A battery fault detection system for a track inspection robot

Abstract

This invention discloses a battery fault detection system for a track inspection robot, relating to the field of battery fault detection technology. It solves the technical problem in existing technologies where battery faults can only be detected when the system malfunctions. The invention uses a data acquisition module to collect the operating parameters of the track inspection robot at the current task execution point. A data processing module receives the operating parameters and obtains different abnormal signals based on these parameters and historical operating parameters in a database. An intelligent early warning module receives the abnormal signals and sends them to the maintenance personnel's smart terminal. During the execution of a specific task, the track inspection robot records its operating parameters in real time and compares them with the historical operating parameters collected for that specific task. If the execution time and battery level at the current task point exceed a preset threshold, a system abnormality is determined, and a system early warning is issued. Similarly, if the battery status exceeds a preset threshold, a battery abnormality is considered, and a battery early warning is issued.

Description

Technical Field

[0001] This invention belongs to the field of track inspection robots and relates to battery fault detection technology, specifically a battery fault detection system for track inspection robots. Background Technology

[0002] Track inspection robots are used in fixed scenarios, repeating specific inspection tasks every day. The system state is highly consistent each time the same task is performed. Once the inspection robot is shut down due to a sudden power outage, no output, or other faults, the inspection task cannot be completed, and the server cannot know the current status of the inspection robot in real time. Furthermore, maintenance personnel or engineers are required to go to the site for handling and maintenance, which will significantly increase maintenance costs and is extremely detrimental to the promotion and popularization of inspection robots.

[0003] In existing technologies, battery fault detection systems can only detect battery problems when the track inspection robot malfunctions. They rely solely on detecting battery charge, voltage, and current thresholds to determine battery status, and cannot detect potential problems in the track inspection robot.

[0004] To address this, a battery fault detection system for track inspection robots is proposed. Summary of the Invention

[0005] This invention aims to at least solve one of the technical problems existing in the prior art. To this end, this invention proposes a battery fault detection system for a track inspection robot, which solves the problem in the prior art that battery faults can only be detected when a system malfunctions.

[0006] To achieve the above objectives, an embodiment of the first aspect of the present invention provides a battery fault detection system for a track inspection robot, comprising a data acquisition module, a data processing module, an intelligent early warning module, and a database; the modules interact with each other based on data signals.

[0007] The data acquisition module is used to collect the operating parameters of the track inspection robot at the current task execution point; wherein, the operating parameters include location tag, execution time, and battery status; the battery status includes power, voltage, and current;

[0008] And send the operating parameters to the data processing module;

[0009] The data processing module is used to receive the operating parameters and obtain different abnormal signals based on the operating parameters and historical operating parameters in the database.

[0010] And send the abnormal signal to the intelligent early warning module;

[0011] The intelligent early warning module is used to receive the abnormal signal and send the abnormal signal to the maintenance personnel's intelligent terminal.

[0012] Preferably, location labels are affixed to the task execution points.

[0013] Preferably, the track inspection robot returns to the charging compartment to recharge when it is not in operation;

[0014] The track inspection robot is initially marked as unsynchronized when it reaches full charge for the first time in the charging compartment.

[0015] Determine if the current battery level is within the preset full battery range;

[0016] If the battery level is outside the preset range, update the battery level of the track inspection robot to the preset full battery level and clear the unsynchronized markers.

[0017] When the track inspection robot reaches full charge, it will determine whether the current power value is within the preset full power range.

[0018] If the battery level is not within the preset range, update the battery level of the track inspection robot to the preset full battery level.

[0019] Preferably, the data acquisition module acquires the operating parameters of the track inspection robot at the current task execution point, and the specific process includes:

[0020] The track inspection robot includes an identification device that identifies location tags at task execution points;

[0021] The track inspection robot obtains the execution time at the current task execution point;

[0022] The track inspection robot obtains the battery level at the current task execution point;

[0023] The track inspection robot acquires the voltage at the current task execution point;

[0024] The track inspection robot obtains the current at the current task execution point.

[0025] Preferably, the task execution time of the track inspection robot at the current task execution point is marked as T. P Where P represents the location label of the task execution point, and the value of P is 1, 2, 3...;

[0026] The battery level of the track inspection robot at the current task execution point is marked as Q. P ;

[0027] The voltage marker of the track inspection robot at the current task execution point is V. P ;

[0028] The current marker of the track inspection robot at the current task execution point is I. P .

[0029] Preferably, the data processing module receives the operating parameters and obtains different abnormal signals based on the operating parameters and historical operating parameters in the database. The specific process includes:

[0030] The data processing module receives the operating parameters;

[0031] The data processing module obtains the normal historical operating parameters of the track inspection robot at the current task execution point from the database;

[0032] The historical operating parameters include task execution time, battery power, voltage, and current;

[0033] The task execution duration in the historical operation parameters is marked as T. P0 ;

[0034] The energy level in the historical operating parameters is marked as Q. P0 ;

[0035] The current in the historical operating parameters is marked as I. P0i Where i is a label for different power consumptions, and the value of i is 1, 2, 3...;

[0036] The voltage in the historical operating parameters is marked as V. P0i ;

[0037] Based on the task execution duration T at the current task execution point P And the task execution duration T in the historical running parameters P0 Obtain the task execution time difference, which is denoted as ΔT. P ;

[0038] Based on the current battery level Q at the task execution point P And the power Q in historical operating parameters P0 Obtain the power difference, which is denoted as ΔQ. P ;

[0039] The formula for calculating the difference in task execution time is: ΔT P =|T P -T P0 |; where || is the absolute value symbol;

[0040] The formula for calculating the power difference is: ΔQ P =|Q P -Q P0 |;

[0041] A preset time threshold is set, and the preset time threshold is marked as T0;

[0042] Set a preset power threshold, which is labeled Q0;

[0043] When ΔT P ≥T0 or ΔQ P When Q0 is greater than or equal to 0, the system is in an abnormal state and generates a system abnormal signal.

[0044] The data processing module is used to receive the system abnormal signal;

[0045] When ΔT P <T0 and ΔQ P When the value is less than Q0, both the task execution time and battery consumption are within the normal range.

[0046] Based on the current I at the current task execution point P Search the database for I P The current I in the most similar historical operating parameters P0i ;

[0047] Based on the current I in the historical operating parameters P0i Obtain the voltage V from the corresponding historical operating parameters. P0i ,

[0048] Based on the voltage V at the current task execution point P and the voltage V in historical operating parameters P0i Obtain the voltage difference, which is denoted as ΔV. P ;

[0049] The formula for calculating the voltage difference is: ΔV P =|V P -V P0i |;

[0050] Set the battery level Q at the current task execution point. P The voltage threshold, denoted as V 0P ;

[0051] When ΔV P ≤V 0P At that time, the battery was in normal condition;

[0052] When ΔV P >V 0P When the battery is in an abnormal state, a battery abnormality signal is generated.

[0053] The data processing module sends the battery abnormality signal to the intelligent early warning module.

[0054] Preferably, the intelligent early warning module receives the abnormal signal and sends the abnormal signal to the maintenance personnel's smart terminal. The specific process includes:

[0055] After receiving the battery abnormality signal, the intelligent early warning module generates a battery repair signal and sends it to the intelligent terminal of the maintenance personnel.

[0056] Maintenance personnel receive the battery maintenance signal through a smart terminal and perform maintenance on the battery of the track inspection robot.

[0057] After receiving the system anomaly signal, the intelligent early warning module generates a system maintenance signal and sends it to the maintenance personnel's smart terminal.

[0058] Maintenance personnel receive system maintenance signals via a smart terminal and perform maintenance on the track inspection robot's system.

[0059] Preferably, the smart terminal includes smartphones and computers.

[0060] Preferably, the data acquisition module is communicatively and / or electrically connected to the data processing module;

[0061] The data processing module is communicatively and / or electrically connected to the intelligent early warning module.

[0062] Compared with the prior art, the beneficial effects of the present invention are:

[0063] This invention collects the operating parameters of a track inspection robot at the current task execution point through a data acquisition module and sends these parameters to a data processing module. The data processing module receives the operating parameters, obtains different abnormal signals based on the operating parameters and historical operating parameters in the database, and sends these abnormal signals to an intelligent early warning module. The intelligent early warning module receives the abnormal signals and sends them to the maintenance personnel's smart terminal. The track inspection robot's application scenario is relatively fixed, repeating specific inspection tasks daily, and the system state highly overlaps each time the same task is executed. When executing a specific task, the track inspection robot records its operating parameters in real time and compares them with the historical operating parameters collected for that specific task. If the execution time and battery level at the current task point exceed a preset threshold, a system abnormality is determined, and a system early warning is issued. If the battery status exceeds a preset threshold, a battery abnormality is considered, and a battery early warning is issued. Attached Figure Description

[0064] Figure 1 This is a flowchart of the present invention. Detailed Implementation

[0065] The technical solution of the present invention will be clearly and completely described below with reference to the embodiments. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0066] like Figure 1 As shown, a battery fault detection system for a track inspection robot includes a data acquisition module, a data processing module, an intelligent early warning module, and a database; the modules interact with each other based on data signals.

[0067] The data acquisition module is used to collect the operating parameters of the track inspection robot at the current task execution point; wherein, the operating parameters include location tag, execution time, and battery status; the battery status includes power, voltage, and current;

[0068] And send the operating parameters to the data processing module;

[0069] The data processing module is used to receive the operating parameters and obtain different abnormal signals based on the operating parameters and historical operating parameters in the database.

[0070] And send the abnormal signal to the intelligent early warning module;

[0071] The intelligent early warning module is used to receive the abnormal signal and send the abnormal signal to the maintenance personnel's intelligent terminal.

[0072] In this embodiment, a location label is affixed to the task execution point;

[0073] For example, the application scenario of the track inspection robot is a pigsty, where the environmental conditions are relatively stable and the pig pens are labeled with location tags. The track inspection robot moves on an I-shaped track above the task execution point.

[0074] In this embodiment, the track inspection robot returns to the charging compartment to recharge when it is not working.

[0075] The track inspection robot is initially marked as unsynchronized when it reaches full charge for the first time in the charging compartment.

[0076] Determine if the current battery level is within the preset full battery range;

[0077] If the battery level is outside the preset range, update the battery level of the track inspection robot to the preset full battery level and clear the unsynchronized markers.

[0078] When the track inspection robot reaches full charge, it will determine whether the current power value is within the preset full power range.

[0079] If the battery level is outside the preset range, update the battery level of the track inspection robot to the preset full battery level; ensure that the battery level of the track inspection robot is consistent every time it is fully charged and performs a task, and provide a basis for subsequent early warning.

[0080] The data acquisition module collects the operating parameters of the track inspection robot at the current task execution point. The specific process includes:

[0081] The track inspection robot includes an identification device that identifies location tags at task execution points;

[0082] The track inspection robot obtains the execution time at the current task execution point;

[0083] The track inspection robot obtains the battery level at the current task execution point;

[0084] The track inspection robot acquires the voltage at the current task execution point;

[0085] The track inspection robot obtains the current at the current task execution point.

[0086] In this embodiment, the task execution time of the track inspection robot at the current task execution point is marked as T. P Where P represents the location label of the task execution point, and the value of P is 1, 2, 3...;

[0087] The battery level of the track inspection robot at the current task execution point is marked as Q. P ;

[0088] The voltage marker of the track inspection robot at the current task execution point is V. P ;

[0089] The current marker of the track inspection robot at the current task execution point is I. P .

[0090] The data processing module receives the operating parameters and obtains different abnormal signals based on the operating parameters and historical operating parameters in the database. The specific process includes:

[0091] The data processing module receives the operating parameters;

[0092] The data processing module obtains the normal historical operating parameters of the track inspection robot at the current task execution point from the database;

[0093] The historical operating parameters include task execution time, battery power, voltage, and current;

[0094] The task execution duration in the historical operation parameters is marked as T. P0 ;

[0095] The energy level in the historical operating parameters is marked as Q. P0 ;

[0096] The current in the historical operating parameters is marked as I. P0i Where i represents different power consumption values, i can be 1, 2, 3, ...; it is important to note that voltage and current are related to the current power consumption, I P0i and V P0i There are multiple data ranges;

[0097] The voltage in the historical operating parameters is marked as V. P0i ;

[0098] Based on the task execution duration T at the current task execution point P And the task execution duration T in the historical running parameters P0 Obtain the task execution time difference, which is denoted as ΔT. P ;

[0099] Based on the current battery level Q at the task execution point P And the power Q in historical operating parameters P0 Obtain the power difference, which is denoted as ΔQ. P ;

[0100] The formula for calculating the difference in task execution time is: ΔT P =|T P -T P0 |; where || represents the absolute value symbol. For example: |-5|=5;

[0101] The formula for calculating the power difference is: ΔQ P =|Q P -Q P0 |;

[0102] A preset time threshold is set, and the preset time threshold is marked as T0;

[0103] Set a preset power threshold, which is labeled Q0;

[0104] When ΔT P ≥T0 or ΔQ P When Q0 is greater than or equal to 0, the system is in an abnormal state and generates a system abnormal signal.

[0105] The data processing module is used to receive the system abnormal signal;

[0106] When ΔT P <T0 and ΔQ P When the value is less than Q0, both the task execution time and battery consumption are within the normal range.

[0107] Based on the current I at the current task execution point P Search the database for I P The current I in the most similar historical operating parameters P0i ;

[0108] Based on the current I in the historical operating parameters P0i Obtain the voltage V from the corresponding historical operating parameters. P0i ,

[0109] Based on the voltage V at the current task execution point P and the voltage V in historical operating parameters P0i Obtain the voltage difference, which is denoted as ΔV. P ;

[0110] The formula for calculating the voltage difference is: ΔV P =|V P -V P0i |;

[0111] Set the battery level Q at the current task execution point. P The voltage threshold, denoted as V 0P ;

[0112] When ΔV P ≤V 0P At that time, the battery was in normal condition;

[0113] When ΔV P >V 0P When the battery is in an abnormal state, a battery abnormality signal is generated.

[0114] The data processing module sends the battery abnormality signal to the intelligent early warning module.

[0115] The intelligent early warning module receives the abnormal signal and sends it to the maintenance personnel's smart terminal. The specific process includes:

[0116] After receiving the battery abnormality signal, the intelligent early warning module generates a battery repair signal and sends it to the intelligent terminal of the maintenance personnel.

[0117] Maintenance personnel receive the battery maintenance signal through a smart terminal and perform maintenance on the battery of the track inspection robot.

[0118] After receiving the system anomaly signal, the intelligent early warning module generates a system maintenance signal and sends it to the maintenance personnel's smart terminal.

[0119] Maintenance personnel receive system maintenance signals via a smart terminal and perform maintenance on the track inspection robot's system.

[0120] In this embodiment, the smart terminal includes smart devices such as smartphones and computers.

[0121] In this embodiment, the data acquisition module is communicatively and / or electrically connected to the data processing module;

[0122] The data processing module communicates with and / or is electrically connected to the intelligent early warning module.

[0123] The above formulas are all numerical calculations after removing dimensions. The formulas are obtained by software simulation based on a large amount of data and are closest to the real situation. The preset parameters and preset thresholds in the formulas are set by those skilled in the art according to the actual situation or obtained by simulation based on a large amount of data.

[0124] Working principle of the invention:

[0125] The data acquisition module collects the operating parameters of the track inspection robot at the current task execution point and sends the operating parameters to the data processing module.

[0126] The data processing module receives operating parameters, obtains different abnormal signals based on the operating parameters and historical operating parameters in the database, and sends the abnormal signals to the intelligent early warning module.

[0127] The intelligent early warning module receives abnormal signals and sends them to the maintenance personnel's smart terminal.

[0128] The above embodiments are only used to illustrate the technical method of the present invention and are not intended to limit the present invention. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical method of the present invention may be modified or replaced by equivalents without departing from the spirit and scope of the technical method of the present invention.

Claims

1. A battery fault detection system for a track inspection robot, characterized in that, It includes a data acquisition module, a data processing module, an intelligent early warning module, and a database; the modules interact with each other based on data signals. The data acquisition module is used to collect the operating parameters of the track inspection robot at the current task execution point; wherein, the operating parameters include location tag, execution time, and battery status; the battery status includes power, voltage, and current; And send the operating parameters to the data processing module; The data processing module is used to receive the operating parameters and obtain different abnormal signals based on the operating parameters and historical operating parameters in the database. And send the abnormal signal to the intelligent early warning module; The intelligent early warning module is used to receive the abnormal signal and send the abnormal signal to the maintenance personnel's intelligent terminal; The data processing module receives the operating parameters and obtains different abnormal signals based on the operating parameters and historical operating parameters in the database. The specific process includes: The data processing module receives the operating parameters; The data processing module obtains the normal historical operating parameters of the track inspection robot at the current task execution point from the database; The historical operating parameters include task execution time, battery power, voltage, and current; The task execution duration in the historical operation parameters is marked as T. P0 ; The energy level in the historical operating parameters is marked as Q. P0 ; The current in the historical operating parameters is marked as I. P0i Where i is a label for different power consumptions, and the value of i is 1, 2, 3...; The voltage in the historical operating parameters is marked as V. P0i ; Based on the task execution duration T at the current task execution point P And the task execution duration T in the historical running parameters P0 Obtain the task execution time difference, and the task execution time difference is marked as... ; Based on the current battery level Q at the task execution point P And the power Q in historical operating parameters P0 Obtain the power difference, the power difference is marked as ; The formula for calculating the difference in task execution time is: Where || represents the absolute value symbol; The formula for calculating the power difference is: ; A preset time threshold is set, and the preset time threshold is marked as T0; Set a preset power threshold, which is labeled Q0; when ≥T0 or When Q0 is greater than or equal to 0, the system is in an abnormal state and generates a system abnormal signal. The data processing module is used to receive the system abnormal signal; when <T0 and When the value is less than Q0, both the task execution time and battery consumption are within the normal range. Based on the current I at the current task execution point P Search the database for I P The current I in the most similar historical operating parameters P0i ; Based on the current I in the historical operating parameters P0i Obtain the voltage V from the corresponding historical operating parameters. P0i , Based on the voltage V at the current task execution point P and the voltage V in historical operating parameters P0i Obtain the voltage difference, the voltage difference being marked as ; The formula for calculating the voltage difference is: ; Set the battery level Q at the current task execution point. P The voltage threshold, denoted as V 0P ; when ≤V 0P At that time, the battery was in normal condition; when >V 0P When the battery is in an abnormal state, a battery abnormality signal is generated. The data processing module sends the battery abnormality signal to the intelligent early warning module.

2. The battery fault detection system for a track inspection robot according to claim 1, characterized in that, Location labels are affixed to the task execution points.

3. A battery fault detection system for a track inspection robot according to claim 2, characterized in that, When the track inspection robot is not in use, it returns to the charging compartment to recharge. The track inspection robot is initially marked as unsynchronized when it reaches full charge for the first time in the charging compartment. Determine if the current battery level is within the preset full battery range; If the battery level is outside the preset range, update the battery level of the track inspection robot to the preset full battery level and clear the unsynchronized markers. When the track inspection robot reaches full charge, it will determine whether the current power value is within the preset full power range. If the battery level is not within the preset range, update the battery level of the track inspection robot to the preset full battery level.

4. A battery fault detection system for a track inspection robot according to claim 3, characterized in that, The data acquisition module collects the operating parameters of the track inspection robot at the current task execution point. The specific process includes: The track inspection robot includes an identification device that identifies location tags at task execution points; The track inspection robot obtains the execution time at the current task execution point; The track inspection robot obtains the battery level at the current task execution point; The track inspection robot acquires the voltage at the current task execution point; The track inspection robot obtains the current at the current task execution point.

5. A battery fault detection system for a track inspection robot according to claim 4, characterized in that, The task execution time of the track inspection robot at the current task execution point is marked as T. P Where P represents the location label of the task execution point, and the value of P is 1, 2, 3...; The battery level of the track inspection robot at the current task execution point is marked as Q. P ; The voltage marker of the track inspection robot at the current task execution point is V. P ; The current marker of the track inspection robot at the current task execution point is I. P .

6. A battery fault detection system for a track inspection robot according to claim 1, characterized in that, The intelligent early warning module receives the abnormal signal and sends it to the maintenance personnel's smart terminal. The specific process includes: After receiving the battery abnormality signal, the intelligent early warning module generates a battery repair signal and sends it to the intelligent terminal of the maintenance personnel. Maintenance personnel receive the battery maintenance signal through a smart terminal and perform maintenance on the battery of the track inspection robot. After receiving the system anomaly signal, the intelligent early warning module generates a system maintenance signal and sends it to the maintenance personnel's smart terminal. Maintenance personnel receive system maintenance signals via a smart terminal and perform maintenance on the track inspection robot's system.

7. A battery fault detection system for a track inspection robot according to claim 6, characterized in that, The smart terminals include smartphones and computers.

8. A battery fault detection system for a track inspection robot according to claim 7, characterized in that, The data acquisition module is communicatively and / or electrically connected to the data processing module; The data processing module communicates with and / or is electrically connected to the intelligent early warning module.

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