CN117748688A - Automatic charging management system for four-differential wheel type inspection robot - Google Patents
Automatic charging management system for four-differential wheel type inspection robot Download PDFInfo
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Abstract
The invention provides an automatic charging management system for a four-differential wheel type inspection robot, which belongs to the related technical field of robots and comprises a BMS battery management system, a charging pile evaluation module, a charging scheme analysis module, a charging pile selection module and a navigation analysis module; the BMS battery management system is used for monitoring the battery electric quantity in real time; the charging pile evaluation module is used for performing charging quality evaluation analysis on historical charging information of the intelligent charging pile to obtain a charging quality value of the intelligent charging pile. The invention can optimize the battery power management of the inspection robot, realize the autonomous charging function, improve the working efficiency, continuity and flexibility, and realize the automatic management and optimization, thereby improving the overall performance and the application value of the inspection robot.
Description
Technical Field
The invention relates to the technical field of inspection robot charging, in particular to an automatic charging management system for a four-differential wheel type inspection robot.
Background
The four-differential wheel type explosion-proof inspection robot is suitable for small-space and uneven ground scenes such as a coal mine substation and a water pump room, has the characteristics of small size, flexible walking, strong obstacle crossing capability, attractive appearance and the like, can replace manual work to finish daily inspection tasks, effectively avoids the problems of missing inspection, false inspection, fuzzy archiving pictures and the like in manual inspection, and ensures the comprehensiveness and accuracy of inspection work. The inspection robot is increasingly commonly applied to various industrial production scenes, has the advantages of high efficiency, accuracy, reliability and the like, can replace manual inspection tasks, and improves production efficiency and quality.
In modern industrial production, the long-time work of the inspection robot is not separated from continuous power supply, and the battery power management of the inspection robot becomes a problem which needs to be solved urgently. Therefore, we propose an automatic charging management system for a four-differential wheel inspection robot to solve the above-mentioned problems.
Disclosure of Invention
Aiming at the defects in the prior art, the invention provides an automatic charging management system for a four-differential wheel type inspection robot, which aims to solve the problem that the long-time work of the inspection robot cannot be continuously supplied in the background art, and the battery power management of the inspection robot becomes an urgent need to be solved.
The aim of the invention can be achieved by the following technical scheme: the system comprises a BMS battery management system, a charging pile evaluation module, a charging scheme analysis module, a charging pile selection module and a navigation analysis module;
the BMS battery management system is used for monitoring the battery electric quantity in real time; setting an electric quantity instruction mapping group, and matching the battery electric quantity with the value range of the electric quantity instruction mapping group to generate a corresponding electric quantity execution instruction group; the electric quantity execution instruction group comprises a charging record instruction and a forward charging instruction;
the charging pile evaluation module is used for acquiring charging related information when the intelligent charging pile charges the inspection robot, marking the starting charging time of the intelligent charging pile as a first time and marking the ending charging time of the intelligent charging pile as a second time; marking a time zone between the first time and the second time as a charging time zone; acquiring charging related information in all charging time zones and marking the charging related information as historical charging information; performing charge quality evaluation analysis on the historical charge information of the intelligent charging pile to obtain a charge quality value of the intelligent charging pile;
the charging scheme analysis module is used for carrying out record analysis on the charging pile position information after receiving a charging record instruction, extracting the position of the intelligent charging pile, acquiring the current position of the inspection robot by utilizing the high-precision positioning system, inputting the current position of the inspection robot and the position of the intelligent charging pile into the navigation analysis module, and generating a charging forward route of the inspection robot, a route distance and a route arrival estimated time by using map data and a route planning algorithm by the navigation analysis module; marking the charging route of the inspection robot and the distance and the arrival estimated time of the route as an estimated charging scheme;
the charging pile selection module is used for carrying out fusion selection analysis on the working state, the charging quality value and the predicted charging scheme of the intelligent charging pile after receiving the charging record instruction so as to obtain a selected charging pile, and the specific analysis is as follows:
acquiring the working state of the intelligent charging pile, wherein the working state comprises a charging state and an idle state; if the intelligent charging pile in the idle state exists, extracting the route distance and the route arrival estimated time length in the estimated charging scheme of all the intelligent charging piles in the idle state, and carrying out weighted calculation on the route distance and the route arrival estimated time length to obtain a route value;
if the intelligent charging pile in the charging state exists, extracting the charging efficiency and the charging power of the intelligent charging pile and the battery electric quantity of the charging inspection robot, acquiring an electric quantity full value threshold of the battery electric quantity, subtracting the battery electric quantity from the electric quantity full value threshold to obtain the electric quantity of the battery to be charged, extracting the charging quality value of the intelligent charging pile as a correction coefficient of the charging efficiency, and carrying out residual charging time prediction calculation on the electric quantity of the battery to be charged and the charging efficiency to obtain the residual charging duration of the inspection robot; extracting the route arrival estimated time length in the estimated charging scheme, and subtracting the residual charging time length from the route arrival estimated time length to obtain the actual waiting time length;
weighting calculation is carried out on the route value, the charging quality value and the actual waiting time length to obtain a selected value of the intelligent charging pile; selecting an intelligent charging pile corresponding to the minimum selected value as a selected charging pile;
the navigation analysis module is internally preset with charging pile position information which comprises the positions of a plurality of intelligent charging piles corresponding to the inspection robot; the system is also used for receiving a charging instruction and an expected charging scheme of the selected charging pile, interrupting a current patrol task after receiving the charging instruction, and controlling the patrol robot to go to the position of the selected charging pile according to a charging route in the expected charging scheme of the selected charging pile so as to perform charging operation.
Preferably, the charging quality evaluation analysis is performed on the historical charging information of the intelligent charging pile to obtain a charging quality value of the intelligent charging pile, which is specifically as follows:
extracting charging related information in a charging time zone corresponding to charging operation of the intelligent charging pile, wherein the charging related information comprises charging current, charging voltage, charging time, charging efficiency and charging temperature; establishing a charging evaluation coordinate system, inputting parameters in charging related information into the charging evaluation coordinate system according to the acquisition time, marking the position of the corresponding parameter in the charging evaluation coordinate system as a corresponding parameter point, connecting adjacent corresponding parameter points to obtain a parameter line, calculating the slope of the corresponding parameter line, marking the slope as a slope I if the slope is positive, and marking the slope as a slope II if the slope is negative; summing all the slopes I and II to obtain a slope total value I and a slope total value II, weighting the slope total value I and the slope total value II, and summing to obtain a fluctuation value; setting a normal threshold value of a corresponding parameter line, marking the slope which is not in the normal threshold value as a high change slope, and carrying out weighted calculation on all the high change slopes to obtain an abnormal value;
calculating parameters in the charging related information to obtain an operation evaluation value of the charging of the intelligent charging pile;
marking the total charging times of the intelligent charging pile as M, and numbering the charging times as M according to a time sequence; extracting operation evaluation values corresponding to the charging times of the intelligent charging piles, carrying out weighted calculation on the operation evaluation values, and utilizing a formulaObtaining a charging quality value NA of the intelligent charging pile; wherein mA represents the operation evaluation value corresponding to the number of charging times m, and mA represents the weight proportionality coefficient corresponding to the operation evaluation value when the number of charging times m.
Preferably, the inspection robot marks a selected charging pile as a pre-occupying charging pile when generating a forward charging instruction; other inspection robots are set to exclude preemption charging piles as selectable options.
Preferably, the invention further comprises a charging feedback module;
the charging feedback module is used for extracting charging receiving information of the inspection robot when the intelligent charging pile performs charging operation on the inspection robot, wherein the charging receiving information comprises receiving current, receiving voltage, battery electric quantity and the like; performing reference analysis on charging receiving information of the robot, matching the charging receiving information with parameters in charging related information, setting a preset matching error normal range of the charging receiving information, recording parameters of the charging receiving information exceeding the preset matching error normal range, marking the parameters as deviation parameters, and marking all the deviation parameters as abnormal charging information; numbering the deviation parameters in the abnormal charge information and marking as cG, G representing the value of the deviation parameters, marking the total number of the deviation parameters in the abnormal charge information as F, using the formulaObtaining a weight proportion coefficient corresponding to the charging times corresponding to the intelligent charging pile; wherein, mθ represents a weight factor corresponding to a corresponding value when the deviation parameter number is c when the charging frequency is m; and sending the weight proportion coefficient corresponding to the charging times corresponding to the intelligent charging pile to a charging pile evaluation module.
Preferably, the invention further comprises an electric quantity instruction reflection group adjusting module;
the electric quantity instruction reflection group adjusting module is used for adjusting and analyzing an electric quantity instruction reflection group set by the inspection robot, acquiring the position of the intelligent charging pile in an idle state, sending the position of the intelligent charging pile and the current position of the inspection robot to the navigation analysis module, and generating a charging pile route distance by the navigation analysis module; calculating the route distance summation average value of all the charging piles to obtain a route average value; extracting the walking rated energy consumption of the inspection robot; weighting calculation is carried out on the route mean value and the walking rated energy consumption so as to obtain a calibration coefficient of the value range of the electric quantity instruction reflection group; and adjusting the value range of the electric quantity instruction reflection group by the adjusting coefficient.
Compared with the prior art, the invention has the beneficial effects that:
1. according to the invention, the charging quality evaluation analysis is carried out on the historical charging information of the intelligent charging pile through the charging pile evaluation module, so that the accurate evaluation on the charging quality of the charging pile is realized, the charging scheme analysis module generates the predicted charging scheme, the charging pile selection module combines the working state, the charging quality value and the predicted charging scheme of the intelligent charging pile to obtain the selected value, and the optimal intelligent charging pile is selected as the selected charging pile according to the selected value, so that the inspection robot is ensured to select the proper charging pile for charging, and the efficient charging of the inspection robot and the reliable operation of the system are realized.
2. According to the invention, the charging pile evaluation module is allowed to reference different charging times and charging receiving information corresponding to the charging times according to the historical charging information through the charging feedback module, and the weight proportion coefficient corresponding to the charging times corresponding to the intelligent charging pile is obtained, so that the performance of the charging pile is evaluated more accurately and comprehensively, and corresponding adjustment is made.
In summary, the invention can optimize the battery power management of the inspection robot, realize the autonomous charging function, improve the working efficiency, continuity and flexibility, and realize the automatic management and optimization, thereby improving the overall performance and the application value of the inspection robot.
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The present invention is further described below with reference to the accompanying drawings for the convenience of understanding by those skilled in the art.
Fig. 1 is a schematic block diagram of an automatic charge management system for a four differential wheel inspection robot according to the present invention.
Detailed Description
Reference will now be made in detail to exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, the same numbers in different drawings refer to the same or similar elements, unless otherwise indicated. The implementations described in the following exemplary examples are not representative of all implementations consistent with the present disclosure. Rather, they are merely examples of apparatus and methods consistent with some aspects of the present disclosure as detailed in the accompanying claims.
The terminology used in the present disclosure is for the purpose of describing particular embodiments only and is not intended to be limiting of the disclosure. As used in this disclosure and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It should also be understood that the term "and/or" as used herein refers to and encompasses any or all possible combinations of one or more of the associated listed items.
It should be understood that although the terms first, second, third, etc. may be used in this disclosure to describe various information, these information should not be limited to these terms. These terms are only used to distinguish one type of information from another. For example, first information may also be referred to as second information, and similarly, second information may also be referred to as first information, without departing from the scope of the present disclosure. The word "if" as used herein may be interpreted as "at … …" or "at … …" or "responsive to a determination", depending on the context.
Referring to fig. 1, an automatic charging management system for a four-differential wheel type inspection robot includes a BMS battery management system, a charging pile evaluation module, a charging scheme analysis module, a charging pile selection module and a navigation analysis module;
the BMS battery management system is used for monitoring the battery electric quantity in real time; setting an electric quantity instruction mapping group, and matching the battery electric quantity with the value range of the electric quantity instruction mapping group to generate a corresponding electric quantity execution instruction group; the electric quantity execution instruction group comprises a charging record instruction and a forward charging instruction; in practical application, as an example, when the battery power of the inspection robot is lower than 25%, a charging record instruction is generated; generating a forward charging instruction when the battery power is lower than 20%; the charging record instruction and the value range of the electric quantity instruction mapping group corresponding to the forward charging instruction are set according to actual conditions;
the charging pile evaluation module is used for acquiring charging related information when the intelligent charging pile charges the inspection robot, marking the starting charging time of the intelligent charging pile as a first time and marking the ending charging time of the intelligent charging pile as a second time; marking a time zone between the first time and the second time as a charging time zone; acquiring charging related information in all charging time zones and marking the charging related information as historical charging information; performing charge quality evaluation analysis on the historical charge information of the intelligent charging pile to obtain a charge quality value of the intelligent charging pile;
the charging scheme analysis module is used for carrying out record analysis on the charging pile position information after receiving a charging record instruction, extracting the position of the intelligent charging pile, acquiring the current position of the inspection robot by utilizing the high-precision positioning system, inputting the current position of the inspection robot and the position of the intelligent charging pile into the navigation analysis module, and generating a charging forward route of the inspection robot, a route distance and a route arrival estimated time by using map data and a route planning algorithm by the navigation analysis module; marking the charging route of the inspection robot and the distance and the arrival estimated time of the route as an estimated charging scheme;
the charging pile selection module is used for carrying out fusion selection analysis on the working state, the charging quality value and the predicted charging scheme of the intelligent charging pile after receiving the charging record instruction so as to obtain a selected charging pile, and the specific analysis is as follows:
acquiring the working state of the intelligent charging pile, wherein the working state comprises a charging state and an idle state; if the intelligent charging piles in the idle state exist, extracting the route distance Q1 and the route arrival estimated time length Q2 in the estimated charging scheme of all the intelligent charging piles in the idle state, carrying out weighted calculation on the route distance and the route arrival estimated time length, and obtaining a route value Q by utilizing a formula Q=Q1×q1+Q2×q2; wherein q1 and q2 respectively represent weight factors corresponding to the route distance and the expected route arrival time, and the weight factors are used for waiting by various factors such as traffic lights, road flatness and road section shielding in the charging route, so that detours are caused;
if an intelligent charging pile in a charging state exists, extracting charging efficiency Y1 and charging power Y2 of the intelligent charging pile and battery electric quantity of a charging inspection robot, acquiring an electric quantity full value threshold value of the battery electric quantity, subtracting the battery electric quantity from the electric quantity full value threshold value to obtain a to-be-charged battery electric quantity mark as P, extracting a charging quality value of the intelligent charging pile as a correction coefficient of the charging efficiency, carrying out residual charging time prediction calculation on the to-be-charged battery electric quantity and the charging efficiency, and utilizing a formulaObtaining the residual charging time length of the inspection robot; wherein lambda represents the rest correction coefficient of the rest charging time length, and the rest correction coefficient is determined by the factors such as communication delay between the charging pile and the inspection robot, the electric quantity condition of the power grid and the like; extracting the route arrival estimated time length in the estimated charging scheme, and subtracting the residual charging time length from the route arrival estimated time length to obtain an actual waiting time length marked as D;
weighting calculation is carried out on the route value, the charging quality value and the actual waiting time length, and a formula is utilizedTo obtain a selected value of the intelligent charging pile; wherein (1)>The weight proportion coefficients corresponding to the route value, the charging quality value and the actual waiting time are respectively represented; selecting an intelligent charging pile corresponding to the minimum selected value as a selected charging pile;
the navigation analysis module is internally preset with charging pile position information which comprises the positions of a plurality of intelligent charging piles corresponding to the inspection robot; the system is also used for receiving a forward charging instruction and a predicted charging scheme of the selected charging pile, interrupting a current patrol task after receiving the forward charging instruction, and controlling the patrol robot to go to the position of the selected charging pile according to a charging forward route in the predicted charging scheme of the selected charging pile so as to perform charging operation; the charging operation is an autonomous charging technology, is a mature technology in the prior art, mainly utilizes navigation and positioning technology of a robot, sensing and recognition technology of a charging pile, communication protocol between the robot and the charging pile and the like, and can realize that the robot can autonomously select a proper charging pile, autonomously butt-joint a charging interface, and control charging speed and charging stopping time according to battery conditions, which is not repeated herein.
In this application, charge quality evaluation analysis is carried out to the historical information of charging of intelligent charging stake, obtains the charge quality value of intelligent charging stake, and is specific as follows:
extracting charging related information in a charging time zone corresponding to charging operation of the intelligent charging pile, wherein the charging related information comprises charging current, charging voltage, charging time, charging efficiency and charging temperature; establishing a charging evaluation coordinate system, inputting parameters in charging related information into the charging evaluation coordinate system according to the acquisition time, marking the position of the corresponding parameter in the charging evaluation coordinate system as a corresponding parameter point, connecting adjacent corresponding parameter points to obtain a parameter line, calculating the slope of the corresponding parameter line, marking the slope as a slope I if the slope is positive, and marking the slope as a slope II if the slope is negative; summing all the slopes I and II to obtain a slope total value I and a slope total value II, weighting the slope total value I and the slope total value II, and summing to obtain a fluctuation value marked as A1; setting a normal threshold value of a corresponding parameter line, marking the slope which is not in the normal threshold value as a high change slope, and carrying out weighted calculation on all the high change slopes to obtain an abnormal value marked as A2;
sequentially numbering the parameters in the charging related information to be N, and marking the total number of the numbers to be N; using the formulaObtaining an operation evaluation value A of the secondary intelligent charging pile charging; nA1 and nA2 respectively represent a fluctuation value and an abnormal value corresponding to the parameter n, and nA1 and nA2 respectively represent weight proportion coefficients of the fluctuation value and the abnormal value corresponding to the parameter n;
marking the total charging times of the intelligent charging pile as M, and numbering the charging times as M according to a time sequence; extracting operation evaluation values corresponding to the charging times of the intelligent charging piles, carrying out weighted calculation on the operation evaluation values, and utilizing a formulaObtaining a charging quality value NA of the intelligent charging pile; wherein mA represents the operation evaluation value corresponding to the number of charging times m, and mA represents the weight proportionality coefficient corresponding to the operation evaluation value when the number of charging times m.
In the application, when the inspection robot generates a forward charging instruction, marking a selected charging pile as a pre-occupied charging pile; other inspection robots are set to exclude preemption charging piles as selectable options.
It is to be noted that, through setting for the preemption and filling electric pile, ensure that every inspection robot can select an available electric pile to charge, avoid filling electric pile's reuse and wasting of resources, improve the utilization ratio and the efficiency of filling electric pile.
In this application, the invention includes a charge feedback module;
the charging feedback module is used for intelligent chargingWhen the electric pile performs charging operation on the inspection robot, charging receiving information of the inspection robot is extracted, and the charging receiving information is set specifically according to actual conditions, such as receiving charging current, receiving charging voltage, receiving charging time and the like; performing reference analysis on charging receiving information of the robot, matching the charging receiving information with parameters in charging related information, setting a preset matching error normal range of the charging receiving information, recording parameters of the charging receiving information exceeding the preset matching error normal range, marking the parameters as deviation parameters, and marking all the deviation parameters as abnormal charging information; numbering the deviation parameters in the abnormal charge information and marking as cG, G representing the value of the deviation parameters, marking the total number of the deviation parameters in the abnormal charge information as F, using the formulaObtaining a weight proportion coefficient corresponding to the charging times corresponding to the intelligent charging pile; wherein, mθ represents a weight factor corresponding to a corresponding value when the deviation parameter number is c when the charging frequency is m; and sending the weight proportion coefficient corresponding to the charging times corresponding to the intelligent charging pile to a charging pile evaluation module.
In the application, the invention further comprises an electric quantity instruction reflection group adjusting module;
the electric quantity instruction reflection group adjusting module is used for adjusting and analyzing an electric quantity instruction reflection group set by the inspection robot, acquiring the position of the intelligent charging pile in an idle state, sending the position of the intelligent charging pile and the current position of the inspection robot to the navigation analysis module, and generating a charging pile route distance by the navigation analysis module; calculating the route distance summation average value of all the charging piles to obtain a route average value; extracting the walking rated energy consumption of the inspection robot; weighting calculation is carried out on the route mean value and the walking rated energy consumption so as to obtain a calibration coefficient of the value range of the electric quantity instruction reflection group; the average value of the route can be influenced by various factors such as waiting of traffic lights, road flatness, road section shielding, detouring and the like, and the running rated energy consumption can be influenced by factors such as running efficiency, abrasion degree and the like of a running device of the inspection robot; and adjusting the value range of the electric quantity instruction reflection group by the adjusting coefficient.
It should be noted that in practical application, as an example, the standard is to generate a charging record instruction when the battery power of the inspection robot is lower than 25%; generating a forward charging instruction when the battery power is lower than 20%; when the average value of the distances between the inspection robot and all the charging pile routes is large, the value range of the electric quantity instruction reflection group is adjusted upwards, and when the average value is small, the value range can be adjusted downwards.
Other embodiments of the disclosure will be apparent to those skilled in the art from consideration of the specification and practice of the disclosure disclosed herein. This disclosure is intended to cover any adaptations, uses, or adaptations of the disclosure following the general principles of the disclosure and including such departures from the present disclosure as come within known or customary practice within the art to which the disclosure pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the disclosure being indicated by the following claims.
The foregoing description of the preferred embodiments of the present disclosure is not intended to limit the disclosure, but rather to cover all modifications, equivalents, improvements and alternatives falling within the spirit and principles of the present disclosure.
Claims (6)
1. An automatic charging management system for a four-differential wheel type inspection robot is characterized by comprising a BMS battery management system, a charging pile evaluation module, a charging scheme analysis module and a navigation analysis module;
the BMS battery management system is used for monitoring the battery electric quantity in real time; setting an electric quantity instruction mapping group, and matching the battery electric quantity with the value range of the electric quantity instruction mapping group to generate a corresponding electric quantity execution instruction group; the electric quantity execution instruction group comprises a charging record instruction and a forward charging instruction;
the charging pile evaluation module is used for acquiring charging related information when the intelligent charging pile charges the inspection robot, marking the starting charging time of the intelligent charging pile as a first time and marking the ending charging time of the intelligent charging pile as a second time; marking a time zone between the first time and the second time as a charging time zone; acquiring charging related information in all charging time zones and marking the charging related information as historical charging information; performing charge quality evaluation analysis on the historical charge information of the intelligent charging pile to obtain a charge quality value of the intelligent charging pile;
the charging scheme analysis module is used for carrying out record analysis on the charging pile position information after receiving a charging record instruction, extracting the position of the intelligent charging pile, acquiring the current position of the inspection robot by utilizing the high-precision positioning system, inputting the current position of the inspection robot and the position of the intelligent charging pile into the navigation analysis module, and generating a charging forward route of the inspection robot, a route distance and a route arrival estimated time by using map data and a route planning algorithm by the navigation analysis module; and marking the charging route-to-route distance and the route-arrival predicted time length of the inspection robot as a predicted charging scheme.
2. The automatic charging management system for a four-differential wheel inspection robot according to claim 1, further comprising a charging pile selection module, wherein the charging pile selection module is used for carrying out fusion selection analysis on the working state, the charging quality value and the expected charging scheme of the intelligent charging pile after receiving the charging record instruction so as to obtain a selected charging pile, and the specific analysis is as follows:
acquiring the working state of the intelligent charging pile, wherein the working state comprises a charging state and an idle state; if the intelligent charging piles in the idle state exist, extracting the route distance and the route arrival estimated time length in the estimated charging scheme of all the intelligent charging piles in the idle state, and carrying out weighted calculation on the route distance and the route arrival estimated time length to obtain a route value;
if the intelligent charging pile in the charging state exists, extracting the charging efficiency and the charging power of the intelligent charging pile and the battery electric quantity of the charging inspection robot, acquiring an electric quantity full value threshold of the battery electric quantity, subtracting the battery electric quantity from the electric quantity full value threshold to obtain the electric quantity of the battery to be charged, extracting the charging quality value of the intelligent charging pile as a correction coefficient of the charging efficiency, and carrying out residual charging time prediction calculation on the electric quantity of the battery to be charged and the charging efficiency to obtain the residual charging duration of the inspection robot;
and carrying out weighted calculation on the route value, the charging quality value and the actual waiting time to obtain a selected value of the intelligent charging pile, and selecting the intelligent charging pile corresponding to the minimum selected value as the selected charging pile.
3. The automatic charging management system for a four-differential wheel type inspection robot according to claim 1, wherein the charging quality evaluation analysis is performed on the historical charging information of the intelligent charging pile to obtain a charging quality value of the intelligent charging pile, and the automatic charging management system is specifically as follows:
extracting charging related information in a charging time zone corresponding to charging operation of the intelligent charging pile, wherein the charging related information comprises charging current, charging voltage, charging time, charging efficiency and charging temperature; establishing a charging evaluation coordinate system, inputting parameters in charging related information into the charging evaluation coordinate system according to the acquisition time, marking the position of the corresponding parameter in the charging evaluation coordinate system as a corresponding parameter point, connecting adjacent corresponding parameter points to obtain a parameter line, calculating the slope of the corresponding parameter line, marking the slope as a slope I if the slope is positive, and marking the slope as a slope II if the slope is negative; summing all the slopes I and II to obtain a slope total value I and a slope total value II, weighting the slope total value I and the slope total value II, and summing to obtain a fluctuation value marked as A1; setting a normal threshold value of a corresponding parameter line, marking the slope which is not in the normal threshold value as a high change slope, and carrying out weighted calculation on all the high change slopes to obtain an abnormal value marked as A2;
sequentially numbering the parameters in the charging related information to be N, and marking the total number of the numbers to be N; using the formulaObtaining an operation evaluation value A of the secondary intelligent charging pile charging;nA1 and nA2 respectively represent a fluctuation value and an abnormal value corresponding to the parameter n, and nA1 and nA2 respectively represent weight proportion coefficients of the fluctuation value and the abnormal value corresponding to the parameter n;
marking the total charging times of the intelligent charging pile as M, and numbering the charging times as M according to a time sequence; extracting operation evaluation values corresponding to the charging times of the intelligent charging piles, carrying out weighted calculation on the operation evaluation values, and utilizing a formulaObtaining a charging quality value NA of the intelligent charging pile; wherein mA represents the operation evaluation value corresponding to the number of charging times m, and mA represents the weight proportionality coefficient corresponding to the operation evaluation value when the number of charging times m.
4. An automatic charge management system for a four differential wheeled inspection robot according to claim 1, wherein the inspection robot marks its selected charging stake as a preemptive charging stake when generating a forward charge command; setting other inspection robots to exclude the preemption charging piles as selectable items;
the navigation analysis module is internally preset with charging pile position information which comprises the positions of a plurality of intelligent charging piles corresponding to the inspection robot; the system is also used for receiving a charging instruction and an expected charging scheme of the selected charging pile, interrupting a current patrol task after receiving the charging instruction, and controlling the patrol robot to go to the position of the selected charging pile according to a charging route in the expected charging scheme of the selected charging pile so as to perform charging operation.
5. An automatic charge management system for a four-differential wheeled inspection robot according to claim 2, further comprising a charge feedback module;
the charging feedback module is used for extracting charging receiving information of the inspection robot when the intelligent charging pile performs charging operation on the inspection robot, wherein the charging receiving information comprises receiving current, receiving voltage, battery electric quantity and the like; pairing machinePerforming reference analysis on charging receiving information of the robot, matching the charging receiving information with parameters in charging related information, setting a preset matching error normal range of the charging receiving information, recording parameters of the charging receiving information exceeding the preset matching error normal range, marking the parameters as deviation parameters, and marking all the deviation parameters as abnormal charging information; numbering the deviation parameters in the abnormal charge information and marking as cG, G representing the value of the deviation parameters, marking the total number of the deviation parameters in the abnormal charge information as F, using the formulaObtaining a weight proportion coefficient corresponding to the charging times corresponding to the intelligent charging pile; wherein, mθ represents a weight factor corresponding to a corresponding value when the deviation parameter number is c when the charging frequency is m; and sending the weight proportion coefficient corresponding to the charging times corresponding to the intelligent charging pile to a charging pile evaluation module.
6. The automatic charge management system for a four-differential wheeled inspection robot of claim 5, further comprising an electrical quantity instruction reflection group adjustment module;
the electric quantity instruction reflection group adjusting module is used for adjusting and analyzing an electric quantity instruction reflection group set by the inspection robot, acquiring the position of the intelligent charging pile in an idle state, sending the position of the intelligent charging pile and the current position of the inspection robot to the navigation analysis module, and generating a charging pile route distance by the navigation analysis module; calculating the route distance summation average value of all the charging piles to obtain a route average value; extracting the walking rated energy consumption of the inspection robot; weighting calculation is carried out on the route mean value and the walking rated energy consumption so as to obtain a calibration coefficient of the value range of the electric quantity instruction reflection group; and adjusting the value range of the electric quantity instruction reflection group by the adjusting coefficient.
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| CN202410123114.9A CN117748688B (en) | 2024-01-30 | 2024-01-30 | Automatic charging management system for four-differential wheel type inspection robot |
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| CN117748688A true CN117748688A (en) | 2024-03-22 |
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