CN112077832A - Remote autonomous parallel self-charging multi-power-supply control system for bionic robot - Google Patents
Remote autonomous parallel self-charging multi-power-supply control system for bionic robot Download PDFInfo
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- CN112077832A CN112077832A CN202011049449.9A CN202011049449A CN112077832A CN 112077832 A CN112077832 A CN 112077832A CN 202011049449 A CN202011049449 A CN 202011049449A CN 112077832 A CN112077832 A CN 112077832A
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- control unit
- power supply
- supply control
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- power
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/08—Programme-controlled manipulators characterised by modular constructions
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Charge And Discharge Circuits For Batteries Or The Like (AREA)
- Manipulator (AREA)
Abstract
A remote autonomous parallel self-charging multi-power-supply control system for a bionic robot comprises a main power supply control unit, a main battery pack and a power supply supplementing device, wherein the main battery pack and the power supply supplementing device are connected with the main power supply control unit, an output port of the main power supply control unit is connected with an input port of a first power supply control unit on each branch circuit, an input port of the first power supply control unit is connected with an output port of a secondary battery pack, the power supply supplementing device is connected with a charging port of the main battery pack through a main power supply control unit, the power supply supplementing device is connected with a charging port of the secondary battery pack through a second power supply control unit on each branch circuit, and the main control unit, the sub-control unit, the main power supply control unit, the first power supply control unit and the second power supply control unit are connected with. The invention can realize the functions of self-provided power supply supplement, multi-power supply combination, remote and autonomous power supply switching, and remote connection and disconnection.
Description
Technical Field
The invention relates to a control system of a bionic robot, in particular to a remote autonomous parallel self-charging multi-power-supply control system for the bionic robot.
Background
The bionic robot has strong functions and environmental adaptability, and the research related to the bionic robot is more and more emphasized. The bionic robot generally has a plurality of degrees of freedom of motion, and each degree of freedom of motion needs to be equipped with the motor, especially polypod bionic robot, and the motor is more. The problem with this is a short endurance time. Meanwhile, as the large and medium-sized bionic robots applied to the special field are researched more and more, related safety problems are gradually emphasized, and especially potential safety hazards caused by immature programs in the debugging stage are avoided. Therefore, research on multiple power supplies and control systems thereof has been a hot topic in the related art.
CN103354385A discloses a seamless switching circuit for multiple battery packs of a mobile robot, which can realize switching among multiple battery packs. The technical scheme has the advantages that firstly, the scheme is based on a switching circuit made of components and cannot be applied to a large-current working condition with inductive load; secondly, no remote emergency power-off design exists; thirdly, the power supply supplement function is not carried out.
CN106300553A discloses a power management system and method for a mobile robot, which has a function of switching between main and auxiliary power supplies, and has the disadvantages that although the system has a wireless communication module, the system is used for communicating with other robots and charging piles, but not used for turning off the power supply of the whole robot through the wireless communication module from the outside, and cannot play a role in safety guarantee; secondly, the power supply supplement function is not provided;
CN207601603U discloses a robot power system, which uses a photovoltaic module to charge a battery, and has the disadvantages that firstly, there is no standby power supply and the endurance is low; the second is a design without remote shutdown.
Disclosure of Invention
The technical problem to be solved by the invention is to overcome the defects in the prior art and provide a remote autonomous parallel self-charging multi-power control system for a bionic robot, which is provided with a power supply supplement and can remotely and autonomously switch power supplies.
The technical scheme adopted by the invention for solving the technical problems is as follows: a remote autonomous parallel self-charging multi-power-supply control system for a bionic robot comprises a main control unit, a sub-control unit, a main power supply control unit, a main circuit power supply control unit, a first power supply control unit, a second power supply control unit, a wireless communication module, a remote control device, a main battery pack, an auxiliary battery pack and a power supply supplementing device, wherein an input port of the main power supply control unit is connected with the main battery pack and the power supply supplementing device, an output port of the main power supply control unit is connected with an input port of the first power supply control unit on each branch circuit, an input port of the first power supply control unit is connected with an output port of the auxiliary battery pack, the power supply supplementing device is connected with a charging port of the main battery pack through the main circuit power supply control unit, the main control unit is connected with a charging port of the auxiliary battery pack through the second power supply control unit on each branch circuit, and, The main power supply control unit, the main road power supply control unit, the first power supply control unit and the second power supply control unit are electrically connected through wires and/or wirelessly connected through wireless communication modules arranged respectively, the sub-control unit is electrically connected with the first power supply control unit and the second power supply control unit through wires and/or wirelessly connected through wireless communication modules arranged respectively, and the main control unit, the sub-control unit, the main power supply control unit, the main road power supply control unit, the first power supply control unit and the second power supply control unit are connected with the remote control device through wires and/or wireless communication modules.
Further, the remote control device communicates with each wireless communication module in a one-to-one or one-to-many manner.
Further, remote control unit is for removing end and/or stiff end, wireless communication module includes antenna and transceiver module.
Further, the remote control device comprises a one-key power switch and/or a branch power off and switching switch and/or a communication function unit. The one-key power switch can be used for switching off the main loop by one-time closing operation and switching on the main loop by one-time opening operation; the branch power supply turn-off and switch can turn off or switch the power supply input of the component independently.
Further, each power supply control unit comprises a control module and a change-over switch module for switching over and turning off multiple power supplies. And input ports of the change-over switch module are isolated from each other.
Further, the power supply supplementing device comprises one or more of a wired charging device, an oil engine power generation device, an ocean current power generation device, a saline water power generation device, a wind power generation device and a photovoltaic power generation device, and is used for charging the main battery pack and/or the auxiliary battery pack and/or directly used for supplying power to the bionic robot.
Further, the main control unit is an upper computer device used for whole machine data acquisition, data processing, logic operation and instruction control of the bionic robot; the sub-control unit is a lower computer device used for data acquisition, data processing, logic operation and instruction control of the bionic robot component. The main control unit and the sub-control unit are connected and communicated in a wired and/or wireless mode, the states of the main battery pack, the sub-battery pack and the power supply supplementing device are monitored in real time, and switching of a power supply and charging of the battery packs are controlled autonomously.
The invention adopts a remote one-key power-off scheme, thereby providing safety guarantee for the operation of the bionic robot, particularly in a debugging stage; the bionic robot is provided with a power supply supplement device, so that the cruising ability is obviously improved, and the bionic robot can work in the open air or in the ocean for a long time without returning to the base for charging; the invention adopts the scheme of automatically switching the main loop power supply, can improve the capability of the bionic robot for carrying the battery pack, and is beneficial to structural layout.
Drawings
FIG. 1 is a block diagram of an embodiment of the present invention;
fig. 2 is a schematic structural diagram of a power control unit according to an embodiment of the invention.
Detailed Description
The invention is described in further detail below with reference to the figures and the embodiments.
Referring to fig. 1, the present embodiment includes a main control unit 5, a sub-control unit i 11, a sub-control unit ii 21, a sub-control unit iii 31, a sub-control unit iv 41, a main power control unit 6, and a first power control unit
15. First power supply control unit
25. First power supply control unit
35. First power supply control unit
45, second power supply control unit
13. Second power supply control unit
23. Second power supply control unit
33. Second power supply control unit
43, a main circuit power supply control unit 8, a wireless communication module I4, a wireless communication module II 7, a wireless communication module III 12, a wireless communication module IV 22, a wireless communication module V32, a wireless communication module VI 42, a wireless communication module VII 16, a wireless communication module VIII 26, a wireless communication module IX 36, a wireless communication module X46, a remote control device 3, a main battery pack 2, an auxiliary battery pack I14, an auxiliary battery pack II 24, an auxiliary battery pack III 34, an auxiliary battery pack IV 44 and a power supply supplementing device 1.
In this embodiment, 4 circuit branches are provided, and the operation principle will be described by taking the first circuit branch as an example. A main power control unit 6 connected to the main battery pack 2, a first power control unit
15 is connected to a sub-battery pack I14, and a main power supply control unit 6 and a first power supply are provided when the present embodiment is not startedSource control unit
15 are all in an active state and all are in an off state.
When the present embodiment is started, the remote control device 3 sends a start command to control the main power control unit 6 to access the main battery pack 2 or the power supply supplementary device 1 to the main circuit through the wireless communication module ii 7, and at this time, the main control unit 5 starts to operate. The main control unit 5 controls the first power supply control unit through the wireless communication module
15 the auxiliary battery pack I14 is accessed and communicated with the branch control unit I11 through the wireless communication module, if the communication is unsuccessful, the main control unit 5 controls the first power supply control unit
15, switching the access of the master battery pack 2 or the power supply supplementary device 1; if the communication is successful, normal operation is started. In the working process, the first sub-control unit 11 monitors the state of the auxiliary battery pack I14 in real time, and when the auxiliary battery pack I14 breaks down or the electric quantity is low, the first sub-control unit 11 controls the first power control unit after communicating with the main control unit 5 through the wireless communication module
15 to the master battery pack 2 or the power replenishment device 1.
The other circuit branches have the same operation as the first circuit branch.
When the present embodiment is started, the first power control units 15 and/or 25 and/or 35 and/or 45 of the circuit branches can be controlled to access the auxiliary battery packs 14 and/or 24 and/or 34 and/or 44 directly by using the remote control device 3 to send instructions.
After the bionic robot finishes a work instruction or receives a work stopping instruction, the main control unit 5 controls the first power supply control unit of each circuit branch
15. First power supply control unit
25. First power supply control unit
35. First power supply control unit
45 and then the main power control unit 6 is turned off using the remote control 3. In this embodiment, the remote control device 3 can be used to turn off the first power control unit first
15. First power supply control unit
25. First power supply control unit
35. First power supply control unit
45 and then turns off the main power supply control unit 6.
In this embodiment, if the biomimetic robot fails or is in danger, the main power control unit 6 and the first power control unit for supplying power to all the units and modules are turned off by one key using the remote control device 3
15. First power supply control unit
25. First power supply control unit
35. First power supply control unit
45, the power source of the bionic robot is powered off, so that accidents are effectively prevented, and the safety of personnel and property is guaranteed.
In this embodiment, when the main control unit 5 detects that the electric quantity of the main battery pack 2 is insufficient, the main circuit power supply control unit 8 is controlled to be closed, and the power supply supplementing device 1 starts to charge the main battery pack 2; when the I11 branch control unit detects that the I14 electric quantity of the auxiliary battery pack is insufficient, if the I14 auxiliary battery pack is used currently, the I14 branch control unit controls the first power supply control unit
15 switching the power supply input and then controlling the second power supply control unit
13 is closed, and the power supply supplementing device 1 starts to charge the auxiliary battery pack I14; if the auxiliary battery pack I14 is not used for supplying power currently, the second power supply control unit is directly controlled
13 is closed and the power replenishment device 1 starts charging the sub-battery pack i 14. The other circuit branches have the same operation.
As shown in fig. 2, each power control unit a in the embodiment includes a control module a2 and a change-over switch module a 1. The power control unit A is provided with two branch power input interfaces and a power output interface, a first input interface A11 and a second input interface A12 are connected with the positive and negative poles of an input power supply, a third input interface A13 and a fourth input interface A14 are connected with the positive and negative poles of another input power supply, and a first output interface A15 and a second output interface A16 are connected with a load. The first input interface a11 and the second input interface a12 are connected to the first output interface a15 and the second output interface a16, and controlled by the first coil L1, and the third input interface a13 and the fourth input interface a14 are connected to the first output interface a15 and the second output interface, and controlled by the second coil L2. The diverter switch module in this embodiment is normally open. The communication interface A21 of the control module A2 is electrically connected with the wireless communication module, and the communication interface A22 is electrically connected with the sub-control unit. When the control module a2 receives a power switching instruction, the control module a2 controls the first coil L1 or the second coil L2 to work to realize power switching, or controls the first coil L1 and the second coil L2 to turn off two-way output after receiving an output disconnection instruction.
Various modifications and variations of the present invention may be made by those skilled in the art, and they are also within the scope of the present invention provided they are within the scope of the claims of the present invention and their equivalents.
What is not described in detail in the specification is prior art that is well known to those skilled in the art.
Claims (7)
1. A remote autonomous parallel self-charging multi-power-supply control system for a bionic robot comprises a main control unit, a sub-control unit, a main power supply control unit, a main circuit power supply control unit, a first power supply control unit, a second power supply control unit, a wireless communication module, a remote control device, a main battery pack, an auxiliary battery pack and a power supply supplementing device, wherein an input port of the main power supply control unit is connected with the main battery pack and the power supply supplementing device, an output port of the main power supply control unit is connected with an input port of the first power supply control unit on each branch circuit, an input port of the first power supply control unit is connected with an output port of the auxiliary battery pack, the power supply supplementing device is connected with a charging port of the main battery pack through the main circuit power supply control unit, the main control unit is connected with a charging port of the auxiliary battery pack through the second power supply control unit on each branch circuit, and, The main power supply control unit, the main road power supply control unit, the first power supply control unit and the second power supply control unit are electrically connected through wires and/or wirelessly connected through wireless communication modules arranged respectively, the sub-control unit is electrically connected with the first power supply control unit and the second power supply control unit through wires and/or wirelessly connected through wireless communication modules arranged respectively, and the main control unit, the sub-control unit, the main power supply control unit, the main road power supply control unit, the first power supply control unit and the second power supply control unit are connected with the remote control device through wires and/or wireless communication modules.
2. The remote autonomous parallel self-charging multi-power control system for the bionic robot according to claim 1, characterized in that: the remote control device communicates with each wireless communication module in a one-to-one or one-to-many manner.
3. The remote autonomous parallel self-charging multi-power-supply control system for the bionic robot according to claim 1 or 2, characterized in that: the remote control device is a movable end and/or a fixed end, and the wireless communication module comprises an antenna and a transceiver module.
4. The remote autonomous parallel self-charging multi-power control system for the biomimetic robot according to any one of claims 2-3, characterized in that: the remote control device comprises a one-key power switch and/or a branch power off and switching switch and/or a communication function unit.
5. The remote autonomous parallel self-charging multi-power control system for the biomimetic robot according to any one of claims 1-4, characterized in that: each power control unit comprises a control module and a change-over switch module which are used for switching over and turning off multiple power supplies, and input ports of the change-over switch module are isolated from each other.
6. The remote autonomous parallel self-charging multi-power control system for the biomimetic robot according to any one of claims 1-5, wherein: the power supply supplementary device comprises a wired charging device and/or an oil engine power generation device and/or an ocean current power generation device and/or a brine power generation device and/or a wind power generation device and/or a photovoltaic power generation device.
7. The remote autonomous parallel self-charging multi-power control system for the biomimetic robot according to any one of claims 1-6, characterized in that: the main control unit is an upper computer device used for whole machine data acquisition, data processing, logic operation and instruction control of the bionic robot; the sub-control unit is a lower computer device used for data acquisition, data processing, logic operation and instruction control of the bionic robot component.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011049449.9A CN112077832A (en) | 2020-09-29 | 2020-09-29 | Remote autonomous parallel self-charging multi-power-supply control system for bionic robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011049449.9A CN112077832A (en) | 2020-09-29 | 2020-09-29 | Remote autonomous parallel self-charging multi-power-supply control system for bionic robot |
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| CN112077832A true CN112077832A (en) | 2020-12-15 |
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| CN202011049449.9A Pending CN112077832A (en) | 2020-09-29 | 2020-09-29 | Remote autonomous parallel self-charging multi-power-supply control system for bionic robot |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113524212A (en) * | 2021-06-29 | 2021-10-22 | 智动时代(北京)科技有限公司 | Three-body robot composition method |
| CN115514078A (en) * | 2022-11-16 | 2022-12-23 | 北京国安广传网络科技有限公司 | Power supply module of all-weather health management robot |
-
2020
- 2020-09-29 CN CN202011049449.9A patent/CN112077832A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113524212A (en) * | 2021-06-29 | 2021-10-22 | 智动时代(北京)科技有限公司 | Three-body robot composition method |
| CN115514078A (en) * | 2022-11-16 | 2022-12-23 | 北京国安广传网络科技有限公司 | Power supply module of all-weather health management robot |
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