An automatic charging power control method and system based on an unmanned patrol vehicle and a storage medium

Abstract

The application relates to an automatic charging electric quantity control method and system based on an unmanned patrol vehicle and a storage medium, and the method comprises the following steps: K1. The unmanned patrol vehicle travels to a charging area to be charged, real-time charging current data information of a vehicle-mounted battery is acquired based on a current sensor, and an ampere integration algorithm is used to output SOC data information of the vehicle-mounted battery in real time; K2. Based on the SOC data information of the vehicle-mounted battery, a pre-charging SOC threshold value is set, if the SOC of the vehicle-mounted battery exceeds the pre-charging SOC threshold value, the charging is stopped and patrol work is carried out, and if the SOC of the vehicle-mounted battery is less than a pre-charging voltage threshold value, the SOC data information of the battery within a fixed length of time is output. The application can not only guarantee that the service life of the battery of the unmanned patrol vehicle is not reduced during the charging process, but also guarantee that the battery will not be overcharged during the charging process, so that an accident will not occur under the condition of high temperature of the battery.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of unmanned patrol vehicles, in particular to an automatic charging power control method and system based on an unmanned patrol vehicle and a storage medium. BACKGROUND

[0002] With the rapid development of science and technology, at present, unmanned vehicles are in a stage of rapid development, and major automobile manufacturers around the world are actively developing unmanned technology in order to launch more intelligent and efficient automobile products. At the same time, the government and technology enterprises are also investing a large amount of funds and manpower to support the development and application of unmanned vehicles.

[0003] In China, unmanned vehicles have entered the road test and demonstration application stage, and many enterprises have launched their own unmanned vehicle products and have launched trial operations in many cities. These trial operation projects have made great progress in technology, but still need to be further improved and improved, especially the power control system of unmanned vehicles. Insufficient power and inability to reach the charging area will result in a large amount of manual transportation of unmanned vehicles to the charging area, increasing labor costs. At the same time, the endurance of unmanned vehicles is also a concern. If the current during the battery charging process is too large or too small, it will reduce the battery life, thereby reducing the endurance of the unmanned vehicle. Long-term processing of low SOC state will reduce the battery capacity. How to solve these problems has become a problem that we need to solve urgently. SUMMARY

[0004] In view of the above problems, the present application provides an automatic charging power control method and system based on an unmanned patrol vehicle and a storage medium, which can not only ensure that the battery life of the unmanned patrol vehicle is not reduced during charging, but also ensure that the battery will not be overcharged during charging, resulting in an accident in a high-temperature state.

[0005] In order to achieve the above-mentioned purposes and other related purposes, the technical solutions provided by the present application are as follows:

[0006] An automatic charging power control method based on an unmanned patrol vehicle, the method comprising:

[0007] K1. The unmanned patrol vehicle travels to the charging area for charging, real-time acquisition of the charging current data information of the vehicle-mounted battery based on the current sensor and real-time output of the SOC data information of the vehicle-mounted battery by using the ampere integral algorithm;

[0008] K2. Setting a pre-charge SOC threshold based on the SOC data information of the vehicle-mounted battery, if the SOC of the vehicle-mounted battery exceeds the pre-charge SOC threshold, stopping charging and performing patrol work, if the SOC of the vehicle-mounted battery is less than the pre-charge voltage threshold, outputting the SOC data information of the battery within a fixed length of time;

[0009] K3. Based on the output SOC data information of the battery within a fixed length of time, using a battery SOC logic control algorithm to control the charging capacity of the vehicle-mounted battery and display through HMI.

[0010] Further, the battery SOC logic control algorithm comprises:

[0011] K31. Obtaining n groups of battery SOC data information (t1, soc1), (t2, soc2),..., n , n ,

[0012]

[0013] Wherein, i is the sampling time, i is a positive integer, t0=0, I is the charging current, Q is the rated capacity of the battery;

[0014] K32. Based on the battery SOC data information, obtaining the mean battery SOC value soc 均 ,

[0015]

[0016] K33. According to the mean battery SOC value soc 均 , setting a first preset threshold and a second preset threshold, if the soc 均 is less than the first preset threshold, the current flow is increased to the current preset value for charging, if the soc 均 is greater than the first preset threshold and less than the second preset threshold, the current flow is maintained for charging, if the soc 均 is greater than the second preset value, the current flow is reduced to the current preset value for charging.

[0017] Further, the current preset value Ipre is

[0018]

[0019] Wherein, U 额 is the rated voltage of the battery, and R is the rated resistance of the battery.

[0020] Further, the first preset threshold is Y1, and the second preset threshold is Y2,

[0021] Y1=soc 均 -ε, Y2=soc 均 +ε, wherein ε is a harmonic parameter.

[0022] Further, the soc 均 , the harmonic parameter ε is limited by

[0023]

[0024] Further, in step K1, the ampere integral algorithm comprises:

[0025] K11. Real-time acquisition of charging current data information of the vehicle-mounted battery,

[0026] K12. Obtaining the SOC of the battery based on the charging current data information of the vehicle-mounted battery,

[0027]

[0028] wherein I is the charging current, and Q is the rated capacity of the battery.

[0029] To achieve the above object and other related objects, the present application further provides an automatic charging power control system based on an unmanned patrol vehicle, which comprises:

[0030] a current sensor for acquiring charging current data information of a vehicle-mounted battery;

[0031] a current control module connected with the current sensor for controlling the flow of current;

[0032] a SOC calculation and control module connected with the current sensor and the current control module for calculating and obtaining data information of the SOC and issuing control instructions for the charging current of the vehicle-mounted battery;

[0033] a battery power display module comprising an HMI display screen for real-time display of power data information of the vehicle battery.

[0034] Further, the battery power display module is connected with the SOC calculation and control module.

[0035] Further, the system further comprises a warning module for reminding and controlling the vehicle to charge when the SOC of the vehicle-mounted battery is lower than 0.1-0.2.

[0036] To achieve the above object and other related objects, the present application further provides a computer readable storage medium having stored thereon a computer program programmed or configured to perform any one of the automatic charging power control methods based on an unmanned patrol vehicle.

[0037] The present application has the following positive effects:

[0038] 1. The present application acquires SOC data information of the vehicle battery in real time through the amperage integration algorithm, judges the battery power according to the SOC data information, ensures that the battery power is maintained in a balanced state, and improves the service life of the battery.

[0039] 2. The present application adjusts and controls the charging current in the battery charging process through the battery SOC logic control algorithm, further improves the charging efficiency of the battery and ensures that the charging process will not damage the battery.

[0040] 3. The present application further improves the safety of the vehicle charging process by feeding back the battery charging power in real time through the battery SOC, preventing the battery from malfunctioning or exploding due to the charging time process. BRIEF DESCRIPTION OF DRAWINGS

[0041] Figure 1 is a method flowchart of the present application;

[0042] Figure 2 is a system framework diagram of the present application. DETAILED DESCRIPTION

[0043] The exemplary embodiments of the present disclosure are described below in conjunction with the accompanying drawings, which include various details of the embodiments of the present disclosure to assist in understanding, and should be considered as merely exemplary. Therefore, those of ordinary skill in the art should recognize that various changes and modifications can be made to the embodiments described herein without departing from the scope and spirit of the present disclosure. Also, in order to be clear and concise, the description below omits the description of well-known functions and structures.

[0044] Embodiment 1: As shown in the figure, an automatic charging power control method based on an unmanned patrol vehicle, the method comprising: Figure 1

[0045] K1. The unmanned patrol vehicle travels to the charging area for charging, acquires the charging current data information of the vehicle-mounted battery in real time based on the current sensor and outputs the SOC data information of the vehicle-mounted battery in real time using the amperage integration algorithm;

[0046] K2. Based on the SOC data information of the vehicle-mounted battery, a pre-charge SOC threshold is set, if the SOC of the vehicle-mounted battery exceeds the pre-charge SOC threshold, the charging is stopped and the patrol work is performed, if the SOC of the vehicle-mounted battery is less than the pre-charge voltage threshold, the SOC data information of the battery within a fixed time is output;

[0047] ​K3. Based on the output SOC data information of the battery within a fixed time, a battery SOC logic control algorithm is adopted to control the charging power of the vehicle battery and display it through HMI.

[0048] In an embodiment, the battery SOC logic control algorithm comprises:

[0049] K31. Obtain n groups of battery SOC data information within a fixed time (t1, soc1), (t2, soc2),..., (tn, socn). n n ,

[0050]

[0051] wherein i is the sampling time, i is a positive integer, t0=0, I is the charging current, and Q is the rated capacity of the battery;

[0052] K32. Based on the battery SOC data information, obtain the mean battery SOC value soc 均 .

[0053]

[0054] K33. According to the mean battery SOC value soc 均 , set a first preset threshold and a second preset threshold. If the soc 均 is less than the first preset threshold, increase the current flow to the current preset value for charging. If the soc 均 is greater than the first preset threshold and less than the second preset threshold, maintain the current current flow for charging. If the soc 均 is greater than the second preset value, reduce the current flow to the current preset value for charging.

[0055] In this embodiment, the current preset value Ipreis

[0056]

[0057] wherein U 额 is the rated voltage of the battery, and R is the rated resistance of the battery.

[0058] In this embodiment, the first preset threshold is Y1, and the second preset threshold is Y2,

[0059] Y1=soc 均 -ε, Y2=soc 均 +ε, wherein ε is a harmonic parameter.

[0060] In this embodiment, the soc 均 ​The value range of the harmonic parameter ε is (0, 1), and the limitation condition of the harmonic parameter ε is

[0061]

[0062] In the embodiment, in step K1, the amperometric integration algorithm comprises:

[0063] K11. Real-time acquisition of the charging current data information of the vehicle-mounted battery,

[0064] K12. Obtaining the SOC of the battery based on the charging current data information of the vehicle-mounted battery,

[0065]

[0066] Wherein, I is the charging current, and Q is the rated capacity of the battery.

[0067] Embodiment 2: Based on the automatic charging power control method of the unmanned patrol vehicle in embodiment 1, the present application is further described and explained as follows.

[0068] As Figure 2 shown, in order to achieve the above-mentioned purpose and other related purposes, the present application also provides an automatic charging power control system based on an unmanned patrol vehicle, which comprises:

[0069] A current sensor for acquiring the charging current data information of the vehicle-mounted battery;

[0070] A current control module connected with the current sensor for controlling the flow of current;

[0071] An SOC calculation and control module connected with the current sensor and the current control module for calculating and obtaining the data information of the SOC and issuing control instructions for the charging current of the vehicle-mounted battery;

[0072] A battery power display module comprising an HMI display screen for real-time display of the power data information of the vehicle battery.

[0073] In the embodiment, the battery power display module is connected with the SOC calculation and control module.

[0074] In the embodiment, the system further comprises a warning module for reminding and controlling the vehicle to charge when the SOC of the vehicle-mounted battery is lower than 0.1-0.2.

[0075] In order to achieve the above-mentioned purpose and other related purposes, the present application also provides a computer readable storage medium having a computer program programmed or configured to perform any one of the automatic charging power control methods based on an unmanned patrol vehicle stored thereon.

[0076] Any reference to storage, memory, database or other medium herein can include non-volatile and / or volatile storage. Non-volatile storage can include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), or flash memory. Volatile storage can include random-access memory (RAM), or external cache memory. By way of illustration, and not limitation, RAM is available in many forms such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDR SDRAM), enhanced SDRAM (ESDRAM), Synchlink DRAM (SLDRAM), Rambus DRAM (RDRAM), direct Rambus dynamic RAM (DRDRAM), and Rambus dynamic RAM (RDRAM).

[0077] In summary, the present application can not only ensure that the unmanned patrol vehicle will not reduce the service life of the battery during charging, but also ensure that the battery will not cause an accident due to overcharging in a high-temperature state.

[0078] The foregoing detailed description has not been presented to limit the scope of the present disclosure. Various modifications and changes can be made to the embodiments described without departing from the spirit and principles of the present disclosure. Any modification, equivalent replacement, and improvement made within the spirit and principles of the present disclosure should be included in the scope of the present disclosure.

Claims

1. An automatic charging power control method based on an unmanned patrol vehicle, characterized by, The method comprises: K1. The unmanned patrol vehicle drives to the charging area for charging, real-time acquisition of the charging current data information of the vehicle-mounted battery based on the current sensor and real-time output of the SOC data information of the vehicle-mounted battery by using the ampere integration algorithm; K2. Based on the SOC data information of the vehicle-mounted battery, a pre-charging SOC threshold is set, if the SOC of the vehicle-mounted battery exceeds the pre-charging SOC threshold, the charging is stopped and the patrol work is carried out, if the SOC of the vehicle-mounted battery is less than the pre-charging voltage threshold, the SOC data information of the battery within a fixed length of time is output; K3. Based on the SOC data information of the battery within the output fixed length of time, a battery SOC logic control algorithm is used to control the charging capacity of the vehicle-mounted battery and display through HMI; The battery SOC logic control algorithm comprises: K31. Obtain n sets of battery SOC data information (t1, soc1), (t2, soc2),..., (tn, s0cn) in fixed length time n n ),​ ， Wherein, i is the sampling time, i is a positive integer, t0=0, I is the charging current, and Q is the rated capacity of the battery; K32. Based on the battery SOC data information, get the mean battery SOC value soc 均 , ； K33. The mean battery SOC value soc 均 , a first preset threshold and a second preset threshold are set, if the soc 均 is less than the first preset threshold, the current flow is increased to the current preset value for charging, if the soc 均 is greater than the first preset threshold and less than the second preset threshold, the current flow is maintained for charging, if the soc 均 is greater than the second preset value, the current flow is reduced to the current preset value for charging; The first preset threshold is Y1, and the second preset threshold is Y2, Y1 = soc 均 - ε, Y2 = soc 均 + ε, where ε is a harmonic parameter, The soc 均 The value range of (0, 1), the limit condition of the harmonic parameter ε is, 。 2. The method for automatic charging power control based on the unmanned patrol vehicle according to claim 1, characterized in that: The current preset value I 预 is, ， where U 额 is the rated voltage of the battery, R 额 is the rated resistance of the battery.

3. The automatic charging power control method based on the unmanned patrol vehicle according to claim 1, characterized in that, In step K1, the ampere integration algorithm comprises: K11. Real-time acquisition of the charging current data information of the vehicle-mounted battery; K12. Based on the charging current data information of the vehicle-mounted battery, the SOC of the battery is obtained, ， Wherein, I is the charging current, and Q is the rated capacity of the battery.

4. An automatic charging power control system based on an unmanned patrol vehicle, characterized by, The system for realizing the automatic charging capacity control method based on the unmanned patrol vehicle according to any one of claims 1-3 comprises: a current sensor for acquiring the charging current data information of the vehicle-mounted battery; A current control module connected with the current sensor for controlling the flow of current; An SOC calculation and control module connected with the current sensor and the current control module for calculating and obtaining the data information of SOC and issuing control instructions for the charging current of the vehicle-mounted battery; A battery capacity display module comprising an HMI display screen for real-time display of the capacity data information of the vehicle battery.

5. The automatic charge current control system based on the unmanned patrol vehicle according to claim 4, characterized in that: The battery capacity display module is connected with the SOC calculation and control module.

6. The automatic charge current control system based on the unmanned patrol vehicle according to claim 4, characterized in that: The system further comprises a warning module for reminding and controlling the vehicle to charge when the SOC of the vehicle-mounted battery is lower than 0.1-0.

2.

7. A computer-readable storage medium, characterized in that, The computer readable storage medium stores a computer program programmed or configured to perform the automatic charging capacity control method based on the unmanned patrol vehicle according to any one of claims 1-3.

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