CN115864605A - Power distribution device and method for mobile robot, robot and medium - Google Patents
Power distribution device and method for mobile robot, robot and medium Download PDFInfo
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- CN115864605A CN115864605A CN202310077782.8A CN202310077782A CN115864605A CN 115864605 A CN115864605 A CN 115864605A CN 202310077782 A CN202310077782 A CN 202310077782A CN 115864605 A CN115864605 A CN 115864605A
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Abstract
The present invention relates to the field of robots, and more particularly, to a power distribution apparatus and method for a mobile robot, a robot, and a medium. The power distribution device of the mobile robot comprises an external breaking control module, a switching power supply module, a safety sensor, a box body and a controller, wherein the controller receives trigger information of the external breaking control module and transmits a first voltage signal to the safety sensor, when the safety sensor determines that no obstacle exists in the surrounding environment condition of the mobile robot, the second voltage signal is transmitted to an industrial control computer interface to conduct a second voltage signal circuit, and after the second voltage signal circuit is determined to be conducted, a third voltage signal is transmitted to a motor interface. The controller controls the power supply module and the switch power supply module to output voltages required by different power supply interfaces of the mobile robot, the integration level of a power supply distribution device of the mobile robot is improved by reducing the assembly of a wire harness, and the safety sensor is arranged to improve the safety of power supply distribution work of the mobile robot.
Description
Technical Field
The present invention relates to the field of robots, and in particular, to a power distribution apparatus and a power distribution method for a mobile robot, a robot, and a medium.
Background
Mobile robots have become an attractive new technological trend in smart manufacturing. In the related art, the mobile robot mainly uses different switching power supply modules, such as 48V,24V,12V and the like, and is connected to a charging wire and then distributed to different electrical appliances through a wiring terminal, so that the situations of a plurality of modules, a plurality of devices and various wirings exist, the integration level is low, and the installation and debugging process is complex. Unnecessary material waste and labor waste are caused by excessive wire harnesses, various power faults are easily caused by short circuit or open circuit caused by wiring errors in the maintenance process, and potential safety hazards are brought.
Disclosure of Invention
The following is a summary of the subject matter described in detail herein. This summary is not intended to limit the scope of the claims.
The present invention is directed to solving at least one of the problems of the prior art. Therefore, the embodiment of the invention provides a power distribution device, a power distribution method, a robot and a medium of a mobile robot, which are beneficial to solving the problem of low integration level caused by power supply of the power distribution device of the mobile robot through a plurality of switching power supply modules. The controller controls the power supply module and the switch power supply module to output voltages required by different power supply interfaces of the robot, so that the assembly of the wiring harness is reduced, the energy consumption loss of the power supply distribution device of the mobile robot is reduced, and the safety of the power supply distribution device of the mobile robot is improved.
In a first aspect, an embodiment of the present invention provides a power distribution apparatus for a mobile robot, including:
the external breaking control module is used for controlling the switch of the power distribution device;
the switching power supply module is used for converting direct-current voltage;
the power supply module comprises a first power supply battery and a second power supply battery, wherein the first power supply battery is used for providing a third voltage signal, and the second power supply battery is used for providing a second voltage signal; the third voltage signal is subjected to voltage reduction by the switching power supply module and then outputs a first voltage signal;
the safety sensor is used for judging the ambient environment condition of the mobile robot after receiving the first voltage signal;
the box body comprises a first power connection interface, a second power connection interface, a first power supply interface and a second power supply interface, wherein the first power connection interface is an access interface of the first power supply battery, and the second power connection interface is an access interface of the second power supply battery; the first power supply interface comprises an industrial control computer interface, and the second power supply interface comprises a motor interface;
the controller is used for receiving trigger information of an external breaking control module, transmitting the first voltage signal to the safety sensor according to the trigger information of the external breaking control module, transmitting the second voltage signal to the industrial control computer interface to conduct a second voltage signal circuit when the safety sensor determines that no obstacle exists in the surrounding environment condition of the mobile robot, and transmitting the third voltage signal to the motor interface after determining that the second voltage signal circuit is conducted.
The technical scheme of the first aspect of the invention has at least one of the following advantages or beneficial effects: the controller controls the power supply module and the switch power supply module to output voltages suitable for different power supply interfaces of the mobile robot, so that the assembly of a wire harness is reduced, the integration level of the power supply distribution device of the mobile robot is improved, and the energy consumption loss of the power supply distribution device of the mobile robot can be reduced; the safety of the power distribution work of the mobile robot is improved by arranging the safety sensor.
And further, the system also comprises a UPS unit, and a power supply interface of the UPS unit is connected with the industrial control computer interface to provide a second voltage signal.
Further, the motor interface comprises a motor driver power supply interface and a mechanical arm power supply interface.
And the system further comprises a third power supply interface, wherein the third power supply interface comprises a domain controller power supply interface, a router power supply interface, a switch power supply interface and an external interrupt control power supply interface.
Further, the UPS unit further comprises a power distribution control panel bus bar, wherein the power distribution control panel bus bar comprises a positive bus bar and a negative bus bar, the positive bus bar comprises a +48V port, a +24V port and a +12V port, the +48V port is connected with the positive electrode of the third power supply interface, the +24V port is connected with the positive electrode of the first power supply interface, and the +12V port is connected with the second power supply interface and the positive electrode of the UPS unit; the negative bus bar comprises a-48V port, a-24V port and a-12V port, the-48V port is connected with the negative electrode of the third power supply interface, the-24V port is connected with the negative electrode of the first power supply interface, and the-12V port is connected with the second power supply interface and the negative electrode of the UPS unit.
The power distribution device further comprises a fuse, wherein the fuse is a direct current fuse, and the direct current fuse is used for performing overcurrent protection on the power distribution device.
In a second aspect, an embodiment of the present invention further provides a power distribution method for a mobile robot, which is applied to a power distribution apparatus for a mobile robot, where the power distribution apparatus for a mobile robot includes: the external breaking control module is used for controlling the switches of the power distribution device; the switching power supply module is used for converting direct-current voltage; the power supply module comprises a first power supply battery and a second power supply battery, wherein the first power supply battery is used for providing a third voltage signal, and the second power supply battery is used for providing a second voltage signal; the third voltage signal is subjected to voltage reduction by the switching power supply module and then outputs a first voltage signal; the safety sensor is used for judging the ambient environment condition of the mobile robot after receiving the first voltage signal; the box body comprises a first power connection interface, a second power connection interface, a first power supply interface and a second power supply interface, wherein the first power connection interface is an access interface of the first power supply battery, and the second power connection interface is an access interface of the second power supply battery; the first power supply interface comprises an industrial control computer interface, and the second power supply interface comprises a motor interface; the controller is used for receiving trigger information of an external breaking control module, transmitting the first voltage signal to the safety sensor according to the trigger information of the external breaking control module, transmitting the second voltage signal to the industrial control computer interface to conduct a second voltage signal circuit when the safety sensor determines that no obstacle exists in the surrounding environment condition of the mobile robot, and transmitting the third voltage signal to the motor interface after determining that the second voltage signal circuit is conducted. The power distribution method comprises the following steps:
receiving trigger information of an external breaking control module;
transmitting the first voltage signal to the safety sensor according to the trigger information of the external breaking control module;
when the safety sensor determines that no obstacle exists in the surrounding environment condition of the mobile robot, the second voltage signal is transmitted to the industrial control computer interface to conduct a second voltage signal circuit;
and after the second voltage signal circuit is determined to be conducted, transmitting the third voltage signal to the motor interface.
The technical scheme of the second aspect of the invention has at least one of the following advantages or beneficial effects: the controller receives external trigger information to control the power distribution device of the mobile robot to output voltages suitable for different power supply interfaces of the mobile robot, and the safety sensor is arranged to judge the surrounding environment of the mobile robot, so that the safety of power distribution work of the mobile robot is improved.
Further, when the safety sensor determines that the surrounding environment condition of the mobile robot has an obstacle, the mobile robot is controlled to stop working.
In a third aspect, an embodiment of the present invention provides a mobile robot, including the power distribution apparatus for a mobile robot according to the above-mentioned first aspect.
In a fourth aspect, an embodiment of the present invention provides a computer-readable storage medium, which stores computer-executable instructions for executing the power distribution method for a mobile robot according to the second aspect.
Drawings
Fig. 1 is a schematic structural diagram of a power distribution apparatus for a first mobile robot according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of a power distribution apparatus of a second mobile robot according to an embodiment of the present invention;
fig. 3 is a schematic structural diagram of a power distribution apparatus of a third mobile robot according to an embodiment of the present invention;
FIG. 4 is a voltage distribution diagram of the power distribution control board buss bar of FIG. 3;
FIG. 5 is a diagram of the connection of the UPS unit of FIG. 3;
fig. 6 illustrates a power distribution method for a mobile robot according to an embodiment of the present invention;
fig. 7 illustrates another power distribution method for a mobile robot according to an embodiment of the present invention;
fig. 8 is a schematic diagram of a hardware structure of a controller according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
In the description of the present invention, a plurality means two or more. If the first and second are described for the purpose of distinguishing technical features, they are not to be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated or implicitly indicating the precedence of the technical features indicated.
Mobile robots have become an attractive new technological trend in smart manufacturing. In the related art, the mobile robot mainly uses different switching power supply modules, such as 48V,24V,12V and the like, and is connected to a charging wire and then distributed to different electrical appliances through a wiring terminal, so that the situations of a plurality of modules, a plurality of devices and various wirings exist, the integration level is low, and the installation and debugging process is complex. Unnecessary material waste and labor waste are caused by excessive wire harnesses, various power faults are easily caused by short circuit or open circuit caused by wiring errors in the maintenance process, and potential safety hazards are brought.
Therefore, the embodiment of the invention provides a power distribution device, a power distribution method, a robot and a medium of a mobile robot, which are beneficial to solving the problem of low integration level caused by power supply of the power distribution device of the mobile robot through a plurality of switching power supply modules. According to the power distribution device of the mobile robot, the controller controls the power supply module and the switch power supply module to output voltages suitable for different power supply interfaces of the robot, so that the assembly of a wiring harness is reduced, the energy consumption loss of the power distribution device of the mobile robot is reduced, and meanwhile, the safety of the power distribution device of the mobile robot is improved.
Referring to fig. 1 and 2, the power distribution apparatus of the mobile robot includes an external breaking control module, a switching power module, a power supply module, a safety sensor, and a case 1000; the external breaking control module is used for controlling a switch of the power distribution device, the switching power supply module is used for direct-current voltage conversion, and the power supply module comprises a first power supply battery and a second power supply battery, wherein the first power supply battery is used for providing a third voltage signal, and the second power supply battery is used for providing a second voltage signal; the third voltage signal is reduced by the switching power supply module and then outputs a first voltage signal, and the safety sensor is used for receiving the first voltage signal and then judging the surrounding environment condition of the mobile robot. The box body 1000 comprises a first power connection interface 100 and a second power connection interface 200; the first power connection interface 100 is an access interface of a first power supply battery, and the second power connection interface 200 is an access interface of a second power supply battery; the industrial control system further comprises a first power supply interface 300, a second power supply interface 400 and a third power supply interface 500, wherein the first power supply interface 300 comprises an industrial control computer interface, the second power supply interface 400 comprises a motor interface, and the motor interface comprises a motor driver power supply interface 410 and a mechanical arm power supply interface 420; the third power interface 500 includes a domain controller power interface 510, a router power interface 520, a switch power interface 530, and an external interrupt control power interface 540.
The power distribution device of the mobile robot further comprises a controller, wherein the controller is used for receiving the trigger information of the external breaking control module, transmitting the first voltage signal to the safety sensor according to the trigger information of the external breaking control module, transmitting the second voltage signal to the industrial control computer interface to conduct the second voltage signal circuit when the safety sensor determines that no obstacle exists in the surrounding environment condition of the mobile robot, and transmitting the third voltage signal to the motor interface 400 to start the mobile robot after determining that the second voltage signal circuit is conducted. The first voltage signal is 24V, the second voltage signal is 12V, and the third voltage signal is 48V.
The controller controls the power supply module and the switch power supply module to output voltages required by different power supply interfaces of the mobile robot, so that the assembly of a wire harness is reduced, the integration level of the power distribution device of the mobile robot is improved, and the energy consumption loss during the distribution of the power distribution device of the mobile robot can be reduced; the safety sensor is arranged to judge the environment around the mobile robot, and power distribution can be performed only when the safety sensor confirms that the surrounding environment is free of obstacles, so that the safety of power distribution work of the mobile robot is improved.
It should be noted that, in the embodiment of the present invention, the first voltage signal, the second voltage signal, and the third voltage signal may be set according to actual requirements, and the size of the first voltage signal, the second voltage signal, and the third voltage signal is not limited in the embodiment of the present invention.
Referring to fig. 3 and 4, fig. 3 is a diagram of another power distribution device for a mobile robot according to an embodiment of the present invention, further including a power distribution control board bus, a UPS unit, and a fuse. The power distribution control board bus bar comprises a positive bus bar and a negative bus bar, wherein the positive bus bar comprises a +48V port, a +24V port and a +12V port, the +48 port is connected with the positive electrode of the third power supply interface 500, the +24V port is connected with the positive electrode of the first power supply interface 300, and the +12V port is connected with the positive electrode of the second power supply interface 400 and the UPS unit; the negative buss bar includes-48V port, -24V port, -12V port, -48 port and negative connection of the third power interface 500, -24V port and negative connection of the first power interface 300, -12V port and negative connection of the second power interface 400, UPS unit. The first power supply interface 300, the second power supply interface 400, the third power supply interface 500 and the anode and the cathode of the UPS unit are collected into a whole through the power distribution control board bus bar, which is beneficial to realizing the convenience of the power distribution device for distributing different voltages and improving the distribution efficiency of the power distribution device. The UPS unit is an uninterruptible power supply battery, the voltage signal output by the UPS unit is 12V, and the power supply interface of the UPS unit is connected with the industrial control computer interface in the first power supply interface 300 to provide a 12V voltage signal. The fuse is a direct current fuse and is used for performing overcurrent protection on the power distribution device, and when the current of the power distribution device changes suddenly, the fuse can effectively prevent the power distribution device from being damaged.
It should be noted that the number of fuses in the embodiment of the present invention may be set according to actual needs, and the number of fuses in the embodiment of the present invention is not limited.
Referring to fig. 5, fig. 5 is a connection relationship diagram of the UPS unit in fig. 3, wherein an interface anode of the UPS unit is connected to an interface anode of the second power supply battery, an interface cathode of the UPS unit is connected to an interface cathode of the second power supply battery, an interface anode of the UPS unit is connected to a +12V port of the power distribution control board bus, an interface cathode of the UPS unit is connected to a-12V port of the power distribution control board bus, and when the UPS unit detects that the +12V port of the power distribution control board bus does not output a 12V voltage signal, the UPS unit transmits a 12V voltage signal to the +12V port of the power distribution control board bus to continuously provide a 12V voltage signal to the mobile robot.
Referring to fig. 6, fig. 6 is a power distribution method for a mobile robot according to an embodiment of the present invention, including steps S100, S200, S300, and S400, where S100 includes: receiving trigger information of an external breaking control module; s200 comprises the following steps: transmitting the first voltage signal to a safety sensor according to the trigger information of the external breaking control module; s300 comprises the following steps: when the situation that no obstacle exists in the surrounding environment of the mobile robot is determined through the safety sensor, the second voltage signal is transmitted to the industrial control computer interface to conduct the second voltage signal circuit; s300 comprises the following steps: and after the second voltage signal circuit is determined to be conducted, transmitting a third voltage signal to the motor interface.
The controller receives external trigger information to control the power distribution device of the mobile robot to output voltages required by different power supply interfaces of the mobile robot, the safety sensor is arranged to judge the surrounding environment of the mobile robot, and when the safety sensor determines that the surrounding environment of the mobile robot is free of obstacles, power distribution is performed, so that the safety of power distribution work of the mobile robot is improved.
Referring to fig. 7, fig. 7 is a power distribution method for another mobile robot according to an embodiment of the present invention, including steps S500, S600, S700, and S800, where S500 includes: receiving trigger information of an external breaking control module; s600 comprises the following steps: transmitting the first voltage signal to a safety sensor according to the trigger information of the external breaking control module; s700 includes: when it is determined by the safety sensor that there is an obstacle in the surrounding environment of the mobile robot, S800 includes: and controlling the mobile robot to stop working.
The controller controls the power distribution device of the mobile robot to output a first voltage signal to the safety sensor to judge the surrounding environment of the mobile robot, and when the safety sensor confirms that the surrounding environment of the mobile robot has obstacles, the mobile robot is controlled to stop working, so that the safety of power distribution work of the mobile robot is improved.
Referring to fig. 8, fig. 8 is a schematic diagram of a hardware structure of a controller according to an embodiment of the present invention, where the controller includes a processor, and the processor may be implemented by using a general-purpose CPU (central processing unit), a microprocessor, an Application Specific Integrated Circuit (ASIC), or one or more integrated circuits, and is used to execute a relevant program to implement the power distribution method of the mobile robot according to the embodiment of the present invention; the memory may be implemented in the form of a Read Only Memory (ROM), a static storage device, a dynamic storage device, or a Random Access Memory (RAM). The memory can store an operating device and other application programs, and when the technical solution provided by the embodiments of the present disclosure is implemented by software or firmware, the relevant program codes are stored in the memory and called by the processor to execute the embodiments of the present disclosure; the input/output interface is used for realizing information input and output; the communication interface is used for realizing communication interaction between the equipment and other equipment, and can realize communication in a wired mode (such as USB, network cable and the like) and also can realize communication in a wireless mode (such as mobile network, WIFI, bluetooth and the like); a bus that transfers information between various components of the device (e.g., processor, memory, input/output interfaces, and communication interfaces); wherein the processor, the memory, the input/output interface and the communication interface are communicatively connected to each other within the device by a bus.
The embodiment of the invention also provides a mobile robot, which comprises the power distribution device of the mobile robot, wherein the controller controls the power supply module and the switch power supply module to output voltages required by different power supply interfaces of the mobile robot, so that the assembly of a wiring harness is reduced, the integration level of the power distribution device of the mobile robot is improved, and the energy consumption loss during the distribution of the power distribution device of the mobile robot can be reduced; the safety sensor is arranged to judge the environment around the mobile robot, and power distribution can be performed when the safety sensor confirms that no obstacle exists in the surrounding environment, so that the safety of power distribution work of the mobile robot is improved. In addition, when the UPS unit detects that the +12V port of the power distribution control panel bus bar does not output the 12V voltage signal, the UPS unit transmits the 12V voltage signal to the +12V port of the power distribution control panel bus bar so as to continuously provide the 12V voltage signal for the mobile robot, and the UPS unit ensures the continuity of the power distribution work of the power distribution device of the mobile robot and improves the efficiency of the power distribution work of the power distribution device.
An embodiment of the present invention further provides a storage medium, which is a computer-readable storage medium, and the storage medium stores a computer program, and the computer program, when executed by a processor, implements a flowchart memory of the power distribution method for a mobile robot as a non-transitory computer-readable storage medium, which may be used to store a non-transitory software program and a non-transitory computer-executable program. Further, the memory may include high speed random access memory, and may also include non-transitory memory, such as at least one disk storage device, flash memory device, or other non-transitory solid state storage device. In some embodiments, the memory optionally includes memory located remotely from the processor, and these remote memories may be connected to the processor through a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The preferred embodiments of the present invention have been described above with reference to the accompanying drawings, and are not intended to limit the scope of the embodiments of the invention. Any modifications, equivalents and improvements that may occur to those skilled in the art without departing from the scope and spirit of the embodiments of the present invention are intended to be within the scope of the claims of the embodiments of the present invention.
Claims (10)
1. A power distribution apparatus for a mobile robot, comprising:
the external breaking control module is used for controlling the switch of the power distribution device;
the switching power supply module is used for converting direct-current voltage;
the power supply module comprises a first power supply battery and a second power supply battery, wherein the first power supply battery is used for providing a third voltage signal, and the second power supply battery is used for providing a second voltage signal; the third voltage signal is subjected to voltage reduction by the switching power supply module and then outputs a first voltage signal;
the safety sensor is used for judging the ambient environment condition of the mobile robot after receiving the first voltage signal;
the box body comprises a first power connection interface, a second power connection interface, a first power supply interface and a second power supply interface, wherein the first power connection interface is an access interface of the first power supply battery, and the second power connection interface is an access interface of the second power supply battery; the first power supply interface comprises an industrial control computer interface, and the second power supply interface comprises a motor interface;
the controller is used for receiving trigger information of an external breaking control module, transmitting the first voltage signal to the safety sensor according to the trigger information of the external breaking control module, transmitting the second voltage signal to the industrial control computer interface to conduct a second voltage signal circuit when the safety sensor determines that no obstacle exists in the surrounding environment condition of the mobile robot, and transmitting the third voltage signal to the motor interface after determining that the second voltage signal circuit is conducted.
2. The power distribution apparatus of claim 1, further comprising a UPS unit, wherein a power supply interface of the UPS unit interfaces with the industrial control computer to provide a second voltage signal.
3. The power distribution apparatus for a mobile robot according to claim 1, wherein the motor interface comprises a motor driver power interface and a robot arm power interface.
4. The power distribution apparatus of claim 2, further comprising a third power supply interface, wherein the third power supply interface comprises a domain controller power supply interface, a router power supply interface, a switch power supply interface, and an external interrupt control power supply interface.
5. The power distribution apparatus of a mobile robot according to claim 4, further comprising a power distribution control board bus bar including a positive bus bar and a negative bus bar, the positive bus bar including a +48V port, a +24V port, and a +12V port, the +48V port being connected to a positive electrode of the third power supply interface, the +24V port being connected to a positive electrode of the first power supply interface, and the +12V port being connected to a positive electrode of the second power supply interface and the UPS unit; the negative bus bar comprises a-48V port, a-24V port and a-12V port, the-48V port is connected with the negative electrode of the third power supply interface, the-24V port is connected with the negative electrode of the first power supply interface, and the-12V port is connected with the second power supply interface and the negative electrode of the UPS unit.
6. The power distribution apparatus of a mobile robot according to claim 1, further comprising a fuse, wherein the fuse is a dc fuse, and the dc fuse is used for overcurrent protection of the power distribution apparatus.
7. The power distribution method of the mobile robot is characterized by being applied to a power distribution device of the mobile robot, wherein the power distribution device of the mobile robot comprises an external breaking control module used for controlling a switch of the power distribution device; the switching power supply module is used for converting direct-current voltage; the power supply module comprises a first power supply battery and a second power supply battery, wherein the first power supply battery is used for providing a third voltage signal, and the second power supply battery is used for providing a second voltage signal; the third voltage signal is subjected to voltage reduction by the switching power supply module and then outputs a first voltage signal; the safety sensor is used for judging the ambient environment condition of the mobile robot after receiving the first voltage signal; the box body comprises a first power connection interface, a second power connection interface, a first power supply interface and a second power supply interface, wherein the first power connection interface is an access interface of the first power supply battery, and the second power connection interface is an access interface of the second power supply battery; the first power supply interface comprises an industrial control computer interface, and the second power supply interface comprises a motor interface;
the power distribution method of the mobile robot comprises the following steps:
receiving trigger information of an external breaking control module;
transmitting the first voltage signal to the safety sensor according to the trigger information of the external breaking control module;
when the safety sensor determines that no obstacle exists in the surrounding environment condition of the mobile robot, the second voltage signal is transmitted to the industrial control computer interface to conduct a second voltage signal circuit;
and after the second voltage signal circuit is determined to be conducted, transmitting the third voltage signal to the motor interface.
8. The power distribution method for a mobile robot according to claim 7, further comprising:
and when the safety sensor determines that the surrounding environment condition of the mobile robot has an obstacle, controlling the mobile robot to stop working.
9. A mobile robot, characterized in that: a power distribution apparatus including the mobile robot as claimed in any one of claims 1 to 6.
10. A computer-readable storage medium characterized by: stored are computer-executable instructions for performing the power distribution method of a mobile robot according to any of claims 7 to 8.
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