Power management system for mobile robot

Abstract

The utility model relates to a power supply management system for a mobile robot, which comprises a power supply, the output end of the power supply is connected with the input end of a power supply control unit, and the first output end of the power supply control unit is connected with the input end of a servo wheel set. The second output end of the power supply control unit is connected with the input end of the main control unit, the second output end of the power supply control unit is connected with the input ends of the servo wheel set, the IMU sensor, the industrial 4G router, the 485 lamp strip controller and the 3.3 V relay, and the output end of the main control unit is connected with the input end of the 485 lamp strip controller. The input end of the main control unit is connected with the output end of the camera, the main control unit is in interactive connection with the servo wheel set and the IMU sensor through CAN communication lines, and the output end of the main control unit is connected with the input end of the charging contactor through the 3.3 V relay. According to the utility model, the safety and reliability of power management are improved.

Description

Technical Field

[0001] This utility model relates to a power management system for mobile robots. Background Technology

[0002] With the continuous development of artificial intelligence, mobile robots will be used more and more, and the power safety, battery life and energy efficiency of mobile robots will be subject to new and higher requirements.

[0003] However, current mobile robots mostly manage power through a simple charging and discharging process, lacking systematic power management and exhibiting the following drawbacks: Batteries lack overcharge, over-discharge, overvoltage, and over-temperature protection mechanisms, resulting in low safety. The emergency stop safety mechanisms for the motion motors are inadequate, also contributing to low safety. Charging contacts are electrified, easily attracting static electricity into the control system and posing a risk of discharge to humans, further compromising safety. There is a lack of power-saving and standby modes for various robot states, and a lack of systematic management of each power module. Furthermore, the lack of sequential control for the power module's on / off operation during robot startup and shutdown leads to unstable power-on and power-off in the control system.

[0004] In view of the above-mentioned shortcomings, the designer actively researched and innovated in order to create a new type of power management system for mobile robots, making it more valuable for industrial applications. Utility Model Content

[0005] To address the aforementioned technical problems, the purpose of this utility model is to provide a power management system for mobile robots.

[0006] To achieve the above objectives, the present invention adopts the following technical solution:

[0007] A power management system for a mobile robot includes a power supply, the output of which is connected to the input of a power control unit. A first output of the power control unit is connected to the input of a servo wheel assembly. A second output of the power control unit is connected to the input of a main control unit. The second output of the power control unit is connected to the inputs of the servo wheel assembly, an IMU sensor, an industrial 4G router, a 485 LED strip controller, and a 3.3V relay. The output of the main control unit is connected to the input of the 485 LED strip controller. The input of the main control unit is connected to the output of a camera. The main control unit is interconnected with the servo wheel assembly and the IMU sensor via a CAN communication line. The output of the main control unit is connected to the input of a charging contactor via a 3.3V relay. The industrial 4G router is interconnected with the main control unit via a network cable. A touchscreen, a LiDAR, and a barcode scanner are all connected to the input of the main control unit via USB interfaces.

[0008] Preferably, in the power management system for mobile robots, the power supply is a lithium battery.

[0009] Preferably, the power management system for mobile robots is characterized in that: the power control unit includes a power control box, which is provided with a charging / discharging interface, an electrode interface, a charging signal interface, a bumper strip interface, an emergency stop button interface, a system power switch interface, a battery switch interface, a manual charging interface, a motor power interface, a motor signal interface, an RK3588 power interface, an IMU power interface, a light strip power interface, a 4G router interface, and a conversion power supply.

[0010] The power supply is connected to the conversion power supply through the charging and discharging interface. The output end of the conversion power supply is connected to the charging signal interface, the anti-collision strip interface, the emergency stop button interface, the motor signal interface, the RK3588 power interface, the IMU power interface, the light strip power interface, and the 4G router interface.

[0011] Preferably, in the power management system for mobile robots, the electrode interface is connected to an external charging plate, and the electrode interface is connected to a manual charging interface via a charging connector KM2, with the manual charging interface connected to an external manual charger.

[0012] Preferably, in the power management system for mobile robots, the main control unit uses a chip model of RK3588.

[0013] By means of the above solution, this utility model has at least the following advantages:

[0014] The power control unit of this utility model has a compact layout and can be installed in a mobile robot after being used with the main control unit. The modular layout allows for quick replacement and also improves the safety and reliability of power management.

[0015] The above description is only an overview of the technical solution of this utility model. In order to better understand the technical means of this utility model and to implement it in accordance with the contents of the specification, the preferred embodiments of this utility model are described in detail below with reference to the accompanying drawings. Attached Figure Description

[0016] To more clearly illustrate the technical solutions of the embodiments of this utility model, the drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this utility model and should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0017] Figure 1 This is a schematic diagram of the structure of this utility model;

[0018] Figure 2 This is the actual circuit diagram of the power control unit of this utility model;

[0019] Figure 3 This is the actual circuit diagram of the main control unit of this utility model. Detailed Implementation

[0020] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. The components of the embodiments of this application described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0021] Therefore, the following detailed description of the embodiments of this application provided in the accompanying drawings is not intended to limit the scope of the claimed application, but merely to illustrate selected embodiments of the application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without inventive effort are within the scope of protection of this application.

[0022] Example

[0023] like Figure 1 , Figure 2 and Figure 3 As shown, a power management system for a mobile robot includes a power supply 1. The output of the power supply 1 is connected to the input of a power control unit 2. The first output of the power control unit 2 is connected to the input of a servo wheel assembly 3. The second output of the power control unit 2 is connected to the input of a main control unit 4. The second output of the power control unit 2 is connected to the inputs of the servo wheel assembly 3, an IMU sensor 5, an industrial 4G router 6, a 485 LED strip controller 7, and a 3.3V relay 8. The output of the main control unit 4 is connected to the input of the 485 LED strip controller 7. The input of the main control unit 4 is connected to the output of a camera 9. The main control unit 4 is interconnected with the servo wheel assembly 3 and the IMU sensor 5 via a CAN communication line. The output of the main control unit 4 is connected to the input of a charging contactor 10 via the 3.3V relay 8. The industrial 4G router 6 is interconnected with the main control unit 4 via a network cable. A touch screen 11, a lidar 12, and a barcode scanner 13 are all connected to the input of the main control unit 4 via USB interfaces.

[0024] The first output terminal of the power control unit 2 is a 48V output terminal, and the second output terminal is a 24V output terminal.

[0025] In this utility model, the power control unit 2 includes a power control box 211. The power control box 211 contains a charging / discharging interface 212, an electrode interface 213, a charging signal interface 214, a crash bar interface 215, an emergency stop button interface 216, a power switch interface 217, a battery switch interface 218, a manual charging interface 219, a motor power interface 220, a motor signal interface 221, an RK3588 power interface 222, an IMU power interface 223, a light strip power interface 224, a 4G router interface 225, and a conversion power supply 226.

[0026] The converter converts 48V power to 24V power, and the corresponding 24V power will be connected to different interfaces, including charging signal interface 214, anti-collision strip interface 215, emergency stop button interface 216, motor signal interface 221, RK3588 power interface 222, IMU power interface 223, light strip power interface 224 and 4G router interface 225.

[0027] Meanwhile, the electrode interface 213 is connected to an external charging plate, and the electrode interface 213 is connected to the manual charging interface 219 through the charging connector KM2. The manual charging interface 219 is connected to an external manual charger.

[0028] The power supply is a 48V 30AH lithium battery.

[0029] The charging / discharging interface connects to the positive and negative terminals of the lithium battery. Through this interface, the battery supplies power to the device and charges the lithium battery.

[0030] The electrode interface connects to the charging plates on the outer shell, allowing the robot to charge the battery by contacting the charging station through the plates.

[0031] The charging signal interface is used to connect to the RK3588 control board. The RK3588 control board controls the KA13.3V relay, and the KAI relay controls the opening and closing of the KM2 charging contactor contacts to control the automatic charging of the robot.

[0032] The anti-collision strip interface is used to connect to the anti-collision strip on the outside of the device. When the robot touches the anti-collision strip during operation, it will stop running and sound an alarm.

[0033] The emergency stop button interface is used to connect an emergency stop button. When the robot encounters an emergency, pressing the emergency stop button will stop the robot.

[0034] The whole machine switch interface is used to connect a double-pole double-throw illuminated start button switch. When the start button is pressed, the battery switch closes, the KM1 discharge contactor contacts close, and the robot is powered on.

[0035] The battery switch interface is used to connect the battery switch wiring. When the start button switch is pressed, the battery switch wiring is turned on, and the battery begins to supply power to the device.

[0036] The manual charging interface is used to connect to the manual charging connector on the charging station. It can be used in an emergency when the robot cannot charge automatically. After connecting the manual charging connector, the battery switch wiring will also close, and charging of the battery will begin.

[0037] The motor power interface (i.e., motor 148V and motor 248V interface) is used to provide power to the robot's two integrated servo wheels.

[0038] The motor signal interface (i.e., motor 1 signal and motor 2 signal interface) is used to connect the I / O signals of the two Stepco integrated servo wheels, mainly providing the servo wheels with signals such as emergency stop and anti-collision strip trigger.

[0039] The RK3588 power interface is used to provide DC24V power to the RK3588 control box.

[0040] The IMU power interface is used to provide DC24V power to the IMU sensor.

[0041] The LED strip power interface is used to provide DC24V power to the LED strip controller.

[0042] The 4G router interface is used to provide DC24V power to the 4G router.

[0043] The circuit breaker, the main power switch, is used to control the opening and closing of the battery power supply circuit. Power will only be supplied to the robot when the circuit breaker is closed.

[0044] When the button switch of the whole machine is closed, the coil of the discharge contactor KM1 is energized, the KM1 contact closes, and the battery supplies power to the equipment through the charging and discharging interface, the circuit breaker, and the charging and discharging contactor KM1 contact.

[0045] The KA1 3.3V relay and KM2 charging contactor are controlled by the RK3588 control box through the charging signal interface. The KA1 relay coil is energized, the KA1 contact closes, the KM2 charging contactor coil is energized, and the KM2 contactor contact closes. The charging and discharging interface is connected to the charging electrode interface through the KM2 contact, and the robot can charge the battery through the charging pile.

[0046] When the anti-collision bar is triggered, the coil of the KA2 relay is energized, the normally closed contact of KA2 opens, and the I / O of the two servo wheels receives the anti-collision bar trigger signal.

[0047] The power converter (48V to 24V) converts the battery's DC48V to DC24V after the robot is powered on, and then distributes the DC24V power to the RK3588 power interface, IMU power interface, LED strip power interface, 4G router power interface, etc.

[0048] The main control unit 4 described in this utility model uses a chip model of RK3588.

[0049] Among them, RK3588 includes:

[0050] The RK3588 control board, as the main control board for the robot, provides peripheral interfaces required for robot control, such as USB, RS485, RS232, CAN, Ethernet, HDMI, and general I / O interfaces.

[0051] The RK3588 control board provides eight USB ports: USB1 for connecting the camera, USB2 for connecting the barcode scanner, USB3 for connecting the touchscreen, USB4 and USB5 for connecting the LiDAR, and the rest are for backup.

[0052] The RK3588 control board provides one RS485 interface, which is then split into two interfaces on the control box. One interface connects to the battery to obtain battery information, while the other interface connects to the LED strip controller to control the LED strip.

[0053] The RK3588 control board provides one RS232 interface as a backup for user expansion.

[0054] The RK3588 control board provides one CAN bus interface, which is then split into two interfaces on the control box. One interface is used to connect to the IMU, and the other interface is used to connect to the Boke integrated servo wheel to control the robot's movement and posture.

[0055] The RK3588 control board provides two Ethernet RJ45 interfaces: one for connecting to a 4G router for scheduling system communication, and the other as a backup.

[0056] The RK3588 control board provides two HDMI interfaces: one for connecting to the touchscreen for human-computer interaction, and the other as a backup.

[0057] The RK3588 provides six general-purpose I / O interfaces, one of which is used for charging signals to control the robot's charging.

[0058] This utility model also includes matching external devices, including but not limited to:

[0059] The servo wheels are two integrated servo wheels from Boke iWMC10409-02222-A165-MADT, which are connected to RK3588 via CAN bus to drive the robot's movement.

[0060] Braking resistors, connected to the servo wheels, provide stability for the robot's movement.

[0061] The start button is a self-locking push-button switch, which is connected to the device through the "whole machine switch interface" of the power control box. When the start button is pressed, the KM1 discharge contactor coil is energized, the battery button wiring is closed at the same time, the KM1 contactor contacts are closed, and the robot is powered on.

[0062] Manual charging is achieved by connecting the device to the manual charging interface of the power control box via the manual charging connector socket. When the robot cannot charge automatically, the manual charging cable on the charging station can be pulled out and inserted into the manual charging socket. The battery switch wiring will then close, completing the manual charging operation for the robot.

[0063] The lithium battery, a 48V, 30AH lithium iron phosphate battery, is connected to the device through the "charge and discharge interface" on the power control box to provide power for the robot's movement and control.

[0064] The charging plates are connected to the device via the "electrode interface" on the power control box. The robot can then move to the charging station, contact the charging station with the charging plates, and complete the robot's autonomous charging.

[0065] The anti-collision strip is connected to the device through the "anti-collision strip interface" of the power control box. When the robot collides with something during operation, it can trigger an alarm and stop the machine to prevent accidents.

[0066] The emergency stop button is connected to the device via the "emergency stop button interface" in the power control box. Pressing the emergency stop button will stop the robot from moving if it malfunctions. Pressing the emergency stop button will also disable the robot's power.

[0067] The IMU is powered through the "IMU power interface" of the power control box, and the "CAN" interface of the RK3588 control box provides bus control to read the robot's motion status and attitude.

[0068] The LED strip controller is powered by the LED strip power interface in the power control box, and the RK388 control box provides control signals through the RS485 interface to complete the LED signal control of the robot.

[0069] The 4G router is powered through the "4G router interface" of the power control box and connected to the Ethernet port of the RK3588 control box for robot networking and receiving scheduling commands.

[0070] The camera, connected to the USB interface of the RK3588 control box, is used for the robot's visual navigation.

[0071] The lidar, connected to the USB interface of the RK3588 control box via two USB cables, is used for robot navigation and obstacle avoidance.

[0072] The barcode scanner connects to the USB interface of the RK3588 control box, allowing users to input information about the goods being transported by the robot.

[0073] The touchscreen connects to the RK3588 control box via USB and HDMI for human-computer interaction.

[0074] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0075] In the description of this application, it should be noted that the terms "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship commonly used when the product is in use. They are used only for the convenience of describing this application and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application. Furthermore, the terms "first," "second," etc., are used only to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0076] Furthermore, terms such as "horizontal" and "vertical" do not imply that components must be absolutely horizontal or vertical, but rather that they can be slightly tilted. For example, "horizontal" simply means that its direction is more horizontal than "vertical," and does not mean that the structure must be completely horizontal, but can be slightly tilted.

[0077] In the description of this application, it should also be noted that, unless otherwise expressly specified and limited, the terms "set up," "install," "connect," and "link" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; 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; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0078] The above description is only a preferred embodiment of the present utility model and is not intended to limit the present utility model. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the technical principles of the present utility model, and these improvements and modifications should also be considered within the protection scope of the present utility model.

Claims

1. A power management system for mobile robots, characterized in that: The system includes a power supply (1), the output of which is connected to the input of a power control unit (2). The first output of the power control unit (2) is connected to the input of a servo wheel assembly (3). The second output of the power control unit (2) is connected to the input of a main control unit (4). The second output of the power control unit (2) is connected to the inputs of the servo wheel assembly (3), IMU sensor (5), industrial 4G router (6), 485 LED strip controller (7), and 3.3V relay (8). The output of the main control unit (4) is connected to the input of the 485 LED strip. The input terminal of the controller (7) is connected, the input terminal of the main control unit (4) is connected to the output terminal of the camera (9), the main control unit (4) is connected to the servo wheel group (3) and the IMU sensor (5) via the CAN communication line, the output terminal of the main control unit (4) is connected to the input terminal of the charging contactor (10) via the 3.3V relay (8), the industrial 4G router (6) is connected to the main control unit (4) via the network cable, and the touch screen (11), the lidar (12) and the barcode scanner (13) are all connected to the input terminal of the main control unit (4) via the USB interface.

2. The power management system for a mobile robot according to claim 1, characterized in that: The power supply (1) is a lithium battery.

3. A power management system for a mobile robot according to claim 1, characterized in that: The power control unit (2) includes a power control box (211), which contains a charging / discharging interface (212), an electrode interface (213), a charging signal interface (214), a crash bar interface (215), an emergency stop button interface (216), a power switch interface (217), a battery switch interface (218), a manual charging interface (219), a motor power interface (220), a motor signal interface (221), an RK3588 power interface (222), an IMU power interface (223), a light strip power interface (224), a 4G router interface (225), and a conversion power supply (226). Among them, the power supply (1) is connected to the conversion power supply (226) through the charging and discharging interface (212). The output end of the conversion power supply (226) is connected to the charging signal interface (214), the anti-collision strip interface (215), the emergency stop button interface (216), the motor signal interface (221), the RK3588 power interface (222), the IMU power interface (223), the light strip power interface (224), and the 4G router interface (225).

4. A power management system for a mobile robot according to claim 3, characterized in that: The electrode interface (213) is connected to an external charging plate, and the electrode interface (213) is connected to the manual charging interface (219) through the charging connector KM2. The manual charging interface (219) is connected to an external manual charger.

5. A power management system for a mobile robot according to claim 1, characterized in that: The main control unit (4) uses a chip model of RK3588.

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