Mobile robot power control apparatus, system and method

Abstract

The present invention relates to mobile robot power control apparatuses, systems, and methods that are capable of controlling power to a mobile robot based in part or in whole on an operating state of the mobile robot. A mobile robot power control apparatus includes a first processor that controls power to drive units of the mobile robot, a battery management system that performs power to the mobile robot, and a second processor that controls operation of the battery management system, wherein at least one of the first processor or the second processor cuts power to the drive units based on an operating state of the mobile robot.

Description

Technical Field

[0001] This invention relates to a power control device for mobile robots. Background Technology

[0002] To improve the efficiency of factory automation and logistics systems, mobile robots, such as automated guided vehicles (AGVs) or autonomous mobile robots (AMRs), are being used in various industrial environments. These mobile robots perform tasks such as repetitive logistics transfers or production assistance; typically, multiple mobile robots operate simultaneously. Summary of the Invention

[0003] In one aspect, the present invention provides a power control device for a mobile robot, comprising a first processor, a battery management system, and a second processor, wherein the first processor controls the power supply to a drive unit of the mobile robot, the battery management system performs the power supply to the mobile robot, and the second processor controls the operation of the battery management system, wherein at least one of the first processor or the second processor cuts off the power supply to the drive unit based on the operating state of the mobile robot.

[0004] In the implementation scheme, based on the determination that the mobile robot's operating state is a standby state and that the standby state is maintained for a reference time, the first processor can control the drive relay connected to the drive unit and cut off the power supply to the drive unit.

[0005] In another embodiment, when the power supply to the drive unit is cut off, the second processor can monitor the power status of the mobile robot and send a signal to the first processor based on the power status of the mobile robot to restart the power supply to the drive unit.

[0006] In another implementation, based on determining that the power state is equal to or below a predetermined threshold, the first processor can restart power supply to the drive unit to execute the mobile robot's charging mode.

[0007] In another implementation, based on determining that the mobile robot's operating state is a task execution state, the first processor can perform control to maintain power supply to the drive unit without cutting off power.

[0008] In another aspect, the present invention provides a mobile robot power control system, comprising a first processor, a battery management system, a second processor, and a server. The first processor controls the power supply to the drive unit of the mobile robot, the battery management system manages the power supply to the mobile robot, the second processor controls the operation of the battery management system, and the server controls the first processor and the second processor. In this case, at least one of the first processor or the second processor cuts off the power supply to the drive unit according to a control command from the server based on the operating state of the mobile robot.

[0009] In the implementation scheme, the server can send commands to multiple mobile robots for batch control of multiple mobile robots.

[0010] In another implementation, based on determining that the mobile robot's operating state is a task execution state, the server can maintain power supply to the drive unit by not sending a power-off command to the first processor.

[0011] In another implementation, based on determining that the mobile robot's operating state is a standby state and that the standby state has been maintained for more than a first reference time, the server can send a power-off command to cut off the power supply to the drive unit, and the first processor can control the drive relay connected to the drive unit based on the power-off command to cut off the power supply to the drive unit.

[0012] In another implementation, based on the determination that the mobile robot's operating state is a standby state and that the standby state is maintained for more than a second reference time and is a long-term pause state, the server can send a power-off command to cut off the power supply to the drive unit. The first processor can control the drive relay connected to the drive unit based on the power-off command to cut off the power supply to the drive unit. The second processor can control the battery management system based on the power-off command to cut off the power supply from the battery to the drive unit.

[0013] In another implementation, based on the determination that the operation state of all multiple mobile robots is paused and the paused state is maintained for more than a third reference time, the server can send a power-off command to each of the multiple mobile robots to cut off the power to the mobile robots.

[0014] In a further implementation, the server can output information to the user regarding the power supply cutoff of multiple mobile robots.

[0015] In another further embodiment, while controlling at least one of the operations of the power supply to the drive unit or the battery management system, the server can periodically monitor the power status of the mobile robot.

[0016] In another further implementation, based on determining that the power state is equal to or below a predetermined threshold, the server can send a control command to the first processor to supply power to the drive unit and can execute control for charging the mobile robot.

[0017] In a further implementation, when the mobile robot's operating state changes from standby to task execution, the server can send a control command indicating power supply to the drive unit. The first processor can control the drive relay connected to the drive unit to supply power to the drive unit based on the control command indicating power supply, and the second processor can control the battery management system to supply power from the battery to the drive unit based on the control command indicating power supply.

[0018] In another aspect, the present invention provides a mobile robot power control method, comprising: receiving, by a processor, the operating state and power state of each of a plurality of mobile robots; generating, by the processor, at least one control command based on the received operating state or power state for controlling the power supply to the drive unit of the mobile robot or the operation of the battery management system of the mobile robot; and sending, by the processor, the control command to a specific mobile robot or all of the plurality of mobile robots.

[0019] In the implementation scheme, generating control commands may include: based on determining that the mobile robot's operating state is a standby state and that the standby state has been maintained for a reference time, generating a control command to cut off power to the drive unit of the mobile robot, or a control command to cut off power to the other components of the mobile robot, excluding the communication module, by controlling the operation of the mobile robot's battery management system.

[0020] In another embodiment, generating control commands may further include: based on determining that the operating state of the plurality of mobile robots is paused and the paused state is maintained for a reference time, sending a power-off command to each of the plurality of mobile robots to cut off the power to all the plurality of mobile robots.

[0021] In yet another implementation, generating control commands may further include: generating control commands for supplying power to the drive unit based on determining that the mobile robot's operating state has changed from a standby state to a task execution state.

[0022] In another embodiment, generating control commands may further include: initiating a charging mode for the mobile robot based on determining that the power state has dropped below a threshold.

[0023] Other aspects and embodiments of the invention are discussed below. Attached Figure Description

[0024] The above and other features of the invention will now be described in detail with reference to specific exemplary embodiments of the invention shown in the accompanying drawings, which are given hereinafter by way of illustration only and are not intended to limit the invention, wherein: Figure 1 This is a schematic diagram illustrating an example of a block diagram configuration of a mobile robot power control device according to an embodiment of the present invention; Figure 2 This is a schematic diagram illustrating an example of a mobile robot power control device according to an embodiment of the present invention; Figure 3 This is a schematic diagram illustrating an example of a block diagram configuration of a mobile robot power control system according to an embodiment of the present invention; Figure 4 This is a schematic diagram illustrating an example of a mobile robot power control system according to an embodiment of the present invention; Figures 5 to 7 This is a schematic diagram illustrating an example of a mobile robot power control system according to an embodiment of the present invention; and Figure 8 and Figure 9 This is a flowchart illustrating an example of a mobile robot power control method according to an embodiment of the present invention. Detailed Implementation

[0025] The embodiments of the present invention can provide a mobile robot power control device, system and method that automatically manages the power consumption of a large number of mobile robots during operation.

[0026] Even when mobile robots are operating on battery power and are in standby mode without performing any tasks, they still consume a certain level of power required to maintain the system. In particular, when production processes are paused, production lines are intentionally stopped, or factories are shut down, mobile robots may enter extended standby modes, leading to unnecessary power consumption and thus reducing the overall energy efficiency of the industrial site.

[0027] In some cases, it is possible to manually control the power of the mobile robot individually or utilize the power-saving features built into the mobile robot. However, these techniques can make energy conservation difficult because they typically require human intervention, which can lead to management inefficiencies and increased operating costs in large industrial sites with many mobile robots.

[0028] Some power-saving features offer only a single power-saving mode or simply operate on a time-based basis, failing to consider the diversity of actual working environments. As a result, it is difficult to adequately prevent the risk of battery discharge when the mobile robot is in a long standby state. Furthermore, the lack of automatic return functionality via external commands limits the energy management and maintenance of the mobile robot.

[0029] According to embodiments of the present invention, unnecessary power consumption can be effectively suppressed in standby or paused situations where no task is being performed. For example, this can be achieved by selectively controlling the operation of the drive unit and battery management system based on the mobile robot's operating state and power state. In some embodiments, by controlling the power supply to the drive unit and battery management system in multiple stages, the system can be switched to an appropriate power-saving mode according to various operating scenarios (e.g., standby state, long-term pause (disuse) state, and full system shutdown state), thereby improving the overall system energy efficiency.

[0030] Furthermore, the server can receive and analyze the operational and power status of each mobile robot in real time to automatically control power-saving mode entry, charging mode switching, and task return. This enables stable power management performance for the mobile robot without human intervention. Moreover, the communication module remains operational even in a power outage, allowing for automatic return via external commands even during prolonged power-saving periods. Therefore, a mobile robot power control device, system, and method that saves energy and ensures continuous system operation can be provided.

[0031] In the following description, various embodiments of the invention will be referenced in detail, examples of which are illustrated and described in the accompanying drawings. Although the invention will be described in conjunction with exemplary embodiments, it will be understood that this specification is not intended to limit the invention to the exemplary embodiments. Rather, the invention is intended to cover not only the exemplary embodiments, but also various alternative, modified, equivalent, and other embodiments that may be included within the spirit and scope of the invention as defined by the appended claims. It should be further understood that the terms “comprising,” “including,” and / or “containing,” “comprising,” as used herein, mean only the presence of the stated feature, value, step, operation, component, part, or combination thereof, but do not exclude the presence or addition of one or more other features, values, steps, operations, components, parts, or combinations thereof.

[0032] Furthermore, for ease of understanding of the invention, the accompanying drawings are not drawn to scale, and the dimensions of certain components may be exaggerated. Where possible, the same reference numerals will be used throughout the drawings to denote the same or similar parts.

[0033] The phrase "same" for two comparison terms means that they are "substantially identical." Therefore, "substantially identical" can include situations where the variation is considered small in the art, such as a deviation of 5% or less. Furthermore, when a particular parameter is described as uniform in a given region, this can mean that it is uniform from an average perspective.

[0034] It will be understood that although the terms “first,” “second,” etc., may be used herein to describe various elements, these elements should not be limited by these terms. These terms are used only to distinguish one element from another, and unless otherwise expressly stated, the first component may be replaced by the second component.

[0035] Unless otherwise expressly stated, each component may be singular or plural throughout the specification.

[0036] When a particular element is arranged "above (or below)" or "on top of (or below)" an element, this can mean not only that the particular element is arranged to contact the upper (or lower) surface of the element, but also that another element can be inserted between the element and the particular element arranged above (or below) the element.

[0037] Furthermore, it should be understood that when a component is “connected” or “coupled” to another component, the component may be directly connected or coupled to the other component, or indirectly connected or coupled to the other component if different components are inserted between the two. In contrast, when a component is “electrically connected” to another component, it may be directly coupled to the other component, or coupled to the other component if different components are inserted between the two.

[0038] When “A and / or B” is used throughout this specification, it means A, B, or A and B, unless otherwise expressly stated. That is, “and / or” includes all or any combination of the listed items. When “C to D” is used, it means a range that is equal to or greater than C and equal to or less than D, unless otherwise expressly stated.

[0039] Figure 1 This is a schematic diagram illustrating an example of a block diagram configuration of a mobile robot power control device according to an embodiment of the present invention. (Reference) Figure 1 The mobile robot power control device according to this embodiment may include at least one processor such as a first processor 100 and a second processor 200, as well as a communication module 300.

[0040] Different processors can control different aspects of the mobile robot's power control. For example, the first processor 100 can control the power supply to the drive unit 101. In this case, the first processor 100 can control the power on / off of the drive unit 101, for example, by controlling the drive relay 102 based on the operating state of the mobile robot 10.

[0041] As another example, the second processor 200 can control the operation of the battery management system 201. In this case, the second processor 200 can control the power transmitted from the battery module (BAT) to the various components of the mobile robot 10 (e.g., sensors, control units, etc.) based on the operating state of the mobile robot 10. The second processor 200 can determine the power supply to each component by controlling the digital output (DIO) circuitry of the battery management system 201, and the second processor 200 according to this embodiment can be implemented in the form of an advanced data acquisition module (ADAM) (e.g., a commercially available module).

[0042] The various embodiments described herein can be implemented by software comprising one or more commands stored in a machine-readable storage medium (e.g., internal or external memory). For example, the computing device or processor (100, 200) can invoke at least one of the stored commands from the storage medium and can execute the invoked command. At least one command may include code generated by a compiler or code executable by an interpreter. The computing device or processor (100, 200)-readable storage medium may be provided in the form of a non-volatile storage medium. Here, "non-volatile" means that the storage medium is tangible and does not contain signals (e.g., electromagnetic waves). This term does not distinguish between cases where data is semi-permanently stored on the storage medium and cases where data is temporarily stored on the storage medium.

[0043] The processors (100, 200) may include hardware (e.g., controllers, etc.) for implementing the various embodiments described above. The processors (100, 200) may include one or more cores and may be processors for data analysis and deep learning, such as central processing units (CPUs), general-purpose graphics processing units (GPGPUs), tensor processing units (TPUs), application processors (APs), application-specific integrated circuits (ASICs), or field-programmable gate arrays (FPGAs). Processors for deep learning can execute control for processing input data based on predetermined operating rules or artificial intelligence models stored in memory. In cases where one or more processors are dedicated to artificial intelligence, the dedicated AI processor may be designed with a hardware architecture specifically designed to process a particular artificial intelligence model.

[0044] The memory can store various information and mappings required to implement the various embodiments described herein. The memory can include at least one type of storage medium selected from flash memory, hard disk, multimedia card micro-memory, card-type memory (e.g., SD or XD memory), random access memory (RAM), static random access memory (SRAM), dynamic random access memory (DRAM), magnetic random access memory (MRAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), programmable read-only memory (PROM), magnetic memory, magnetic disk, and optical disk. Furthermore, the memory can include any form of computer-readable recording medium known in the art related to this invention. Examples of storage media or recording media can include media managed by application stores that distribute applications or other sites, servers, etc., that provide or distribute various software. The above-described memory is merely an example, and the invention is not limited thereto.

[0045] The drive unit 101 can control the power supply according to control commands from at least one processor (e.g., the first processor 100). The drive unit 101 may include a drive motor or drive system to perform movement or steering of the mobile robot 10. The drive unit 101 may be implemented based on drive units known in the field of autonomous robots, and a detailed description thereof will be omitted.

[0046] The drive relay 102 may include a relay circuit for controlling the on / off switching of power supply to the drive unit 101 under the control of the first processor 100. The drive relay 102 may correspond to a switching element disposed on the power supply path of the drive unit 101, and may perform switching operations according to control signals from the first processor 100. Here, the drive relay 102 may be implemented as a FET-based switching circuit or a motor controller (MC).

[0047] The battery management system 201 can monitor the status of the battery modules (BAT) installed on the mobile robot 10 and can control the power supply to each component included in the mobile robot 10. The battery management system 201, as exemplified in this embodiment, can operate under the control of at least one processor (e.g., a second processor 200) and can be connected to the second processor 200 via digital input / output (DIO) circuitry. Through this connection, the power flow from the battery modules (BAT) to each component included in the mobile robot 10 can be controlled.

[0048] A battery module (BAT) can correspond to an energy storage device that stores and supplies the main electrical power for the operation of the mobile robot 10. A battery module (BAT) can be implemented in various forms, such as lithium-ion batteries or lithium polymer batteries. The battery module (BAT) can be implemented as a power source for use in the field of autonomous robots, and a description of its specific structure and control methods will be omitted.

[0049] The communication module 300 can perform communication between different processors (e.g., the first processor 100 and the second processor 200). The communication module 300 can send and receive the operational and power status of the mobile robot 10 via wireless or wired communication with a higher-level control unit or server. For example, according to this embodiment, the communication module 300 can perform communication between the first processor 100 and the second processor 200 based on the Message Queuing Telemetry Transport (MQTT) protocol. As a specific example, the communication module 300 can communicate with the first processor 100 via an MQTT port (port 1) and with the second processor 200 via an MQTT port (port 2) to send and receive status information and control commands between the processors. In some embodiments, power can be supplied to the communication module 300 independently, even during prolonged periods of inactivity of the mobile robot 10, as will be described later.

[0050] Figure 2 This is a schematic diagram illustrating an example of a mobile robot power control device according to an embodiment of the present invention. (Reference) Figure 2 In the mobile robot power control device according to this embodiment, based on the operating state of the mobile robot 10, at least one processor (e.g., a first processor 100 and / or a second processor 200) can control at least one of the power supply to the drive unit 101 or the operation of the battery management system 201.

[0051] Here, the operating state of the mobile robot 10 can be classified into various states, such as task execution state, standby state, long-term pause state, or system shutdown state.

[0052] For example, based on the determination that the current operating state of the mobile robot 10 is a standby state and that the standby state has been maintained for a reference time, the first processor 100 can cut off the power supply to the drive unit 101. Specifically, the first processor 100 can control the drive relay 102 connected to the drive unit 101, thereby cutting off the power supply to the drive unit 101. The drive relay 102 can be turned on or off according to the signal from the first processor 100 (e.g., an on / off signal, a pulse). When the drive relay 102 is on, the power supply line is disconnected, so the current output from the battery module (BAT) does not flow, thus physically cutting off the power supply to the drive unit 101.

[0053] When power to the drive unit 101 is cut off by the first processor 100, the second processor 200 can monitor the power status of the mobile robot 10. The second processor 200 can receive data from the battery management system 201, such as information about the power status of the mobile robot 10, including state of charge (SOC), voltage status, or temperature status. Based on the received data, the second processor 200 can determine whether the power status of the mobile robot 10 is within a safe operating range.

[0054] The second processor 200 can send a signal to the first processor 100 based on the power state of the mobile robot 10, so that power supply to the drive unit 101 can be restarted. For example, based on determining that the power state is equal to or below a threshold, the second processor 200 can determine that the mobile robot 10 needs to be charged. The second processor 200 can send a control signal or a trigger signal to the first processor 100 to initiate charging of the mobile robot 10.

[0055] Based on the signal received from the second processor 200, the first processor 100 can restart power supply to the drive unit 101 to initiate the charging mode of the mobile robot 10. The charging mode of the mobile robot 10 may include, but is not limited to, reaching a predetermined charging location for the mobile robot 10, and may include a series of processes for charging the mobile robot 10. For example, the charging mode may include receiving a charging command, autonomously moving to a charging station or docking port, completing a physical connection with a charging terminal or alignment with a wireless charging point, receiving a charging start signal and actually initiating charging, monitoring the battery status in real time during charging and reporting the battery status (e.g., SOC, voltage, current, etc.) to a server, and may also include operations such as returning to work or switching to standby mode after charging is complete.

[0056] On the other hand, based on the determination that the operating state of the mobile robot 10 is a task execution state, the first processor 100 can perform control to maintain the power supply to the drive unit 101 without cutting off the power. Specifically, the first processor 100 can control the drive relay 102 to keep the relay circuit closed, so that the relay circuit does not switch to the open state.

[0057] Figure 3 This is a schematic diagram illustrating an example of a block diagram configuration of a mobile robot power control system according to an embodiment of the present invention. (Reference) Figure 3 The mobile robot power control system according to this embodiment may include a mobile robot 10 and a server 20. The detailed configuration and operation of the mobile robot 10 are the same as described above, and repeated descriptions will be omitted. Hereinafter, the power control of the mobile robot 10 based on the server 20 will be primarily described.

[0058] Server 20 may correspond to a computing system that indirectly controls the operation of drive unit 101 or battery management system 201, for example, by sending control commands to first processor 100 or second processor 200. Server 20 may correspond to a central control unit that performs power control of mobile robot 10 externally. Server 20 may be physically implemented as one or more computing devices (e.g., industrial control server, cloud server, or local gateway device) and may include a configuration connected to mobile robot 10 via a communication network. Server 20 may internally include one or more processors, memory, communication interfaces, and storage devices. In some embodiments, server 20 may connect to multiple mobile robots 10 simultaneously, comprehensively monitor the overall operating status, and generate individual or batch power control commands as needed. For example, server 20 may send commands to first processor 100 or second processor 200 for batch control of multiple mobile robots 10.

[0059] The communication module 400 can correspond to a network interface configuration for sending and receiving data between the server 20 and the mobile robot 10. The communication module 400 can send and receive data such as operational status information, power status information, and control commands in association with the communication module 300 of the mobile robot 10. For example, the communication module 400 can maintain a real-time connection with multiple mobile robots 10 via wireless communication based on the MQTT protocol, and can minimize network latency or communication load through a lightweight message structure. The communication module 400 can be physically implemented as one or more wireless communication circuits, such as 5G, Wi-Fi, or LoRa-based communication modules. The communication module 400 can be implemented as an integrated component of the server 20 (e.g.,...). Figure 3 (as shown in the example) or associated with an external gateway device (such as Figure 4 The structure is shown in the example.

[0060] Figure 4 This is a schematic diagram illustrating an example of a mobile robot power control system according to an embodiment of the present invention. Figures 5 to 7 This is a schematic diagram illustrating an example of a mobile robot power control system according to an embodiment of the present invention.

[0061] refer to Figure 4 The server 20 can receive various status information from the mobile robot 10, analyze the status information, and send control commands to the mobile robot 10. Specifically, according to an embodiment of the invention, the server 20 can, for example, receive information about the operating status and power status of one or more mobile robots 10 in real time. The server 20 can determine power supply control for the mobile robot 10 based on the received information about the operating status and power status. Depending on the result, for example, the server 20 can send a power-off command or a power-supply command for the drive unit 101 of the mobile robot 10 to the first processor 100, and / or can send a request to the second processor 200 of the mobile robot 10 to stop or resume the operation of the battery management system 201.

[0062] As a specific example, when the operating state of the mobile robot 10 is determined to be the task execution state, the server 20 can maintain power supply to the drive unit 101, for example, by not sending a power-off command to the first processor 100 of the mobile robot 10.

[0063] On the other hand, when the mobile robot 10 is in standby mode, the server 20 can execute control to cut off power to one or more (or all) components of the mobile robot 10. In some embodiments, depending on whether the standby state exceeds one or more reference times, the power cut-off can be performed at different levels or for different components of the mobile robot 10, as described below.

[0064] For example, if the standby state is maintained for more than a first reference time, the server 20 can execute control to cut off the power supply to the drive unit 101 in order to improve the energy efficiency of the mobile robot 10. Figure 5 Here, the first baseline time can be determined by accumulating the time elapsed from the operational state to the standby state. Whether the standby state has been maintained beyond the first baseline time can be determined by predefined condition comparison logic in server 20. The first baseline time can typically be set to a short duration, such as within tens of minutes, which can be used as a standard for managing single-occurrence events (e.g., temporary stops, standby, or short work intervals of mobile robot 10). The first baseline time can be flexibly configured according to different situations.

[0065] Additional base times can also be configured, such as a second base time and a third base time. The second and third base times can be distinguished from the first base time because they correspond to longer periods of inactivity (described further below). For example, the second base time can correspond to a duration longer than the first base time (e.g., in hours), and the third base time can correspond to a duration even longer than the second base time (e.g., in days).

[0066] In this way, the first reference time can be used as a reference value for accurate and timely power-saving control. Therefore, if the standby state of the mobile robot 10 remains for longer than the first reference time, the server 20 can cut off the power supply to only the drive unit 101 by sending a power-off command to the first processor 100. The details of powering off the drive unit 101 by the first processor 100 and the drive relay 102 have already been described, and their repeated description will be omitted.

[0067] If the aforementioned event occurs in a specific work section of the production line, server 20 can also determine whether to apply the first reference time to the mobile robot 10 that is in standby mode in the next work section. Based on the determination result, server 20 can also cut off the power supply to the drive unit 101 of the mobile robot 10 that is in standby mode in the subsequent section.

[0068] If the mobile robot 10 is in standby mode and remains in standby mode for more than a second reference time, the server 20 can determine the mobile robot 10's operating state or standby state as a long-term inactive state. If the mobile robot 10's operating state or standby state is determined to be a long-term inactive state, the server 20 can send a power-off command. The power-off command can be received by the second processor 200 to cut off power to all components included in the mobile robot except for the communication module 300 (see [link to relevant documentation]). Figure 6 (A)).

[0069] In some implementations, the second reference time can be the period during which the mobile robot 10 does not continuously perform any tasks without receiving any external commands (e.g., operation commands or charging commands). The second reference time can correspond to a longer period than the first reference time (e.g., several hours or more) and can be flexibly adjusted according to the process plan.

[0070] If the mobile robot 10 remains in standby mode for more than a second reference time and is determined to be in a prolonged non-operating state, the server 20 can generate a power-off command to minimize the energy consumption of the mobile robot 10, and can send this command to the second processor 200. In some embodiments, the second processor 200 can control the output operation of the battery management system 201 based on the received power-off command. Based on the output of the battery management system 201, power supply to components included in the mobile robot 10, except for the communication module 300, can be cut off.

[0071] As a specific example, refer to the reference. Figure 1 The second processor 200 can switch the relay control signal to a low or off state by controlling the digital output (DIO) signal line connected to the battery management system 201. Therefore, the pack sub-power output (e.g., 24V / 0.8A) from the battery module (BAT) can be supplied to the communication module 300, and the circuit can be disconnected to prevent voltage from being supplied to other components of the mobile robot 10, such as the drive unit 101, sensors, control units, etc.

[0072] As will be further described below, when the conditions for charging or restarting operation of the mobile robot 10 are met, the server 20 can output a command via the first processor 100 instructing the drive unit 101 to be powered. When power is supplied to the drive unit 101 via the first processor 100, the production line can resume operation (see [link]). Figure 6 (B)

[0073] In the event that all of the multiple mobile robots 10 are in a state of suspended operation, the server 20 may send a power-off command based on the determination that the suspended operation has been maintained for more than a third reference time. According to the power-off command, the first processor 100 and the second processor 200 may cut off power to all components included in the multiple mobile robots 10 (see [link to relevant documentation]). Figure 7 (A)).

[0074] In some implementations, an operational pause state can be a state in which each of the multiple mobile robots 10 remains inactive for a specific period of time, refraining from any active operations such as task execution or standby. Operational pause states can include planned overall system downtime, such as extended plant holidays, production line shutdowns, or nighttime off-peak hours. A third reference time can be a benchmark value used to identify prolonged system pauses, which can be flexibly set to a time value of several days, tens of hours, or longer. For example, server 20 can continuously monitor the operational status of each of the multiple mobile robots 10. Based on the determination that all mobile robots 10 have been inactive for the third reference time, a power outage condition can be determined.

[0075] In some implementations, server 20 can send a command to first processor 100 to cut off power to drive unit 101, and simultaneously send a command to second processor 200 to stop the operation of battery management system 201. In this case, power to all components included in the multiple mobile robots 10 (including drive unit 101, sensors, control units, communication module 300, and other peripherals) can be completely disconnected.

[0076] Server 20 can output information to the user regarding the power outage of all the multiple mobile robots 10. For example, in the event of cutting off power to all circuits of the mobile robot 10, including the communication module 300, communication with external systems or server 20 can be disconnected. In this case, server 20 can notify the user of a large-scale power outage by outputting information.

[0077] Server 20 can output information to the user via a user device (e.g., a monitor, notification window, or pop-up window) or an interface connected to a higher-level control system. For example, the output information may include messages such as "Power cut off to all mobile robots," "Power cut off to components including the communication module," or "Manual restart required." The user can view the output information and can directly access the field to manually restore power to each mobile robot 10, or take appropriate steps to restart the entire system (see [link to relevant documentation]). Figure 7 (B)

[0078] While controlling at least one of the power supply to the drive unit 101 or the operation of the battery management system 201, the server 20 can periodically monitor the power status of the mobile robot 10. For example, the server 20 can be connected to the communication module 300 of the mobile robot 10 via the communication module 400, and can periodically receive power-related information, such as the battery's SoC (State of Charge), output voltage, or current.

[0079] Based on the determination that the power state of the received mobile robot 10 has dropped below a threshold, the server 20 can determine that the mobile robot 10 needs to be charged. For example, the situation where the SOC drops below 20% or the voltage drops below a certain reference voltage can be defined as a threshold (i.e., a critical situation), but the threshold (critical situation) can be set differently depending on the system administrator or the operating environment.

[0080] Server 20 can send control commands to first processor 100 to supply power to drive unit 101. For example, if power to drive unit 101 is cut off because mobile robot 10 has been in standby mode for more than a first reference time or a second reference time, server 20 can restart power supply to drive unit 101 via first processor 100 to enable mobile robot 10 to run.

[0081] Server 20 can send charging commands to mobile robot 10 or send trigger signals instructing it to autonomously move to a charging position. Charging methods may include wired and / or wireless charging. Mobile robot 10 can move to the designated charging position and execute the charging process according to the commands from server 20. After reaching the charging position, the first processor 100 can be fixed in position aligned with the charging terminal or wireless charging coil, while maintaining power supply to the drive unit 101 via drive relay 102.

[0082] On the other hand, when the operating state of the mobile robot 10 changes from standby to task execution, the server 20 can send a control command to the first processor 100 to supply power to the drive unit 101, thereby enabling the mobile robot 10 to resume its operation. Specifically, as described above, if the mobile robot 10 remains in a standby state for more than a certain period of time, the power supply to the drive unit 101 can be cut off under the control of the server 20. In this state, if the conditions for the mobile robot 10 to change its operating state to task execution (e.g., input of a task execution command from an external system (e.g., MES, WMS, etc.), or return to the task after charging is completed) are met, the server 20 can automatically restart the robot's operation.

[0083] For example, server 20 can send control commands, including enable signals or wake-up commands, to first processor 100. Upon receiving the control command, first processor 100 can control drive relay 102 to close the relay circuit. Power can then be restored to drive unit 101, allowing mobile robot 10 to resume the requested task.

[0084] In the following text, reference will be made to Figure 8 and Figure 9An example of a mobile robot power control method according to an embodiment of the present invention will be described, and redundant descriptions that overlap with the above description will be omitted, and the description will focus on the time series configuration.

[0085] refer to Figure 8 According to the mobile robot power control method of this embodiment, the first processor 100 can determine the current operating state of the mobile robot 10 (step S101). Based on the determination in step S101, if the current operating state of the mobile robot 10 is a standby state (e.g., not performing a task), the first processor 100 can determine whether the standby state has been maintained for a reference time (step S102). If the standby state of the mobile robot 10 has been maintained for a reference time, the first processor 100 can cut off the power supply to the drive unit 101 of the mobile robot 10 (step S103). When the power supply to the drive unit 101 is disconnected, the first processor 100 and the second processor 200 can monitor the operating state and power state of the mobile robot 10. The first processor 100 and the second processor 200 can determine whether the restart conditions of the mobile robot 10 (e.g., a task execution request or a charging request) are met (step S104). When the restart conditions of the mobile robot 10 are met, the first processor 100 can resume powering the drive unit 101 (step S105), so the mobile robot 10 can perform the requested task or perform charging (step S106).

[0086] In some implementations, prior to step S101, a process may be performed to determine whether the mobile robot 10 is set to automatic control mode. Automatic control mode may involve the mobile robot 10 automatically monitoring its current operating state and power status and performing processes such as cutting off or restarting power supply to the drive unit 101. Therefore, when the mobile robot 10 is in automatic control mode, the above steps (steps S100 to S106) can be performed. However, when the mobile robot 10 is in manual control mode instead of automatic control mode, more user interaction processes may be performed, such as outputting information about the current operating state of the mobile robot 10 to the user. In this case, for example, the mobile robot 10 may not automatically control the power supply to the drive unit 101 based on its operating state or power status, but may only output information about the real-time operating state or power status to the user.

[0087] refer to Figure 9 In an example of a mobile robot power control method according to another embodiment of the present invention, the server (e.g., Figure 3The server 20 can receive the current operating status of each of the multiple mobile robots 10 and can determine whether the mobile robot 10 is currently performing a task (step S201).

[0088] If the mobile robot 10 is in a standby state (currently not performing a task), and the standby state is maintained for more than a first reference time (step S202), the server 20 may initiate a first power-off mode. For example, the first power-off mode may include cutting off power to only some components of the mobile robot (e.g., drive unit 101) (step S203).

[0089] Subsequently, if the standby state of the mobile robot 10 is maintained for more than the second reference time (step S204), the server 20 may initiate a second power-off mode. The second power-off mode may include cutting off power to the mobile robot's additional components (e.g., all components except the communication module 300) (step S205).

[0090] Furthermore, if the mobile robot 10 remains in standby mode for more than a third reference time (step S206), the server 20 may initiate a third power-off mode. The third power-off mode may include cutting off power to all components of the mobile robot, including the communication module 300 (step S207). In some embodiments, the server 20 may display a notification to the user when the third power-off mode is executed. The user can manually restart the operation of the mobile robot 10 through direct intervention as needed (step S208).

[0091] On the other hand, if the mobile robot 10 is currently in standby mode but the standby mode has not been maintained for more than one of the following: a first reference time (step S202 is "No"), a second reference time (step S204 is "No"), or a third reference time (step S206 is "No"), the server 20 can determine whether the mobile robot 10 meets the restart conditions (step S209). In this case, the restart conditions may include the mobile robot 10 receiving a task execution request or a charging request (step S209).

[0092] If the restart conditions are met, the server 20 can control the repowering of the drive unit 101 of the mobile robot 10 (step S210). When the drive unit 101 is repowered, the mobile robot 10 can perform the requested task (step S211). On the other hand, if the power state of the mobile robot 10 drops below a threshold, the server 20 can charge the mobile robot 10 (step S212).

[0093] The above-described embodiments can be implemented by methods or processes, apparatus, software programs, data streams, or signals. Although discussed only in the context of a single implementation (e.g., as a method only), the described features can also be implemented in other forms (e.g., apparatus or program). The apparatus can be implemented with appropriate hardware, software, and firmware. The method can be implemented in an apparatus such as a processor, which generally refers to a processing apparatus including, for example, a computer, microprocessor, integrated circuit, or programmable logic device. The processor can also include communication devices such as computers, mobile phones, and personal digital assistants (PDAs), as well as other devices that enable information communication between end users.

[0094] The invention has been described in detail with reference to preferred embodiments. However, those skilled in the art will understand that changes may be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.

Claims

1. A power control device for a mobile robot, comprising: At least one processor; as well as At least one memory storing computer program instructions, the computer program instructions being based on operations executed by at least one processor, including the following: Control the power supply to the drive unit of the mobile robot; Controlling the operation of the battery management system of a mobile robot; Based on the working status of the mobile robot: Determine at least one of (i) a first signal for controlling the power supply to the drive unit and (ii) a second signal for controlling the battery management system to cut off the power supply to the drive unit; Send at least one signal to cut off power supply to the drive unit.

2. The mobile robot power control device according to claim 1, wherein, The operation further includes: Based on the determination that the mobile robot's working state is a standby state and that the standby state has been maintained for a reference time, a first signal is provided. The first signal controls the drive relay connected to the drive unit and cuts off the power supply to the drive unit.

3. The mobile robot power control device according to claim 1, wherein, The operation further includes: When the power supply to the drive unit is cut off, the power status of the mobile robot is monitored, and a third signal is sent based on the power status of the mobile robot to restart the power supply to the drive unit.

4. The mobile robot power control device according to claim 3, wherein, The operation further includes: Based on the determination that the power state is equal to or below the threshold, power supply to the drive unit is restarted to execute the mobile robot's charging mode.

5. The mobile robot power control device according to claim 1, wherein, The operation further includes: Based on the determination that the mobile robot's working state is the task execution state, the execution control ensures that the power supply to the drive unit is not cut off, so as to maintain the power supply to the drive unit.

6. A mobile robot power control system, comprising: Server computing systems; as well as A mobile robot power control device includes at least one processor and at least one memory storing computer program instructions, the computer program instructions being executed by the at least one processor to perform operations including: Control the power supply to the drive unit of the mobile robot; Controlling the operation of the battery management system of a mobile robot; Based on at least one control command from the server computing system, and based on the working state of the mobile robot: Generate at least one of (i) a first signal for controlling the power supply to the drive unit and (ii) a second signal for controlling the battery management system to cut off the power supply to the drive unit.

7. The mobile robot power control system according to claim 6, wherein, At least one control command of the server computing system includes a command for batch control of multiple mobile robots.

8. The mobile robot power control system according to claim 6, wherein, Based on the determination that the mobile robot's working state is a task execution state, at least one control command of the server computing system does not include a power shutdown command, and the mobile robot power control device maintains power supply to the drive unit based on the at least one control command.

9. The mobile robot power control system according to claim 6, wherein, Based on the determination that the mobile robot's working state is standby mode and that the standby mode has been maintained for more than a first reference time: At least one control command of the server computing system includes a power-off command for cutting off power supply to the drive unit. The mobile robot's power control device generates a first signal, which, based on the power shutdown command, controls a drive relay connected to the drive unit to cut off power supply to the drive unit.

10. The mobile robot power control system according to claim 6, wherein, Based on the determination that the mobile robot's working state is standby mode, and that the standby mode has been maintained for more than the second reference time and is a long-term paused state: At least one control command of the server computing system includes a power-off command for cutting off power supply to the drive unit. The mobile robot's power control device generates a first signal, which, based on the power shutdown command, controls a drive relay connected to the drive unit to cut off power supply to the drive unit. The mobile robot power control device generates a second signal, which controls the battery management system based on the power shutdown command to cut off power supply from the battery to the drive unit.

11. The mobile robot power control system according to claim 7, wherein, Based on the determination that the working state of all multiple mobile robots is in a suspended state and the suspended state is maintained for more than a third reference time, the server computing system includes at least one control command for cutting off the power supply to the multiple mobile robots, and sends at least one control command to each of the multiple mobile robots.

12. The mobile robot power control system according to claim 11, wherein, The server computing system is configured to output information to the user regarding the cutting off of power to multiple mobile robots.

13. The mobile robot power control system according to claim 6, wherein, The server computing system is configured to periodically monitor the power status of the mobile robot while controlling at least one of the power supply to the drive unit or the operation of the battery management system.

14. The mobile robot power control system according to claim 13, wherein, Based on determining that the power state is equal to or below a threshold, at least one control command of the server computing system includes a control command that causes the mobile robot power control device to generate a first signal for supplying power to the drive unit and to execute control over charging the mobile robot.

15. The mobile robot power control system according to claim 6, wherein, When a mobile robot transitions from standby mode to task execution mode: At least one control command of the server computing system includes a control command instructing power to be supplied to the drive unit. The mobile robot's power control device generates a first signal, which, based on a control command instructing the robot to supply power, controls a drive relay connected to the drive unit to supply power to the drive unit. The mobile robot power control device generates a second signal, which controls the battery management system based on a control command indicating power supply to supply power from the battery to the drive unit.

16. A method for power control of a mobile robot executed by a computing system, the method comprising: Receive the working status and power status of each of the multiple mobile robots; Based on at least one of the working state or power state of at least one of the multiple mobile robots, generate at least one of (i) a first control command for controlling the power supply to the drive unit of at least one mobile robot and (ii) a second control command for controlling the operation of the battery management system of at least one mobile robot. Send at least one control command to a specific mobile robot or all of the multiple mobile robots.

17. The method according to claim 16, wherein, Generating at least one control command includes: Based on the determination that the mobile robot's working state is a standby state and the standby state is maintained for a reference time, a first control command is generated for (i) cutting off the power supply to the drive unit of the mobile robot, or (ii) a second control command is generated for cutting off the power supply to the remaining components of the mobile robot, excluding the communication module, by controlling the operation of the mobile robot's battery management system.

18. The method according to claim 17, wherein, Generating at least one control command further includes: Based on the determination that the working state of multiple mobile robots is in a suspended state and the suspended state has been maintained for a reference time, a power shutdown command is sent to each of the multiple mobile robots to cut off the power to all multiple mobile robots.

19. The method of claim 17, wherein, Generating at least one control command further includes: Based on the determination that the mobile robot's working state changes from standby state to task execution state, control commands are generated to supply power to the drive unit.

20. The method of claim 16, wherein, Generating at least one control command further includes: Based on determining that the power state has dropped below a threshold, at least one control command is generated to initiate a charging mode for the mobile robot.

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