Mobile Manipulator Startup Control for Battery Inrush Protection
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Solution Overview
Problem
Conventional mobile robots with mounted manipulators face the risk of battery damage due to inrush currents when starting, as the existing methods only consider the charge residual amount of the battery and not the maximum current value.
Innovation Solution
A mobile robot equipped with a voltage acquisition unit, a condition determination unit, and a starting control unit that determines whether the battery voltage falls within a specific range, disabling the start of the electric load if the voltage is within this range to prevent excessive current draw.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If the mobile robot starts the electric load (manipulator with multi-axis high-output motor) when the battery charge residual amount is sufficient, then the manipulator can operate, but the battery may be damaged by inrush current exceeding the rated current
Solution Approach 1:
The control device performs preliminary checking of battery voltage before allowing the manipulator to start. By acquiring the battery voltage in advance and comparing it against predetermined thresholds, the system determines whether the battery can safely supply the inrush current required for motor startup, preventing battery damage before it occurs
Solution Approach 2:
The control device acts as an intermediary between the battery and the manipulator motor. It mediates the power transmission by monitoring battery voltage and selectively enabling or disabling the manipulator startup based on whether the battery can handle the inrush current, thus protecting the battery while allowing operation when safe
2Device complexity
If the system only checks the charge residual amount of the battery, then the startup process is simple, but it cannot prevent battery damage from inrush current
Solution Approach 1:
The system changes the monitoring parameter from only charge residual amount to include battery voltage. By measuring and comparing battery voltage against predetermined thresholds, the system gains the ability to predict whether inrush current will exceed rated current, enabling protective action while maintaining relatively simple implementation
Data Source
AI summary
A mobile robot (1) for providing a mobile robot that prevents the output current of a battery from exceeding the rated current due to inrush current of an electric load comprises a voltage acquisition unit (11) for acquiring the voltage of a battery (21) for supplying electric power to a manipulator (31), a condition determination unit (12) for determining whether the voltage is in a specific range, and a starting control unit (13) for disabling starting of the manipulator (31) when the voltage is determined to be in the specific range. The specific range is a voltage range that is a portion of the voltage range in which the manipulator (31) can be operated.