Battery charging management method and device, surgical robot, equipment and medium

Abstract

The invention discloses a battery charging management method and device, a surgical robot, equipment and a medium. The method comprises the following steps: under the condition that power is supplied to a plurality of operation platforms based on integrated central equipment and a standby battery corresponding to each operation platform is charged, determining available output power of the integrated central equipment relative to a plurality of standby batteries at the current moment; respectively determining a corresponding residual electric quantity calibration value of each standby battery at the current moment; and based on the residual electric quantity calibration value corresponding to each standby battery and the available output power of the integrated central device relative to the plurality of standby batteries, respectively determining the charging power corresponding to each standby battery at the current moment, and charging the corresponding standby battery based on each charging power at the current moment. According to the technical scheme of the embodiment, the effect of equalization adjustment of the charging process of a plurality of operation platform standby batteries is achieved.

Description

Technical Field

[0001] The present invention relates to the technical field of medical equipment, and in particular to a battery charging management method, device, surgical robot, equipment and medium. Background Art

[0002] In the process of modern society, robots are gradually changing human production and lifestyle, improving production efficiency and product quality in various industries. As a high-end, intelligent medical device product, surgical robots can perform operations by remotely operating medical systems. They have unique advantages in assisting surgical prevention, diagnosis, treatment, rehabilitation and other fields, and have huge development potential.

[0003] However, in the related art, the integrated hub is generally powered by the mains power supply, and then the surgical robot is powered based on the integrated hub to enable the surgical robot to operate normally. This method may cause the mains power to be cut off during the operation of the surgical robot, causing the surgical robot to stop working immediately, affecting the normal operation of the surgical robot, and even causing medical accidents. Summary of the invention

[0004] The present invention provides a battery charging management method, device, surgical robot, equipment and medium to achieve the effect of balanced regulation of the charging process of backup batteries of multiple surgical platforms, thereby ensuring that multiple surgical platforms can be evacuated simultaneously during work, thereby ensuring the normal operation of the split surgical robot.

[0005] According to a first aspect of the present invention, a battery charging management method is provided, the method comprising:

[0006] In the case where the integrated hub device supplies power to multiple surgical platforms and charges backup batteries corresponding to each of the surgical platforms, determining the available output power of the integrated hub device relative to the multiple backup batteries at a current moment;

[0007] Determine respectively the remaining power calibration value corresponding to each of the backup batteries at the current moment;

[0008] Based on the remaining power calibration value corresponding to each backup battery and the available output power of the integrated hub device relative to the multiple backup batteries, the charging power corresponding to each backup battery at the current moment is determined respectively, and the corresponding backup battery is charged based on each charging power at the current moment.

[0009] According to a second aspect of the present invention, there is provided a battery charging management device, the device comprising:

[0010] An available output power determination module, used to determine the available output power of the integrated hub device relative to the multiple backup batteries at the current moment, when the integrated hub device is used to power multiple surgical platforms and to charge the backup batteries corresponding to each of the surgical platforms;

[0011] A power calibration value determination module, used to respectively determine the remaining power calibration value corresponding to each of the backup batteries at the current moment;

[0012] A charging power determination module is used to determine the charging power corresponding to each backup battery at the current moment based on the remaining power calibration value corresponding to each backup battery and the available output power of the integrated hub device relative to the multiple backup batteries, and charge the corresponding backup battery based on each charging power at the current moment.

[0013] According to a third aspect of the present invention, a surgical robot is provided, the surgical robot comprising:

[0014] A main control console, an integrated central device, an isolation transformer, a mains power supply, a plurality of surgical platforms and a backup battery corresponding to each of the surgical platforms; the integrated central device is respectively communicatively connected to the main control console and the plurality of surgical platforms; the integrated central device is electrically connected to the plurality of backup batteries; wherein the backup batteries include a charge and discharge management unit.

[0015] According to a fourth aspect of the present invention, there is provided an electronic device, the electronic device comprising:

[0016] at least one processor; and

[0017] a memory communicatively connected to the at least one processor; wherein,

[0018] The memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the battery charging management method described in any embodiment of the present invention.

[0019] According to a fifth aspect of the present invention, a computer-readable storage medium is provided, wherein the computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the battery charging management method described in any embodiment of the present invention when executed.

[0020] The technical solution of the embodiment of the present invention determines the available output power of the integrated central device relative to multiple backup batteries at the current moment by supplying power to multiple surgical platforms based on the integrated central device and charging the backup batteries corresponding to each surgical platform. Further, the remaining power calibration value corresponding to each backup battery at the current moment is determined respectively. Finally, based on the remaining power calibration value corresponding to each backup battery and the available output power of the integrated central device relative to the multiple backup batteries, the charging power corresponding to each backup battery at the current moment is determined respectively, and the corresponding backup battery is charged based on each charging power at the current moment. This solves the problem in the related art that during the operation of the surgical robot, the network power supply is cut off, thereby causing the surgical robot to stop working immediately, affecting the normal operation of the surgical robot, and achieves the effect of balanced regulation of the charging process of the backup batteries of multiple surgical platforms. Furthermore, it ensures that multiple surgical platforms can be evacuated at the same time during the operation, thereby ensuring the normal operation of the split surgical robot.

[0021] It should be understood that the contents described in this section are not intended to identify the key or important features of the embodiments of the present invention, nor are they intended to limit the scope of the present invention. Other features of the present invention will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. 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 creative work.

[0023] Figure 1 is a flow chart of a battery charging management method provided according to Embodiment 1 of the present invention;

[0024] Figure 2 is a schematic diagram of a backup battery working mode under a working condition provided by Embodiment 1 of the present invention;

[0025] Figure 3 is a schematic diagram of a backup battery working mode under another working condition provided by Embodiment 1 of the present invention;

[0026] Figure 4 is a schematic diagram of a backup battery working mode under another working condition provided by Embodiment 1 of the present invention;

[0027] Figure 5 is a flow chart of a battery charging management method provided according to Embodiment 2 of the present invention;

[0028] Figure 6is a structural schematic diagram of a battery charging management device provided according to Embodiment 3 of the present invention;

[0029] Figure 7 is a schematic diagram of the structure of a surgical robot provided according to a fourth embodiment of the present invention;

[0030] Figure 8 It is a structural schematic diagram of an electronic device for implementing the battery charging management method according to an embodiment of the present invention. DETAILED DESCRIPTION

[0031] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings 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 should fall within the scope of protection of the present invention.

[0032] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0033] Embodiment 1

[0034] Figure 1 This is a flow chart of a battery charging management method provided in the first embodiment of the present invention. This embodiment is applicable to the case where the integrated central device supplies power to multiple surgical platforms and charges the backup batteries corresponding to each surgical platform. The method can be executed by a battery charging management device, which can be implemented in the form of hardware and / or software and can be configured in a terminal and / or server. Figure 1 As shown, the method includes:

[0035] S110. When the integrated central device supplies power to multiple surgical platforms and charges the backup batteries corresponding to each surgical platform, determine the available output power of the integrated central device relative to the multiple backup batteries at the current moment.

[0036] It should be noted that the technical solution provided in this embodiment can be applied to a split surgical robot. The split surgical robot may include a main control console, an integrated central device, and a surgical platform. A set of split surgical robots may include multiple surgical platforms, and for each surgical platform, a backup battery associated with the surgical platform is also included.

[0037] Among them, the main control console, as the main control center, can include functions such as data acquisition, calculation processing and control output. In actual applications, the information of the integrated central device and the surgical platform is collected, and the collected information is calculated and processed according to the pre-deployed algorithm, and the control instructions are output, thereby completing the control of the integrated central device and the surgical platform.

[0038] The integrated central device can be a device for acquiring data and outputting control instructions. The integrated central device can serve as a data integration center and a power output control unit. While supplying power to multiple surgical platforms through power cables, it can also collect data from surgical platforms and send instructions from the main console through communication cables.

[0039] Among them, the surgical platform can be the operating part of the surgical robot, and its main function is to adjust the posture of the instrument, or to control the movement of the instrument and the laparoscope. The upper part of the surgical platform is a robotic arm, and the lower part is a power center and a user interaction panel. Interaction is achieved with the integrated central device and the main console respectively through communication cables. The power input of the surgical platform is mainly provided by the integrated central device, and each surgical platform includes a backup battery (for example, a lithium battery). During the operation, after the network power is lost, the integrated central device cannot power the surgical platform. At this time, the corresponding surgical platform can be powered based on the backup battery to ensure the safe evacuation of the surgical platform.

[0040] In practical applications, the surgical platform can be powered by the integrated central device, and the corresponding surgical platform can also be powered by the backup battery associated with each surgical platform. In addition, each backup battery can be charged by the integrated central device. For example, Figure 2 This is a schematic diagram of the current flow between the integrated central device, surgical platform and backup battery under the above working conditions.

[0041] In this embodiment, the available output power may be the charging power of the integrated hub device when charging the backup battery. In practical applications, since the integrated hub device can both power the surgical platform and charge the backup battery, the available output power of the integrated hub device relative to the backup battery can be determined based on the total output power of the integrated hub device and the power supply power of the integrated hub device relative to the surgical platform.

[0042] In actual application, the integrated central device can only power multiple surgical platforms, or only charge multiple backup batteries, or charge multiple backup batteries while powering multiple surgical platforms. In the case where the integrated central device powers multiple surgical platforms and charges the backup batteries corresponding to each surgical platform, the available output power of the integrated central device relative to the multiple backup batteries at the current moment can be determined based on the total output power of the integrated central device and the power supply power of the integrated central device relative to the multiple surgical platforms at the current moment.

[0043] Optionally, determining the available output power of the integrated central device relative to multiple backup batteries at the current moment includes: obtaining the rated output power corresponding to the integrated central device; obtaining the power supply output power of the integrated central device relative to multiple surgical platforms at the current moment; determining the power difference between the rated output power and the power supply output power, and using the power difference as the available output power of the integrated central device relative to the multiple backup batteries at the current moment.

[0044] Among them, the rated output power can be the maximum output power that the device can achieve under normal conditions. The rated output power can be one of the parameters that characterize the maximum output capacity of the device. In general, the rated output power of any device is a calibrated value, which can be obtained based on the device parameter configuration information. The power supply output power can be the output power of the integrated hub device when it supplies power to multiple surgical platforms. In actual applications, in the process of the integrated hub device supplying power to multiple surgical platforms, each surgical platform will send corresponding power supply process data to the integrated hub device, so that the integrated hub device can perform data analysis on the power supply process of the surgical platform. When the integrated hub device receives the power supply process data sent by each surgical platform, the power supply output power of the integrated hub device relative to multiple surgical platforms at the current moment can be determined based on the received power supply process data.

[0045] The power difference may be the difference between the rated output power and the power supply output power.

[0046] In practical applications, when multiple surgical platforms are powered by an integrated central device and the backup batteries corresponding to each surgical platform are charged, the rated output power corresponding to the integrated central device can be first obtained. Then, based on the power supply process data corresponding to the multiple surgical platforms, the power supply output power of the integrated central device relative to the multiple surgical platforms at the current moment is obtained. Furthermore, the power difference between the rated output power and the power supply output power is determined, and the power difference is used as the available output power of the integrated central device relative to the multiple backup batteries at the current moment.

[0047] S120: Determine the corresponding remaining power calibration value of each backup battery at the current moment.

[0048] In this embodiment, the remaining power calibration value may be the remaining power value of the backup battery after calibration. In general, the battery power value can be obtained by measuring and calculating the battery power by the battery management system (BMS) in the battery. The conventional method for measuring the battery power in the BMS is to integrate the charge and discharge current over time. The current in the conventional constant current charging link is constant, and calibration can be performed for a fixed current point. To improve accuracy. However, in dynamic charging, it is difficult for the BMS to accurately measure the current within the full range, and the accuracy of the battery charging current measurement cannot be guaranteed. The current power value determined by the BMS may be too low or too high. Therefore, it is necessary to calibrate the battery power value of the backup battery.

[0049] In practical applications, for each backup battery, the remaining power can be first measured according to the BMS in the backup battery to obtain the remaining power detection value corresponding to the backup battery. Further, the determined remaining power detection value can be calibrated. Thus, the remaining power calibration value corresponding to the backup battery at the current moment can be obtained.

[0050] S130. Based on the remaining power calibration value corresponding to each backup battery and the available output power of the integrated hub device relative to multiple backup batteries, determine the charging power corresponding to each backup battery at the current moment, and charge the corresponding backup battery based on each charging power at the current moment.

[0051] In this embodiment, the available output power corresponds to multiple backup batteries, that is, the available output power is the sum of the charging powers of the multiple backup batteries. However, the charging power corresponds to a single backup battery, that is, the charging power corresponding to each backup battery can be different or the same, and the available output power is obtained by adding up the charging powers corresponding to the multiple backup batteries.

[0052] In practical applications, after determining the available output power of the integrated hub device relative to the multiple backup batteries and determining the remaining power calibration value corresponding to each backup battery, the available output power corresponding to the integrated hub device can be allocated according to the remaining power calibration value corresponding to each backup battery. Furthermore, the charging power corresponding to each backup battery at the current moment can be determined, and the integrated hub device can be controlled to charge the corresponding backup battery according to the charging power corresponding to each backup battery at the current moment.

[0053] Optionally, based on the remaining power calibration value corresponding to each backup battery and the available output power of the integrated central device relative to multiple backup batteries, the charging power corresponding to each backup battery at the current moment is determined respectively, including: for each backup battery, obtaining the total power of the backup battery, and subtracting the total power from the remaining power calibration value corresponding to the backup battery at the current moment to obtain the charge value corresponding to the backup battery at the current moment; adding the charge value corresponding to each backup battery at the current moment to obtain the total charge value; for each backup battery, determining the ratio between the charge value corresponding to the backup battery at the current moment and the total charge value to obtain the charge ratio, and multiplying the charge ratio by the available output power to obtain the charging power corresponding to the backup battery at the current moment.

[0054] In this embodiment, the total power refers to the battery capacity of the backup battery when it is initially fully charged. The total power of the backup battery can be a calibration parameter of the backup battery. The charge value can be the power value required by the backup battery to reach the total power. The charge value can also be understood as the difference between the total power of the backup battery and the calibration value of the remaining power.

[0055] In practical applications, after determining the remaining power calibration value corresponding to each backup battery at the current moment, the total power of the backup battery can be obtained for each backup battery, and the total power can be subtracted from the remaining power calibration value corresponding to the backup battery at the current moment to obtain the charge value corresponding to the backup battery at the current moment. Afterwards, the charge value corresponding to each backup battery at the current moment can be added to obtain the total charge value corresponding to multiple backup batteries. Further, for each backup battery, the ratio between the charge value corresponding to the backup battery at the current moment and the determined total charge value can be determined to obtain the charge ratio corresponding to the backup battery. Afterwards, the charge ratio is multiplied by the available output power of the integrated hub device relative to the multiple backup batteries, so that the charging power corresponding to the backup battery at the current moment can be obtained.

[0056] For example, assume that the number of backup batteries charged by the integrated hub device is 4, namely backup battery 1, backup battery 2, backup battery 3 and backup battery 4. The remaining power calibration value corresponding to backup battery 1 at the current moment is B1; the remaining power calibration value corresponding to backup battery 2 at the current moment is B2; the remaining power calibration value corresponding to backup battery 3 at the current moment is B3; the remaining power calibration value corresponding to backup battery 4 at the current moment is B4. The total power of the four backup batteries is B1. t The available output power of the integrated hub device relative to the 4 backup batteries is P r The charging power of the backup battery at the current moment can be determined based on the following formula:

[0057] The corresponding charge value of each backup battery at the current moment can be:

[0058] B 1r =B t -B1

[0059] B 2r =B t -B2

[0060] B 3r =B t -B3

[0061] B 4r =B t -B4

[0062] Among them, B 1r Indicates the charge value of backup battery 1 at the current moment; B 2r Indicates the charge value of backup battery 2 at the current moment; B 3r Indicates the charge value of the backup battery 3 at the current moment; B 4r Indicates the charge level of the backup battery 4 at the current moment.

[0063] Furthermore, the charging power corresponding to each backup battery at the current moment may be:

[0064]

[0065]

[0066]

[0067]

[0068] Among them, P1 represents the charging power corresponding to backup battery 1 at the current moment; P2 represents the charging power corresponding to backup battery 2 at the current moment; P3 represents the charging power corresponding to backup battery 3 at the current moment; P4 represents the charging power corresponding to backup battery 4 at the current moment.

[0069] It should be noted that, in the case of charging multiple backup batteries based on the integrated central device, the technical solution of the embodiment of the present invention can be used to achieve balanced charging of multiple surgical platform backup batteries, that is, the backup battery with less remaining power has a high charging power and a faster charging speed; the backup battery with more remaining power has a low charging power and a slower charging speed. Thus, the effect of balancing the power of multiple surgical platform backup batteries is finally achieved.

[0070] In actual applications, when multiple surgical platforms are powered by an integrated central device to enable the surgical platforms to operate normally, the operating power of any one of the surgical platforms may be too large, causing the total operating power of the multiple surgical platforms to exceed the rated output power corresponding to the integrated central device. In this case, the power supply of the integrated central device relative to the surgical platform cannot meet the normal operation of the surgical platform. Therefore, the backup battery corresponding to the surgical platform can be used as a supplementary power supply device so that the surgical platform can resume normal operation under the simultaneous power supply of both the integrated central device and the backup battery.

[0071] Based on this, on the basis of the above-mentioned technical solutions, it also includes: when it is detected that the DC voltage corresponding to at least one surgical platform is lower than the preset voltage threshold, the surgical platform is determined as the target surgical platform; the backup battery corresponding to each target surgical platform is switched from the charging mode to the discharging mode, so that the backup battery can power the corresponding target surgical platform respectively.

[0072] It should be noted that in order to ensure the safety of the integrated central device, the surgical platform connected to the integrated central device, and the corresponding backup battery, an isolation transformer can be set between the integrated central device and the network power supply. It should also be noted that the benefits of setting an isolation transformer between the integrated central device and the network power supply include, in addition to safety, the output efficiency of the isolation transformer is related to the load output power. Therefore, during the operation, by adjusting and setting the power supply power of each surgical platform corresponding to the integrated central device, the output efficiency of the isolation transformer can be optimized, thereby reducing the generation rate of useless power and achieving energy saving.

[0073] In this embodiment, the preset voltage threshold may be a pre-set voltage limit value used to determine whether the operating power of the surgical platform is within an average range.

[0074] In actual applications, when it is detected that the DC voltage corresponding to at least one surgical platform is lower than the preset voltage threshold, it can indicate that the working power corresponding to the surgical platform exceeds the rated output power corresponding to the integrated central device, and the surgical platform cannot work normally by relying solely on the integrated central device to power the surgical platform. In this case, the surgical platform with a DC voltage lower than the preset voltage threshold can be used as the target surgical platform. Then, the backup battery corresponding to each target surgical platform is switched from charging mode to discharging mode so that each backup battery can power the corresponding target surgical platform. Exemplary, Figure 3 That is, a schematic diagram of the current flow between the integrated central device, the target surgical platform and the backup battery under the above working conditions.

[0075] It should be noted that, when it is detected that the DC voltage corresponding to at least one surgical platform is less than the preset voltage threshold, the DC voltage corresponding to the surgical platform can be adjusted based on the integrated central device. When the integrated central device cannot adjust the DC voltage corresponding to the surgical platform to be higher than the preset voltage threshold, a backup battery can be used to power the surgical platform.

[0076] It should also be noted that, when it is detected that the working power corresponding to at least one surgical platform is reduced, the charging power of the backup battery corresponding to the surgical platform can be adjusted, thereby achieving fast charging of the backup battery.

[0077] In actual applications, when the integrated central device is powering multiple surgical platforms and charging the backup batteries corresponding to each surgical platform, there may be a situation where the integrated central device is powered off. In this case, the corresponding surgical platform can be powered based on the backup batteries corresponding to each surgical platform to ensure the safe evacuation of the surgical platform.

[0078] Based on this, on the basis of the above-mentioned technical solutions, it also includes: when the integrated central device is in a power-off state, the backup battery corresponding to each surgical platform is switched from charging mode to discharging mode, so that each backup battery can power the corresponding surgical platform.

[0079] In this embodiment, the integrated hub device is in a power-off state, which can be understood as the integrated hub device cannot power the surgical platform and cannot charge the backup battery. The charging mode can be a method in which the backup battery is charged by connecting to the integrated hub device. The discharging mode can be a method in which the backup battery consumes power by connecting to a power-consuming device.

[0080] In actual applications, when the integrated central device is powering multiple surgical platforms and charging the backup batteries corresponding to each surgical platform, if the integrated central device is in a power-off state, the surgical platform cannot be powered by the integrated central device. In order to ensure that the surgical platform is always in normal working condition, the backup battery corresponding to each surgical platform can be switched from charging mode to discharging mode. Thus, the corresponding surgical platform can be powered based on the backup battery corresponding to each surgical platform. For example, Figure 4 This is a schematic diagram of the current flow between the integrated central device, surgical platform and backup battery under the above working conditions.

[0081] The technical solution of the embodiment of the present invention determines the available output power of the integrated central device relative to multiple backup batteries at the current moment by supplying power to multiple surgical platforms based on the integrated central device and charging the backup batteries corresponding to each surgical platform. Further, the remaining power calibration value corresponding to each backup battery at the current moment is determined respectively. Finally, based on the remaining power calibration value corresponding to each backup battery and the available output power of the integrated central device relative to the multiple backup batteries, the charging power corresponding to each backup battery at the current moment is determined respectively, and the corresponding backup battery is charged based on each charging power at the current moment. This solves the problem in the related art that during the operation of the surgical robot, the network power supply is cut off, thereby causing the surgical robot to stop working immediately, affecting the normal operation of the surgical robot, and achieves the effect of balanced regulation of the charging process of the backup batteries of multiple surgical platforms. Furthermore, it ensures that multiple surgical platforms can be evacuated at the same time during the operation, thereby ensuring the normal operation of the split surgical robot.

[0082] Embodiment 2

[0083] Figure 5 This is a flow chart of a battery charging management method provided in the second embodiment of the present invention, which further refines S120 based on the above embodiment, wherein the technical terms that are the same as or corresponding to the above embodiment are not repeated here.

[0084] like Figure 5 As shown, the method includes:

[0085] S210. When the integrated central device is used to power multiple surgical platforms and to charge the backup batteries corresponding to each surgical platform, determine the available output power of the integrated central device relative to the multiple backup batteries at the current moment.

[0086] S220: For each backup battery, obtain historical charging data of the backup battery within a preset time period before the current moment.

[0087] It should be noted that, when charging multiple backup batteries based on the integrated hub device and determining the remaining power calibration value corresponding to each backup battery, the process of determining the remaining power calibration value corresponding to each backup battery is the same. Therefore, the process of determining the remaining power calibration value can be described by taking one of the backup batteries as an example.

[0088] In this embodiment, the preset duration can be understood as a predetermined time range for limiting the length of time for collecting historical charging data. The preset duration can be any duration, and can be 10 minutes, 20 minutes, or 30 minutes, etc. The historical charging data can be data characterizing the charging status of the backup battery. The historical charging data can include charging current, charging voltage, and / or charging power, etc.

[0089] In practical applications, for each backup battery charged based on the integrated hub device, in order to analyze the charging status of the backup battery and calibrate the remaining power detection value of the backup battery at the current moment based on the result obtained after the analysis, the historical charging data of the backup battery within a preset time period before the current moment can be obtained. Thus, the charging status of the backup battery can be analyzed based on the acquired historical charging data.

[0090] S230: Determine a predicted value of the remaining power of the backup battery at the current moment according to the historical charging data.

[0091] In this embodiment, the remaining power prediction value may be a power test value calculated based on historical charging data.

[0092] In practical applications, since the charging process of the backup battery by the integrated central device is a dynamic charging process, the charging power can be dynamically adjusted in units of time during the charging process. Therefore, when the charging data of the backup battery at the current moment is determined, data analysis can be performed based on the charging data corresponding to the backup battery at the historical charging moment.

[0093] In practical applications, when the historical charging data corresponding to the backup battery is obtained, the historical charging data can be analyzed. According to the historical charging data, the historical remaining power real value corresponding to any historical charging time of the backup battery can be determined, so that the remaining power test value corresponding to the current time can be determined according to the determined multiple historical remaining power real values.

[0094] Optionally, based on the historical charging data, the predicted value of the remaining power of the backup battery at the current moment is determined, including: determining the historical remaining power values ​​corresponding to multiple historical moments before the current moment based on the historical charging data; determining the first predicted value of the remaining power of the backup battery at the current moment based on the multiple historical moments and the historical remaining power values ​​corresponding to each historical moment; determining the historical charging power and the historical remaining power value corresponding to the previous moment before the current moment based on the historical charging data; determining the second predicted value of the remaining power of the backup battery at the current moment based on the current moment, the previous moment, the historical charging power and the historical remaining power values; determining the predicted value of the remaining power of the backup battery at the current moment based on the first predicted value of the remaining power and the second predicted value of the remaining power.

[0095] In this embodiment, the historical charging moment may be any charging moment before the current moment. Optionally, the historical charging moment may be the previous moment before the current moment, and the previous moment before the previous moment. Exemplarily, it is assumed that the historical charging moments included in the historical charging data are t1, t2, t3, t4, and t5 in chronological order. Among them, t5 is the moment closest to the current moment. The previous moment before the current moment may be t5; the previous moment before the previous moment may be t4.

[0096] In this embodiment, the historical remaining power value may be a calibration value of the remaining power of the backup battery at a corresponding historical moment. The historical remaining power value may be a remaining power value obtained after calibrating the remaining power detection value of the backup battery at a corresponding historical moment.

[0097] In this embodiment, the historical charging data corresponding to the backup battery can be used to characterize the corresponding relationship between the historical charging time and the charging data. In the historical charging data, the historical charging time and the corresponding charging data can be a group of data, and then the historical charging data can include multiple groups of data. Among them, the charging data corresponding to each historical charging time can be at least one of the charging voltage, charging current, charging power and remaining power value.

[0098] In practical applications, when obtaining the historical charging data corresponding to the backup battery, the charging data can be extracted from the historical charging data according to the multiple historical charging moments that have been determined. Then, the historical remaining power values ​​corresponding to the multiple historical charging moments can be obtained. Furthermore, a linear equation can be constructed based on the multiple historical charging moments and the corresponding historical remaining power values ​​to characterize the linear relationship between the historical charging moments and the historical remaining power values ​​based on the constructed linear equation. Afterwards, the current moment can be input into the constructed linear equation to obtain the power value corresponding to the current moment, and the power value can be used as the first remaining power prediction value of the backup battery at the current moment.

[0099] In this embodiment, the historical charging power may be the charging power used when charging the backup battery at the historical charging time.

[0100] In practical applications, when obtaining the historical charging data corresponding to the backup battery, the charging data can be extracted from the historical charging data according to the last moment before the current moment. Then, the historical charging power and the historical remaining power value corresponding to the last moment before the current moment can be obtained. Furthermore, the second remaining power prediction value of the backup battery at the current moment can be determined according to the current moment, the last moment, and the acquired historical charging power and historical remaining power values.

[0101] Optionally, based on the current moment, the previous moment, the historical charging power and the historical remaining power value, determine the second remaining power prediction value of the backup battery at the current moment, including: subtracting the current moment from the previous moment to obtain the time difference; determining the product of the time difference and the historical charging power to obtain a value to be processed; adding the value to be processed and the historical remaining power value to obtain the second remaining power prediction value of the backup battery at the current moment.

[0102] In a specific implementation, when determining the current moment and the previous moment, and obtaining the historical charging power and the historical remaining power value corresponding to the previous moment, the current moment and the previous moment can be first subtracted to determine the difference between the current moment and the previous moment to obtain the time difference. Furthermore, the determined time difference and the historical charging power can be multiplied to determine the product between the time difference and the historical charging power, and the obtained product can be used as the value to be processed. Afterwards, the determined value to be processed and the historical remaining power value corresponding to the previous moment that has been obtained can be added, and the value obtained after the addition can be used as the second remaining power prediction value of the backup battery at the current moment.

[0103] Furthermore, after obtaining the first remaining power prediction value and the second remaining power prediction value, a weighted sum may be performed on the first remaining power prediction value and the second remaining power prediction value, thereby obtaining the remaining power prediction value of the backup battery at the current moment.

[0104] Optionally, based on the first remaining power prediction value and the second remaining power prediction value, the remaining power prediction value of the backup battery at the current moment is determined, including: determining a first weight corresponding to the first remaining power prediction value, and determining a second weight corresponding to the second remaining power prediction value; multiplying the first remaining power prediction value by the first weight to obtain a first power value to be superimposed, and multiplying the second remaining power prediction value by the second weight to obtain a second power value to be superimposed; adding the first power value to be superimposed and the second power value to be superimposed to obtain the remaining power prediction value of the backup battery at the current moment.

[0105] In this embodiment, the first weight may be a weight value corresponding to the first remaining power prediction value. The second weight may be a weight value corresponding to the second remaining power prediction value. It should be noted that the sum of the first weight and the second weight is 1, and the first weight and the second weight may be equal weight values ​​or unequal weight values.

[0106] In practical applications, a first weight corresponding to the first remaining power prediction value and a second weight corresponding to the second remaining power prediction value are determined. Further, the first remaining power prediction value and the first weight may be multiplied to obtain a first power value to be superimposed; and the second remaining power prediction value and the second weight may be multiplied to obtain a second power value to be superimposed. Afterwards, the obtained first power value to be superimposed and the second power value to be superimposed may be added together, thereby obtaining the remaining power prediction value of the backup battery at the current moment.

[0107] Exemplarily, the predicted value of the remaining power of the backup battery at the current moment may be determined based on the following formula:

[0108] B p =W1*B p1 +W2*B p2

[0109] Among them, B p represents the predicted value of the remaining power of the backup battery at the current moment; W1 represents the first weight; B p1 represents the first remaining power prediction value of the backup battery at the current moment; W2 represents the second weight; B p2 Indicates the second remaining power prediction value of the backup battery at the current moment.

[0110] S240: Obtain the remaining power detection value of the backup battery at the current moment.

[0111] In this embodiment, the remaining power detection value may be a remaining power value obtained after detection by a BMS in the backup battery.

[0112] In actual applications, in the process of charging the backup battery based on the integrated hub device, the BMS set in the backup battery can detect the charging process of the backup battery in real time or periodically. When the current moment is determined, the remaining power value of the backup battery at the current moment can be detected according to the BMS in the backup battery. Furthermore, the remaining power value obtained after the detection can be determined as the remaining power detection value of the backup battery at the current moment.

[0113] S250: Determine a corresponding remaining power calibration value of the backup battery at the current moment according to the remaining power prediction value and the remaining power detection value.

[0114] In practical applications, when the remaining power prediction value and the remaining power detection value are obtained, the remaining power prediction value and the remaining power detection value can be weighted and summed, thereby obtaining the remaining power calibration value corresponding to the backup battery at the current moment.

[0115] Optionally, based on the remaining power prediction value and the remaining power detection value, the remaining power calibration value corresponding to the backup battery at the current moment is determined, including: determining a third weight corresponding to the remaining power prediction value, and determining a fourth weight corresponding to the remaining power detection value; multiplying the remaining power prediction value by the third weight to obtain a third power value to be superimposed, and multiplying the remaining power detection value by the fourth weight to obtain a fourth power value to be superimposed; adding the third power value to be superimposed and the fourth power value to be superimposed to obtain the remaining power calibration value corresponding to the backup battery at the current moment.

[0116] In this embodiment, the third weight may be a weight value corresponding to the remaining power prediction value. The fourth weight may be a weight value corresponding to the remaining power detection value. It should be noted that the sum of the third weight and the fourth weight is 1, and the third weight and the fourth weight may be equal weight values ​​or unequal weight values.

[0117] In practical applications, the third weight corresponding to the remaining power prediction value and the second weight corresponding to the remaining power detection value are determined. Further, the remaining power prediction value and the third weight may be multiplied to obtain a third power value to be superimposed; and the remaining power detection value and the fourth weight may be multiplied to obtain a fourth power value to be superimposed. Afterwards, the obtained third power value to be superimposed and the fourth power value to be superimposed may be added together, thereby obtaining the remaining power calibration value corresponding to the backup battery at the current moment.

[0118] Exemplarily, the remaining power calibration value corresponding to the backup battery at the current moment may be determined based on the following formula:

[0119] B=W3*B p +W4*B t

[0120] Wherein, B represents the remaining power calibration value of the backup battery corresponding to the current moment; W3 represents the third weight; B p represents the predicted value of the remaining power of the backup battery at the current moment; W4 represents the fourth weight; B t Indicates the remaining power detection value of the backup battery at the current moment.

[0121] S260. Based on the remaining power calibration value corresponding to each backup battery and the available output power of the integrated hub device relative to multiple backup batteries, determine the charging power corresponding to each backup battery at the current moment, and charge the corresponding backup battery based on each charging power at the current moment.

[0122] The technical solution of the embodiment of the present invention determines the available output power of the integrated central device relative to multiple backup batteries at the current moment by supplying power to multiple surgical platforms based on the integrated central device and charging the backup batteries corresponding to each surgical platform. Further, the remaining power calibration value corresponding to each backup battery at the current moment is determined respectively. Finally, based on the remaining power calibration value corresponding to each backup battery and the available output power of the integrated central device relative to the multiple backup batteries, the charging power corresponding to each backup battery at the current moment is determined respectively, and the corresponding backup battery is charged based on each charging power at the current moment. This solves the problem in the related art that during the operation of the surgical robot, the network power supply is cut off, thereby causing the surgical robot to stop working immediately, affecting the normal operation of the surgical robot, and achieves the effect of balanced regulation of the charging process of the backup batteries of multiple surgical platforms, thereby ensuring that each surgical platform has an equal evacuation time, thereby avoiding the situation where one of the surgical platforms loses power and is locked due to too little power to evacuate in time.

[0123] Embodiment 3

[0124] Figure 6 Schematic diagram of the structure of a battery charging management device provided by Embodiment 3 of the present invention. Figure 6 As shown, the device includes: an available output power determination module 310, a remaining power calibration value determination module 320 and a charging power determination module 330.

[0125] Among them, the available output power determination module 310 is used to determine the available output power of the integrated central device relative to the multiple backup batteries at the current moment when the multiple surgical platforms are powered by the integrated central device and the backup batteries corresponding to each of the surgical platforms are charged; the remaining power calibration value determination module 320 is used to respectively determine the remaining power calibration value corresponding to each of the backup batteries at the current moment; the charging power determination module 330 is used to respectively determine the charging power corresponding to each of the backup batteries at the current moment based on the remaining power calibration value corresponding to each of the backup batteries and the available output power of the integrated central device relative to the multiple backup batteries, and charge the corresponding backup batteries based on each charging power at the current moment.

[0126] The technical solution of the embodiment of the present invention determines the available output power of the integrated central device relative to multiple backup batteries at the current moment by supplying power to multiple surgical platforms based on the integrated central device and charging the backup batteries corresponding to each surgical platform. Further, the remaining power calibration value corresponding to each backup battery at the current moment is determined respectively. Finally, based on the remaining power calibration value corresponding to each backup battery and the available output power of the integrated central device relative to the multiple backup batteries, the charging power corresponding to each backup battery at the current moment is determined respectively, and the corresponding backup battery is charged based on each charging power at the current moment. This solves the problem in the related art that during the operation of the surgical robot, the network power supply is cut off, thereby causing the surgical robot to stop working immediately, affecting the normal operation of the surgical robot, and achieves the effect of balanced regulation of the charging process of the backup batteries of multiple surgical platforms. Furthermore, it ensures that multiple surgical platforms can be evacuated at the same time during the operation, thereby ensuring the normal operation of the split surgical robot.

[0127] Optionally, the available output power determination module 310 includes: a rated output power acquisition unit, an actual output power acquisition unit and an available output power determination unit.

[0128] A rated output power acquisition unit, used to acquire the rated output power corresponding to the integrated hub device;

[0129] An actual output power acquisition unit, used to acquire the power output power of the integrated central device relative to the multiple surgical platforms at the current moment;

[0130] The available output power determination unit is used to determine the power difference between the rated output power and the power supply output power, and use the power difference as the available output power of the integrated hub device relative to the multiple backup batteries at the current moment.

[0131] Optionally, the remaining power calibration value determination module 320 includes: a historical charging data acquisition submodule, a remaining power prediction value determination submodule, a remaining power detection value determination submodule and a remaining power calibration value determination submodule.

[0132] For each of said backup batteries:

[0133] A historical charging data acquisition submodule, used to acquire historical charging data of the backup battery within a preset time period before the current moment;

[0134] A remaining power prediction value determination submodule, used to determine the remaining power prediction value of the backup battery at the current moment according to the historical charging data;

[0135] A remaining power detection value determination submodule, used for obtaining a remaining power detection value of the backup battery at the current moment;

[0136] The remaining power calibration value determination submodule is used to determine the remaining power calibration value corresponding to the backup battery at the current moment according to the remaining power prediction value and the remaining power detection value.

[0137] Optionally, the remaining power prediction value determination submodule includes: a historical remaining power value determination unit, a first remaining power prediction value determination unit, a historical charging power determination unit, a second remaining power value determination unit, and a remaining power prediction value determination unit.

[0138] A historical remaining power value determination unit, used for the historical remaining power value determination unit, used to determine the historical remaining power values ​​corresponding to multiple historical moments before the current moment according to the historical charging data;

[0139] A first remaining power prediction value determining unit, configured to determine a first remaining power prediction value of the backup battery at a current moment according to the multiple historical moments and the historical remaining power values ​​corresponding to each of the historical moments;

[0140] A historical charging power determination unit, configured to determine, based on the historical charging data, a historical charging power and a historical remaining power value of the backup battery corresponding to a previous moment before the current moment;

[0141] A second remaining power value determining unit, configured to determine a second remaining power prediction value of the backup battery at the current moment according to the current moment, the previous moment, the historical charging power, and the historical remaining power value;

[0142] The remaining power prediction value determining unit is used to determine the remaining power prediction value of the backup battery at the current moment according to the first remaining power prediction value and the second remaining power prediction value.

[0143] Optionally, the second remaining power value determining unit includes: a time difference value determining subunit, a to-be-processed value determining subunit and a second remaining power prediction value determining subunit.

[0144] A time difference determination subunit, used for subtracting the current moment from the previous moment to obtain a time difference;

[0145] a subunit for determining a value to be processed, used to determine the product of the time difference and the historical charging power to obtain a value to be processed;

[0146] The second remaining power prediction value determining subunit is used to add the to-be-processed value to the historical remaining power value to obtain a second remaining power prediction value of the backup battery at the current moment.

[0147] Optionally, the remaining power prediction value determining unit includes: a weight determining subunit, a to-be-superimposed power value determining subunit, and a remaining power prediction value determining subunit.

[0148] a weight determination subunit, configured to determine a first weight corresponding to the first remaining power prediction value, and to determine a second weight corresponding to the second remaining power prediction value;

[0149] a subunit for determining a power value to be superimposed, configured to multiply the first remaining power prediction value by the first weight to obtain a first power value to be superimposed, and to multiply the second remaining power prediction value by the second weight to obtain a second power value to be superimposed;

[0150] The remaining power prediction value determining subunit is used to add the first power value to be superimposed and the second power value to be superimposed to obtain the remaining power prediction value of the backup battery at the current moment.

[0151] Optionally, the remaining power calibration value determination submodule includes: a weight determination unit, a to-be-superimposed power value determination unit, and a remaining power calibration value determination unit.

[0152] a weight determination unit, configured to determine a third weight corresponding to the remaining power prediction value, and to determine a fourth weight corresponding to the remaining power detection value;

[0153] a unit for determining a power value to be superimposed, configured to multiply the remaining power prediction value by the third weight to obtain a third power value to be superimposed, and to multiply the remaining power detection value by the fourth weight to obtain a fourth power value to be superimposed;

[0154] The remaining power calibration value determining unit is used to add the third power value to be superimposed and the fourth power value to be superimposed to obtain the remaining power calibration value of the backup battery corresponding to the current moment.

[0155] Optionally, the device further includes: a target surgical platform determination module and a charging mode switching module.

[0156] a target surgical platform determination module, configured to determine the surgical platform as a target surgical platform when it is detected that the DC voltage corresponding to at least one of the surgical platforms is lower than a preset voltage threshold;

[0157] The charging mode switching module is used to switch the backup battery corresponding to each target surgical platform from a charging mode to a discharging mode, so that each backup battery can supply power to the corresponding target surgical platform.

[0158] Optionally, the device further includes: a charging mode switching module.

[0159] The charging mode switching module is used to switch the backup battery corresponding to each surgical platform from the charging mode to the discharging mode when the integrated central device is in a power-off state, so that each backup battery can supply power to the corresponding surgical platform.

[0160] Optionally, the charging power determination module 330 includes: a total power calibration value determination unit and a charging power determination unit.

[0161] a charge value determination unit, configured to obtain the total charge of each backup battery, and to obtain the charge value of the backup battery at the current moment by subtracting the total charge from the calibration value of the remaining charge of the backup battery at the current moment;

[0162] A charge-to-be-charged value adding unit, used for adding the charge-to-be-charged value corresponding to each of the backup batteries at the current moment to obtain a total charge-to-be-charged value;

[0163] The charging power determination unit is used to determine, for each of the backup batteries, the ratio between the charge amount value corresponding to the backup battery at the current moment and the total charge amount value to obtain the charge amount ratio, and multiply the charge amount ratio by the available output power to obtain the charging power corresponding to the backup battery at the current moment.

[0164] The battery charging management device provided in the embodiment of the present invention can execute the battery charging management method provided in any embodiment of the present invention, and has the corresponding functional modules and beneficial effects of the execution method.

[0165] Embodiment 4

[0166] Figure 7 Schematic diagram of the structure of a surgical robot provided by the fourth embodiment of the present invention. Figure 7 As shown, the surgical robot includes: a main control console 410, an integrated central device 420, an isolation transformer 430, a network power supply 440, multiple surgical platforms 450 and a backup battery 460 corresponding to each surgical platform; the integrated central device 420 is respectively communicated with the main control console 410 and the multiple surgical platforms 450; the integrated central device 420 is electrically connected to the multiple backup batteries 460; wherein the backup battery 460 includes a charge and discharge management unit.

[0167] In this embodiment, the surgical robot can be a split surgical robot. The main control console 410, as the main control center, can include functions such as data acquisition, calculation processing and control output. In actual applications, the information of the integrated central device 420 and the surgical platform 450 is collected, and the collected information is calculated and processed according to the pre-deployed algorithm, and the control instructions are output, so that the control of the integrated central device 420 and the surgical platform 450 can be completed. The integrated central device 420 is used to obtain data and output control instructions. It can be used as an integrated center for data and an output control unit for power supply. While powering multiple surgical platforms 450 and charging multiple backup batteries 460 through power cables, it also collects data from the surgical platform 450 and sends instructions from the main control console through communication cables. The isolation transformer 430 is used to convert the voltage corresponding to the network power supply 440. The network power supply 440 is used to supply power to the split surgical robot. The surgical platform 450 can be the operating part of the split surgical robot, and its main function is to provide support for the instrument arm and the camera arm. The surgical platform 450 has a robotic arm in the upper part and a power hub and user interaction panel in the lower part. It interacts with the integrated hub device 420 and the main console 410 respectively through communication cables. The backup battery 460 can be used as a backup power source for the surgical platform 450. In the event of a power outage in the integrated hub device 420, the surgical platform 450 can be powered based on the backup battery 460. The charge and discharge management unit included in the backup battery 460 uses a bidirectional buck-boost conversion circuit to achieve dynamic and real-time adjustment of the charging mode and the discharging mode.

[0168] An embodiment of the present invention provides a surgical robot, which includes: a main control console, an integrated central device, an isolation transformer, a mains power supply, multiple surgical platforms and backup batteries corresponding to each surgical platform; the integrated central device is communicatively connected to the main control console and the multiple surgical platforms respectively; the integrated central device is electrically connected to the multiple backup batteries; wherein the backup batteries include a charge and discharge management unit, which solves the problem in the related technology that during the operation of the surgical robot, the mains power supply is cut off, thereby causing the surgical robot to stop working immediately, affecting the normal operation of the surgical robot, and achieves the effect of balanced regulation of the charging process of the backup batteries of the multiple surgical platforms, thereby ensuring that the multiple surgical platforms can be evacuated simultaneously during the operation process, thereby ensuring the normal operation of the split surgical robot.

[0169] Embodiment 5

[0170] Figure 8A schematic diagram of the structure of an electronic device 10 that can be used to implement an embodiment of the present invention is shown. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices (such as helmets, glasses, watches, etc.) and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present invention described and / or required herein.

[0171] like Figure 8 As shown, the electronic device 10 includes at least one processor 11, and a memory connected to the at least one processor 11, such as a read-only memory (ROM) 12, a random access memory (RAM) 13, etc., wherein the memory stores a computer program that can be executed by at least one processor, and the processor 11 can perform various appropriate actions and processes according to the computer program stored in the read-only memory (ROM) 12 or the computer program loaded from the storage unit 18 to the random access memory (RAM) 13. In the RAM 13, various programs and data required for the operation of the electronic device 10 can also be stored. The processor 11, the ROM 12, and the RAM 13 are connected to each other through a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0172] A number of components in the electronic device 10 are connected to the I / O interface 15, including: an input unit 16, such as a keyboard, a mouse, etc.; an output unit 17, such as various types of displays, speakers, etc.; a storage unit 18, such as a disk, an optical disk, etc.; and a communication unit 19, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 19 allows the electronic device 10 to exchange information / data with other devices through a computer network such as the Internet and / or various telecommunication networks.

[0173] The processor 11 may be a variety of general and / or special processing components with processing and computing capabilities. Some examples of the processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any appropriate processor, controller, microcontroller, etc. The processor 11 executes the various methods and processes described above, such as a battery charging management method.

[0174] In some embodiments, the battery charging management method may be implemented as a computer program, which is tangibly contained in a computer-readable storage medium, such as a storage unit 18. In some embodiments, part or all of the computer program may be loaded and / or installed on the electronic device 10 via the ROM 12 and / or the communication unit 19. When the computer program is loaded into the RAM 13 and executed by the processor 11, one or more steps of the battery charging management method described above may be performed. Alternatively, in other embodiments, the processor 11 may be configured to execute the battery charging management method in any other appropriate manner (e.g., by means of firmware).

[0175] Various implementations of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on chips (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various implementations can include: being implemented in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which can be a special purpose or general purpose programmable processor that can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.

[0176] Computer programs for implementing the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, so that when the computer program is executed by the processor, the functions / operations specified in the flow chart and / or block diagram are implemented. The computer program may be executed entirely on the machine, partially on the machine, partially on the machine and partially on a remote machine as a stand-alone software package, or entirely on a remote machine or server.

[0177] In the context of the present invention, a computer-readable storage medium may be a tangible medium that may contain or store a computer program for use by or in combination with an instruction execution system, device or equipment. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices or equipment, or any suitable combination of the foregoing. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. A more specific example of a machine-readable storage medium may include an electrical connection based on one or more lines, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0178] To provide interaction with a user, the systems and techniques described herein may be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and a pointing device (e.g., a mouse or trackball) through which the user can provide input to the electronic device. Other types of devices may also be used to provide interaction with the user; for example, the feedback provided to the user may be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form (including acoustic input, voice input, or tactile input).

[0179] The systems and techniques described herein may be implemented in a computing system that includes backend components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes frontend components (e.g., a user computer with a graphical user interface or a web browser through which a user can interact with implementations of the systems and techniques described herein), or a computing system that includes any combination of such backend components, middleware components, or frontend components. The components of the system may be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: a local area network (LAN), a wide area network (WAN), a blockchain network, and the Internet.

[0180] A computing system may include a client and a server. The client and the server are generally remote from each other and usually interact through a communication network. The client and server relationship is generated by computer programs running on the corresponding computers and having a client-server relationship with each other. The server may be a cloud server, also known as a cloud computing server or cloud host, which is a host product in the cloud computing service system to solve the defects of difficult management and weak business scalability in traditional physical hosts and VPS services.

[0181] It should be understood that the various forms of processes shown above can be used to reorder, add or delete steps. For example, the steps described in the present invention can be executed in parallel, sequentially or in different orders, as long as the desired results of the technical solution of the present invention can be achieved, and this document does not limit this.

[0182] The above specific implementations do not constitute a limitation on the protection scope of the present invention. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modification, equivalent substitution and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A battery charging management method, characterized in that: include: In the case where the integrated hub device supplies power to a plurality of surgical platforms and charges backup batteries corresponding to each of the surgical platforms, determining the available output power of the integrated hub device relative to the plurality of backup batteries at a current moment; Determine respectively the remaining power calibration value corresponding to each of the backup batteries at the current moment; Based on the remaining power calibration value corresponding to each backup battery and the available output power of the integrated hub device relative to the multiple backup batteries, the charging power corresponding to each backup battery at the current moment is determined respectively, and the corresponding backup battery is charged based on each charging power at the current moment.

2. The method according to claim 1, characterized in that The determining the available output power of the integrated hub device relative to the plurality of backup batteries at the current moment comprises: Obtaining the rated output power corresponding to the integrated hub device; Acquire the power output power of the integrated central device relative to the multiple surgical platforms at the current moment; A power difference between the rated output power and the power supply output power is determined, and the power difference is used as the available output power of the integrated hub device relative to the plurality of backup batteries at the current moment.

3. The method according to claim 1, characterized in that The determining of the remaining power calibration value corresponding to each of the backup batteries at the current moment includes: For each of said backup batteries: Acquire historical charging data of the backup battery within a preset time period before the current moment; Determining a predicted value of the remaining power of the backup battery at the current moment according to the historical charging data; Obtaining a measurement value of the remaining power of the backup battery at the current moment; A remaining power calibration value corresponding to the backup battery at the current moment is determined according to the remaining power prediction value and the remaining power measurement value.

4. The method according to claim 3, characterized in that The step of determining the predicted value of the remaining power of the backup battery at the current moment according to the historical charging data includes: Determine, based on the historical charging data, historical remaining power values ​​corresponding to a plurality of historical moments before the current moment; Determine a first predicted value of the remaining power of the backup battery at the current moment according to the multiple historical moments and the historical remaining power values ​​corresponding to each of the historical moments; Determine, based on the historical charging data, the historical charging power and the historical remaining power value of the backup battery corresponding to the last moment before the current moment; Determine a second predicted value of the remaining power of the backup battery at the current moment according to the current moment, the previous moment, the historical charging power, and the historical remaining power value; The predicted value of the remaining power of the backup battery at the current moment is determined according to the first predicted value of the remaining power and the second predicted value of the remaining power.

5. The method according to claim 4, characterized in that The determining, according to the current moment, the previous moment, the historical charging power, and the historical remaining power value, a second remaining power prediction value of the backup battery at the current moment includes: Subtract the current moment from the previous moment to obtain a time difference; Determine the product of the time difference and the historical charging power to obtain a value to be processed; The to-be-processed value is added to the historical remaining power value to obtain a second remaining power prediction value of the backup battery at the current moment.

6. The method according to claim 4, characterized in that The determining, according to the first remaining power prediction value and the second remaining power prediction value, the remaining power prediction value of the backup battery at the current moment includes: Determine a first weight corresponding to the first remaining power prediction value, and determine a second weight corresponding to the second remaining power prediction value; Multiplying the first remaining power prediction value by the first weight to obtain a first power value to be superimposed, and multiplying the second remaining power prediction value by the second weight to obtain a second power value to be superimposed; The first power value to be superimposed and the second power value to be superimposed are added to obtain a predicted value of the remaining power of the backup battery at the current moment.

7. The method according to claim 3, characterized in that The determining, according to the remaining power prediction value and the remaining power measurement value, a remaining power calibration value of the backup battery corresponding to the current moment includes: Determine a third weight corresponding to the remaining power prediction value, and determine a fourth weight corresponding to the remaining power measurement value; Multiplying the remaining power prediction value by the third weight to obtain a third power value to be superimposed, and multiplying the remaining power measurement value by the fourth weight to obtain a fourth power value to be superimposed; The third power value to be superimposed and the fourth power value to be superimposed are added to obtain a remaining power calibration value of the backup battery corresponding to the current moment.

8. The method according to claim 1, characterized in that Also includes: When it is detected that the DC voltage corresponding to at least one of the surgical platforms is lower than a preset voltage threshold, determining the surgical platform as a target surgical platform; The backup battery corresponding to each target surgical platform is switched from a charging mode to a discharging mode, so that each backup battery supplies power to the corresponding target surgical platform.

9. The method according to claim 1, characterized in that: Also includes: When the integrated central device is in a power-off state, the backup battery corresponding to each of the surgical platforms is switched from a charging mode to a discharging mode, so that each of the backup batteries can supply power to the corresponding surgical platform.

10. The method according to claim 1, characterized in that The method of determining the charging power corresponding to each backup battery at the current moment based on the remaining power calibration value corresponding to each backup battery and the available output power of the integrated hub device relative to the plurality of backup batteries comprises: For each of the backup batteries, the total power of the backup battery is obtained, and the total power is subtracted from the calibration value of the remaining power of the backup battery corresponding to the current moment to obtain the charge value of the backup battery corresponding to the current moment; Adding the charge-to-be-charged values ​​of each backup battery at the current moment to obtain a total charge-to-be-charged value; For each of the backup batteries, determine the ratio between the charge value corresponding to the backup battery at the current moment and the total charge value to be charged, obtain the charge ratio, and multiply the charge ratio by the available output power to obtain the charging power corresponding to the backup battery at the current moment.

11. A battery charging management device, characterized in that: include: An available output power determination module, used to determine the available output power of the integrated hub device relative to the multiple backup batteries at the current moment, when the integrated hub device is used to power multiple surgical platforms and to charge the backup batteries corresponding to each of the surgical platforms; A power calibration value determination module, used to respectively determine the remaining power calibration value corresponding to each of the backup batteries at the current moment; A charging power determination module is used to determine the charging power corresponding to each backup battery at the current moment based on the remaining power calibration value corresponding to each backup battery and the available output power of the integrated hub device relative to the multiple backup batteries, and charge the corresponding backup battery based on each charging power at the current moment.

12. A surgical robot, characterized in that: include: A main control console, an integrated central device, an isolation transformer, a network power supply, multiple surgical platforms and backup batteries corresponding to each of the surgical platforms; the integrated central device is respectively communicatively connected to the main control console and the multiple surgical platforms; the integrated central device is electrically connected to the multiple backup batteries; wherein the backup batteries include a charge and discharge management unit.

13. An electronic device, characterized in that: The electronic device comprises: at least one processor; and a memory communicatively connected to the at least one processor; wherein, The memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can perform the battery charging management method according to any one of claims 1 to 10.

14. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the battery charging management method according to any one of claims 1 to 10 when executed.

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