CN108683243B - Power management system and method for motor-driven quadruped robot - Google Patents
Power management system and method for motor-driven quadruped robot Download PDFInfo
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- CN108683243B CN108683243B CN201810635569.3A CN201810635569A CN108683243B CN 108683243 B CN108683243 B CN 108683243B CN 201810635569 A CN201810635569 A CN 201810635569A CN 108683243 B CN108683243 B CN 108683243B
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- 230000000087 stabilizing effect Effects 0.000 claims abstract description 65
- 238000012545 processing Methods 0.000 claims abstract description 13
- 238000012544 monitoring process Methods 0.000 claims abstract description 8
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 claims description 39
- 229910052744 lithium Inorganic materials 0.000 claims description 39
- 238000004891 communication Methods 0.000 claims description 33
- 238000001514 detection method Methods 0.000 claims description 14
- 238000004364 calculation method Methods 0.000 claims description 7
- 230000001629 suppression Effects 0.000 claims description 2
- 230000002265 prevention Effects 0.000 claims 1
- 238000007726 management method Methods 0.000 abstract description 67
- 230000007246 mechanism Effects 0.000 abstract description 2
- 238000002955 isolation Methods 0.000 description 9
- 230000004044 response Effects 0.000 description 4
- 230000006641 stabilisation Effects 0.000 description 4
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- 230000003287 optical effect Effects 0.000 description 3
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
- H02J7/34—Parallel operation in networks using both storage and other dc sources, e.g. providing buffering
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
- H02J7/0047—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries with monitoring or indicating devices or circuits
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- H02J2007/0067—
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J2207/00—Indexing scheme relating to details of circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
- H02J2207/20—Charging or discharging characterised by the power electronics converter
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Abstract
The invention discloses a power management system and a power management method for a motor-driven quadruped robot, wherein the system comprises a battery pack, a battery management board and a voltage stabilizing board which are sequentially connected; the battery pack is used for providing power for the motor-driven quadruped robot; the battery management board is used for detecting power supply parameters of the battery pack, receiving power supply output parameters of the voltage stabilizing board and managing the battery pack according to the power supply parameters and the power supply output parameters; the voltage stabilizing board is used for performing voltage stabilizing processing on the voltage output by the battery management board, monitoring power supply output parameters and feeding back the power supply output parameters to the battery management board. Therefore, on the basis of providing a working state monitoring function and a perfect protection mechanism, the invention has stable power supply output parameters, reduces the operation load of the battery management board and reduces the probability of data errors or system crash.
Description
Technical Field
The invention belongs to the field of power management, and particularly relates to a power management system and method of a motor-driven quadruped robot.
Background
The forms of legged robots can be divided into single-legged, biped, quadruped, and multi-legged, with the quadruped robot being considered the currently best legged form of robot. The quadruped robot can be divided into a hydraulic drive quadruped robot, a motor drive quadruped robot and an electro-hydraulic hybrid drive quadruped robot according to different power systems.
The motor-driven quadruped robot generally adopts a rechargeable lithium battery as a power source for the robot, and drives motors at all joints of the leg of the robot according to a gait algorithm so as to realize moving gaits of the robot, such as static gait (walk), diagonal sprint (trot), running (galloop) and the like.
In the prior art, the motor-driven quadruped robot generally uses the voltage of a rechargeable lithium battery as the power supply voltage of the motor directly or after simple pretreatment. The voltage of the motor in normal operation is a rated value, the voltage of the rechargeable lithium battery is gradually reduced in the discharging process, the voltage fluctuation can generate great difference on the performance of the motor, and the processing method can generate adverse effect on the control of the motor, so that the system is unstable.
In addition, the number of motors configured for driving the quadruped robot by the motors is large, so that the calculation load of the battery management board is large if a single battery management board processes data of all the power supply channels, and situations such as data errors and system halt may occur.
Disclosure of Invention
The invention aims to overcome the defects of the prior art, provides a power management system and a power management method for a motor-driven quadruped robot, and solves the problems that in the prior art, the power supply voltage of a motor is unstable, all power supply parameters are processed by a single battery management board, and the operation load of the battery management board is increased, so that data errors or system crash is caused.
In order to achieve the purpose, the invention provides the following technical scheme:
in one aspect, the invention provides a power management system of a motor-driven quadruped robot, which comprises a battery pack, a battery management board and a voltage stabilizing board;
the battery pack comprises a rechargeable lithium battery A and a rechargeable lithium battery B, is used for providing power for the motor-driven quadruped robot, and is used as a power supply output to supply power to the battery management board;
the battery management board receives power supply of the battery pack, outputs the power supply to the voltage stabilizing board, is used for monitoring power supply parameters of the battery pack and receiving power supply output parameters fed back by the voltage stabilizing board, and manages the rechargeable lithium battery A and the rechargeable lithium battery B of the battery pack according to the power supply parameters and the power supply output parameters;
the voltage stabilizing board receives the power supply output by the battery management board, performs voltage stabilizing processing on the power supply output by the battery management board and outputs the power supply as power supply output to a subsequent motor driving circuit so as to drive the motor to drive the quadruped robot, simultaneously monitors power supply output parameters and feeds the power supply output parameters back to the battery management board;
the power supply parameters of the battery pack comprise terminal voltage and discharge current of each battery, and the power supply output parameters comprise output voltage and output current.
On the other hand, the invention also provides a power management method of the motor-driven quadruped robot, which is based on the power management system and comprises a system power-on initialization stage and a power supply stage, and the method specifically comprises the following steps:
a system power-on initialization stage:
(1) the battery management board detects the voltages of the rechargeable lithium battery A and the rechargeable lithium battery B, selects the high-voltage battery as a main power supply to output power to the battery management board, and selects the other battery as an auxiliary power supply;
(2) the battery management board sends a query instruction to the voltage stabilizing board to confirm the access condition of the voltage stabilizing board, if the voltage stabilizing board is accessed to the battery management board, a response instruction is sent, and the battery management board controls whether power supply is output to the voltage stabilizing board according to the response condition;
and (3) a power supply stage:
(3) each path of DC-DC voltage stabilizing unit of the voltage stabilizing plate carries out voltage stabilizing treatment on the power supply of a main power supply of the system to generate stable and continuous power supply required by each motor driving circuit, samples the output voltage and the output current of each path of DC-DC voltage stabilizing unit, converts the sampling signal into switching value, controls the on-off of the corresponding DC-DC voltage stabilizing unit as control value, and feeds back each path of power supply output parameter to the battery management plate;
(4) if the voltage of the main power supply is lower than the set power supply threshold voltage, the battery management board switches to the auxiliary power supply to continue supplying power, and if the voltages of the main power supply and the auxiliary power supply are both lower than the power supply threshold voltage, a low-voltage early warning signal is sent to the upper computer;
(5) the battery management board detects the terminal voltage and the discharge current of the rechargeable lithium battery which supplies power in real time, converts the detection signal into a control quantity to control the power supply and output the control quantity to the voltage stabilizing board, and forcibly cuts off the power supply of the voltage stabilizing board when overcurrent, overvoltage and overload conditions occur; in addition, the battery management board feeds back all power supply parameters and power supply output parameter information to the upper computer.
The object of the invention is thus achieved.
The voltage stabilizing plate is added on the basis of a single battery management plate, and is separated from the battery management plate, the battery management plate is responsible for monitoring the power supply parameters of the battery, and the voltage stabilizing plate is responsible for stabilizing the voltage and monitoring the power supply output parameters.
Drawings
FIG. 1 is a schematic block diagram of one embodiment of a power management system for a motor-driven quadruped robot of the present invention;
FIG. 2 is a functional block diagram of one embodiment of a power management system for the motor-driven quadruped robot of FIG. 1;
fig. 3 is a flowchart of a power management method for a motor-driven quadruped robot according to a second embodiment of the present invention.
Detailed Description
The following description of the embodiments of the present invention is provided in order to better understand the present invention for those skilled in the art with reference to the accompanying drawings. It is to be expressly noted that in the following description, a detailed description of known functions and designs will be omitted when it may obscure the subject matter of the present invention.
FIG. 1 is a schematic block diagram of one embodiment of a power management system for a motor-driven quadruped robot of the present invention.
In the present embodiment, as shown in fig. 1, the power management system of the motor-driven quadruped robot of the present invention includes a battery pack 1, a battery management board 2, and a voltage stabilization board 3.
1. Battery management board
The battery pack 1 includes a rechargeable lithium battery a and a rechargeable lithium battery B for powering the motor-driven quadruped robot, which supplies power as a power output to the battery management board. In this embodiment, the parameters of the rechargeable lithium battery a and the rechargeable lithium battery B are both 48V/10Ah, the one with a high voltage is automatically selected as a main power source in the power-on initialization stage, and the other one is used as an auxiliary power source, and the cruising ability of the system can be improved by adopting the main and auxiliary batteries for power supply.
The battery management board 2 receives power supply of the battery pack 1, outputs the power supply to the voltage stabilizing board 3, is used for monitoring power supply parameters of the battery pack and receiving power supply output parameters fed back by the voltage stabilizing board, and manages a rechargeable lithium battery A and a rechargeable lithium battery B of the battery pack according to the power supply parameters and the power supply output parameters.
In the present embodiment, as shown in fig. 2, the battery management board 2 includes a power switch unit 201, a battery switching unit 202, a protection circuit unit 203, a first output control unit 204, a first parameter detection unit 205, a main controller unit 206, a parameter display unit 207, a first communication unit 208, and a third communication unit 209.
The power switch unit 201 includes a mechanical switch button and a switch circuit, the mechanical switch controls the on/off of the rechargeable lithium battery a and the rechargeable lithium battery B and the switch circuit, the switch circuit is configured to eliminate a peak voltage at the moment of power supply, and then outputs the rechargeable lithium battery a and the rechargeable lithium battery B as power supply to the battery switching unit 202.
The battery switching unit 202 is configured to switch the rechargeable lithium battery a or the rechargeable lithium battery B as power supply under the control of the main controller unit 206, and output the power supply to the protection circuit unit 203 and then to the first output control unit 204. The protection circuit unit 203 is used for overcurrent protection, surge suppression, and reverse connection protection functions.
The first output control unit 204 includes M first control modules and M first output channels, each of the M first output channels is connected to the power supply output of the battery switching unit 202, and the M first control modules are connected to the main controller unit 206 and configured to receive a control instruction from the main controller unit 206, control one of the first output channels respectively, and output power to the M voltage stabilizing plates respectively.
A first parameter detecting unit 205, configured to detect a power supply parameter of the battery pack 1 in real time and feed back the power supply parameter to the main controller unit 206.
The main controller unit 206 is configured to receive the power supply parameter information detected by the first parameter detection unit 205, perform calculation and processing, and send control instructions to the battery switching unit 201 and the first output control unit 205 respectively according to calculation and processing results, so as to switch the rechargeable lithium battery a or the rechargeable lithium battery B as power supply;
a parameter display unit 207 for the main controller unit 206 to display the terminal voltage, the discharge current, and the charge and discharge state of the battery pack 1;
the first communication unit 208 is configured to receive the power supply output parameter fed back by the voltage regulator board 3 and send the power supply output parameter to the main controller unit 206, and the main controller unit 206 sends an instruction to the voltage regulator board 3.
In the embodiment, the battery management board 2 can monitor the power supply parameters and the power supply output parameters to obtain the working states of the battery pack and the motor, and provide data support for the control, energy evaluation and optimization of the electric four-legged robot; 2) each first output channel, namely one voltage stabilizing plate, is independently controlled, so that decoupling between the channels is realized, a protection mechanism is perfected, and the stability of the system is further improved.
2. Pressure stabilizing plate
The voltage stabilizing plate 3 receives power supply output by the battery management plate 2, is used for stabilizing the voltage of the power supply output by the battery management plate 2 and outputting the power supply to a subsequent motor driving circuit 4 as power supply output so as to drive the motor to drive the quadruped robot, monitors power supply output parameters and feeds the power supply output parameters back to the battery management plate.
In the present embodiment, as shown in fig. 2, M voltage stabilizing plates 3 are respectively connected to the M first output channels.
The pressure-stabilizing plate 3 includes a pressure-stabilizing unit 301, a second output control unit 302, a second parameter detection unit 303, a sub-controller unit 304, and a second communication unit 305.
Each voltage stabilizing unit 301 further includes N DC-DC voltage stabilizing modules, each of which is connected to one of the first output channels, and is configured to perform voltage stabilizing processing on the power supplied by the corresponding first output channel and output the power, where the voltage stabilizing modules are connected to the one of the first output channels.
The second output control unit 302 includes N second output channels and N second control modules, where the N second output channels are respectively connected with outputs of the N DC-DC voltage stabilizing modules of the voltage stabilizing unit 301.
The N second control modules respectively control one path of second output channel, and are used for independently controlling the power supply output of each DC-DC voltage stabilizing module, that is, controlling the corresponding second output channel to output power to respective subsequent motor driving circuit under the control of the sub-controller unit 304, so as to drive the motor to drive the quadruped robot.
The second parameter detection unit 303 is configured to detect a power supply output parameter of the N second output channels in the second output control unit 302, and output the detected power supply output parameter to the sub-controller unit 304.
The sub-controller unit 304 is configured to receive the power supply output parameter detected by the second parameter detecting unit 303, perform calculation and processing, and then control the second output control unit 302 according to a calculation processing result.
The sub-controller unit 304 feeds back the power supply output parameter to the main controller unit 206 of the battery management board 2 through the second communication unit 305, the first communication unit 208 of the battery management board 2, and at the same time, receives an instruction of the main controller unit 206 of the battery management board 2.
Therefore, 1) the output electrical parameters are stable, and the motor performance is fully exerted; 2) the output channel and the voltage stabilizing unit can be freely configured according to requirements, so that the expandability of the system is improved; 3) the operation load of the battery management board is reduced, and the system stability is improved.
Further, the battery management board 2 further includes a third communication unit 209, and the main controller unit 206 feeds back the power supply parameter and the power supply output parameter to the upper computer 5 and receives an instruction of the upper computer 5 through the third communication unit 209. The third communication unit 209 is a wired communication unit and/or a wireless communication unit.
Thus, 1) the upper computer can store the data and further analyze and process the data; 2) data are visualized, and a monitoring means is perfected; 3) the battery management system can receive the instruction of the upper computer to perform corresponding control.
The first communication unit 208, the second communication unit 305 and the third communication unit 209 include an optical coupling isolation module and a power isolation module, and the optical coupling isolation module is used for performing signal isolation and noise isolation on the main controller unit 206 and the sub-controller unit 304 and the communication units; the power isolation module is used for noise isolation and ground loop elimination. The optical coupling isolation module and the power isolation module can reduce signal transmission distortion, reduce electromagnetic interference and enable the communication unit to independently supply power, so that the communication unit independently works, and the communication stability of the system is improved.
In this embodiment, the battery management board may provide M paths of output, and the voltage stabilization board may provide N paths of output, so that up to M × N paths of voltage stabilization output may be provided at most, and any combination may be performed, which may reduce power consumption of the system and improve system expandability.
Through the setting of this instantiation, the battery management board carries out the power supply parameter and detects, and the voltage regulator board carries out steady voltage output and output electrical parameter and detects, can provide stable voltage output and reduce the operational load of battery management board for the motor drive circuit of motor drive four-footed robot, improves system stability.
In this embodiment, a power management method for a motor-driven quadruped robot is further provided, where the method includes a system power-on initialization stage and a power supply stage based on the power management system, and specifically includes the following steps:
a system power-on initialization stage:
step S1: selecting a main power supply
The battery management board 2 detects the voltages of the rechargeable lithium battery A and the rechargeable lithium battery B, selects the high-voltage battery as a main power supply to output power to the battery management board, and selects the other battery as an auxiliary power supply;
step S2: detecting the voltage stabilizing plate, and judging whether to output power to the voltage stabilizing plate
The main controller unit 206 sends an inquiry command to the voltage regulator board 3 through the first communication unit 208 to confirm the access condition of the voltage regulator board 3, and sends a response command through the second communication unit 305 if the voltage regulator board 3 is accessed to the battery management board 2, and the main controller 206 controls the on/off of the corresponding first output channel 204 according to the response condition, that is, controls whether the power supply is output to the voltage regulator board 3.
And (3) a power supply stage:
step S3: the voltage stabilizing plate detects, controls power supply output and feeds back to the battery management plate
Each path of DC-DC voltage stabilizing unit 301 of the voltage stabilizing plate 3 carries out voltage stabilizing treatment on the power supply of the main power supply of the system to generate stable and continuous power supply required by each motor driving circuit; the second parameter detection unit 303 samples the output voltage and the output current of each DC-DC voltage stabilization unit 301, and transmits a sampling signal to the sub-controller unit 304; the sub-controller unit 304 converts the sampling signal into a switching value, which is used as a control value of the second output control unit 302 to control the on/off of the corresponding second output channel, and simultaneously, the second communication unit 305 is used to feed back each power supply output electrical parameter to the main controller unit 206;
step S4: main and auxiliary power supply switching
If the voltage of the main power supply is lower than the set system power supply threshold voltage, the main controller unit 206 switches to the auxiliary power supply through the battery switching unit 202 to continue supplying power, and if the voltages of the main power supply and the auxiliary power supply are both lower than the system power supply threshold voltage, a low early warning signal is sent to the upper computer through the third communication unit 209;
step S5: battery management board detects, control power supply output
The first parameter detection unit 205 detects the terminal voltage and the discharge current of each rechargeable lithium battery in real time, and feeds back a detection signal to the main controller unit 206, the main controller unit 206 converts the detected signal into a control quantity of the first output control unit 204 to control the power supply and output the control quantity to the voltage stabilizing plate 3, and when the conditions of overcurrent, overvoltage and overload occur, the voltage stabilizing plate 3 is forcibly cut off to ensure the safety of the system; in addition, the main controller unit 206 feeds back all power supply parameters and power supply output parameters of the system to the upper computer 5 through the third communication unit 209.
Although illustrative embodiments of the present invention have been described above to facilitate the understanding of the present invention by those skilled in the art, it should be understood that the present invention is not limited to the scope of the embodiments, and various changes may be made apparent to those skilled in the art as long as they are within the spirit and scope of the present invention as defined and defined by the appended claims, and all matters of the invention which utilize the inventive concepts are protected.
Claims (3)
1. A power management system of a quadruped robot driven by a motor is characterized by comprising a battery pack, a battery management board and a voltage stabilizing board;
the battery pack comprises a rechargeable lithium battery A and a rechargeable lithium battery B, is used for providing power for the motor-driven quadruped robot, and is used as a power supply output to supply power to the battery management board;
the battery management board receives power supply of the battery pack, outputs the power supply to the voltage stabilizing board, is used for monitoring power supply parameters of the battery pack and receiving power supply output parameters fed back by the voltage stabilizing board, and manages the rechargeable lithium battery A and the rechargeable lithium battery B of the battery pack according to the power supply parameters and the power supply output parameters;
the battery management board comprises a power switch unit, a battery switching unit, a protection circuit unit, a first output control unit, a first parameter detection unit, a main controller unit, a parameter display unit and a first communication unit;
the power switch unit comprises a mechanical switch button and a switch circuit, the mechanical switch controls the on-off of the rechargeable lithium battery A and the rechargeable lithium battery B and the switch circuit, the switch circuit is used for eliminating peak voltage at the moment of electrifying, and then the rechargeable lithium battery A and the rechargeable lithium battery B are used as power supply to be output to the battery switching unit;
the battery switching unit is used for switching the rechargeable lithium battery A or the rechargeable lithium battery B to be used as power supply under the control of the main controller unit, outputting the power supply to the protection circuit unit and then to the first output control unit; the protection circuit unit is used for overcurrent protection, surge suppression and reverse connection prevention protection functions;
the first output control unit comprises M first control modules and M first output channels, each first output channel is connected with the power supply output of the battery switching unit, and the M first control modules are connected with the main controller unit and used for receiving a control instruction of the main controller unit, respectively controlling one first output channel and respectively outputting power to the M voltage stabilizing plates;
the first parameter detection unit is used for detecting the power supply parameters of the battery pack in real time and feeding the power supply parameters back to the main controller unit;
the main controller unit is used for receiving the power supply parameter information detected by the first parameter detection unit, calculating and processing the power supply parameter information, respectively sending a control instruction to the battery switching unit and the first output control unit according to the calculation and processing result, and switching the rechargeable lithium battery A or the rechargeable lithium battery B to supply power;
the parameter display unit is used for the main controller unit to display the terminal voltage, the discharge current and the charge-discharge state of the battery pack;
the first communication unit is used for receiving the power supply output parameters fed back by the voltage stabilizing plate and sending the power supply output parameters to the main controller unit, and the main controller unit sends instructions to the voltage stabilizing plate; the voltage stabilizing board receives the power supply output by the battery management board, performs voltage stabilizing processing on the power supply output by the battery management board and outputs the power supply as power supply output to a subsequent motor driving circuit so as to drive the motor to drive the quadruped robot, simultaneously monitors power supply output parameters and feeds the power supply output parameters back to the battery management board;
the number of the pressure stabilizing plates is M, and the pressure stabilizing plates are respectively connected with the M first output channels;
the voltage stabilizing plate comprises a voltage stabilizing unit, a second output control unit, a second parameter detection unit, a sub-controller unit and a second communication unit;
each voltage stabilizing unit comprises N DC-DC voltage stabilizing modules which are connected with one path of first output channel and used for performing voltage stabilizing processing on the power supply output by the corresponding first output channel and outputting the power supply;
the second output control unit comprises N second output channels and N second control modules, and the N second output channels are respectively connected with the outputs of the N DC-DC voltage stabilizing modules of the voltage stabilizing unit;
the N second control modules respectively control one path of second output channel, and are used for independently controlling the power supply output of each DC-DC voltage stabilizing module under the control of the sub-controller unit, namely controlling the corresponding second output channel to output power to respective subsequent motor driving circuit so as to drive the motor to drive the quadruped robot;
the second parameter detection unit is used for detecting power supply output parameters of N second output channels in the second output control unit and outputting the detected power supply output parameters to the sub-controller unit;
the sub-controller unit is used for receiving the power supply output parameters detected by the second parameter detection unit, calculating and processing the power supply output parameters, and then controlling the second output control unit according to the calculation processing result;
the sub-controller unit feeds the power supply output parameters back to the main controller unit of the battery management board through the second communication unit and the first communication unit of the battery management board, and receives instructions of the main controller unit of the battery management board; the power supply parameters of the battery pack comprise terminal voltage and discharge current of each battery, and the power supply output parameters comprise output voltage and output current.
2. The power management system of the motor-driven quadruped robot as claimed in claim 1, wherein the battery management board further comprises a third communication unit, and the main controller unit feeds back the power supply parameters and the power supply output parameters to the upper computer and receives the instructions from the upper computer through the third communication unit.
3. The power management system of a motor-driven quadruped robot as claimed in claim 2, wherein the third communication unit is a wired communication unit and/or a wireless communication unit.
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| CN110687472B (en) * | 2019-11-08 | 2022-03-11 | 腾讯科技（深圳）有限公司 | Power supply monitoring device, electronic equipment, power supply monitoring method and storage medium |
| CN111555390A (en) * | 2020-05-15 | 2020-08-18 | 深圳国信泰富科技有限公司 | Power distribution system of four limb parts of highly intelligent humanoid robot |
| CN113650027A (en) * | 2021-08-23 | 2021-11-16 | 深圳市重器科技有限公司 | Mobile service robot control system |
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| CN108683243A (en) | 2018-10-19 |
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