Battery energy-saving charging management system of cleaning robot

Abstract

The invention relates to the technical field of electronics, in particular to a battery energy-saving charging management system of a washing and care robot, which comprises a temporary charging judgment module, a battery monitoring module, a battery analysis module, an endurance analysis module, a charging period adjustment module, a temperature management module and a management database, the system judges whether the washing and caring robot needs to be charged temporarily according to the real-time electric quantity of the washing and caring robot, judges and processes the abnormal charging and discharging conditions of the battery according to the state parameters of the washing and caring robot in the charging and discharging period, and judges whether the charging period of the washing and caring robot needs to be adjusted according to the electric quantity record of the washing and caring robot. The charging period of the washing and care robot is adjusted by analyzing the stability degree of the battery endurance time of the washing and care robot, the temperature abnormal degree of the battery of the washing and care robot is obtained by detecting the temperature parameters of the battery of the washing and care robot during charging, it is guaranteed that the robot can work continuously and stably, and the situation of interruption caused by insufficient electric quantity is reduced.

Description

Technical Field

[0001] The invention relates to the field of electronic technology, and in particular to a battery energy-saving charging management system for a washing robot. Background Art

[0002] With the continuous development of science and technology, washing and care robots play an increasingly important role in people's lives. These robots can complete washing and care tasks independently, providing convenience for people. In today's society with energy shortages and increasing environmental awareness, energy conservation has become an important goal pursued in various fields. For washing and care robots, optimizing battery charging management to achieve energy saving is of great significance. In addition, as the functions of washing and care robots continue to be enriched and their intelligence level increases, their requirements for battery life are also getting higher and higher. Unreasonable charging management may cause premature aging of the battery and performance degradation, affecting the normal working time and efficiency of the robot.

[0003] For example, the existing Chinese patent with publication number CN112186831A discloses a charging management system and method based on an intelligent robot. In this solution, the intelligent robot uses positioning technology to determine its own position and conduct patrol positioning. It decides whether to issue an early warning and whether to return to the charging pile for charging by monitoring its own power. At the same time, it determines the loss of the intelligent device based on the comparison of charging time and other data with preset values ​​and takes corresponding measures, thereby improving the intelligence and automation of charging management and reducing human intervention.

[0004] However, this solution has the following shortcomings: This solution determines whether to issue an early warning and whether to return to the charging pile for charging by monitoring its own power, but does not involve monitoring of the parameters during battery charging. This may result in failure to timely detect charging abnormalities, such as unstable current and voltage, which may pose a safety hazard.

[0005] The existing Chinese patent with publication number CN102761158B discloses a charging management system and method for a tunnel cable inspection robot. In this solution, the robot reads electronic tag information during inspection and enters the lowest power consumption mode when the battery is low. The microprocessor guides the robot to the nearest charging station based on the most recently read electronic tag information. The robot stops after arriving, and then the microprocessor controls the stepper motor to align the charging plug with the socket to start charging. After full charge, the plug is separated to end charging, which can prevent excessive discharge of the battery and reduce the battery life.

[0006] However, this solution has the following shortcomings: This solution does not involve monitoring of battery life and adjusting the charging cycle in sequence according to the battery life. In some cases, it may not be possible to arrange charging in a timely manner according to the actual battery condition, which may affect the robot's continuous work efficiency or cause problems such as damage to battery life. Summary of the invention

[0007] In order to overcome the shortcomings of the background technology, an embodiment of the present invention provides a battery energy-saving charging management system for a washing robot, which can effectively solve the problems involved in the above-mentioned background technology.

[0008] The objective of the present invention can be achieved through the following technical solutions: The present invention provides a battery energy-saving charging management system for a washing robot, including: a temporary charging judgment module, used to obtain the real-time power of the washing robot, analyze the difference between the real-time power of the washing robot and the power consumption of the specified washing task, and then judge whether the washing robot needs to be temporarily charged.

[0009] The battery monitoring module is used to monitor the status parameters of the cleaning robot during charging and discharging in real time. The status parameters include the abnormal degree of high voltage, the abnormal degree of current overload, and the abnormal degree of low voltage.

[0010] The battery analysis module is used to analyze the state parameters of the cleaning robot during charging and discharging to obtain the degree of abnormality during battery charging and discharging, and then determine the abnormal charging and discharging conditions of the battery and handle them. The abnormal charging and discharging conditions include overcharging and over-discharging.

[0011] The battery life analysis module is used to record the power consumption of the cleaning robot, analyze the battery life change rate of the cleaning robot battery, and then determine whether the charging cycle of the cleaning robot needs to be adjusted.

[0012] The charging cycle adjustment module is used to analyze the battery life of the washing robot according to the battery life of each working cycle of the washing robot to obtain the stability of the battery life of the washing robot, and then adjust the charging cycle of the washing robot accordingly.

[0013] The temperature management module is used to detect the temperature parameters of the cleaning robot battery during charging, analyze the abnormality of the battery temperature of the cleaning robot, and provide feedback. The temperature parameters include the average temperature difference and the degree of temperature fluctuation.

[0014] The management database is used to store the power consumption of each cleaning task of the cleaning robot and the preset normal temperature range.

[0015] Preferably, the specific analysis method of the temporary charging judgment module is: obtaining the real-time power of the washing robot, recorded as , and at the same time read the next work task of the cleaning robot, recorded as the designated cleaning task, read the power consumption of each cleaning task of the cleaning robot from the management database, and extract the historical power consumption of each designated cleaning task from it, recorded as , Indicates The number of the cleaning task specified. , through the formula Get the difference between the real-time power consumption of the cleaning robot and the power consumption of the specified cleaning task If the difference between the real-time power of the washing robot and the power consumption of the specified washing task is a positive number, it means that the real-time power of the washing robot is sufficient to complete the specified washing task and start to execute the task. Otherwise, it means that the real-time power of the washing robot is not sufficient to complete the specified washing task and it needs to be temporarily charged.

[0016] Preferably, the specific analysis method of the battery monitoring module is: select several time points during the battery charging and discharging according to the set time, record them as each time point, and detect the voltage and current of the washing robot at each time point during the battery charging by using a voltage sensor and a current sensor, record them as , Indicates The number of the time point, By taking the average value of the voltage and current of the washing robot at each time point during the battery charging period, the voltage and current of the washing robot during the battery charging period are obtained, which are recorded as , and read the preset maximum allowable voltage value, current value and minimum allowable voltage value from the management data, which are recorded as , through the formula , The abnormal voltage and current overload of the robot during battery charging are obtained and recorded as , and through the formula Get the abnormal degree of low voltage of the cleaning robot during battery discharge .

[0017] Preferably, the specific analysis method of the battery analysis module is: respectively reading the abnormal degree of high voltage of the washing robot during battery charging , Abnormal degree of current overload , substituting it into the formula Get the abnormal degree during battery charging ,in They represent the weight factors of the preset voltage high voltage abnormality degree and current overload abnormality degree, respectively. Indicates the natural constant and reads the abnormality of low voltage of the cleaning robot during battery discharge , substituting it into the formula The abnormal degree of battery discharge is obtained, recorded as .

[0018] Preferably, the specific analysis method of the abnormal charging and discharging conditions of the battery is as follows: in the first step, the abnormality degree during battery charging and the abnormality degree during battery discharging are read respectively.

[0019] In the second step, the abnormality degree during battery charging is compared with the preset abnormality degree threshold of charging. If the abnormality degree during battery charging is less than the preset abnormality degree threshold of charging, it means that the abnormality degree during battery charging is qualified and charging can continue. If the abnormality degree during battery charging is greater than or equal to the preset abnormality degree threshold of charging, the third step is executed.

[0020] The third step is to monitor the battery power of the cleaning robot in real time, which is recorded as the real-time battery power. If the real-time battery power is 100%, it means overcharging occurs, and the power is cut off, and feedback is given to the system. If the real-time battery power is less than 100%, it is judged that there is a problem with the battery, and feedback is given to the system.

[0021] The fourth step is to compare the abnormality degree during battery discharge with the preset discharge abnormality threshold. If the abnormality degree during battery discharge is less than the preset discharge abnormality threshold, it means that the abnormality degree during battery discharge is qualified and discharge can continue. If the abnormality degree during battery discharge is greater than or equal to the preset discharge abnormality threshold, it means that the abnormality degree during battery discharge is unqualified and over-discharge occurs. The battery is powered off and feedback is given to the system.

[0022] Preferably, the specific analysis method for recording the power of the washing robot is as follows: the first step is that when the discharged power of the washing robot battery is equivalent to 100% of the battery capacity, the washing robot has completed a working cycle; when the washing robot starts working and the power is fully charged, the start time of the washing robot is recorded.

[0023] The second step is to record the start time of each charge, the battery power during each charge, and the battery power at the end of each charge if a charge is encountered during the working cycle of the cleaning robot.

[0024] The third step is to record the power consumption of each working cycle of the cleaning robot and calculate the battery life of each working cycle of the cleaning robot.

[0025] Preferably, the specific analysis method of the battery life analysis module is: reading the battery life of each working cycle of the cleaning robot, recorded as , Indicates The number of the working cycle, , through the formula Get the battery life change rate of the cleaning robot , Indicates the number of working cycles of the cleaning robot. Indicates the cleaning robot The battery life of the washing robot during each working cycle is compared with the preset battery life change rate threshold. If the battery life change rate of the washing robot battery is less than or equal to the preset battery life change rate threshold, it means that the battery life change rate of the washing robot battery is unqualified, and the charging cycle of the washing robot needs to be adjusted. If the battery life change rate of the washing robot battery is greater than the preset battery life change rate threshold, it means that the battery life change rate of the washing robot battery is qualified, and the charging cycle of the washing robot does not need to be adjusted.

[0026] Preferably, the specific analysis method of the charging cycle adjustment module is: reading the battery life of each working cycle of the cleaning robot , the average battery life of the cleaning robot battery is obtained by taking the average value, which is recorded as , substituting it into the formula Get the stability of the battery life of the cleaning robot , It indicates the number of working cycles of the washing robot, and compares the stability of the battery life of the washing robot with the preset battery life stability threshold. If the stability of the battery life of the washing robot is greater than or equal to the preset battery life stability threshold, it means that the battery life of the washing robot is stable, and the average battery life of the washing robot battery is used as the charging cycle of the washing robot. If the stability of the battery life of the washing robot is less than the preset battery life stability threshold, it means that the battery life of the washing robot battery is unstable. The minimum value is selected from the battery life of each working cycle of the washing robot, and the minimum battery life of the working cycle battery is used as the charging cycle of the washing robot.

[0027] Preferably, the specific analysis method of the temperature parameters of the battery of the washing and care robot during charging is: select a number of time points according to the set time interval, record them as charging time points, detect the temperature of the battery of the washing and care robot at each charging time point during the charging process, and record them as the temperature of the battery of the washing and care robot at each charging time point. , Indicates The number of the charging time point, , read the preset normal temperature range from the management database, extract the maximum and minimum values ​​corresponding to the normal temperature range from the preset normal temperature range, and record them as the maximum allowable temperature , minimum allowable temperature , substituting it into the formula Get the temperature difference of the battery at each charging time point of the cleaning robot , the average temperature difference of the battery of the washing robot is obtained by taking the average value of the temperature difference at each charging time point, which is recorded as , substituting it into the formula Get the temperature fluctuation of the cleaning robot battery , Indicates the number of charging time points.

[0028] Preferably, the specific analysis method of the temperature management module is: respectively read the average temperature difference of the washing robot battery , Temperature fluctuation , substituting it into the formula Get the abnormal temperature of the cleaning robot battery , Indicates the preset battery temperature threshold. The weight factors respectively represent the preset battery temperature difference and temperature fluctuation degree, and the temperature abnormality degree of the washing robot battery is compared with the preset temperature abnormality degree threshold. If the temperature abnormality degree of the washing robot battery is greater than or equal to the preset temperature abnormality degree threshold, it means that the temperature of the washing robot battery is abnormal, and feedback is given to the system; if the temperature abnormality degree of the washing robot battery is less than the preset temperature abnormality degree threshold, it means that the temperature of the washing robot battery is normal.

[0029] Compared with the prior art, the present invention has the following beneficial effects: 1. The present invention determines whether the cleaning robot needs to be temporarily charged by obtaining the real-time power of the cleaning robot, and can replenish the power of the robot in time to avoid stopping working due to insufficient power.

[0030] 2. The present invention obtains the degree of abnormality during battery charging and discharging based on the state parameter analysis of the washing robot during charging and discharging, and then determines and processes the abnormal charging and discharging conditions of the battery, thereby avoiding damage to the battery caused by inappropriate charging and discharging behavior and extending its service life.

[0031] 3. The present invention analyzes the battery life change rate of the washing robot battery, and then determines whether it is necessary to adjust the charging cycle of the washing robot, and adjusts the charging cycle of the washing robot according to the battery life of each working cycle of the washing robot, so as to avoid unnecessary frequent charging or insufficient charging, and make more reasonable use of battery energy.

[0032] 4. The present invention detects the temperature parameters of the battery of the washing and care robot during charging, analyzes the abnormal temperature of the battery of the washing and care robot, and provides feedback thereon, which helps to take appropriate measures to prevent excessive temperature from adversely affecting the performance and life of the battery. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings required for describing the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without paying creative work.

[0034] Figure 1 This is a system module connection diagram of the present invention.

[0035] Figure 2 for Figure 1 Flow chart of abnormal battery charging and discharging in the battery analysis module.

[0036] Figure 3 for Figure 1 Schematic diagram of the process of recording the power consumption of the cleaning robot in the battery life analysis module. DETAILED DESCRIPTION

[0037] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0038] See also Figure 1 As shown, a battery energy-saving charging management system for a washing robot includes a temporary charging judgment module, a battery monitoring module, a battery analysis module, a battery life analysis module, a charging cycle adjustment module, a temperature management module, and a management database.

[0039] The management database is connected to the temporary charging judgment module, the battery analysis module, the battery life analysis module, and the temperature management module; the battery monitoring module is connected to the battery analysis module; and the battery life analysis module is connected to the charging cycle adjustment module.

[0040] The temporary charging judgment module is used to obtain the real-time power of the washing robot, analyze the difference between the real-time power of the washing robot and the power consumption of the specified washing task, and then judge whether the washing robot needs to be temporarily charged.

[0041] The specific analysis method of the temporary charging judgment module is: obtain the real-time power of the cleaning robot, recorded as , and at the same time read the next work task of the cleaning robot, recorded as the designated cleaning task, read the power consumption of each cleaning task of the cleaning robot from the management database, and extract the historical power consumption of each designated cleaning task from it, recorded as , Indicates The number of the cleaning task specified. , through the formula Get the difference between the real-time power consumption of the cleaning robot and the power consumption of the specified cleaning task If the difference between the real-time power of the washing robot and the power consumption of the specified washing task is a positive number, it means that the real-time power of the washing robot is sufficient to complete the specified washing task and start executing the task. Otherwise, it means that the real-time power of the washing robot is not sufficient to complete the specified washing task and it needs to be temporarily charged. It can accurately judge whether the current power is sufficient to complete a specific task, avoiding task interruption or failure due to insufficient power.

[0042] The battery monitoring module is used to monitor the status parameters of the cleaning robot during charging and discharging in real time. The status parameters include the abnormal degree of high voltage, the abnormal degree of current overload, and the abnormal degree of low voltage.

[0043] The specific analysis method of the battery monitoring module is: select several time points during the battery charging and discharging according to the set time, record them as each time point, and detect the voltage and current of the washing robot at each time point during the battery charging by using a voltage sensor and a current sensor, record them as , Indicates The number of the time point, By taking the average value of the voltage and current of the washing robot at each time point during the battery charging period, the voltage and current of the washing robot during the battery charging period are obtained, which are recorded as , and read the preset maximum allowable voltage value, current value and minimum allowable voltage value from the management data, which are recorded as , through the formula , The abnormal voltage and current overload of the robot during battery charging are obtained and recorded as , and through the formula Get the abnormal degree of low voltage of the cleaning robot during battery discharge ;By testing at different time points, we can have a more comprehensive understanding of the battery's status during charging and discharging, which helps to more accurately evaluate the battery's performance and stability. At the same time, we can promptly discover abnormal conditions that may occur during the discharge process and cross-reference them with the conditions during charging.

[0044] The battery analysis module is used to analyze the state parameters of the cleaning robot during charging and discharging to obtain the degree of abnormality during battery charging and discharging, and then determine the abnormal charging and discharging conditions of the battery and handle them. The abnormal charging and discharging conditions include overcharging and over-discharging.

[0045] The specific analysis method of the battery analysis module is: respectively reading the abnormal degree of high voltage of the washing robot during battery charging , Abnormal degree of current overload , substituting it into the formula Get the abnormal degree during battery charging ,in They represent the weight factors of the preset voltage high voltage abnormality degree and current overload abnormality degree, respectively. Indicates the natural constant and reads the abnormality of low voltage of the cleaning robot during battery discharge , substituting it into the formula The abnormal degree of battery discharge is obtained, recorded as It helps to discover potential risks in advance and take timely measures to reduce the impact of risks on the work of the cleaning robot.

[0046] It should be noted that, in a specific embodiment, It can be set to 0.6. It can be set to 0.4. The impact of the abnormal degree of voltage high pressure is greater, because the voltage abnormality may directly indicate that there are major problems in the charging system. For example, too high or too low voltage may cause overcharging or undercharging of the battery, which will have serious consequences for the battery. The impact of the abnormal degree of current overload is relatively small. Abnormal current may cause heating and other problems, but it is usually not as critical as the voltage abnormality. Therefore, the weight corresponding to the abnormal degree of voltage high pressure is higher.

[0047] See also Figure 2 As shown, the specific analysis method of the abnormal charging and discharging conditions of the battery is as follows: the first step is to read the abnormal degree of the battery during charging and the abnormal degree of the battery during discharging respectively.

[0048] In the second step, the abnormality degree during battery charging is compared with the preset abnormality degree threshold of charging. If the abnormality degree during battery charging is less than the preset abnormality degree threshold of charging, it means that the abnormality degree during battery charging is qualified and charging can continue. If the abnormality degree during battery charging is greater than or equal to the preset abnormality degree threshold of charging, the third step is executed.

[0049] The third step is to monitor the battery power of the cleaning robot in real time, which is recorded as the real-time battery power. If the real-time battery power is 100%, it means overcharging occurs, and the power is cut off, and feedback is given to the system. If the real-time battery power is less than 100%, it is judged that there is a problem with the battery, and feedback is given to the system.

[0050] The fourth step is to compare the abnormality degree during battery discharge with the preset discharge abnormality threshold. If the abnormality degree during battery discharge is less than the preset discharge abnormality threshold, it means that the abnormality degree during battery discharge is qualified and discharge can continue. If the abnormality degree during battery discharge is greater than or equal to the preset discharge abnormality threshold, it means that the abnormality degree during battery discharge is unqualified and over-discharge occurs. The power is cut off and feedback is given to the system. This can effectively ensure the safety and stability of the battery during the charging and discharging process, promptly detect situations where the risk level is too high and take corresponding measures, avoid battery damage due to overcharging or over-discharging, extend battery life, and also reduce potential safety risks to ensure the normal operation of the entire washing robot system.

[0051] The battery life analysis module is used to record the power consumption of the cleaning robot, analyze the battery life change rate of the cleaning robot battery, and then determine whether the charging cycle of the cleaning robot needs to be adjusted.

[0052] See also Figure 3 As shown, the specific analysis method for recording the power of the cleaning robot is as follows: the first step is that when the power discharged by the battery of the cleaning robot is equivalent to 100% of the battery capacity, that is, the cleaning robot completes a working cycle, when the cleaning robot starts working and the power is fully charged, the start time of the cleaning robot is recorded;

[0053] The second step is to record the start time of each charge, the battery power during each charge, and the battery power at the end of each charge if the cleaning robot encounters a charging situation during the working cycle of the cleaning robot.

[0054] The third step is to record the power consumption of each working cycle of the washing robot and calculate the battery life of each working cycle of the washing robot. The actual working time and battery life of the washing robot can be accurately grasped to arrange work tasks and usage scenarios reasonably and avoid affecting work progress due to insufficient power. At the same time, through the analysis of the battery life of each working cycle, changes in battery performance or potential problems can be discovered in time, which is convenient for early maintenance or replacement to ensure the stable operation of the robot.

[0055] It should be noted that, in a specific embodiment, there is a power record of a working cycle of the cleaning robot. The first cleaning robot starts at 8:00, fully charged. The first charging starts at 12:00, with the battery power at 40% during charging. The first charging ends at 13:00, with the battery power at 80% at the end of charging. The cleaning robot ends at 18:00, with the battery power at 0%. The working time from full charge to the first charging is hours, power consumption is 60%, and the working time from the end of the first charge to exhaustion is hours, power consumption is 80%, substitute it into the formula The battery life of the cleaning robot during this working cycle is about 6.5 hours.

[0056] The specific analysis method of the battery life analysis module is: read the battery life of each working cycle of the cleaning robot, recorded as , Indicates The number of the working cycle, , through the formula Get the battery life change rate of the cleaning robot , Indicates the number of working cycles of the cleaning robot. Indicates the cleaning robot The battery life of the washing robot in each working cycle is measured, and the battery life change rate of the washing robot battery is compared with the preset battery life change rate threshold. If the battery life change rate of the washing robot battery is less than or equal to the preset battery life change rate threshold, it means that the battery life change rate of the washing robot battery is unqualified, and the charging cycle of the washing robot needs to be adjusted; if the battery life change rate of the washing robot battery is greater than the preset battery life change rate threshold, it means that the battery life change rate of the washing robot battery is qualified, and the charging cycle of the washing robot does not need to be adjusted. The performance status of the washing robot battery can be monitored and managed in a timely and effective manner to ensure that it maintains a stable and reliable battery life during work, thereby improving work efficiency and quality. At the same time, the charging cycle can be scientifically and reasonably adjusted according to the battery life change rate to extend the battery life and reduce battery loss costs.

[0057] The charging cycle adjustment module is used to analyze the battery life of the washing robot according to the battery life of each working cycle of the washing robot to obtain the stability of the battery life of the washing robot, and then adjust the charging cycle of the washing robot accordingly.

[0058] The specific analysis method of the charging cycle adjustment module is: reading the battery life of each working cycle of the cleaning robot , the average battery life of the cleaning robot battery is obtained by taking the average value, which is recorded as , substituting it into the formula Get the stability of the battery life of the cleaning robot , It indicates the number of working cycles of the washing and care robot, and compares the stability of the battery life of the washing and care robot with the preset battery life stability threshold. If the stability of the battery life of the washing and care robot is greater than or equal to the preset battery life stability threshold, it means that the battery life of the washing and care robot is stable, and the average battery life of the washing and care robot battery is used as the charging cycle of the washing and care robot. If the stability of the battery life of the washing and care robot is less than the preset battery life stability threshold, it means that the battery life of the washing and care robot is unstable. The minimum value is selected from the battery life of each working cycle of the washing and care robot, and the minimum battery life of the working cycle battery is used as the charging cycle of the washing and care robot. By comparing the stability with the threshold, it can be clearly determined whether the battery status is good, so as to take timely measures to ensure normal work. When the battery life is stable, the average battery life is used as the charging cycle, which can reasonably utilize the battery performance and ensure the continuity of work. When the battery life is unstable, the minimum value is selected as the charging cycle, which can avoid work interruption due to battery life problems to the greatest extent and improve work reliability.

[0059] The temperature management module is used to detect the temperature parameters of the cleaning robot battery during charging, analyze the abnormality of the battery temperature of the cleaning robot, and provide feedback. The temperature parameters include the average temperature difference and the degree of temperature fluctuation.

[0060] The specific analysis method of the temperature parameters of the battery of the washing and care robot during charging is as follows: a number of time points are selected according to a set time interval, recorded as each charging time point, and the temperature of the battery of the washing and care robot at each charging time point during the charging process is detected, recorded as the temperature of each charging time point of the battery of the washing and care robot , Indicates The number of the charging time point, , read the preset normal temperature range from the management database, extract the maximum and minimum values ​​corresponding to the normal temperature range from the preset normal temperature range, and record them as the maximum allowable temperature , minimum allowable temperature , substituting it into the formula Get the temperature difference of the battery at each charging time point of the cleaning robot , the average temperature difference of the battery of the washing robot is obtained by taking the average value of the temperature difference at each charging time point, which is recorded as , substituting it into the formula Get the temperature fluctuation of the cleaning robot battery , Indicates the number of charging time points; can promptly detect abnormal temperature changes of the battery during charging, ensure charging safety, and avoid damage to the battery caused by excessively high or low temperatures.

[0061] The specific analysis method of the temperature management module is: read the average temperature difference of the washing robot battery respectively , Temperature fluctuation , substituting it into the formula Get the abnormal temperature of the cleaning robot battery , Indicates the preset battery temperature threshold. The weight factors respectively represent the preset battery temperature difference and the temperature fluctuation degree. The degree of abnormal temperature of the washing robot battery is compared with the preset temperature abnormality threshold. If the degree of abnormal temperature of the washing robot battery is greater than or equal to the preset temperature abnormality threshold, it means that the battery temperature of the washing robot is abnormal, and feedback is given to the system. If the degree of abnormal temperature of the washing robot battery is less than the preset temperature abnormality threshold, it means that the battery temperature of the washing robot is normal. Timely feedback of abnormal battery temperature helps maintenance personnel or the system to respond quickly and ensure the safe and stable operation of the washing robot.

[0062] It should be noted that, in a specific embodiment, It can be set to 0.6. It can be set to 0.4. The temperature difference directly reflects the extent to which the battery temperature deviates from the normal range at different time points. If the difference is large, it means that there may be more serious temperature anomalies and the risk of damage to the battery is higher. Although the degree of temperature fluctuation is not as intuitive as the temperature difference in reflecting the degree of a single abnormality, continuous large fluctuations may also imply that there are unstable factors in the battery, which will also affect the battery performance and life in the long run. Therefore, the weight corresponding to the temperature difference is greater.

[0063] The management database is used to store the power consumption of each cleaning task of the cleaning robot and the preset normal temperature range.

[0064] The present invention determines whether the washing robot needs to be temporarily charged according to the real-time power of the washing robot, determines and processes the abnormal charging and discharging of the battery according to the state parameters of the washing robot during charging and discharging, determines whether the charging cycle of the washing robot needs to be adjusted according to the power record of the washing robot, adjusts the charging cycle of the washing robot by analyzing the stability of the battery life of the washing robot, obtains the abnormal temperature of the washing robot battery by detecting the temperature parameters of the washing robot battery during charging, ensures that the robot can work continuously and stably, and reduces interruptions due to insufficient power.

[0065] Although the embodiments of the present invention have been shown and described above, it is to be understood that the above embodiments are exemplary and are not to be construed as limitations on the present invention. A person skilled in the art may make changes, modifications, substitutions and variations to the above embodiments within the scope of the present invention and they are still covered by the protection scope of the present invention.

Claims

1. A battery energy-saving charging management system for a washing robot, characterized in that: The system specifically includes the following modules: A temporary charging judgment module is used to obtain the real-time power of the washing robot, analyze the difference between the real-time power of the washing robot and the power consumption of the specified washing task, and then judge whether the washing robot needs to be temporarily charged; The battery monitoring module is used to monitor the status parameters of the cleaning robot during charging and discharging in real time. The status parameters include the abnormal degree of high voltage, the abnormal degree of current overload, and the abnormal degree of low voltage; The battery analysis module is used to analyze the state parameters of the cleaning robot during charging and discharging to obtain the abnormality of the battery during charging and discharging, and then determine the abnormal charging and discharging conditions of the battery and handle them. The abnormal charging and discharging conditions include overcharging and over-discharging. The battery life analysis module is used to record the power of the cleaning robot, analyze the battery life change rate of the cleaning robot, and then determine whether the charging cycle of the cleaning robot needs to be adjusted; The charging cycle adjustment module is used to analyze the battery life of the washing robot according to the battery life of each working cycle of the washing robot to obtain the stability of the battery life of the washing robot, and then adjust the charging cycle of the washing robot accordingly; The temperature management module is used to detect the temperature parameters of the battery of the cleaning robot when it is charging, analyze the abnormal temperature of the battery of the cleaning robot, and provide feedback. The temperature parameters include the average temperature difference and the temperature fluctuation degree; The management database is used to store the power consumption of each cleaning task of the cleaning robot and the preset normal temperature range.

2. The battery energy-saving charging management system of a washing robot according to claim 1, characterized in that: The specific analysis method of the temporary charging judgment module is: Get the real-time power of the cleaning robot, recorded as , and at the same time read the next work task of the cleaning robot, recorded as the designated cleaning task, read the power consumption of each cleaning task of the cleaning robot from the management database, and extract the historical power consumption of each designated cleaning task from it, recorded as , Indicates The number of the cleaning task specified. , through the formula Get the difference between the real-time power consumption of the cleaning robot and the power consumption of the specified cleaning task If the difference between the real-time power of the washing robot and the power consumption of the specified washing task is a positive number, it means that the real-time power of the washing robot is sufficient to complete the specified washing task and start to execute the task. Otherwise, it means that the real-time power of the washing robot is not sufficient to complete the specified washing task and it needs to be temporarily charged.

3. The battery energy-saving charging management system of a washing robot according to claim 1, characterized in that: The specific analysis method of the battery monitoring module is: According to the set duration, several time points are selected during the battery charging and discharging, which are recorded as each time point. The voltage and current of the washing robot at each time point during the battery charging are detected by the voltage sensor and the current sensor, which are recorded as , Indicates The number of the time point, By taking the average value of the voltage and current of the washing robot at each time point during the battery charging period, the voltage and current of the washing robot during the battery charging period are obtained, which are recorded as , and read the preset maximum allowable voltage value, current value and minimum allowable voltage value from the management data, which are recorded as , through the formula , The abnormal voltage and current overload of the robot during battery charging are obtained and recorded as , and through the formula Get the abnormal degree of low voltage of the cleaning robot during battery discharge .

4. A battery energy-saving charging management system for a washing robot according to claim 3, characterized in that: The specific analysis method of the battery analysis module is: Read the abnormal voltage of the cleaning robot during battery charging , Abnormal degree of current overload , substituting it into the formula Get the abnormal degree during battery charging ,in They represent the weight factors of the preset voltage high voltage abnormality degree and current overload abnormality degree, respectively. Indicates the natural constant and reads the abnormality of low voltage of the cleaning robot during battery discharge , substituting it into the formula The abnormal degree of battery discharge is obtained, recorded as .

5. A battery energy-saving charging management system for a washing robot according to claim 4, characterized in that: The specific analysis method of the abnormal charging and discharging of the battery is as follows: The first step is to read the abnormality degree during battery charging and the abnormality degree during battery discharging respectively; The second step is to compare the abnormality degree during battery charging with a preset abnormality degree threshold value. If the abnormality degree during battery charging is less than the preset abnormality degree threshold value, it means that the abnormality degree during battery charging is qualified and charging can continue. If the abnormality degree during battery charging is greater than or equal to the preset abnormality degree threshold value, the third step is executed. The third step is to monitor the battery power of the cleaning robot in real time, which is recorded as the real-time battery power. If the real-time battery power is 100%, it means that the robot is overcharged, and the robot is powered off and feedback is given to the system. If the real-time battery power is less than 100%, it is judged that there is a problem with the battery and feedback is given to the system. The fourth step is to compare the abnormality degree during battery discharge with the preset discharge abnormality threshold. If the abnormality degree during battery discharge is less than the preset discharge abnormality threshold, it means that the abnormality degree during battery discharge is qualified and discharge can continue. If the abnormality degree during battery discharge is greater than or equal to the preset discharge abnormality threshold, it means that the abnormality degree during battery discharge is unqualified and over-discharge occurs. The battery is powered off and feedback is given to the system.

6. The battery energy-saving charging management system of a washing robot according to claim 1, characterized in that: The specific analysis method for recording the power consumption of the cleaning robot is as follows: The first step is that when the amount of electricity discharged by the cleaning robot battery is equal to 100% of the battery capacity, the cleaning robot has completed a working cycle. When the cleaning robot starts working and the battery is fully charged, the start time of the cleaning robot is recorded; The second step is to record the start time of each charge, the battery power during each charge, and the battery power at the end of each charge if the cleaning robot encounters a charging situation during the working cycle of the cleaning robot. The third step is to record the power consumption of each working cycle of the cleaning robot and calculate the battery life of each working cycle of the cleaning robot.

7. A battery energy-saving charging management system for a washing robot according to claim 6, characterized in that: The specific analysis method of the battery life analysis module is as follows: Read the battery life of each working cycle of the cleaning robot, recorded as , Indicates The number of the working cycle, , through the formula Get the battery life change rate of the cleaning robot , Indicates the number of working cycles of the cleaning robot. Indicates the cleaning robot The battery life of the washing robot during each working cycle is compared with the preset battery life change rate threshold. If the battery life change rate of the washing robot battery is less than or equal to the preset battery life change rate threshold, it means that the battery life change rate of the washing robot battery is unqualified, and the charging cycle of the washing robot needs to be adjusted. If the battery life change rate of the washing robot battery is greater than the preset battery life change rate threshold, it means that the battery life change rate of the washing robot battery is qualified, and the charging cycle of the washing robot does not need to be adjusted.

8. The battery energy-saving charging management system of a washing robot according to claim 7, characterized in that: The specific analysis method of the charging cycle adjustment module is: Read the battery life of each working cycle of the cleaning robot , the average battery life of the cleaning robot battery is obtained by taking the average value, which is recorded as , substituting it into the formula Get the stability of the battery life of the cleaning robot , It indicates the number of working cycles of the washing robot, and compares the stability of the battery life of the washing robot with the preset battery life stability threshold. If the stability of the battery life of the washing robot is greater than or equal to the preset battery life stability threshold, it means that the battery life of the washing robot is stable, and the average battery life of the washing robot battery is used as the charging cycle of the washing robot. If the stability of the battery life of the washing robot is less than the preset battery life stability threshold, it means that the battery life of the washing robot battery is unstable. The minimum value is selected from the battery life of each working cycle of the washing robot, and the minimum battery life of the working cycle battery is used as the charging cycle of the washing robot.

9. The battery energy-saving charging management system of a washing robot according to claim 1, characterized in that: The specific analysis method of the temperature parameters of the washing robot battery during charging is as follows: Select several time points according to the set time interval, record them as charging time points, and detect the temperature of the battery of the washing robot at each charging time point during the charging process, record them as the temperature of the battery of the washing robot at each charging time point , Indicates The number of the charging time point, , read the preset normal temperature range from the management database, extract the maximum and minimum values ​​corresponding to the normal temperature range from the preset normal temperature range, and record them as the maximum allowable temperature , minimum allowable temperature , substituting it into the formula Get the temperature difference of the battery at each charging time point of the cleaning robot , the average temperature difference of the battery of the washing robot is obtained by taking the average value of the temperature difference at each charging time point, which is recorded as , substituting it into the formula Get the temperature fluctuation of the washing robot battery , Indicates the number of charging time points.

10. A battery energy-saving charging management system for a washing robot according to claim 9, characterized in that: The specific analysis method of the temperature management module is: Read the average temperature difference of the washing robot battery respectively , Temperature fluctuation , substituting it into the formula Get the abnormal temperature of the cleaning robot battery , Indicates the preset battery temperature threshold. The weight factors respectively represent the preset battery temperature difference and temperature fluctuation degree, and the temperature abnormality degree of the washing robot battery is compared with the preset temperature abnormality degree threshold. If the temperature abnormality degree of the washing robot battery is greater than or equal to the preset temperature abnormality degree threshold, it means that the temperature of the washing robot battery is abnormal, and feedback is given to the system; if the temperature abnormality degree of the washing robot battery is less than the preset temperature abnormality degree threshold, it means that the temperature of the washing robot battery is normal.

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