CN111077806B - Electric quantity management system for mobile robot - Google Patents
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Abstract
The invention discloses an electric quantity management system for a mobile robot, which comprises a data acquisition module, a data analysis module, a controller, a signal generation module, a behavior setting module, a lamp group, a warning device, an information collection module, a signal processing module and a display interconnection module, wherein the data acquisition module is used for acquiring electric quantity of the mobile robot; the data acquisition module is used for acquiring the use condition information of the action executed by the mobile robot in real time and transmitting the use condition information to the data analysis module; the invention combines the power consumption condition, the heating condition and the frequency condition of each action, obtains the calibrated energy consumption behavior of each grade according to the formula processing of progressive correction and weighting and the hierarchical comparison analysis, and allocates reasonable action time according to the setting of the startup time so as to avoid the over-fast electricity consumption and the influence on the service life of a battery, thereby greatly improving the accuracy of electricity consumption judgment of the mobile robot and the equalization degree of electricity use planning.
Description
Technical Field
The invention relates to the technical field of electric quantity management systems, in particular to an electric quantity management system for a mobile robot.
Background
The mobile robot is a mechanical device for automatically executing required work, and consists of an executing mechanism, a driving device, a detecting device, a control system and the like. The intelligent robot can receive human commands, run pre-programmed programs and perform actions according to principles formulated by artificial intelligence technology, and has the task of assisting or replacing human work, such as production, construction or dangerous industry work.
In the document with publication number CN109324540A, the battery module, the electric quantity detection module, the charging module, the network module, the navigation module and the mode conversion module in the robot body are only used to communicate with the charging station module and the terminal, so as to facilitate the remote control, observation and autonomous charging of the user, and to combine the system with the existing electric quantity management system for mobile robots; most of the existing methods are to carry out generalized judgment analysis on the electricity consumption condition of the mobile robot, but are difficult to combine the electricity consumption condition, the heating condition and the frequency condition of each action of the mobile robot, and carry out data processing on the combined condition, so that reasonable action time is distributed according to the combined condition, and the accuracy of electricity consumption judgment of the mobile robot and the equalization degree of electricity use planning are improved; the mobile robot is difficult to perform formula analysis on the charging time condition, the charging service condition and the electric quantity residual condition of the mobile robot at each time and make various targeted feedback measures so as to improve the standardization degree of battery charging and use;
in order to solve the above-mentioned drawbacks, a technical solution is now provided.
Disclosure of Invention
The invention aims to provide an electric quantity management system for a mobile robot, which combines the power consumption condition, the heating condition and the frequency condition of each action, obtains the calibrated energy consumption behavior of each level according to the formula processing of progressive correction and weighting step by step and the hierarchical comparison analysis, and distributes reasonable action time by setting the starting time according to the energy consumption behavior so as to avoid the conditions that the electric quantity is too fast consumed and the service life of a battery is influenced, thereby greatly improving the accuracy of electric quantity consumption judgment of the mobile robot and the equalization degree of electric quantity use planning; the invention also analyzes the charging time condition, the charging use condition and the electric quantity residual condition of the mobile robot together by a discretization and equalization formula to obtain the whole and each charging and discharging quantity condition, and obtains various edited text information and sends the text information through double differentiation calling and comparison processing so as to make targeted management measures and greatly improve the standardization degree of battery charging and use.
The technical problems to be solved by the invention are as follows:
(1) how to solve the problem that most of the prior methods are to carry out generalized judgment analysis on the electricity consumption condition of a mobile robot, but are difficult to combine the electricity consumption condition, the heating condition and the frequency condition of each action of the mobile robot, carry out data processing on the combined condition and the combined condition, and distribute reasonable action time according to the result so as to improve the accuracy of electricity consumption judgment of the mobile robot and the equalization degree of electricity use planning;
(2) how to solve the problem that the prior art is difficult to formulate and analyze the charging time condition, the charging service condition and the electric quantity residual condition of the mobile robot each time and make various targeted feedback measures to improve the standardization degree of the charging and the use of the battery according to an effective mode.
The purpose of the invention can be realized by the following technical scheme:
a power management system for a mobile robot comprises a data acquisition module, a data analysis module, a controller, a signal generation module, a behavior setting module, a lamp group, an alarm, an information collection module, a signal processing module and a display interconnection module;
the data acquisition module is used for acquiring the use condition information of the actions executed by the mobile robot in real time and transmitting the use condition information to the data analysis module, the behavior gestures corresponding to the executed actions are stored in an internal file library, and the behavior gestures corresponding to the executed actions are directly called when a first action needs to be executed;
the data analysis module analyzes the energy consumption use condition of the mobile robot according to the energy consumption use condition to obtain the use energy consumption Ci of each action executed by the mobile robot in the first time level, and transmits the use energy consumption Ci to the signal generation module through the controller;
the signal generation module respectively calibrates the maximum value, the minimum value and the average value of the using energy consumption Ci of each action executed by the mobile robot in the first time level received in real time into Cmax, Cmin and Cpj, and according to a formula
Obtaining a mean value judgment factor A and a mean value judgment factor B of actions executed by the mobile robot in a first time level, calibrating the action corresponding to Ci between Cmax and the mean value judgment factor A as a first-level energy consumption behavior, calibrating the action corresponding to Ci between the mean value judgment factors A and Cpj as a second-level energy consumption behavior, calibrating the action corresponding to Ci between Cpj and the mean value judgment factor B as a third-level energy consumption behavior, calibrating the action corresponding to Ci between the mean value judgment factor B and Cmin as a fourth-level energy consumption behavior, and transmitting the energy consumption behaviors to a behavior setting module;
the behavior setting module is used for acquiring the starting time of the mobile robot set by a user in real time, sequentially allocating 10%, 20%, 30% and 40% of total movement time of the starting time to the actions corresponding to the first-level energy consumption behavior, the second-level energy consumption behavior, the third-level energy consumption behavior and the fourth-level energy consumption behavior received in real time, namely allocating only 10% of the starting time to the total movement time of all the actions in the first-level energy consumption behavior, respectively controlling the red light, the yellow light, the blue light and the green light in the light set to be on when the total movement time exceeds the calibrated total movement time, controlling the alarm to give out alarm sound, namely combining the power consumption condition, the heating condition and the frequency condition of each action, processing according to a progressive modification and weighting formula, and comparing and analyzing in a hierarchical mode to obtain the calibrated energy consumption behavior of each level, the reasonable action time is distributed according to the setting of the starting time length, so that the electric quantity is prevented from being consumed too fast, the service life of a battery is prevented from being influenced, and the accuracy of electric quantity consumption judgment of the mobile robot and the equalization degree of electric quantity use planning are greatly improved;
the information collection module is used for collecting the charging and discharging condition information of the mobile robot in real time and transmitting the information to the data analysis module;
the data analysis module analyzes the charging and discharging conditions of the mobile robot according to the charging and discharging conditions, obtains a discrete value G of the charging and discharging amount of the mobile robot in the second time level, and obtains the charging and discharging amount Pj of the mobile robot in each time in the second time level and an average value Ppj of the charging and discharging amount Pj, and transmits the charging and discharging amount Pj to the signal generation module through the controller;
the signal generating module compares the discrete value G of the charge and discharge amount of the mobile robot in the second time level in real time with respective preset values G and b after receiving the average value Ppj of the charge and discharge amount Pj of the mobile robot in the second time level, generates a use surplus signal when G is less than or equal to the preset value G and Ppj is less than or equal to the preset value b, generates a use surplus signal when G is less than or equal to the preset value G and Ppj is greater than the preset value b, generates a use excess signal according to the use surplus signal when G is less than or equal to the preset value G and Ppj is greater than the preset value b, does not generate any signal for transmission under other conditions, and transmits the use surplus signal or the use excess signal to the signal processing module;
after receiving the real-time use surplus signal, the signal processing module calls Tj and Uj corresponding to the charge and discharge amount Pj of the mobile robot in the second time level from the signal generating module according to the real-time use surplus signal, and respectively marks the average value corresponding to the Tj and the Uj as Tpj and Upj, when Tpj is greater than or equal to a preset value mu and Upj is greater than or equal to a preset value, a text of 'charge duration reduction' is edited on the basis of the use surplus signal according to the real-time use surplus signal, when Tpj is less than the preset value mu and Upj is less than the preset value, a text of 'charge frequency increase' is edited on the basis of the use surplus signal according to the real-time use surplus signal, and no signal is generated and transmitted with the text under other conditions;
after receiving the real-time excessive use signal, the signal processing module calls Yj and Uj corresponding to the charge and discharge amount Pj of the mobile robot in each time in the second time level from the signal generating module according to the excessive use signal, respectively marks the average values corresponding to the Yj and the Uj as Ypj and Upj, edits a text for reducing the number of charging times on the basis of the excessive use signal when Ypj is greater than or equal to a preset value rho and Upj is greater than or equal to a preset value sigma, edits a text for increasing the charging time on the basis of the excessive use signal when Ypj is less than the preset value rho and Upj is less than the preset value sigma, and does not generate any signal and transmit the text under other conditions;
the surplus using signal and the text thereof are transmitted to the display interconnection module together with the excess using signal and the text thereof, the display interconnection module sends the surplus using signal and the text thereof to the user mobile phone according to the surplus using signal and the text thereof, and the user mobile phone is communicated with the display interconnection module in a wireless transmission mode and the like, namely, the charging time condition, the charging use condition and the electric quantity surplus condition of the mobile robot at each time are subjected to discretization and equalization formula analysis together to obtain the whole and charging and discharging quantity condition at each time, and accordingly, the text information of various editions is obtained and sent through double differential calling and comparison processing, so that targeted management measures are taken, and the standardization degree of battery charging and use is greatly improved.
Furthermore, the use condition information of the action executed by the mobile robot consists of the electricity consumption data, the heating coefficient and the occurrence frequency of the action executed by the mobile robot; the heating coefficient is composed of movement time length, temperature difference variable quantity and moving distance, the temperature difference variable quantity represents the difference between the working temperature and the external temperature, the difference is divided by the external temperature, and the moving distance represents the sum of the moving distance of the hand and the moving distance of the leg; the occurrence frequency is composed of occurrence times and occurrence duration, and the various data can be obtained according to the electricity consumption measuring instrument, the sensor, the timer, the image recognition technology and the like.
Further, the specific steps of the energy consumption usage analysis operation are as follows:
the method comprises the following steps: acquiring use condition information of actions executed by the mobile robot in a first time level, respectively marking total power consumption data, total heating coefficients and total occurrence frequency of the actions corresponding to the use condition information as Qi, Wi and Ei, wherein i is 1.. n, the first time level represents the time of one month, the Qi, the Wi and the Ei are in one-to-one correspondence, and when i is 1, Q1, W1 and E1 respectively represent the total power consumption data, the total heating coefficients and the total occurrence frequency of the first action executed by the mobile robot in the first time level, namely i corresponds to each action;
step two: acquiring a total heating coefficient Wi of each action executed by the mobile robot in a first time level, respectively marking the total movement time length, the average temperature difference variation and the total moving distance of each action corresponding to the total heating coefficient Wi as Ai, Si and Di, wherein i is 1.. n, the Ai, Si and Di are in one-to-one correspondence with Qi, Wi and Ei, when i is 1, A1, S1 and D1 respectively represent the total movement time length, the average temperature difference variation and the total moving distance of a first action executed by the mobile robot in the first time level, then calculating the total heating coefficient Wi, S and D of each action executed by the mobile robot in the first time level according to a formula Wi a + Si S + Di, wherein a, S and D are correction factors, S is larger than D, and a + S + D is 5.2687, comparing the total heating coefficient Wi with a preset range w, and when the maximum value w of each action in the first time level is larger than a preset range, When the minimum value is within the preset range w and smaller than the preset range w, respectively giving calibration positive values Wq, Ww and We to the minimum value, wherein Wq is larger than Ww and is larger than We;
step three: acquiring the total occurrence frequency Ei of each action executed by the mobile robot in the first time level, respectively marking the total occurrence frequency Ei and the total occurrence time of each action corresponding to the total occurrence frequency Ei as Zi and Xi, wherein i is 1.. n, Ai, Si, Di, Qi, Wi, Ei, Zi and Xi are in one-to-one correspondence, Z1 and X1 when i is 1 respectively represent the total occurrence frequency Ei and the total occurrence time of the first action executed by the mobile robot in the first time level, and then according to a formula
Obtaining the total occurrence frequency Ei of each action executed by the mobile robot in the first time level, comparing the total occurrence frequency Ei with a preset range e, and respectively giving calibration positive values Eq, Ew and Ee when the total occurrence frequency Ei is greater than the maximum value of the preset range e, is within the preset range e and is less than the minimum value of the preset range e, wherein Eq is greater than Ew and is greater than Ee;
step four: the method comprises the steps of firstly, respectively giving weighting coefficients q, z and x to total electricity consumption data Qi, total heating coefficients Wi and total occurrence frequency Ei of each action executed by the mobile robot in a first time level, wherein q is larger than z and q + z + x is 3.2158 according to the formula
N, the usage energy consumption Ci of each action performed by the mobile robot in the first time stage is obtained.
Further, the charging and discharging condition information of the mobile robot is obtained by the charging time length, the use time length after charging and the use remaining capacity, and the various data can be obtained according to the electricity consumption measuring instrument, the timer and the like.
Further, the specific steps of the charge and discharge condition analysis operation are as follows:
the method comprises the following steps: acquiring charge and discharge condition information of the mobile robot in a second time level, respectively marking the charging time length of each time, the use time length after each charging and the use residual capacity of each time corresponding to the charge and discharge condition information as Tj, Yj and Uj, wherein j is 1.. m, Tj, Yj and Uj are in one-to-one correspondence, the second time level represents the time of one month, and T1, Y1 and U1 when j is 1 respectively represent the first charging time length, the use time length after the first charging and the first use residual capacity of the mobile robot in the second time level, namely j corresponds to each number of times;
step two: first according to the formula
j 1.. m, the charge and discharge amount per time Pj of the mobile robot in the second time level is obtained, t, y and u are weight coefficients, y is larger than t and larger than u, t + y + u is 4.9861, f, h and k are weighing factors, f is smaller than h and smaller than k, and f + h + k is 2.1762, the average value is marked as Ppj, and the average value is calculated according to a formula
A discrete value G of the charge/discharge amount of the mobile robot in the second time level is obtained.
The invention has the beneficial effects that:
1. the invention carries on the energy consumption using state analysis operation of the using state information of the action that the mobile robot that collects in real time carries out, namely the total power consumption data, total heating coefficient and total frequency of occurrence of every action that the mobile robot carries out are calibrated integrally first, and then the total movement duration, mean temperature difference variable quantity and total movement distance of every action that the mobile robot that corresponds to total heating coefficient carries out are calibrated, revise the formula and process, and the total frequency of occurrence and total time of occurrence of every action that the mobile robot that corresponds to total frequency of occurrence carry out are calibrated, ratified the formula and process, carry on the weight analysis of the valuating together finally, obtain the using energy consumption Ci of every action that the mobile robot in the first time level carries out;
calibrating and calculating the maximum value, the minimum value and the average value to obtain an average value judgment factor A and an average value judgment factor B of actions executed by the mobile robot in a first time level, placing the actions corresponding to Ci in each energy consumption behavior, simultaneously collecting the starting time length of the mobile robot set by a user in real time, sequentially distributing the total movement time of 10%, 20%, 30% and 40% of the starting time length to the actions corresponding to each energy consumption behavior, and respectively controlling a red light, a yellow light, a blue light and a green light in a light group to light up and a warning device to send warning sound when the total movement time exceeds the calibrated total movement time;
the power consumption condition, the heating condition and the frequency condition of each action are combined, the calibrated energy consumption behavior of each level is obtained according to the formula processing of progressive correction and weighting and the hierarchical comparison analysis, and the reasonable action time is distributed according to the setting of the startup time length so as to avoid the situation that the electricity consumption is too fast and the service life of a battery is influenced, thereby greatly improving the accuracy of the electricity consumption judgment of the mobile robot and the equalization degree of the electricity use planning;
2. the method comprises the steps of carrying out charging and discharging condition analysis operation on charging and discharging condition information of the mobile robot acquired in real time, namely carrying out calibration, discretization and equalization formula analysis on charging time of each time, using time after charging and using residual electric quantity of the mobile robot to obtain a discrete value G of the charging and discharging quantity of the mobile robot in a second time level, and charging and discharging quantity Pj of the mobile robot in the second time level and an average value Ppj of the charging and discharging quantity Pj;
comparing G and Ppj with respective preset values G and b to generate a use surplus signal or a use surplus signal, calling Tj and Uj corresponding to the charge and discharge amount Pj of the mobile robot in the second time level each time through the use surplus signal, calibrating and comparing the average value corresponding to the Tj and Uj, editing various texts on the basis of the use surplus signal, calling Yj and Uj corresponding to the charge and discharge amount Pj of the mobile robot in the second time level each time through the use surplus signal, calibrating and comparing the average value corresponding to the Yj and Uj, editing various texts on the basis of the use surplus signal, and sending the use surplus signal and texts thereof to the mobile phone of the user together with the use surplus signal and texts thereof;
the charging time condition, the charging service condition and the electric quantity remaining condition of the mobile robot at each time are subjected to discretization and averaging formula analysis together to obtain the overall and each-time charging and discharging quantity condition, and accordingly, the charging and discharging quantity condition is subjected to double differentiation calling and comparison processing to obtain various edited text information and send the text information so as to make targeted management measures, and the standardization degree of battery charging and use is greatly improved.
Drawings
In order to facilitate understanding for those skilled in the art, the present invention will be further described with reference to the accompanying drawings;
FIG. 1 is a block diagram of the system of the present invention.
Detailed Description
As shown in fig. 1, an electric quantity management system for a mobile robot includes a data acquisition module, a data analysis module, a controller, a signal generation module, a behavior setting module, a light group, a warning device, an information collection module, a signal processing module, and a display interconnection module;
the data acquisition module is used for acquiring the use condition information of the action executed by the mobile robot in real time and transmitting the use condition information to the data analysis module, the service condition information of the action executed by the mobile robot consists of power consumption data, a heating coefficient and occurrence frequency of the executed action, the heating coefficient consists of movement time length, temperature difference variable quantity and movement distance, the temperature difference variable quantity represents the difference between the working temperature and the external temperature, the difference is divided by the external temperature, the movement distance represents the sum of the movement distance of the hand and the movement distance of the leg, the occurrence frequency consists of the occurrence frequency and the occurrence time length, the various data can be obtained according to electricity utilization measuring instruments, sensors, timers, image recognition technology and the like, the behavior gestures corresponding to each executed action are stored in an internal file library, and when the first action needs to be executed, the behavior gestures corresponding to the first action are directly called;
the data analysis module analyzes the energy consumption use condition according to the data, and the specific steps are as follows:
the method comprises the following steps: acquiring use condition information of actions executed by the mobile robot in a first time level, respectively marking total power consumption data, total heating coefficients and total occurrence frequency of the actions corresponding to the use condition information as Qi, Wi and Ei, wherein i is 1.. n, the first time level represents the time of one month, the Qi, the Wi and the Ei are in one-to-one correspondence, and when i is 1, Q1, W1 and E1 respectively represent the total power consumption data, the total heating coefficients and the total occurrence frequency of the first action executed by the mobile robot in the first time level, namely i corresponds to each action;
step two: acquiring a total heating coefficient Wi of each action executed by the mobile robot in a first time level, respectively marking the total movement time length, the average temperature difference variation and the total moving distance of each action corresponding to the total heating coefficient Wi as Ai, Si and Di, wherein i is 1.. n, the Ai, Si and Di are in one-to-one correspondence with Qi, Wi and Ei, when i is 1, A1, S1 and D1 respectively represent the total movement time length, the average temperature difference variation and the total moving distance of a first action executed by the mobile robot in the first time level, then calculating the total heating coefficient Wi, S and D of each action executed by the mobile robot in the first time level according to a formula Wi a + Si S + Di, wherein a, S and D are correction factors, S is larger than D, and a + S + D is 5.2687, comparing the total heating coefficient Wi with a preset range w, and when the maximum value w of each action in the first time level is larger than a preset range, When the minimum value is within the preset range w and smaller than the preset range w, respectively giving calibration positive values Wq, Ww and We to the minimum value, wherein Wq is larger than Ww and is larger than We;
step three: acquiring the total occurrence frequency Ei of each action executed by the mobile robot in the first time level, respectively marking the total occurrence frequency Ei and the total occurrence time of each action corresponding to the total occurrence frequency Ei as Zi and Xi, wherein i is 1.. n, Ai, Si, Di, Qi, Wi, Ei, Zi and Xi are in one-to-one correspondence, Z1 and X1 when i is 1 respectively represent the total occurrence frequency Ei and the total occurrence time of the first action executed by the mobile robot in the first time level, and then according to a formula
Obtaining the total occurrence frequency Ei of each action executed by the mobile robot in the first time level, comparing the total occurrence frequency Ei with a preset range e, and respectively giving calibration positive values Eq, Ew and Ee when the total occurrence frequency Ei is greater than the maximum value of the preset range e, is within the preset range e and is less than the minimum value of the preset range e, wherein Eq is greater than Ew and is greater than Ee;
step four: the method comprises the steps of firstly, respectively giving weighting coefficients q, z and x to total electricity consumption data Qi, total heating coefficients Wi and total occurrence frequency Ei of all actions executed by a mobile robot in a first time level, wherein q is larger than z and q + z + x is 3.2158, and then according to a formula
Obtaining the use energy consumption Ci of each action executed by the mobile robot in the first time level;
obtaining the use energy consumption Ci of each action executed by the mobile robot in the first time level, and transmitting the use energy consumption Ci to the signal generation module through the controller;
the signal generation module respectively calibrates the maximum value, the minimum value and the average value of the using energy consumption Ci of each action executed by the mobile robot in the first time level received in real time into Cmax, Cmin and Cpj, and according to a formula
Obtaining the mean judgment factor A and the mean judgment factor A of the actions executed by the mobile robot in the first time levelA value judgment factor B, wherein the action corresponding to Ci between Cmax and the mean judgment factor A is calibrated to be a first-level energy consumption action, the action corresponding to Ci between the mean judgment factors A and Cpj is calibrated to be a second-level energy consumption action, the action corresponding to Ci between Cpj and the mean judgment factor B is calibrated to be a third-level energy consumption action, the action corresponding to Ci between the mean judgment factor B and Cmin is calibrated to be a fourth-level energy consumption action, and all the energy consumption actions are transmitted to a behavior setting module together;
the behavior setting module is used for acquiring the starting time of the mobile robot set by a user in real time, sequentially allocating 10%, 20%, 30% and 40% of the total movement time of the starting time to the actions corresponding to the first-level energy consumption behavior, the second-level energy consumption behavior, the third-level energy consumption behavior and the fourth-level energy consumption behavior which are received in real time, namely allocating only 10% of the starting time to the total movement time of all the actions in the first-level energy consumption behavior, respectively controlling the red light, the yellow light, the blue light and the green light in the light set to light up and controlling the alarm to give out alarm sound when the total movement time exceeds the calibrated total movement time, namely combining the power consumption condition, the heating condition and the frequency condition of each action, processing according to a stepwise progressive correction and weighting formula and hierarchical comparison and analysis to obtain the calibrated energy consumption behavior of each level, and allocating reasonable action time to the mobile robot according to the setting of the starting time, the method has the advantages that the phenomenon that the electricity consumption is too fast and the service life of the battery is influenced is avoided, and the accuracy of electricity consumption judgment of the mobile robot and the equalization degree of electricity use planning are greatly improved;
the information collection module is used for collecting the charging and discharging condition information of the mobile robot in real time and transmitting the charging and discharging condition information to the data analysis module, and the charging and discharging condition information of the mobile robot is obtained by the charging time length, the use time length after charging and the use residual electric quantity, and all kinds of data can be obtained according to an electricity utilization measuring instrument, a timer and the like;
the data analysis module analyzes the charging and discharging conditions according to the charge and discharging conditions, and comprises the following specific steps:
the method comprises the following steps: acquiring charge and discharge condition information of the mobile robot in a second time level, respectively marking the charging time length of each time, the use time length after each charging and the use residual capacity of each time corresponding to the charge and discharge condition information as Tj, Yj and Uj, wherein j is 1.. m, Tj, Yj and Uj are in one-to-one correspondence, the second time level represents the time of one month, and T1, Y1 and U1 when j is 1 respectively represent the first charging time length, the use time length after the first charging and the first use residual capacity of the mobile robot in the second time level, namely j corresponds to each number of times;
step two: first according to the formula
j 1.. m, the charge and discharge amount per time Pj of the mobile robot in the second time level is obtained, t, y and u are weight coefficients, y is larger than t and larger than u, t + y + u is 4.9861, f, h and k are weighing factors, f is smaller than h and smaller than k, and f + h + k is 2.1762, the average value is marked as Ppj, and the average value is calculated according to a formula
Obtaining a discrete value G of the charge and discharge amount of the mobile robot in a second time level;
obtaining a discrete value G of the charge and discharge amount of the mobile robot in the second time level, and the charge and discharge amount Pj of the mobile robot in each time and an average value Ppj thereof in the second time level, and transmitting the discrete value G, the charge and discharge amount Pj and the average value Ppj to the signal generation module through the controller;
the signal generation module compares the discrete value G of the charge and discharge amount of the mobile robot in the second time level in real time with respective preset values G and b after receiving the average value Ppj of the charge and discharge amount Pj of the mobile robot in the second time level, generates a use surplus signal when G is less than or equal to the preset value G and Ppj is less than or equal to the preset value b, generates a use surplus signal when G is less than or equal to the preset value G and Ppj is greater than the preset value b, generates a use excess signal according to the use surplus signal when G is less than or equal to the preset value G and Ppj is greater than the preset value b, does not generate any signal for transmission under other conditions, and transmits the use surplus signal or the use excess signal to the signal processing module;
after receiving the real-time use surplus signal, the signal processing module calls Tj and Uj corresponding to the charge and discharge amount Pj of the mobile robot in the second time level from the signal generating module according to the real-time use surplus signal, and respectively marks the average value corresponding to the Tj and the Uj as Tpj and Upj, when Tpj is greater than or equal to a preset value mu and Upj is greater than or equal to a preset value, a text of 'charge duration reduction' is edited on the basis of the use surplus signal according to the real-time use surplus signal, when Tpj is less than the preset value mu and Upj is less than the preset value, a text of 'charge frequency increase' is edited on the basis of the use surplus signal according to the real-time use surplus signal, and no signal is generated and transmitted with the text under other conditions;
after receiving the real-time excessive use signal, the signal processing module calls Yj and Uj corresponding to the charge and discharge amount Pj of the mobile robot in each time in the second time level from the signal generating module according to the excessive use signal, and respectively marks the average values corresponding to the Yj and the Uj as Ypj and Upj, when Ypj is greater than or equal to a preset value rho and Upj is greater than or equal to a preset value sigma, a text of 'reducing the number of charging times' is edited on the basis of the excessive use signal according to the average values, when Ypj is less than the preset value rho and Upj is less than the preset value sigma, a text of 'increasing the charging time length' is edited on the basis of the excessive use signal according to the average values, and no signal and no text are generated for transmission under other conditions;
the surplus using signal and the text thereof are transmitted to the display interconnection module together with the excess using signal and the text thereof, the display interconnection module sends the surplus using signal and the text thereof to the user mobile phone according to the surplus using signal and the text thereof, and the user mobile phone is communicated with the display interconnection module in a wireless transmission mode and the like, namely, the charging time condition, the charging use condition and the electric quantity surplus condition of the mobile robot at each time are subjected to discretization and equalization formula analysis together to obtain the whole and charging and discharging quantity condition at each time, and accordingly, the text information of various editions is obtained and sent through double differential calling and comparison processing, so that targeted management measures are taken, and the standardization degree of battery charging and use is greatly improved.
A power management system for a mobile robot is characterized in that in the working process, the use condition information of the actions executed by the mobile robot is collected in real time through a data collection module, the use condition information of the actions executed by the mobile robot consists of power consumption data, a heating coefficient and occurrence frequency of the actions executed by the mobile robot, the heating coefficient consists of movement time, temperature difference variable quantity and movement distance, the temperature difference variable quantity represents the difference between the working temperature and the external temperature and is divided by the external temperature, the movement distance represents the sum of the hand movement distance and the leg movement distance, and the occurrence frequency consists of the occurrence frequency and the occurrence time and is transmitted to a data analysis module;
the data analysis module analyzes the energy consumption use condition of the mobile robot according to the energy consumption use condition, namely, the total power consumption data, the total heating coefficient and the total occurrence frequency of each action executed by the mobile robot are calibrated integrally, the total movement time length, the average temperature difference variable quantity and the total movement distance of each action executed by the mobile robot corresponding to the total heating coefficient are calibrated and processed by a correction formula, the total occurrence frequency and the total occurrence time length of each action executed by the mobile robot corresponding to the total occurrence frequency are calibrated and processed by a ratification formula, and finally, the total occurrence frequency and the total occurrence time length are subjected to weighted analysis with valuation to obtain the use energy consumption Ci of each action executed by the mobile robot in a first time level and are transmitted to the signal generation module through the controller;
the signal generation module marks the maximum value, the minimum value and the average value as Cmax, Cmin n and Cpj respectively according to the formula
Obtaining a mean value judgment factor A and a mean value judgment factor B of actions executed by the mobile robot in a first time level, calibrating actions corresponding to Ci between Cmax and the mean value judgment factor A as first-level energy consumption behaviors, calibrating actions corresponding to Ci between the mean value judgment factors A and Cpj as second-level energy consumption behaviors, calibrating actions corresponding to Ci between Cpj and the mean value judgment factor B as third-level energy consumption behaviors, calibrating actions corresponding to Ci between the mean value judgment factor B and Cmin as fourth-level energy consumption behaviors, and transmitting the energy consumption behaviors to a behavior setting module;
the behavior setting module collects the starting time of the mobile robot set by a user in real time, sequentially allocates the actions corresponding to the first-level energy consumption behavior, the second-level energy consumption behavior, the third-level energy consumption behavior and the fourth-level energy consumption behavior to 10%, 20%, 30% and 40% of the total movement time of the starting time, respectively controls the red light, the yellow light, the blue light and the green light in the lamp bank to light when the total movement time exceeds the calibrated total movement time, controls the alarm to give out alarm sound, combines the power consumption condition, the heating condition and the frequency condition of each action, processes according to a formula of progressive modification and weighting step by step and hierarchical comparison analysis to obtain the calibrated energy consumption behaviors of each level, and allocates reasonable action time according to the setting of the starting time to avoid over-fast electricity consumption and influence on the service life of a battery, the accuracy of electric quantity consumption judgment of the mobile robot and the equalization degree of electric quantity use planning are greatly improved;
the charging and discharging condition information of the mobile robot is collected in real time through the information collection module, and is transmitted to the data analysis module according to the charging time length, the use time length after charging and the use remaining electric quantity;
the data analysis module analyzes the charging and discharging conditions of the mobile robot according to the charging and discharging conditions, namely the charging time length of each time, the use time length after charging and the use remaining power of the mobile robot are subjected to calibration, discretization and equalization formula analysis to obtain a discrete value G of the charging and discharging capacity of the mobile robot in the second time level, and the charging and discharging capacity Pj and the average value Ppj of each time of the mobile robot in the second time level, and the charging and discharging capacity Pj and the average value are transmitted to the signal generation module through the controller;
the signal generating module compares G and Ppj with respective preset values G and b, generates a use surplus signal when G is less than or equal to the preset value G and Ppj is less than or equal to the preset value b, generates a use surplus signal when G is less than or equal to the preset value G and Ppj is greater than the preset value b, and transmits the use surplus signal or the use surplus signal to the signal processing module;
after receiving the real-time use surplus signal, the signal processing module calls Tj and Uj corresponding to the charge and discharge amount Pj of the mobile robot in the second time level from the signal generating module according to the real-time use surplus signal, and respectively marks the average value corresponding to the Tj and the Uj as Tpj and Upj, when Tpj is greater than or equal to a preset value mu and Upj is greater than or equal to a preset value, a text of 'reducing the charge duration' is edited on the basis of using the surplus signal according to the average value, and when Tpj is less than the preset value mu and Upj is less than the preset value, a text of 'increasing the charge times' is edited on the basis of using the surplus signal according to the average value;
after receiving the real-time use overdue signal, the signal processing module calls Yj and Uj corresponding to each charge and discharge amount Pj of the mobile robot in the second time level from the signal generating module according to the real-time use overdue signal, respectively marks the average values corresponding to Yj and Uj as Ypj and Upj, edits a text of 'charging frequency reduction' on the basis of the use overdue signal when Ypj is greater than or equal to a preset value rho and Upj is greater than or equal to a preset value sigma, edits a text of 'charging time duration increase' on the basis of the use overdue signal when Ypj is less than the preset value rho and Upj is less than the preset value sigma, transmits the use surplus signal and the text thereof together with the use overdue signal and the text thereof to the display interconnection module, and transmits the display interconnection module to the mobile phone of the user according to the text, namely, the charge time condition, the charge use condition and the remaining electricity quantity condition of the mobile robot are analyzed by a discretization and equalization formula together, the overall and each-time charge and discharge amount condition is obtained, and accordingly, through double differential calling and comparison processing, various edited text information is obtained and sent, so that targeted management measures are taken, and the standardization degree of battery charging and use is greatly improved.
The foregoing is merely exemplary and illustrative of the present invention and various modifications, additions and substitutions may be made by those skilled in the art to the specific embodiments described without departing from the scope of the invention as defined in the following claims.
Claims (4)
1. A power management system for a mobile robot is characterized by comprising a data acquisition module, a data analysis module, a controller, a signal generation module, a behavior setting module, a lamp group, a warning device, an information collection module, a signal processing module and a display interconnection module;
the data acquisition module is used for acquiring the use condition information of the action executed by the mobile robot in real time and transmitting the use condition information to the data analysis module;
the data analysis module analyzes the energy consumption use condition of the mobile robot according to the energy consumption use condition to obtain the use energy consumption Ci of each action executed by the mobile robot in the first time level, and transmits the use energy consumption Ci to the signal generation module through the controller;
the signal generation module respectively calibrates the maximum value, the minimum value and the average value of the using energy consumption Ci of each action executed by the mobile robot in the first time level received in real time into Cmax, Cmin and Cpj, and according to a formula
、
Obtaining a mean value judgment factor A and a mean value judgment factor B of actions executed by the mobile robot in a first time level, calibrating the action corresponding to Ci between Cmax and the mean value judgment factor A as a first-level energy consumption behavior, calibrating the action corresponding to Ci between the mean value judgment factors A and Cpj as a second-level energy consumption behavior, calibrating the action corresponding to Ci between Cpj and the mean value judgment factor B as a third-level energy consumption behavior, calibrating the action corresponding to Ci between the mean value judgment factor B and Cmin as a fourth-level energy consumption behavior, and transmitting the energy consumption behaviors to a behavior setting module;
the behavior setting module is used for acquiring the starting time of the mobile robot set by a user in real time, sequentially distributing 10%, 20%, 30% and 40% of the total movement time of the starting time according to the actions corresponding to the first-level energy consumption behavior, the second-level energy consumption behavior, the third-level energy consumption behavior and the fourth-level energy consumption behavior received in real time, and respectively controlling a red light, a yellow light, a blue light and a green light in a light set to light and a warning device to give out warning sounds when the total movement time exceeds the calibrated total movement time;
the information collection module is used for collecting the charging and discharging condition information of the mobile robot in real time and transmitting the information to the data analysis module;
the data analysis module performs charging and discharging condition analysis operation on the data, and the charging and discharging condition analysis operation comprises the following specific steps:
the method comprises the following steps: acquiring charge and discharge condition information of the mobile robot in a second time level, respectively marking the charge time length of each time, the use time length after each charge and the use residual capacity of each time corresponding to the charge time length of each time as Tj, Yj and Uj, wherein j =1.. m, Tj, Yj and Uj are in one-to-one correspondence, and the second time level represents the time of one month;
step two: first according to the formula
J =1.. m, the charge and discharge amount Pj of the mobile robot in each time in the second time level is obtained, t, y and u are weight coefficients, y is larger than t and larger than u, and
f, h and k are all weighing factors, f is less than h and less than k
The average value is then designated as Ppj and is based on the formula
Obtaining a discrete value G of the charge and discharge amount of the mobile robot in a second time level;
obtaining a discrete value G of the charge and discharge amount of the mobile robot in the second time level, and the charge and discharge amount Pj of the mobile robot in each time and an average value Ppj thereof in the second time level, and transmitting the discrete value G, the charge and discharge amount Pj and the average value Ppj to the signal generation module through the controller;
the signal generating module compares the discrete value G of the charge and discharge amount of the mobile robot in the second time level in real time with respective preset values G and b after receiving the average value Ppj of the charge and discharge amount Pj of the mobile robot in the second time level, generates a use surplus signal when G is less than or equal to the preset value G and Ppj is less than or equal to the preset value b, generates a use surplus signal when G is less than or equal to the preset value G and Ppj is greater than the preset value b, and transmits the use surplus signal or the use surplus signal to the signal processing module;
after receiving the real-time use surplus signal, the signal processing module calls Tj and Uj corresponding to the charge and discharge amount Pj of the mobile robot in the second time level from the signal generating module according to the real-time use surplus signal, and respectively marks the average value corresponding to the Tj and the Uj as Tpj and Upj, when Tpj is greater than or equal to a preset value mu and Upj is greater than or equal to a preset value, a text of 'reducing charging time length' is edited on the basis of using the surplus signal according to the real-time use surplus signal, and when Tpj is less than the preset value mu and Upj is less than the preset value, a text of 'increasing charging times' is edited on the basis of using the surplus signal according to the real-time use surplus signal;
after receiving the real-time excessive use signal, the signal processing module calls Yj and Uj corresponding to the charge and discharge amount Pj of the mobile robot in each time in the second time level from the signal generating module according to the excessive use signal, and respectively marks the average values corresponding to the Yj and the Uj as Ypj and Upj, when Ypj is greater than or equal to a preset value rho and Upj is greater than or equal to a preset value sigma, a text of 'reducing the number of charging times' is edited on the basis of the excessive use signal according to the average values, and when Ypj is less than the preset value rho and Upj is less than the preset value sigma, a text of 'increasing the charging time length' is edited on the basis of the excessive use signal according to the average values;
and the surplus signal and the text of the use are transmitted to the display interconnection module together with the excess signal and the text of the use, and the display interconnection module sends the excess signal and the text of the use to the mobile phone of the user according to the surplus signal and the text of the use.
2. The power management system of claim 1, wherein the usage information of the actions performed by the mobile robot is composed of power consumption data, heating coefficient and frequency of occurrence of the actions performed by the mobile robot; the heating coefficient is composed of movement time length, temperature difference variable quantity and moving distance, the temperature difference variable quantity represents the difference between the working temperature and the external temperature, the difference is divided by the external temperature, and the moving distance represents the sum of the moving distance of the hand and the moving distance of the leg; the frequency of occurrence is composed of the number of occurrences and the length of occurrence.
3. The power management system for the mobile robot as claimed in claim 1, wherein the energy consumption usage analysis operation comprises the following steps:
the method comprises the following steps: acquiring use condition information of actions executed by the mobile robot in a first time level, and respectively marking total power consumption data, total heating coefficients and total occurrence frequency of the corresponding actions as Qi, Wi and Ei, wherein i =1.. n, the first time level represents the time of one month, and Qi, Wi and Ei are in one-to-one correspondence with each other;
step two: acquiring a total heating coefficient Wi of each action executed by the mobile robot in a first time level, respectively calibrating the total movement time length, the average temperature difference variation and the total movement distance of each action corresponding to the total heating coefficient Wi as Ai, Si and Di, wherein i =1
Calculating the total heating coefficient Wi of each action executed by the mobile robot in the first time level, wherein a, s and d are correction factors, and s is larger than a and larger than d and is larger than d
Comparing the calibration values with a preset range w, and respectively giving calibration positive values Wq, Ww and We when the calibration values are larger than the maximum value of the preset range w, are positioned in the preset range w and are smaller than the minimum value of the preset range w, wherein Wq is larger than Ww and is larger than We;
step three: acquiring the total frequency Ei of occurrence of each action executed by the mobile robot in the first time level, and acquiring the total frequency Ei of occurrence and the total time duration of occurrence of each action corresponding to the total frequency Ei of occurrenceAre respectively marked as Zi and Xi, i =1.. n, Ai, Si and Di, Qi, Wi and Ei are all in one-to-one correspondence with Zi and Xi, and then according to a formula
Obtaining the total occurrence frequency Ei of each action executed by the mobile robot in the first time level, comparing the total occurrence frequency Ei with a preset range e, and respectively giving calibration positive values Eq, Ew and Ee when the total occurrence frequency Ei is greater than the maximum value of the preset range e, is within the preset range e and is less than the minimum value of the preset range e, wherein Eq is greater than Ew and is greater than Ee;
step four: the method comprises the steps of firstly, respectively giving weight coefficients q, z and x to total electricity consumption data Qi, total heating coefficients Wi and total occurrence frequency Ei of all actions executed by the mobile robot in a first time level, wherein q is larger than x and larger than z, and q is larger than z and is larger than x
Then according to the formula
N, and finding the use energy consumption Ci of each action executed by the mobile robot in the first time level.
4. The power management system of claim 1, wherein the charging and discharging information of the mobile robot comprises a charging duration, a usage duration after charging and a usage remaining power.
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