control commands, includes: The first allocated power of the fuel supply unit is determined based on the target total load power and the upper limit of the power allowed to be output by the fuel supply unit; Based on the output power change range, the first allocated power is limited so that the change in the first allocated power relative to the second output power does not exceed the output power change range, thereby obtaining the target output power of the fuel supply unit. The target compensation power of the lithium battery power supply unit is obtained based on the difference between the target total load power and the target output power. The first power control command for the fuel supply unit is generated based on the target output power, and the second power control command for the lithium battery supply unit is generated based on the target compensation power.

[0012] Compared with existing technologies, the above embodiments have the following beneficial effects: First, the first allocation power of the fuel supply unit is determined based on the target total load power and the power limit, and the output power variation is strictly limited to ensure that the change in output power relative to the previous cycle does not exceed the allowable range, thereby locking the target output power of the fuel supply unit. Finally, the difference between the target total load power and the target output power is assigned to the lithium battery supply unit as the target compensation power, so that the output of the fuel supply unit exhibits a smooth gradient transition under the limitation of its output power variation, and always maintains a relatively stable continuous power supply state. The steep power changes caused by the robot arm's movements are completely compensated in real time by the lithium battery unit with fast response characteristics, which minimizes the sharp drop in the system bus voltage due to transient power gaps and improves the stability of the robot's internal power supply.

[0013] Further, the second power control command includes: a lithium battery discharge command or a lithium battery charging command; the step of generating the second power control command for the lithium battery power supply unit according to the target compensation power includes: If the target total load power is greater than or equal to the target output power, then the lithium battery discharge command is generated based on the smaller value between the target compensation power and the maximum discharge compensation power. If the target total load power is less than the target output power, then the lithium battery charging command is generated based on the smaller value between the target compensation power and the maximum charging recovery power.

[0014] Compared to existing technologies, the above embodiments have the following beneficial effects: By conditionally determining the relationship between the target total load power and the target output power of the fuel supply unit, the system accurately identifies whether it is currently in a power deficit or power surplus condition. When the target total load power is greater than or equal to the target output power, a lithium battery discharge command is generated using the smaller value of the target compensation power and the maximum discharge compensation power. When the target total load power is less than the target output power, a lithium battery charging command is generated using the smaller value of the target compensation power and the maximum charging recovery power. This allows the lithium battery supply unit to effectively play a bidirectional power regulation and buffering role in the hybrid power supply system. It can provide safe maximum power output as a discharge compensation source during peak electricity consumption periods, and can also provide safe reverse energy recovery as a receiving end when the load drops suddenly or the actuator generates feedback power. At the same time, by introducing a smaller value for limiting, it ensures that the control command under any operating condition will not exceed the actual physical tolerance limit of the lithium battery, effectively curbing the electrical safety risks caused by sudden overshoot of the bus voltage or overcharging and over-discharging of the lithium battery.

[0015] Further, adjusting the execution mode of each task to be executed according to the power supply priority to determine the target total load power required by the robot includes: According to the power supply priority from high to low, determine in turn whether the remaining available power supply can meet the power requirements of the current task to be executed. If the requirements can be met, the power requirements of the task to be executed will remain unchanged. If the requirement cannot be met, the power requirement of the task to be executed will be reduced according to the execution method that is allowed to be adjusted. The target total load power is obtained by summing up the power requirements of all the adjusted tasks to be executed.

[0016] Compared with existing technologies, the above embodiments have the following beneficial effects: following the logical order of power supply priority from high to low, it is determined whether the remaining available power supply can meet the power requirements of the current task to be executed. For tasks that can meet the requirements, the power requirements are fully reserved. When a low-priority task is advanced and there is a shortage of available power supply, the power requirements are reduced according to the execution mode that the task itself can adjust. Finally, all the adjusted power requirements are accumulated to obtain the target total load power. This ensures that when the robot faces a sudden extreme high load, it does not blindly and indiscriminately cut off low-priority tasks, but precisely compresses their energy requirements to a reasonable level to maintain basic operation. While maximizing the utilization of the actual available power supply limit of the current hybrid power supply, the robot's underlying key tasks are absolutely continuously executed with the most reasonable task flexibility concession, thereby ensuring the stable operation of the power inspection robot under extremely tight power supply conditions.

[0017] Further, the task data includes: continuity requirements, power surge characteristics, and adjustability attributes corresponding to the tasks to be executed; determining the power supply priority of each task to be executed based on the task data includes: When the continuity requirement is that continuous execution is needed to maintain the operation of the robot, the corresponding task to be executed is set as the first priority; When the power surge characteristic is that there is a momentary high power demand, the corresponding task to be executed is set to the second priority; When the adjustability attribute allows adjustment of power requirements, the corresponding task to be executed is set to the third priority. The first priority is guaranteed in a higher order than the second priority, and the second priority is guaranteed in a higher order than the third priority.

[0018] Compared with the prior art, the above embodiments have the following beneficial effects: by setting continuous tasks as the highest guarantee, the basic control and communication of the robot are guaranteed to be uninterrupted, while transient impact tasks are placed before adjustable tasks, so that when the actions of the robotic arm and other actions trigger instantaneous high power demand, the power space released by the compression of the third priority task can be used to provide output buffer for it in the first time, thereby improving the operational stability of the power inspection robot under extreme working conditions.

[0019] Another embodiment of this application provides a robot power distribution system, which implements the steps of the robot power distribution method of this application.

[0020] Another embodiment of this application also provides a terminal device, including: a processor, a memory, and a computer program stored in the memory and configured to be executed by the processor. When the processor executes the computer program, it implements the steps of the robot power distribution method of this application.

[0021] Another embodiment of this application also provides a computer-readable storage medium item, including: a stored computer program, which, when the computer program is running, controls the device where the computer-readable storage medium is located to perform steps such as the robot power distribution method of this application. Attached Figure Description

[0022] To more clearly illustrate the technical solution of this application, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0023] Figure 1 This is a flowchart illustrating a robot power distribution method provided in some embodiments of this application; Figure 2 This is a flowchart illustrating a task priority allocation method provided in some embodiments of this application. Detailed Implementation

[0024] To make the objectives, technical solutions, and advantages of this application clearer, the technical solutions of this application will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0025] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains; the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the application; the terms “comprising” and “having”, and any variations thereof, in the specification, claims, and foregoing description of the drawings are intended to cover non-exclusive inclusion.

[0026] In the description of the embodiments of this application, technical terms such as "first" and "second" are used only to distinguish different objects and should not be construed as indicating or implying relative importance or implicitly specifying the number, specific order, or primary and secondary relationship of the indicated technical features. In the description of the embodiments of this application, "multiple" means two or more, unless otherwise explicitly defined.

[0027] In this document, the term "embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0028] In the description of the embodiments in this application, the term "and / or" is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, and B existing alone. Additionally, the character " / " in this document generally indicates that the preceding and following related objects have an "or" relationship.

[0029] In the description of the embodiments of this application, the term "multiple" refers to two or more (including two), similarly, "multiple sets" refers to two or more (including two sets), and "multiple pieces" refers to two or more (including two pieces).

[0030] In the description of the embodiments of this application, unless otherwise expressly specified and limited, technical terms such as "installation," "connection," "joining," and "fixing" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. For those skilled in the art, the specific meaning of the above terms in the embodiments of this application can be understood according to the specific circumstances.

[0031] During power line inspection, robots are prone to sudden, short-duration, high-power robotic arm movements. At this moment, the total power demand instantly exceeds the system's energy supply capacity. Existing hydrogen-electric hybrid power supply methods typically combine all concurrent tasks into a single load, determining the output allocation between the fuel cell and lithium battery based solely on the total load power, according to preset fixed rules or state switching logic. When the total power demand exceeds the energy supply limit, existing methods can only reduce the overall output power or switch to a protection mode. This may cause critical tasks maintaining the robot's basic operation to be forced to reduce frequency or be interrupted due to insufficient power, while low-priority, non-critical tasks continue to consume energy resources.

[0032] Please refer to Figure 1To address the issue of improving the operational stability of power inspection robots in the face of extreme power demands in existing technologies, this application provides a robot power distribution method applied to a hydrogen-electric power supply system. The hydrogen-electric power supply system includes a fuel supply unit and a lithium-ion battery supply unit. The robot power distribution method includes the following steps S101 to S105: S101: Obtain task data of the robot's tasks to be executed in the current control cycle, and determine the power supply priority of each task to be executed based on the task data; the task data includes: the power requirement corresponding to the task to be executed.

[0033] Furthermore, in some embodiments of this application, the task data includes: continuity requirements, power surge characteristics, and adjustability attributes corresponding to the tasks to be executed; determining the power supply priority of each task to be executed based on the task data includes: When the continuity requirement is that continuous execution is needed to maintain the operation of the robot, the corresponding task to be executed is set as the first priority; When the power surge characteristic is that there is a momentary high power demand, the corresponding task to be executed is set to the second priority; When the adjustability attribute allows adjustment of power requirements, the corresponding task to be executed is set to the third priority. The first priority is guaranteed in a higher order than the second priority, and the second priority is guaranteed in a higher order than the third priority.

[0034] Preferably, in some embodiments of this application, task data for each task to be executed and operational data of the hydrogen-electric power supply system are collected simultaneously, and the above data are time-aligned. Specifically, this includes: for data collected at a frequency higher than the control cycle frequency within the same control cycle, the last valid sample value within that control cycle is taken; for data collected at a frequency lower than the control cycle frequency, the most recent valid value is taken as the data for the current control cycle; for data temporarily missing in the current cycle, the valid value from the previous control cycle is used and marked as reused data. Through the above processing, all types of data participating in the control of this cycle are mapped to the same control time.

[0035] Specifically, in some embodiments of this application, the tasks to be executed specifically encompass the various software and hardware functional modules and execution load items that the inspection robot needs to call or run concurrently within the current control cycle. The task data reflects the inherent attributes of each task to be executed in maintaining safe operation of the robot, responding to power surges, and participating in energy consumption regulation, specifically including continuity requirements, power surge characteristics, and adjustability attributes.

[0036] Preferably, in some embodiments of this application, reference is made to Figure 2 The continuity requirement is used to assess the physical risks posed by task interruption or load reduction to the robot's online safety status and overall communication control link. Specifically, when the continuity requirement of certain tasks is determined to be necessary to maintain the robot's operation, these tasks are typically chassis movement control tasks, wireless communication maintenance tasks, core data processing tasks, and basic safety environment perception tasks. Since power outages or control command delays due to frequency throttling in these tasks can directly lead to major on-site safety accidents such as robot disconnection, paralysis, loss of control, or obstacle collisions, upon identifying such physical characteristics, the corresponding tasks are set to first priority (i.e., highest priority), and will not participate in load reduction under any dynamic power allocation conditions, enjoying full power protection.

[0037] Preferably, in some embodiments of this application, reference is made to Figure 2 The power surge characteristic is used to characterize whether a task exhibits steep, transient, and high-amplitude power transient jumps on the time axis at the moment of action triggering, starting, or speed adjustment. Specifically, when the power surge characteristic of certain tasks to be executed is that there is a momentary high power demand, the task is usually a task involving the action of a robot's local actuator. Typical examples include the point-to-point drive and grasping action of the servo motors of each joint of an inspection robot arm, the rapid servo deflection of a multi-degree-of-freedom gimbal, the pulsed activation of high-power infrared / visible light supplementary lights, and the load extraction and excitation of some high-energy-consuming detection instruments. Such loads have extremely low or zero power consumption when not in action, but generate huge power spikes at the moment of triggering, which can easily lower the system bus voltage and affect other electrical components. To prevent this electrical risk, tasks to be executed with this characteristic are set as the second priority, so that the control system can accurately identify these transient high loads in subsequent processing and use lithium battery power supply units with fast response characteristics to provide target compensation power to smooth out the transient impact.

[0038] Preferably, in some embodiments of this application, reference is made to Figure 2The adjustability attribute is used to assess whether a task's energy demand has the leeway to be flexibly compressed, frequency adjusted, delayed, or temporarily suspended when there is a power shortage in the hydrogen-electricity power supply system. Specifically, when the adjustability attribute of certain tasks to be executed allows for adjustable power demand, the task usually refers to auxiliary or background tasks outside of strong time constraints. Typical examples include offline depth vision processing and feature recognition analysis of high-definition inspection images / video streams, long-term background packaging and uploading of historical inspection data and non-real-time log files, and non-safety-related environmental temperature and humidity discontinuous sampling detection. Because the execution frequency or scheduling time window of such tasks has great flexibility, it has the characteristic of allowing delayed or degraded execution, and its instantaneous power demand can be compressed or reduced within a certain range without compromising the robot's basic travel safety and core functional integrity. Therefore, the control algorithm sets the tasks to be executed with this attribute as the third priority (i.e., the lowest priority).

[0039] This application ensures uninterrupted power supply to the robot's basic control and communication by prioritizing continuous tasks, while placing transient impact tasks before adjustable tasks. This allows the robot to utilize the power space released by the compression of the third-priority tasks to provide output buffer when actions such as the robotic arm trigger instantaneous high power demands, thereby improving the operational stability of the power inspection robot under extreme conditions.

[0040] S102: Obtain the operating data of the hydrogen-electric power supply system within the current control cycle, and determine the first power supply constraint of the fuel power supply unit and the second power supply constraint of the lithium battery power supply unit based on the operating data.

[0041] Further, in some embodiments of this application, the operating data includes: the first output power, first temperature, remaining fuel quantity, and current of the fuel supply unit; the remaining charge, charge / discharge power, and second temperature of the lithium battery supply unit; and determining the first power supply constraint of the fuel supply unit and the second power supply constraint of the lithium battery supply unit based on the operating data includes: Based on the first temperature of the fuel supply unit, the current, and the remaining fuel quantity, determine the upper limit of the power output allowed by the fuel supply unit within the current control cycle; The second output power of the fuel supply unit in the previous control cycle is obtained, and the output power variation of the fuel supply unit in the current control cycle is determined based on the difference between the first output power and the second output power. Based on the remaining power of the lithium battery power supply unit and the second temperature, determine the maximum allowable discharge compensation power of the lithium battery power supply unit within the current control cycle; Based on the charging and discharging power of the lithium battery power supply unit and the second temperature, determine the maximum allowable charging recovery power of the lithium battery power supply unit within the current control cycle; The upper limit of power and the range of output power variation together constitute the first power supply constraint, and the maximum discharge compensation power and the maximum charge recovery power together constitute the second power supply constraint.

[0042] Preferably, in some embodiments of this application, the first output power, first temperature, remaining fuel quantity, and current of the fuel supply unit are respectively: current output power, stack temperature, remaining hydrogen quantity, and stack current. The remaining charge, charge / discharge power, and second temperature of the lithium battery supply unit are respectively: current remaining charge, current charge / discharge power, and battery temperature. Wherein, the current remaining charge of the lithium battery supply unit refers to the remaining usable charge level of the lithium battery at the current moment.

[0043] Preferably, in some embodiments of this application, the first temperature reflects the macroscopic characterization of the working environment and internal heat accumulation of the fuel cell stack, the remaining fuel quantity reflects the internal polarization and electrochemical reaction load state of the fuel cell stack, and the remaining fuel quantity characterizes the fuel cell stack's continuous driving range reserve.

[0044] Preferably, in some embodiments of this application, the process of determining the power limit of the fuel supply unit includes: when the system detects that the first temperature is within a preset normal temperature range, the current has not reached a preset high load rated threshold, and the remaining fuel quantity is sufficient, it determines that the current health status and external conditions of the fuel supply unit are good, and allows its power limit in the current control cycle to be set to the standard maximum working output value; conversely, if the first temperature exceeds the preset temperature limit and faces the risk of local overheating or catalyst layer damage, or if the current has been in a high load critical state for several consecutive historical control cycles, the system will determine that it is not suitable to continue in a high-level output state, and thus actively lower and reduce its power limit in the current control cycle through a preset attenuation coefficient or limiting logic; in addition, if the remaining fuel quantity has been consumed to the point of entering a preset low storage warning range, the system will also reduce its power limit accordingly, thereby achieving flexible saving of fuel reserves and reserving the necessary hydrogen supply margin for subsequent core safety-critical tasks.

[0045] Preferably, in some embodiments of this application, the difference between the first output power and the second output power physically reflects the slope of the external load change and the dynamic impact stress on the fuel cell in the current cycle; further, the process of determining the output power change amplitude includes: if the absolute value of the output power difference is too large, it means that a violent power change has occurred between adjacent control cycles. At this time, in order to smooth out high-frequency load fluctuations and prevent the fuel cell from experiencing internal gas starvation, voltage drop, or accelerated degradation of the membrane electrode due to excessively fast power follow, the system will limit the adjustment dynamic step size in the current cycle according to a preset rate of change limiting algorithm, thereby calculating a relatively convergent and safe output power change amplitude.

[0046] Preferably, in some embodiments of this application, the process of determining the maximum discharge compensation power includes: when the remaining charge is in a sufficiently high normal range and the second temperature is within the optimal operating temperature range conducive to the internal migration and diffusion of lithium ions, it is determined that it has sufficient transient high-power peak-shaving and valley-filling capabilities, and the system allows it to exert a higher maximum discharge compensation power so that it has sufficient leeway to fully bear and offset the transient high-power impact in the external tasks to be performed in subsequent steps. When the remaining charge is lower than the preset discharge lower limit threshold, in order to prevent the battery from causing irreversible structural physical damage to the internal electrode materials due to deep over-discharge, the system will tighten and proportionally reduce the maximum discharge compensation power in real time; if the second temperature is too high or too low, in order to avoid serious safety hazards such as low-temperature lithium plating or high-temperature thermal runaway, the system will also significantly reduce its allowed maximum discharge compensation power through the built-in temperature-power mapping curve.

[0047] Preferably, in some embodiments of this application, the process of determining the maximum charge recovery power includes: if the lithium battery power supply unit has continuously undertaken a large charging power in the historical continuous control cycle, resulting in its polarization voltage being too high and internal heat accumulation, or if the second temperature is in an abnormal range unfavorable for safe charging, the system will automatically reduce the maximum charge recovery power allowed in the current control cycle to prevent the negative impact of overcharging or bus voltage instability on the lithium battery. Conversely, if the lithium battery system has a relatively smooth charging and discharging load history and a suitable temperature in the early stage, it is determined that its charging acceptance is high, allowing for a larger charge recovery space.

[0048] This application dynamically establishes the upper limit of the allowable output power of the fuel supply unit within the current control cycle by collecting the first temperature, current, and remaining fuel quantity. Based on the difference between the current output power and the output power of the previous cycle, it locks the allowable range of output power variation. Simultaneously, by combining the remaining charge, charging / discharging power, and second temperature of the lithium battery supply unit, it establishes the maximum discharge compensation power and the maximum charge recovery power, respectively. This allows the energy supply constraints of the hydrogen-electric hybrid system to accurately reflect the real-time physical and electrochemical states of the two energy units. In particular, by introducing the output power variation range of the fuel supply unit, dynamic limits are applied to its output fluctuations at the control level. Combined with the maximum discharge and charge recovery boundaries of the lithium battery unit, the system can effectively suppress frequent and large-scale output adjustments of the fuel cell due to severe transient load fluctuations. The impact of high-frequency fluctuations is rationally handled by the rapidly responding lithium battery unit, thereby preventing system bus overload and significantly reducing internal fatigue losses of the fuel cell stack, effectively extending the lifespan of the dual-energy system.

[0049] S103: Obtain the load power of the robot in the current control cycle, and determine the available power supply of the hydrogen-electric power supply system in the current control cycle based on the first power supply constraint, the second power supply constraint and the load power.

[0050] Further, in some embodiments of this application, the operating data includes: the remaining power of the lithium battery power supply unit; the step of determining the available power supply of the hydrogen-electric power supply system within the current control cycle based on the first power supply constraint, the second power supply constraint, and the load power includes: A first correction factor is determined based on the remaining fuel quantity; The second correction factor is determined based on the remaining power. The power limit is adjusted according to the first correction factor to obtain the target power limit; The maximum discharge compensation power is corrected according to the second correction coefficient to obtain the target maximum discharge compensation power; The available power supply of the hydrogen-electric power supply system is determined based on the target power limit and the target maximum discharge compensation power.

[0051] Preferably, in some embodiments of this application, determining the first correction coefficient based on the remaining fuel quantity includes: when the remaining fuel quantity is within a conventionally preset ample storage range, it is determined that the external fuel supply is sufficient and the system has no material shortage restrictions on the output of the fuel cell. At this time, the first correction coefficient is assigned an upper limit nominal value, i.e., a value of 1. As the inspection mileage accumulates, once it is detected that the remaining fuel quantity has been consumed and dropped to a preset low storage warning threshold range, in order to avoid the electrochemical and physical risks of damage to the catalyst layer caused by insufficient gas supply pressure leading to obstructed gas mass transfer inside the stack and reactant starvation, the system will smoothly and actively reduce the value of the first correction coefficient according to the degree of fuel consumption, so that it dynamically decays within the range of greater than 0 and less than 1.

[0052] Preferably, in some embodiments of this application, determining the second correction coefficient based on the remaining power includes: when the remaining power is in a healthy, normal, high-level range, it is determined that the risk of deep charging and discharging of the lithium battery unit is low, and it has sufficient transient power cushioning capability. At this time, the second correction coefficient is also assigned a normal high-level value, i.e., a value of 1. When the robot encounters extreme load impacts that cause the lithium battery to continuously discharge in large quantities, or when the inspection is nearing its end and the remaining power is lower than the preset low-level discharge threshold, in order to prevent the lithium battery from falling into deep over-discharge and avoid irreversible physical structural damage to its internal electrolyte and electrode lattice, the control system will immediately tighten the control strategy. Through the built-in residual power-output correction mapping relationship, the control system will actively adjust and reduce the second correction coefficient, so that it also adaptively decreases within the range of greater than 0 and less than 1, thereby locking the extreme load space of the lithium battery at the control source.

[0053] Preferably, in some embodiments of this application, the formula for calculating the available energy supply is: ; ; in, Available power supply; This is the first correction factor; This is the upper limit of power; This is the second correction factor; This represents the maximum discharge compensation power.

[0054] This application establishes a feedforward adjustment mechanism for energy allocation that considers material consumption and power decay by performing real-time secondary corrections on the calculated power limit and maximum discharge compensation power based on the first and second correction coefficients of the remaining fuel and remaining power. When the inspection task enters the middle and late stages and the remaining fuel or remaining power is in a low range, the correction coefficients can actively tighten the output constraint boundaries of the fuel power supply unit and the lithium battery power supply unit, thereby prompting the load side to trigger the corresponding task execution mode adjustment and energy consumption compression strategy in advance. This avoids the battery over-discharge or irreversible physical damage caused by excessive load removal in the power system under the condition of insufficient energy reserves, and ensures that the inspection robot can still smoothly transition and maintain basic operation under the condition of low energy reserves.

[0055] S104: When the available power supply is insufficient to meet the power requirements of all the tasks to be executed, the execution mode of each task to be executed is adjusted according to the power supply priority to determine the target total load power required by the robot.

[0056] Furthermore, in some embodiments of this application, adjusting the execution mode of each task to be executed according to the power supply priority to determine the target total load power required by the robot includes: According to the power supply priority from high to low, determine in turn whether the remaining available power supply can meet the power requirements of the current task to be executed. If the requirements can be met, the power requirements of the task to be executed will remain unchanged. If the requirement cannot be met, the power requirement of the task to be executed will be reduced according to the execution method that is allowed to be adjusted. The target total load power is obtained by summing up the power requirements of all the adjusted tasks to be executed.

[0057] Preferably, in some embodiments of this application, iterative execution begins according to the power supply priority from high to low (i.e., the first priority, second priority, and third priority tasks are processed sequentially), and it is determined in turn whether the currently remaining available power supply can meet the power requirements of the currently pending task. It is understood that in this process, the aforementioned currently remaining available power supply is a dynamic state quantity that decreases progressively with the evaluation level.

[0058] Preferably, in some embodiments of this application, during the sequential judgment process, the first priority task, which has the highest priority, is evaluated first. It is understood that the first priority task, as a core continuous task maintaining the robot's operation, typically has extremely abundant available energy. The system determines that its power requirements can be fully met, and in this case, the control system keeps the power requirements of the task to be executed unchanged, reserving it entirely in the total power consumption budget. Simultaneously, the remaining available energy is reduced by the total power of the first priority task, and used as input for subsequent steps. Then, it is determined whether the remaining available energy after deduction can meet the power requirements of the second priority task, which has an intermediate priority. If it is determined that the remaining available energy can still meet the power requirements of the task, then the power requirements of the task to be executed are also kept unchanged. If, during the evaluation of a specific task to be executed (usually the third priority task at the bottom, such as high-definition image background asynchronous analysis or non-time-sensitive data packaging and uploading task that allows adjustment of power requirements), it is determined that the remaining available energy is insufficient to meet the initial power requirements of the task to be executed, then the flexible load reduction control logic is immediately triggered: the power requirements of the task to be executed are reduced according to the execution mode that the task to be executed is allowed to adjust.

[0059] Furthermore, in specific implementations, the aforementioned adjustable execution methods are manifested at the algorithm level as frequency reduction scheduling, temporary suspension of execution, or proportional power limiting of the task to be executed. For example, the feature recognition task of high-definition inspection images can be changed from concurrent processing to serial queuing, and the data upload frequency can be reduced from milliseconds to seconds, thereby smoothly reducing the power supply current and voltage reference required by the task and achieving the goal of reducing its instantaneous power demand.

[0060] Following a logical order of power supply priority from high to low, the system sequentially assesses whether the remaining available power supply can meet the power requirements of the current task. For tasks that can meet the requirements, the system fully reserves the power demand. When a lower-priority task is moved to a lower-priority task and a power supply gap occurs, the system reduces the power demand based on the task's own adjustable execution method. Finally, all adjusted power demands are summed to obtain the target total load power. This ensures that when faced with sudden extreme high loads, the robot does not blindly and indiscriminately shut down lower-priority tasks, but rather precisely compresses their power demand to a reasonable level to maintain basic operation. While maximizing the utilization of the actual available power supply limit of the current hybrid power source, the system sacrifices the most reasonable task flexibility to ensure the absolute continuous execution of the robot's underlying critical tasks, thereby guaranteeing the stable operation of the power inspection robot under extremely tight power supply conditions.

[0061] S105: Within the range of the first energy supply constraint and the second energy supply constraint, allocate the output power that the fuel energy supply unit and the lithium battery energy supply unit need to undertake respectively, generate corresponding power control commands, and control the hydrogen-electric energy supply system according to the power control commands.

[0062] Furthermore, in some embodiments of this application, the step of allocating the output power that the fuel power supply unit and the lithium battery power supply unit need to bear respectively within the range of the first power supply constraint and the second power supply constraint, and generating corresponding power control commands, includes: The first allocated power of the fuel supply unit is determined based on the target total load power and the upper limit of the power allowed to be output by the fuel supply unit; Based on the output power change range, the first allocated power is limited so that the change in the first allocated power relative to the second output power does not exceed the output power change range, thereby obtaining the target output power of the fuel supply unit. The target compensation power of the lithium battery power supply unit is obtained based on the difference between the target total load power and the target output power. The first power control command for the fuel supply unit is generated based on the target output power, and the second power control command for the lithium battery supply unit is generated based on the target compensation power.

[0063] Preferably, in some embodiments of this application, the target total load power obtained after task adjustment within the current control cycle is compared with the upper limit of the power allowed to be output by the fuel supply unit. If the target total load power is not higher than the upper limit, the fuel supply unit shall take the lead in providing basic power, and its first allocation power shall be set as the target total load power. At this time, the target compensation power of the lithium battery supply unit is zero or negative (i.e., charging). If the target total load power is higher than the upper limit, the first allocation power of the fuel supply unit shall be limited to within the upper limit of the allowed output power, and the excess shall be compensated by the lithium battery supply unit.

[0064] Preferably, in some embodiments of this application, considering that the fuel supply unit should not frequently and significantly increase or decrease its power in a short period of time, it is also necessary to limit the first allocated power according to the previously determined output power change range. That is, obtain the actual output power of the fuel supply unit in the previous control cycle (i.e., the second output power), calculate the difference between the first allocated power in the current control cycle and the actual output power in the previous cycle. If the absolute value of the difference exceeds the allowable output power change range, the target output power is adjusted to the output power of the previous cycle plus or minus the change range to ensure that its change does not exceed the allowable range; if it does not exceed the allowable range, the first allocated power is directly used as the target output power.

[0065] Preferably, in some embodiments of this application, the target total load power is subtracted from the target output power of the fuel supply unit to obtain the target compensation power that the lithium battery supply unit needs to undertake in the current control cycle. This compensation power may be positive or negative. When it is positive, it means that the lithium battery supply unit needs to discharge to the load to make up for the insufficiency of the fuel supply unit; when it is negative, it means that the total load is low in the current control cycle, and the lithium battery supply unit can use the excess energy for charging and recovery.

[0066] This application first determines the first allocated power of the fuel supply unit based on the target total load power and the power limit, and then strictly limits the output power variation to ensure that the change in output power relative to the previous cycle does not exceed the allowable range, thereby locking the target output power of the fuel supply unit. Finally, the difference between the target total load power and the target output power is assigned to the lithium battery supply unit as the target compensation power, so that the output of the fuel supply unit exhibits a smooth gradient transition under the limitation of its output power variation, and always maintains a relatively stable and continuous power supply state. The steep power changes caused by the robot arm's movements are completely compensated in real time by the lithium battery unit with fast response characteristics, which minimizes the sharp drop in the system bus voltage due to transient power gaps and improves the stability of the robot's internal power supply.

[0067] Furthermore, in some embodiments of this application, the second power control command includes: a lithium battery discharge command or a lithium battery charging command; the step of generating the second power control command for the lithium battery power supply unit according to the target compensation power includes: If the target total load power is greater than or equal to the target output power, then the lithium battery discharge command is generated based on the smaller value between the target compensation power and the maximum discharge compensation power. If the target total load power is less than the target output power, then the lithium battery charging command is generated based on the smaller value between the target compensation power and the maximum charging recovery power.

[0068] Preferably, in some embodiments of this application, when the target total load power is greater than or equal to the target output power, it indicates that the fuel supply unit alone cannot meet the load demand, and the lithium battery supply unit needs to discharge to supplement it. At this time, the target compensation power is a positive number, numerically equal to the difference between the two. However, the maximum power that the lithium battery supply unit can release is limited by the previously determined maximum discharge compensation power. Once the discharge demand exceeds this upper limit, it is impossible to force the lithium battery supply unit to output more electrical energy, otherwise it may cause the lithium battery to be over-discharged or overheat. Therefore, the actual lithium battery discharge command issued should be the smaller value between the target compensation power and the maximum discharge compensation power to ensure that the discharge power does not exceed the safe range allowed by the lithium battery under the current state.

[0069] Preferably, in some embodiments of this application, when the target total load power is less than the target output power, it indicates that the output power of the fuel supply unit in the current control cycle exceeds the actual load demand, and the difference between the two is the charging power that can be absorbed by the lithium battery supply unit. At this time, the target compensation power is negative, and its absolute value represents the magnitude of the charging power. The charging capacity of the lithium battery supply unit is not unlimited, but is limited by a predetermined maximum charging recovery power. This maximum charging recovery power is dynamically determined based on the current charging and discharging power and operating parameters such as temperature of the lithium battery supply unit, in order to avoid the lithium battery supply unit bearing excessive charging current. Based on this, when generating the lithium battery charging command, the smaller value between the absolute value of the target compensation power and the maximum charging recovery power is taken as the charging power that the lithium battery supply unit should actually bear.

[0070] This application accurately identifies whether the system is currently in a power deficit or power surplus condition by conditionally determining the relationship between the target total load power and the target output power of the fuel supply unit. When the target total load power is greater than or equal to the target output power, a lithium battery discharge command is generated using the smaller value of the target compensation power and the maximum discharge compensation power. When the target total load power is less than the target output power, a lithium battery charging command is generated using the smaller value of the target compensation power and the maximum charging recovery power. This allows the lithium battery supply unit to effectively play a bidirectional power regulation and buffering role in the hybrid power supply system. It can provide safe maximum power output as a discharge compensation source during peak electricity consumption periods, and can also provide safe reverse energy recovery as a receiving end when the load drops suddenly or the actuator generates feedback power. At the same time, by introducing a smaller value for limiting, it ensures that the control command under any operating condition will not exceed the actual physical tolerance limit of the lithium battery, effectively curbing the electrical safety risks caused by sudden overshoot of the bus voltage or overcharging and over-discharging of the lithium battery.

[0071] Preferably, in some embodiments of this application, after controlling the hydrogen-electric power supply system according to the power control command, the following steps S1061 to S1064 are further included: S1061: Collect the actual operating results after the current control cycle ends. The actual operating results include at least: the actual total load power during the current control cycle, the actual output power of the fuel supply unit, the actual charging and discharging power of the lithium battery supply unit, the remaining fuel quantity at the end of the current control cycle, and the actual execution status of each task to be executed.

[0072] S1062: Compare the collected actual operating results with the preset target value of the current control cycle, including: when the actual total load power is significantly higher than the target total load power, it is determined that the task power has not been effectively compressed; when the actual output power of the fuel supply unit is significantly higher than its target output power for several consecutive control cycles, it is determined that the current load of the fuel supply unit is too heavy; when the actual charging and discharging power of the lithium battery supply unit is close to or reaches the upper limit of its maximum discharge compensation power for several consecutive control cycles, it is determined that the compensation burden of the lithium battery supply unit is too heavy; when the decrease in the remaining fuel amount in this cycle is higher than the preset range, it is determined that the hydrogen consumption is too high; when a task set to be executed in a degraded or delayed manner still has a high power occupation, it is determined that the adjustment effect of the task is insufficient; when a high-priority task or a task that needs to be executed continuously does not maintain normal execution as set, it is determined that the task guarantee is insufficient.

[0073] S1063: When the actual total load power is significantly higher than the target total load power, it is determined that the task power has not been effectively compressed; when the actual output power of the fuel supply unit is significantly higher than its target output power for several consecutive control cycles, it is determined that the current load borne by the fuel supply unit is too heavy; when the actual charging and discharging power of the lithium battery supply unit approaches or reaches the upper limit of its maximum discharge compensation power for several consecutive control cycles, it is determined that the compensation burden of the lithium battery supply unit is too heavy; when the decrease in the remaining fuel amount in this cycle is higher than the preset range, it is determined that the hydrogen consumption is too high; when a task set to be executed in a degraded or delayed manner still has a high power occupation, it is determined that the adjustment effect of the task is insufficient; when a high-priority task or a task that needs to be executed continuously does not maintain normal execution as set, it is determined that the task guarantee is insufficient.

[0074] S1064: Based on the anomaly determination results, the control basis for the next control cycle is modified, including: if the fuel supply unit is overloaded, its allowable output power limit is reduced or the allowable output power variation range is narrowed; if the lithium battery supply unit has an overloaded compensation burden, its maximum allowable discharge compensation power is reduced; if the adjustment effect of low-priority tasks is insufficient, its adjustment degree is further increased, for example, changing downgraded execution to delayed execution, or delayed execution to suspended execution; if the guarantee of high-priority tasks is insufficient, its guarantee order is advanced in the subsequent task sequencing and the energy supply space of low-priority tasks is compressed accordingly; if hydrogen consumption is too high, the energy supply space allocated to low-priority tasks is tightened to reserve more fuel margin for subsequent key tasks.

[0075] In summary, the robot power allocation method provided in this application has the following advantages compared with the prior art: This application obtains the task data of the tasks to be executed within the current control cycle and determines the power supply priority. At the same time, it combines the operation data of the hydrogen-electric power supply system to determine the first power supply constraint of the fuel power supply unit and the second power supply constraint of the lithium-ion power supply unit. Thus, it can accurately calculate the available power supply within the current control cycle based on the real-time comparison between the multi-task load demand and the actual power supply boundary of the dual energy units. On this basis, when a sudden high-power task causes a gap in available power supply, the system does not indiscriminately reduce the overall output or directly switch to protection mode. Instead, it adjusts the execution mode of each task to be executed according to the power supply priority, reduces the peak power consumption at the load end, and reconstructs the target total load power that matches the actual output capacity of the current hybrid power supply system. Finally, it completes the precise allocation and control of output within the first and second power supply constraints. Thus, when the robot faces sudden extreme high power demands such as robotic arm movements, it effectively improves the operational continuity and system stability of the power inspection robot.

[0076] Based on the above embodiments of the robot power supply distribution method, this application provides a robot power supply distribution system that implements the steps of the robot power supply distribution method as described in the embodiments of this application.

[0077] It is understood that the above system embodiments correspond to the method embodiments of this application, and can implement the robot power distribution method provided by any of the above method embodiments of this application.

[0078] It should be noted that the system embodiments described above are merely illustrative, and some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs.

[0079] Based on the above embodiments of the robot power distribution method, another embodiment of this application provides a terminal device, which includes a processor, a memory, and a computer program stored in the memory and configured to be executed by the processor. When the processor executes the computer program, it implements the robot power distribution method of any embodiment of this application.

[0080] For example, in this embodiment, the computer program can be divided into one or more modules, which are stored in the memory and executed by the processor to complete this application. The one or more module units may be a series of computer program instruction segments capable of performing a specific function, which describe the execution process of the computer program in the terminal device.

[0081] The terminal device may be a desktop computer, laptop, handheld computer, or cloud server, etc. The terminal device may include, but is not limited to, a processor and a memory.

[0082] The processor can be a Central Processing Unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor can be a microprocessor or any conventional processor. The processor is the control center of the terminal device, connecting all parts of the terminal device via various interfaces and lines.

[0083] Based on the above-described method embodiments, another embodiment of this application provides a computer-readable storage medium including a stored computer program, wherein, when the computer program is executed, it controls the device where the computer-readable storage medium is located to execute the robot power distribution method described in any of the above-described method embodiments of this application.

[0084] The modules / units integrated in the device / terminal equipment, if implemented as software functional units and sold or used as independent products, can be stored in a computer-readable storage medium. Based on this understanding, all or part of the processes in the methods of the above embodiments can also be implemented by a computer program instructing related hardware. The computer program can be stored in a computer-readable storage medium, and when executed by a processor, it can implement the steps of the various method embodiments described above. The computer program includes computer program code, which can be in the form of source code, object code, executable files, or certain intermediate forms. The computer-readable medium can include: any entity or device capable of carrying the computer program code, recording media, USB flash drives, portable hard drives, magnetic disks, optical disks, computer memory, read-only memory (ROM), random access memory (RAM), electrical carrier signals, telecommunication signals, and software distribution media, etc.

Claims

1. A robot power distribution method, characterized in that, The method is applied to a hydrogen-electric power supply system, which includes a fuel supply unit and a lithium battery supply unit; the robot power distribution method includes: The task data of the robot to be executed in the current control cycle is obtained, and the power supply priority of each task to be executed is determined according to the task data; the task data includes: the power requirement corresponding to the task to be executed; Obtain the operating data of the hydrogen-electric power supply system within the current control cycle, and determine the first power supply constraint of the fuel power supply unit and the second power supply constraint of the lithium battery power supply unit based on the operating data; Obtain the load power of the robot in the current control cycle, and determine the available power supply of the hydrogen-electric power supply system in the current control cycle based on the first power supply constraint, the second power supply constraint and the load power; When the available power supply is insufficient to meet the power requirements of all the tasks to be executed, the execution mode of each task to be executed is adjusted according to the power supply priority to determine the target total load power required by the robot. Within the range of the first energy supply constraint and the second energy supply constraint, the output power that the fuel energy supply unit and the lithium battery energy supply unit need to undertake are allocated respectively, corresponding power control commands are generated, and the hydrogen-electric energy supply system is controlled according to the power control commands.

2. The robot power distribution method as described in claim 1, characterized in that, The operating data includes: the first output power, first temperature, remaining fuel quantity, and current of the fuel supply unit; the remaining charge, charging / discharging power, and second temperature of the lithium battery supply unit; determining the first power supply constraint of the fuel supply unit and the second power supply constraint of the lithium battery supply unit based on the operating data includes: Based on the first temperature of the fuel supply unit, the current, and the remaining fuel quantity, determine the upper limit of the power output allowed by the fuel supply unit within the current control cycle; The second output power of the fuel supply unit in the previous control cycle is obtained, and the output power variation of the fuel supply unit in the current control cycle is determined based on the difference between the first output power and the second output power. Based on the remaining power of the lithium battery power supply unit and the second temperature, determine the maximum allowable discharge compensation power of the lithium battery power supply unit within the current control cycle; Based on the charging and discharging power of the lithium battery power supply unit and the second temperature, determine the maximum allowable charging recovery power of the lithium battery power supply unit within the current control cycle; The upper limit of power and the range of output power variation together constitute the first power supply constraint, and the maximum discharge compensation power and the maximum charge recovery power together constitute the second power supply constraint.

3. The robot power distribution method as described in claim 2, characterized in that, The operating data includes: the remaining power of the lithium battery power supply unit; the determination of the available power supply of the hydrogen-electric power supply system within the current control cycle based on the first power supply constraint, the second power supply constraint, and the load power includes: A first correction factor is determined based on the remaining fuel quantity; The second correction factor is determined based on the remaining power. The power limit is adjusted according to the first correction factor to obtain the target power limit; The maximum discharge compensation power is corrected according to the second correction coefficient to obtain the target maximum discharge compensation power; The available power supply of the hydrogen-electric power supply system is determined based on the target power limit and the target maximum discharge compensation power.

4. The robot power distribution method as described in claim 2, characterized in that, Within the range of the first power supply constraint and the second power supply constraint, the output power to be borne by the fuel power supply unit and the lithium battery power supply unit is allocated respectively, and corresponding power control commands are generated, including: The first allocated power of the fuel supply unit is determined based on the target total load power and the upper limit of the power allowed to be output by the fuel supply unit; Based on the output power change range, the first allocated power is limited so that the change in the first allocated power relative to the second output power does not exceed the output power change range, thereby obtaining the target output power of the fuel supply unit. The target compensation power of the lithium battery power supply unit is obtained based on the difference between the target total load power and the target output power. The first power control command for the fuel supply unit is generated based on the target output power, and the second power control command for the lithium battery supply unit is generated based on the target compensation power.

5. The robot power distribution method as described in claim 4, characterized in that, The second power control command includes: a lithium battery discharge command or a lithium battery charging command; the step of generating the second power control command for the lithium battery power supply unit based on the target compensation power includes: If the target total load power is greater than or equal to the target output power, then the lithium battery discharge command is generated based on the smaller value between the target compensation power and the maximum discharge compensation power. If the target total load power is less than the target output power, then the lithium battery charging command is generated based on the smaller value between the target compensation power and the maximum charging recovery power.

6. The robot power distribution method as described in claim 1, characterized in that, The step of adjusting the execution mode of each task to be executed according to the power supply priority to determine the target total load power required by the robot includes: According to the power supply priority from high to low, determine in turn whether the remaining available power supply can meet the power requirements of the current task to be executed. If the requirements can be met, the power requirements of the task to be executed will remain unchanged. If the requirement cannot be met, the power requirement of the task to be executed will be reduced according to the execution method that is allowed to be adjusted. The target total load power is obtained by summing up the power requirements of all the adjusted tasks to be executed.

7. The robot power distribution method as described in claim 1, characterized in that, The task data includes: continuity requirements, power surge characteristics, and adjustability attributes corresponding to the tasks to be executed; determining the power supply priority for each task to be executed based on the task data includes: When the continuity requirement is that continuous execution is needed to maintain the operation of the robot, the corresponding task to be executed is set as the first priority; When the power surge characteristic is that there is a momentary high power demand, the corresponding task to be executed is set to the second priority; When the adjustability attribute allows adjustment of power requirements, the corresponding task to be executed is set to the third priority. The first priority is guaranteed in a higher order than the second priority, and the second priority is guaranteed in a higher order than the third priority.

8. A robot power supply and distribution system, characterized in that, The robot power distribution system implements a robot power distribution method as described in any one of claims 1 to 7.

9. A terminal device, characterized in that, It includes a processor, a memory, and a computer program stored in the memory and configured to be executed by the processor, wherein the processor, when executing the computer program, implements a robot power distribution method as described in any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium includes a stored computer program, wherein, when the computer program is executed, it controls the device on which the computer-readable storage medium is located to perform a robot power distribution method as described in any one of claims 1 to 7.

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