CN115864605B - Power supply distribution device and distribution method for mobile robot, robot and medium - Google Patents
Power supply distribution device and distribution method for mobile robot, robot and medium Download PDFInfo
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- CN115864605B CN115864605B CN202310077782.8A CN202310077782A CN115864605B CN 115864605 B CN115864605 B CN 115864605B CN 202310077782 A CN202310077782 A CN 202310077782A CN 115864605 B CN115864605 B CN 115864605B
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Abstract
The present invention relates to the field of robots, and in particular, 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 triggering information of the external breaking control module and transmits a first voltage signal to the safety sensor, when the safety sensor determines that the surrounding environment condition of the mobile robot is free of obstacles, a 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 switching power supply module to output the voltage required by different power supply interfaces of the mobile robot, the wire harness assembly is reduced, the integration level of the power supply distribution device of the mobile robot is improved, and the safety sensor is arranged, so that the safety of the power supply distribution work of the mobile robot is improved.
Description
Technical Field
The present invention relates to the field of robots, and in particular, to a power distribution device, a power distribution method, a robot, and a medium for a mobile robot.
Background
Mobile robots have become an attractive new technology trend in intelligent manufacturing. In the related art, a mobile robot mainly uses different switching power supply modules, such as 48V,24V,12V and the like, is connected with a charging wire and then distributed to different electric appliances through a wiring terminal, and has the conditions of a plurality of modules, a plurality of devices and a plurality of wiring, so that the integration level is low and the installation and debugging processes are complex. Excessive wire harnesses can cause unnecessary material waste and manual waste, various power failures 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 aims to solve at least one of the technical problems existing in the prior art. Therefore, the embodiment of the invention provides a power distribution device, a 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 switch power supply modules. The power supply module and the switching power supply module are controlled by the controller to output voltages required by different power supply interfaces of the robot, so that the energy consumption loss of the power supply distribution device of the mobile robot is reduced due to the fact that wire harness assembly is reduced, and meanwhile, 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 reduced by the switching power supply module and then outputs a first voltage signal;
the safety sensor is used for judging the surrounding environment condition of the mobile robot after receiving the first voltage signal;
the box body comprises a first electric connection interface, a second electric connection interface, a first power supply interface and a second power supply interface, wherein the first electric connection interface is an access interface of the first power supply battery, and the second electric 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;
and the controller is used for receiving the triggering information of the external breaking control module, transmitting the first voltage signal to the safety sensor according to the triggering information of the external breaking control module, and transmitting the second voltage signal to the industrial control computer interface to conduct the second voltage signal circuit when the safety sensor determines that the surrounding environment condition of the mobile robot is free of obstacles, and transmitting the third voltage signal to the motor interface after 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 switching power supply module to output voltages required by different power supply interfaces of the mobile robot, so that the assembly of wire harnesses is reduced, the integration level of a 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.
Further, the 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.
Further, the system also 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 breaking control power supply interface.
The power distribution control board bus comprises a positive bus and a negative bus, wherein the positive bus 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 positive electrode of the second power supply interface and the positive electrode of the UPS unit; the negative bus comprises a-48V port, a-24V port and a-12V port, wherein the-48 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.
Further, 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 of a mobile robot, which is applied to a power distribution device of the mobile robot, where the power distribution device of the mobile robot includes: 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 reduced by the switching power supply module and then outputs a first voltage signal; the safety sensor is used for judging the surrounding environment condition of the mobile robot after receiving the first voltage signal; the box body comprises a first electric connection interface, a second electric connection interface, a first power supply interface and a second power supply interface, wherein the first electric connection interface is an access interface of the first power supply battery, and the second electric 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; and the controller is used for receiving the triggering information of the external breaking control module, transmitting the first voltage signal to the safety sensor according to the triggering information of the external breaking control module, and transmitting the second voltage signal to the industrial control computer interface to conduct the second voltage signal circuit when the safety sensor determines that the surrounding environment condition of the mobile robot is free of obstacles, and transmitting the third voltage signal to the motor interface after the second voltage signal circuit is conducted. The power supply distribution method comprises the following steps:
receiving triggering information of an external breaking control module;
transmitting the first voltage signal to the safety sensor according to the triggering information of the external breaking control module;
when the safety sensor determines that the surrounding environment of the mobile robot is free of obstacles, 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, the third voltage signal is transmitted 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 required by 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 a power distribution device of the mobile robot according to the foregoing first aspect.
In a fourth aspect, an embodiment of the present invention provides a computer readable storage medium, where computer executable instructions are stored, where the computer executable instructions are configured to execute the power distribution method of the mobile robot according to the second aspect of the present invention.
Drawings
Fig. 1 is a schematic structural diagram of a power distribution apparatus of 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 bus of FIG. 3;
FIG. 5 is a diagram illustrating the connection of the UPS units of FIG. 3;
fig. 6 is a power distribution method of a mobile robot according to an embodiment of the present invention;
fig. 7 is a schematic diagram of another power distribution method of a mobile robot according to an embodiment of the present invention;
fig. 8 is a schematic hardware structure of a controller according to an embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present invention more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
In the description of the present invention, plural means two or more. The description of the first and second is for the purpose of distinguishing between technical features only and should not be construed 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 technology trend in intelligent manufacturing. In the related art, a mobile robot mainly uses different switching power supply modules, such as 48V,24V,12V and the like, is connected with a charging wire and then distributed to different electric appliances through a wiring terminal, and has the conditions of a plurality of modules, a plurality of devices and a plurality of wiring, so that the integration level is low and the installation and debugging processes are complex. Excessive wire harnesses can cause unnecessary material waste and manual waste, various power failures 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 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 switch power supply modules. The power supply module and the switching power supply module are controlled by the controller to output voltages required by different power supply interfaces of the robot, so that the energy consumption loss of the power supply distribution device of the mobile robot is reduced due to the fact that wire harness assembly is reduced, and meanwhile, the safety of the power supply distribution device of the mobile robot is improved.
Referring to fig. 1 and 2, a power distribution apparatus of a 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 converting direct-current voltage, 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 judging the surrounding environment condition of the mobile robot after receiving the first voltage signal. The box 1000 includes a first electrical interface 100, a second electrical interface 200; the first electrical interface 100 is an access interface of a first power supply battery, and the second electrical interface 200 is an access interface of a second power supply battery; the power supply 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 supply interface 500 includes a domain controller power supply interface 510, a router power supply interface 520, a switch power supply interface 530, and an external break control power supply interface 540.
The power distribution device of the mobile robot further comprises a controller, the controller is used for receiving the triggering information of the external breaking control module, transmitting the first voltage signal to the safety sensor according to the triggering information of the external breaking control module, and transmitting the second voltage signal to the industrial control computer interface to conduct the second voltage signal circuit when the safety sensor determines that the surrounding environment condition of the mobile robot is free of any obstacle, and transmitting the third voltage signal to the motor interface 400 to start the mobile robot after 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 power supply module and the switching power supply module are controlled by the controller to output voltages required by different power supply interfaces of the mobile robot, so that the assembly of wire harnesses is reduced, the integration level of a power supply distribution device of the mobile robot is improved, and the energy consumption loss during distribution of the power supply distribution device of the mobile robot can be reduced; the safety sensor is arranged to judge the surrounding environment of the mobile robot, and the power distribution can be carried out when the safety sensor confirms that the surrounding environment is free of obstacles, so that the safety of the 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 situations, 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 schematic diagram illustrating another power distribution device for a mobile robot according to an embodiment of the present invention, and further includes a power distribution control board bus, a UPS unit, and a fuse. The power distribution control board bus comprises a positive bus and a negative bus, wherein the positive bus 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 second power supply interface 400 and the positive electrode of the UPS unit; the negative bus comprises a negative connection of-48V port, -24V port, -12V port, -48 port and third power supply interface 500, -24V port and negative connection of first power supply interface 300, -12V port and second power supply interface 400, negative connection of UPS unit. The first power supply interface 300, the second power supply interface 400, the third power supply interface 500 and the positive electrode and the negative electrode of the UPS unit are integrated through the power distribution control board bus, so that convenience in different voltage distribution of the power distribution device is realized, and the distribution efficiency of the power distribution device is improved. 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 to 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 the fuse is used for carrying out overcurrent protection on the power distribution device, and when the current of the power distribution device is suddenly changed, the fuse can effectively prevent the damage of the power distribution device.
It should be noted that, in the embodiment of the present invention, the number of fuses may be set according to the actual situation, and the embodiment of the present invention does not limit the number of fuses.
Referring to fig. 5, fig. 5 is a connection relationship diagram of the UPS unit in fig. 3, where an interface positive electrode of the UPS unit is connected to an interface positive electrode of the second power supply battery, an interface negative electrode of the UPS unit is connected to an interface negative electrode of the second power supply battery, an interface positive electrode of the UPS unit is connected to a +12v port of the power distribution control board bus, and an interface negative electrode of the UPS unit is connected to a-12v port of the power distribution control board bus.
Referring to fig. 6, fig. 6 is a power distribution method of a mobile robot according to an embodiment of the present invention, including steps S100, S200, S300, and S400, where S100 includes: receiving triggering information of an external breaking control module; s200 includes: transmitting a first voltage signal to a safety sensor according to trigger information of an external breaking control module; s300 includes: when the safety sensor determines that the surrounding environment of the mobile robot is free of obstacles, the second voltage signal is transmitted to the industrial control computer interface to conduct the second voltage signal circuit; s300 includes: 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 schematic diagram of another power distribution method of a mobile robot according to an embodiment of the present invention, including steps S500, S600, S700, and S800, wherein S500 includes: receiving triggering information of an external breaking control module; s600 includes: transmitting a first voltage signal to a safety sensor according to trigger information of an external breaking control module; s700 includes: when it is determined that the surrounding environment of the mobile robot is obstructed by the safety sensor, S800 includes: and controlling the mobile robot to stop working.
The power distribution device of the mobile robot is controlled by the controller 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 an obstacle, the mobile robot is controlled to stop working, so that the safety of the 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, including a processor, which may be implemented by using a general CPU (central processing unit), a microprocessor, an application specific integrated circuit (ApplicationSpecificIntegratedCircuit, ASIC), or one or more integrated circuits, etc. to execute related programs, so as to implement a power distribution method of a mobile robot according to an embodiment of the present invention; the memory may be implemented in the form of read-only memory (ReadOnlyMemory, ROM), static storage, dynamic storage, or random access memory (RandomAccessMemory, RAM). The memory may store operating devices and other application programs, and when the technical solutions provided in the embodiments of the present specification are implemented by software or firmware, relevant program codes are stored in the memory, and the processor invokes the program codes to execute the embodiments of the present invention; the input/output interface is used for realizing information input and output; the communication interface is used for realizing communication interaction between the device and other devices, and can realize communication in a wired mode (such as USB, network cable and the like) or in a wireless mode (such as mobile network, WIFI, bluetooth and the like); a bus that transfers information between the 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 coupled to each other within the device via a bus.
The embodiment of the invention also provides a mobile robot, which comprises the power distribution device of the mobile robot, wherein the power supply module and the switch power supply module are controlled by the controller to output voltages required by different power supply interfaces of the mobile robot, so that the assembly of wire harnesses 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 surrounding environment of the mobile robot, and the power distribution can be carried out when the safety sensor confirms that the surrounding environment is free of obstacles, so that the safety of the 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 board bus does not output the 12V voltage signal, the UPS unit transmits the 12V voltage signal to the +12V port of the power distribution control board bus to continuously provide the 12V voltage signal for the mobile robot, the UPS unit ensures the continuity of the power distribution work of the power distribution device of the mobile robot, and meanwhile, the efficiency of the power distribution work of the power distribution device is improved.
The embodiment of the invention also provides a storage medium, which is a computer readable storage medium, wherein the storage medium stores a computer program, and the flowchart memory for realizing the power distribution method of the mobile robot when the computer program is executed by a processor is used as a non-transient computer readable storage medium and can be used for storing a non-transient software program and a non-transient computer executable program. In addition, the memory may include high-speed random access memory, and may also include non-transitory memory, such as at least one magnetic disk storage device, flash memory device, or other non-transitory solid state storage device. In some embodiments, the memory optionally includes memory remotely located relative to the processor, the remote memory being connectable 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 thereby limiting the scope of the claims of the embodiments of the present invention. Any modifications, equivalent substitutions and improvements made by those skilled in the art without departing from the scope and spirit of the embodiments of the present invention shall fall within the scope of the claims of the embodiments of the present invention.
Claims (10)
1. A power distribution apparatus of 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 reduced by the switching power supply module and then outputs a first voltage signal;
the safety sensor is used for judging the surrounding environment condition of the mobile robot after receiving the first voltage signal;
the box body comprises a first electric connection interface, a second electric connection interface, a first power supply interface and a second power supply interface, wherein the first electric connection interface is an access interface of the first power supply battery, and the second electric 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;
and the controller is used for receiving the triggering information of the external breaking control module, transmitting the first voltage signal to the safety sensor according to the triggering information of the external breaking control module, and transmitting the second voltage signal to the industrial control computer interface to conduct the second voltage signal circuit when the safety sensor determines that the surrounding environment condition of the mobile robot is free of obstacles, and transmitting the third voltage signal to the motor interface after the second voltage signal circuit is conducted.
2. The power distribution apparatus of a mobile robot of claim 1, further comprising a UPS unit, a power supply interface of the UPS unit and the industrial control computer interface being connected to provide a second voltage signal.
3. The power distribution apparatus of a mobile robot of claim 1, wherein the motor interface comprises a motor driver power interface and a robotic arm power interface.
4. The power distribution apparatus of a mobile robot of claim 2, further comprising a third power interface including a domain controller power interface, a router power interface, a switch power interface, an external break control power interface.
5. The power distribution apparatus of the mobile robot of claim 4, further comprising a power distribution control board bus including a positive bus and a negative bus, the positive bus including a +48V port, +24V port, +12v port, the +48V port being connected to a positive pole of the second power supply interface, the +24V port being connected to a positive pole of the third power supply interface, the +12v port being connected to a positive pole of the first power supply interface, the UPS unit; the negative bus comprises a-48V port, a-24V port and a-12V port, wherein the-48V port is connected with the negative electrode of the second power supply interface, the-24V port is connected with the negative electrode of the third power supply interface, and the-12V port is connected with the negative electrodes of the first power supply interface and the UPS unit.
6. The power distribution apparatus of a mobile robot of claim 1, further comprising a fuse, the fuse being a dc fuse for over-current 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 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 reduced by the switching power supply module and then outputs a first voltage signal; the safety sensor is used for judging the surrounding environment condition of the mobile robot after receiving the first voltage signal; the box body comprises a first electric connection interface, a second electric connection interface, a first power supply interface and a second power supply interface, wherein the first electric connection interface is an access interface of the first power supply battery, and the second electric 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 supply distribution method of the mobile robot comprises the following steps:
receiving triggering information of an external breaking control module;
transmitting the first voltage signal to the safety sensor according to the triggering information of the external breaking control module;
when the safety sensor determines that the surrounding environment of the mobile robot is free of obstacles, 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, the third voltage signal is transmitted to the motor interface.
8. The power distribution method of 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 by: power distribution apparatus comprising a mobile robot according to any one of claims 1 to 6.
10. A computer-readable storage medium, characterized by: computer executable instructions for performing the power distribution method of a mobile robot according to any one of claims 7 to 8 are stored.
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| CN105391273B (en) * | 2015-12-15 | 2018-08-07 | 广州御银自动柜员机科技有限公司 | A kind of power-supply controller of electric of counter equipment |
| CN107894774A (en) * | 2017-12-15 | 2018-04-10 | 北斗时空物联网（北京）股份有限公司 | A kind of robot management system and its control method |
| CN108092405A (en) * | 2017-12-29 | 2018-05-29 | 上海新时达机器人有限公司 | Electric power controller and robot control system |
| CN108347079A (en) * | 2018-03-19 | 2018-07-31 | 北京钢铁侠科技有限公司 | Power-supply controller of electric and robot with the power-supply controller of electric |
| CN110752580B (en) * | 2018-07-23 | 2021-06-01 | 中国科学院沈阳自动化研究所 | Connection box power supply system and method for submarine observation network |
| CN213094227U (en) * | 2020-09-17 | 2021-04-30 | 厦门佰马科技有限公司 | Edge intelligent gateway for power supply safety management |
| CN217143948U (en) * | 2022-02-10 | 2022-08-09 | 北京京东乾石科技有限公司 | Robot control device and robot |
| CN114879580A (en) * | 2022-06-13 | 2022-08-09 | 杭州云动智能汽车技术有限公司 | Integrated power distribution module of vehicle zone controller and power distribution implementation method thereof |
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