Intelligent power management method for agricultural robot

Abstract

The invention relates to the technical field of robot power supplies, in particular to an intelligent power supply management method of an agricultural robot, which comprises the following steps: pressing a switch to enable an intelligent power supply controller to perform self-inspection and then power on; judging the current working condition of the robot according to the agricultural robot load state; and the equipment is powered off based on the current working condition. According to the control method, a low-voltage power supply and a high-voltage power supply of the agricultural robot are controlled according to a time sequence, and an insulation condition, high-voltage interlocking, voltage, current and state feedback are combined, so that the whole process forms closed-loop control, each component can be ensured to be quickly and accurately electrified and enter a working state, and also can be safely and accurately electrified and enter a low-power-consumption state; high voltage is cut off in time under the extreme working condition, safety of all high-voltage components is guaranteed as much as possible, the lack of power management of the new energy agricultural robot is made up through the process, and therefore the problem that components are burnt out easily due to disordered power management of an existing new energy agricultural robot is solved.

Description

Technical Field

[0001] The invention relates to the technical field of robot power supply, and in particular to an intelligent power supply management method for an agricultural robot. Background Art

[0002] With the widespread application of various intelligent robots in industrial production and daily life, more and more robots in services and special industries are powered by carrying batteries.

[0003] At present, the degree of intelligence of agricultural equipment is low, and it is usually dominated by diesel engines (with no power management requirements). The power management of existing new energy agricultural robots on the market is relatively chaotic, and there is no strict timing for high and low voltage control, which often causes burning of components. In addition, the high voltage cannot be cut off in time under extreme working conditions, and the maintenance risk is high. There are many areas that need improvement. Summary of the invention

[0004] The purpose of the present invention is to provide an intelligent power management method for an agricultural robot, aiming to solve the problem that the chaotic power management of existing new energy agricultural robots easily causes component burning.

[0005] To achieve the above object, the present invention provides an intelligent power management method for an agricultural robot, comprising the following steps:

[0006] Press the switch to power on the intelligent power controller after self-checking;

[0007] Determine the current working condition of the robot based on the load status of the agricultural robot;

[0008] The device is powered off based on the current operating condition.

[0009] Among them, "Press the switch and the intelligent power controller performs self-test and then powers on" includes:

[0010] Press the switch to make the intelligent power controller self-check and feed back the self-check result to the processing background;

[0011] Waking up the battery controller, the motor controller, the high-voltage controller, the operation controller and the high-voltage to low-voltage controller to perform self-test, and feeding back the self-test results to the intelligent power controller;

[0012] The intelligent power controller controls the high-voltage relay of the battery controller to close and collects the input high voltage;

[0013] The intelligent power supply controller controls the high voltage controller relay to close and confirm the high voltage state;

[0014] The intelligent power supply controller enables the motor controller, the operation controller and the high-voltage to low-voltage controller to determine whether they are working normally, and then enters the intelligent navigation and intelligent operation state.

[0015] Among them, in “determining the current working condition of the robot according to the load state of the agricultural robot”, the current working condition includes normal working conditions and extreme working conditions.

[0016] Among them, "Judging the current working condition of the robot according to the load status of the agricultural robot" includes:

[0017] Collect the robot's load status data in real time;

[0018] Calculating the load proportion based on the load status data;

[0019] The current working condition of the robot is evaluated based on the load ratio.

[0020] Among them, in "real-time collection of robot load status data", the load status data includes motor current, power consumption, voltage stability and working status of the actuator.

[0021] Among them, in “powering off the device based on the current working condition”, the power-off process of the conventional working condition includes:

[0022] Press the switch to enter the power control state of the intelligent power controller;

[0023] The intelligent power supply controller stops enabling the motor controller, the operation controller and the high-voltage to low-voltage controller;

[0024] The intelligent power supply controller controls the high voltage controller to disconnect;

[0025] The battery controller, the motor controller, the high-voltage controller, the operation controller and the high-voltage to low-voltage controller are stopped from being awakened, and the intelligent power supply controller enters a low power consumption state.

[0026] Among them, in “powering off the device based on the current working condition”, the power-off process of the extreme working condition includes:

[0027] The intelligent power controller enters the power control state for 0.5 seconds and then enters the next step;

[0028] The intelligent power controller stops enabling the motor controller, the operation controller and the high-voltage to low-voltage controller, and determines whether to stop working, and proceeds to the next step after 0.5 seconds;

[0029] The intelligent power controller then controls the high-voltage controller relay to disconnect and actively discharge, and then proceeds to the next step after 0.5 seconds;

[0030] After 0.5 seconds, the intelligent power controller controls the high-voltage relay of the battery controller to disconnect, waiting to check the cause of the extreme working condition.

[0031] The intelligent power management method of an agricultural robot of the present invention comprises the following steps: pressing the switch intelligent power controller to perform self-check and then power on; judging the current working condition of the robot according to the load state of the agricultural robot; and powering off the equipment based on the current working condition. This control method forms a closed-loop control of the entire process by controlling the low-voltage power supply and high-voltage power supply of the agricultural robot in a timed manner, combining insulation conditions, high-voltage interlocking, voltage, current and state feedback, which can ensure that each component can be powered on quickly and accurately and enter a working state, and can also be powered off safely and accurately and enter a low-power consumption state; in extreme working conditions, the high voltage is cut off in time to ensure the safety of each high-voltage component as much as possible, and the above process makes up for the lack of power management of the new energy agricultural robot, thereby solving the problem that the chaotic power management of the existing new energy agricultural robot easily causes the burning of components. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0033] Figure 1 The present invention provides a flowchart of an intelligent power management method for an agricultural robot.

[0034] Figure 2 This is a flow chart of the intelligent power controller powering on after self-checking by pressing the switch.

[0035] Figure 3 This is a flow chart of the intelligent power controller powering on after self-checking by pressing the switch.

[0036] Figure 4 This is a flowchart of power-off under the conventional working condition.

[0037] Figure 5 This is a flow chart of power-off under the extreme working condition. DETAILED DESCRIPTION

[0038] Embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present invention, and should not be construed as limiting the present invention.

[0039] See also Figures 1 to 5 The present invention provides an intelligent power management method for an agricultural robot, comprising the following steps:

[0040] S1 Press the switch intelligent power controller to perform self-test and then power on;

[0041] S11 Press the switch intelligent power controller to perform self-test and feed back the self-test result to the processing background;

[0042] Specifically, by pressing the vehicle start button, the intelligent power controller wakes up and performs self-check. If a fault occurs, the controller reports the fault and maintains the status to wait for power off. If the fault occurs normally, the controller proceeds to the next step.

[0043] S12 wakes up the battery controller, the motor controller, the high voltage controller, the operation controller and the high voltage to low voltage controller to perform self-test, and feeds back the self-test result to the intelligent power controller;

[0044] Specifically, the battery controller, motor controller, high-voltage controller, operation controller and high-voltage to low-voltage controller are awakened, and the battery controller, motor controller, high-voltage controller, operation controller and high-voltage to low-voltage controller enter self-test respectively. If the self-test is normal, proceed to the next step. If the self-test fails, the fault is reported and the status is maintained waiting for power-off, and the feedback is given to the intelligent power controller through the CAN bus.

[0045] S13: the intelligent power controller controls the high-voltage relay of the battery controller to close and collects the input high voltage;

[0046] Specifically, the intelligent power controller controls the high-voltage relay of the battery controller to close (the high-voltage controller collects the input high voltage and feeds it back to the intelligent power controller through the CAN bus)

[0047] S14: The intelligent power controller controls the high-voltage controller relay to close and confirm the high-voltage state;

[0048] Specifically, if the voltage is greater than 80V and the rear end of the relay is less than 50V, the high-voltage control relay is closed. According to the function judgment, the high-voltage management operation relay and the external power supply relay k4 are powered on, and the k3 / k4 relays are judged to be closed. If the voltage at the rear end of k1 is closed and k2 is disconnected, it is judged to be greater than 80V. If it meets the requirements, the high-voltage to low-voltage enable is issued.

[0049] S15 The intelligent power supply controller enables the motor controller, the operation controller and the high-voltage to low-voltage controller to determine whether they are working normally, and then enters the intelligent navigation and intelligent operation state.

[0050] Specifically, the intelligent power controller enables the motor controller, the operation controller and the high-voltage to low-voltage controller (the controller determines whether it can work normally and feeds back to the intelligent power controller through the CAN bus), and the intelligent power controller enters the intelligent navigation and intelligent operation state.

[0051] S2 determines the current working condition of the robot according to the load status of the agricultural robot;

[0052] The current operating conditions include normal operating conditions and extreme operating conditions.

[0053] S21 collects the robot’s load status data in real time;

[0054] Specifically, a variety of sensors are installed on the agricultural robot, including current sensors, voltage sensors, pressure sensors, position sensors, and acceleration sensors. The frequency of sensor data acquisition is set according to the robot's working characteristics and accuracy requirements. For load changes that require rapid response, the acquisition frequency should be increased accordingly to ensure the real-time and accuracy of the data. The collected raw data may contain noise or outliers, so pre-processing steps such as filtering, denoising, and outlier detection are required to improve the reliability of the data and the accuracy of subsequent analysis. The processed data is stored in the robot's internal memory or remote server in real time for subsequent analysis and processing.

[0055] S22 calculates the load proportion based on the load status data;

[0056] Specifically, clarify the calculation index of load ratio. According to the selected load index, formulate the corresponding calculation formula to calculate the load ratio. Motor load ratio = real-time current / rated current*100%. According to the design specifications and working requirements of the robot, set reasonable load ratio thresholds. These thresholds will be used to evaluate the working conditions of the robot in the future. Use the collected load status data to calculate the load ratio in real time and store the results in the corresponding data structure for subsequent analysis.

[0057] S23 evaluates the current working condition of the robot based on the load ratio.

[0058] Specifically, according to the numerical range of the load percentage, the robot's working conditions are divided into multiple categories, normal working conditions and abnormal working conditions. A detailed working condition evaluation logic is formulated for each category corresponding to a different load percentage range and corresponding treatment measures. The load percentage calculated in real time is compared with the preset threshold. After the robot's working condition is evaluated, the current working condition information is fed back to the user or control system through the control system or operation interface. The results of each working condition evaluation are recorded in the log for subsequent data analysis, performance evaluation and troubleshooting. By analyzing historical data, the robot's working status and performance can be further optimized.

[0059] S3 powers off the device based on the current working condition.

[0060] S3011 Press the switch and the intelligent power controller enters the power control state;

[0061] Specifically, release the start button and the intelligent power controller enters the power control state

[0062] S3012, the intelligent power controller stops enabling the motor controller, the operation controller and the high-voltage to low-voltage controller;

[0063] Specifically, the intelligent power controller stops enabling the motor controller, the operation controller, and the high-voltage to low-voltage controller (to determine whether the operation can be stopped).

[0064] S3013 the intelligent power supply controller controls the high voltage controller to disconnect;

[0065] Specifically, the intelligent power controller controls the high-voltage controller relay to disconnect (actively discharge) (ensuring that the high voltage output of each channel of the high-voltage controller is lower than the safety voltage);

[0066] S3014 stops waking up the battery controller, the motor controller, the high-voltage controller, the operation controller and the high-voltage to low-voltage controller, and the intelligent power supply controller enters a low power consumption state.

[0067] Specifically, the intelligent power controller controls the high-voltage relay of the battery controller to disconnect (to ensure that the high-voltage input of the high-voltage controller is lower than the safety voltage); stops waking up the battery controller, motor controller, high-voltage controller, operation controller and high-voltage to low-voltage controller (whether to enter a low-power state); the intelligent power controller enters a low-power state.

[0068] S3021 The intelligent power controller enters the power control state, which lasts for 0.5 seconds before entering the next step;

[0069] Specifically, when the agricultural robot encounters extreme working conditions and needs to be subjected to high voltage, the intelligent power controller enters the power control state;

[0070] S3022: the intelligent power controller stops enabling the motor controller, the operation controller and the high-voltage to low-voltage controller, and determines whether to stop working, and proceeds to the next step after continuing for 0.5 seconds;

[0071] Specifically, the intelligent power controller stops enabling the motor controller, the operation controller, and the high-voltage to low-voltage controller (to determine whether the operation can be stopped).

[0072] S3023 The intelligent power supply controller controls the high voltage controller relay to disconnect and actively discharge, which lasts for 0.5 seconds before entering the next step;

[0073] Specifically, the intelligent power controller controls the high-voltage controller relay to disconnect (actively discharge) (ensuring that the high voltage outputs of each channel of the high-voltage controller are lower than the safety voltage).

[0074] After S3024 lasts for 0.5 seconds, the intelligent power controller controls the high-voltage relay of the battery controller to disconnect, waiting to check the cause of the extreme working condition.

[0075] Specifically, the intelligent power controller controls the high-voltage relay of the battery controller to disconnect (ensuring that the high-voltage controller input high voltage is lower than the safety voltage) and waits to check the cause of the extreme working condition.

[0076] What is disclosed above is only a preferred embodiment of the intelligent power management method of an agricultural robot of the present invention. Of course, it cannot be used to limit the scope of rights of the present invention. Ordinary technicians in this field can understand that all or part of the processes of the above embodiments and equivalent changes made according to the claims of the present invention are still within the scope of the invention.

Claims

1. An intelligent power management method for an agricultural robot, characterized in that: The following steps are involved: Press the switch to power on the intelligent power controller after self-checking; Determine the current working condition of the robot based on the load status of the agricultural robot; The device is powered off based on the current operating condition.

2. The intelligent power management method for an agricultural robot according to claim 1, characterized in that: In "Press the switch and the intelligent power controller performs self-test and then powers on", include: Press the switch to make the intelligent power controller self-check and feed back the self-check result to the processing background; Waking up the battery controller, the motor controller, the high-voltage controller, the operation controller and the high-voltage to low-voltage controller to perform self-test, and feeding back the self-test results to the intelligent power controller; The intelligent power controller controls the high-voltage relay of the battery controller to close and collects the input high voltage; The intelligent power supply controller controls the high voltage controller relay to close and confirm the high voltage state; The intelligent power supply controller enables the motor controller, the operation controller and the high-voltage to low-voltage controller to determine whether they are working normally, and then enters the intelligent navigation and intelligent operation state.

3. The intelligent power management method for an agricultural robot according to claim 1, characterized in that: In "Judging the current working condition of the robot based on the load status of the agricultural robot", the current working condition includes normal working conditions and extreme working conditions.

4. The intelligent power management method for an agricultural robot according to claim 1, characterized in that: In "Judging the current working condition of the robot according to the load status of the agricultural robot", it includes: Collect the robot's load status data in real time; Calculating the load proportion based on the load status data; The current working condition of the robot is evaluated based on the load ratio.

5. The intelligent power management method for an agricultural robot according to claim 4, characterized in that: In "real-time collection of robot load status data", the load status data includes motor current, power consumption, voltage stability and working status of the actuator.

6. The intelligent power management method for an agricultural robot according to claim 3, characterized in that: In "powering off the device based on the current working condition", the power-off process under the normal working condition includes: Press the switch to enter the power control state of the intelligent power controller; The intelligent power supply controller stops enabling the motor controller, the operation controller and the high-voltage to low-voltage controller; The intelligent power supply controller controls the high voltage controller to disconnect; The battery controller, the motor controller, the high-voltage controller, the operation controller and the high-voltage to low-voltage controller are stopped from being awakened, and the intelligent power supply controller enters a low power consumption state.

7. The intelligent power management method for an agricultural robot as claimed in claim 3, characterized in that: In "powering off the device based on the current working condition", the power-off process for the extreme working condition includes: The intelligent power controller enters the power control state for 0.5 seconds and then enters the next step; The intelligent power controller stops enabling the motor controller, the operation controller and the high-voltage to low-voltage controller, and determines whether to stop working, and proceeds to the next step after 0.5 seconds; The intelligent power controller then controls the high-voltage controller relay to disconnect and actively discharge, and then proceeds to the next step after 0.5 seconds; After 0.5 seconds, the intelligent power controller controls the high-voltage relay of the battery controller to disconnect, waiting to check the cause of the extreme working condition.

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