A flexible charging and discharging method, a mobile charging and storage robot, and a readable storage medium

Abstract

The present invention relates to the field of charging control technology, and in particular to a flexible charging and discharging method, a mobile charging and storage robot, and a readable storage medium. The present invention obtains the ground bump compliance of the component signal, and the bump attenuation coefficient during the monitoring period; obtains the ground bump coefficient based on the proportional relationship between the amplitude difference and distance of the same frequency component signal of each monitoring point and the other monitoring points during the monitoring period compared to the deviation of the bump attenuation coefficient, and the ground bump compliance of the same frequency component signal of each monitoring point during the monitoring period and the monitoring period before it; uses it to adjust the component signal of the monitoring point during the monitoring period, and reconstructs the signal to obtain a corrected vibration signal, and then controls the robot to charge and discharge based on the corrected vibration signal. The present invention uses the corrected vibration signal that eliminates the ground bump component to reduce unnecessary interruptions in the robot charging caused by ground bumps, thereby improving charging efficiency.

Description

Technical Field

[0001] The present invention relates to the field of charging control technology, and in particular to a flexible charging and discharging method, a mobile charging and storage robot, and a readable storage medium. Background Art

[0002] When charging electric vehicles, mobile charging robots typically need to adjust their positions and maneuvers based on the vehicle's needs to ensure accurate docking with the charging port. However, during movement, the robot may collide with surrounding objects due to environmental uncertainties such as obstacles or its own positioning accuracy, causing physical damage to the device and electrical safety hazards. To effectively prevent these potential risks, timely and flexible control of the mobile charging robot's charging and discharging processes is crucial.

[0003] Existing methods install vibration sensors on mobile charging and storage robots. When the vibration sensor detects an amplitude exceeding a set threshold, the system determines a collision has occurred. To avoid the risks associated with a collision, the charging and discharging process is immediately stopped, enabling flexible charging and discharging of the robot. However, during the robot's adjustment and movement, it may encounter uneven surfaces, causing jerky vibrations during movement. If the vibration signal generated by this jerky vibration exceeds the set threshold, the system will mistakenly detect a collision and stop charging and discharging. This can cause unnecessary interruptions in the charging process, affecting the charging efficiency of the electric vehicle and reducing the user experience. Summary of the Invention

[0004] In order to solve the technical problem that when a mobile charging and storage robot is charging, the charging and discharging is interrupted due to uneven ground and vibration during movement, the purpose of the present invention is to provide a flexible charging and discharging method, a mobile charging and storage robot, and a readable storage medium. The technical solutions adopted are as follows:

[0005] The present invention proposes a flexible charging and discharging method, which comprises:

[0006] Obtain the vibration signals of different monitoring points on the mobile charging and storage robot during each monitoring period, and decompose the vibration signals into different frequency component signals;

[0007] Obtain ground turbulence compliance based on the amplitude of each component signal and its adjacent frequency component signal and the degree of fluctuation of the corresponding frequency;

[0008] Obtaining a turbulence attenuation coefficient for each monitoring period; obtaining a ground turbulence coefficient for each component signal at each monitoring point in each monitoring period based on a deviation of the turbulence attenuation coefficient from a proportional relationship between the amplitude difference and distance of the same frequency component signal at each monitoring point and the other monitoring points in the same monitoring period, and a ground turbulence conformity of the same frequency component signal at each monitoring point in each monitoring period with its previous adjacent monitoring period;

[0009] The component signal of the monitoring point in each monitoring period is adjusted using the ground bump coefficient, and the signal is reconstructed to obtain a corrected vibration signal of the monitoring point in each monitoring period; and the robot is controlled to charge and discharge based on the corrected vibration signal.

[0010] Furthermore, the method for obtaining the ground bump compliance includes:

[0011] Obtaining the initial compliance of ground turbulence based on the amplitude and corresponding frequency of the component signal;

[0012] A fluctuation index of the initial bump conformity of each component signal and its adjacent frequency component signal is obtained, and a ground bump conformity of each component signal is obtained according to the initial bump conformity of each component signal and the fluctuation index.

[0013] Furthermore, obtaining the turbulence attenuation coefficient of each monitoring period includes:

[0014] According to the ground turbulence consistency of the same frequency component signal of each monitoring point in each monitoring period and its previous adjacent monitoring period, the single-point ground turbulence degree of each component signal of each monitoring point in each monitoring period is obtained;

[0015] Calculating the cumulative sum of the single-point ground turbulence of the same frequency component signal at all monitoring points in the same monitoring period, and selecting the frequency corresponding to the maximum cumulative sum as the ground turbulence frequency for each monitoring period;

[0016] Obtain the ratio of the amplitude difference of the ground turbulence frequency component signal of any two monitoring points in the same monitoring period to the distance between the two corresponding monitoring points, and take the average of the ratios corresponding to each two monitoring points among all monitoring points as the turbulence attenuation coefficient for each monitoring period.

[0017] Furthermore, obtaining the ground turbulence coefficient of each component signal of each monitoring point in each monitoring period includes:

[0018] Obtaining the ratio of the difference in amplitude of the same frequency component signal between each monitoring point and all other monitoring points during the same monitoring period to the distance between the two corresponding monitoring points, and calculating the cumulative sum of the absolute values ​​of the differences between all the ratios and the bump attenuation coefficient as the vibration attenuation deviation of each component signal at each monitoring point in each monitoring period;

[0019] The ground bump coefficient of each component signal of each monitoring point in each monitoring period is obtained according to the vibration attenuation deviation and the single-point ground bump degree.

[0020] Furthermore, the method for obtaining the corrected vibration signal includes:

[0021] Performing negative correlation and normalization processing on the ground bump coefficient, using the processing results to weight the values ​​of all data points of each component signal, and performing curve fitting on the weighted results of all data points of each component signal at corresponding moments to obtain a frequency correction component signal corresponding to each component signal;

[0022] Signal reconstruction is performed on all frequency correction component signals of each monitoring point in each monitoring period to obtain a corrected vibration signal of each monitoring point in each monitoring period.

[0023] Furthermore, controlling the robot to charge and discharge based on the corrected vibration signal includes:

[0024] The average value of the corrected vibration signals of all monitoring points in each monitoring period is obtained and recorded as the collision vibration signal of each monitoring period; if the value of the highest point of the collision vibration signal is greater than the preset collision threshold, the mobile charging and storage robot stops charging.

[0025] Furthermore, the method for obtaining the single-point ground bumpiness includes:

[0026] Calculate the cumulative sum of the ground bump compliance of the same frequency component signal of each monitoring point in the adjacent monitoring periods before each monitoring period, and take the product of the ground bump compliance of each component signal of each monitoring point in each monitoring period and the cumulative sum of its corresponding frequency as the single-point ground bump degree of the corresponding component signal.

[0027] Furthermore, the monitoring points are in the vertical direction of the outer wall of the mobile storage robot and the distance between two adjacent monitoring points is equal.

[0028] Furthermore, the vibration attenuation deviation is negatively correlated with the ground bump coefficient, and the single-point ground bump degree is positively correlated with the ground bump coefficient.

[0029] Furthermore, the volatility indicator is variance.

[0030] A mobile charging and storage robot comprises: a memory and a processor, wherein the memory stores instructions; the processor calls the instructions in the memory to enable the mobile charging and storage robot to execute the steps of a flexible charging and discharging method as described above.

[0031] A readable storage medium stores a program or instruction, and when the program or instruction is executed by a processor, the steps of the flexible charging and discharging method as described above are implemented.

[0032] The present invention has the following beneficial effects:

[0033] In an embodiment of the present invention, the amplitude and corresponding frequency of the component signal preliminarily reflect the possibility that it meets the vibration degree caused by ground bumps, and the amplitude fluctuation of the local frequency band is made in combination with the wide spectrum characteristics of the collision and the narrow spectrum characteristics of the ground bumps. The final possibility that the component signal meets the vibration component caused by ground bumps is determined by the amplitude and corresponding frequency fluctuation degree of the component signal and its adjacent frequency component signal, and the ground bump compliance is obtained; the bump attenuation coefficient presents the ideal amplitude attenuation degree of the vibration amplitude caused by ground bumps with the increase of the ground distance, and the proportional relationship between the amplitude difference of the same frequency component signal of each monitoring point and the other monitoring points in the monitoring period and the distance is used to measure the actual attenuation of the vibration amplitude of the component signal. The deviation between the two is combined with the ground bump compliance analysis of the continuous monitoring period to analyze the ground bump duration, which can more accurately analyze the proportion of ground bump components in the component signals and obtain the ground bump coefficient; the component signals adjusted by the ground bump coefficient are reconstructed, and the obtained corrected vibration signal effectively eliminates the ground bump components in the vibration signal; the robot is controlled to charge and discharge based on the corrected vibration signal, which realizes the accurate distinction between ground bumps and real collisions, solves the efficiency loss caused by the robot stopping charging and discharging due to false triggering of ground bumps, improves the charging efficiency of the mobile charging and storage robot for electric vehicles, and provides technical support for the stable operation of the mobile charging and storage robot under complex road conditions. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] In order to more clearly illustrate the technical solutions and advantages of the embodiments of the present invention or the prior art, the following briefly introduces the drawings required for use in the embodiments or the prior art descriptions. 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 any creative work.

[0035] Figure 1 A flowchart of a flexible charging and discharging method provided by one embodiment of the present invention;

[0036] Figure 2 A flow chart of a method for obtaining ground bump compliance provided by one embodiment of the present invention;

[0037] Figure 3 A flow chart of a method for obtaining a turbulence attenuation coefficient provided by one embodiment of the present invention. DETAILED DESCRIPTION

[0038] To further illustrate the technical means and effects employed by the present invention to achieve the intended purpose, the following, in conjunction with the accompanying drawings and preferred embodiments, describes in detail the specific implementation, structure, features, and effects of a flexible charging and discharging method, a mobile charging and storage robot, and a readable storage medium proposed in accordance with the present invention. In the following description, references to different "one embodiment" or "another embodiment" do not necessarily refer to the same embodiment. Furthermore, specific features, structures, or characteristics of one or more embodiments may be combined in any suitable manner.

[0039] Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs.

[0040] The following describes in detail a flexible charging and discharging method, a mobile charging and storage robot, and a specific solution of a readable storage medium provided by the present invention in conjunction with the accompanying drawings.

[0041] Example 1:

[0042] The present invention proposes a flexible charging and discharging method, please refer to Figure 1 , which shows a flowchart of the steps of a flexible charging and discharging method provided by one embodiment of the present invention, the method comprising:

[0043] Step S1: Obtain vibration signals of different monitoring points on the mobile charging and storage robot in each monitoring period, and decompose the vibration signals into different frequency component signals.

[0044] Since the outer structure of the mobile charging and storage robot is uniform and the uneven ground generates bumpy vibrations that mainly propagate in the vertical direction, multiple monitoring points are determined in the vertical direction of the outer wall of the mobile charging and storage robot. The straight line connecting the monitoring points is perpendicular to the flat ground, and the distance between two adjacent monitoring points is equal. At the same time, a vibration sensor is installed at each monitoring point. When the mobile charging and storage robot is charging electric vehicles, a vibration sensor is used to collect vibration data at each monitoring point at each moment in each monitoring period. The vibration data at all moments in the monitoring period are curve-fitted to obtain the vibration signal of each monitoring point in each monitoring period. Among them, the data collection frequency of all vibration sensors is the same, and the unit of vibration data is millimeter.

[0045] There is energy overlap between ground bumps and robot collision vibrations in the time domain. In order to eliminate the ground bump component in the vibration signal, Fourier transform is used to decompose the vibration signal to obtain signals of different frequency components.

[0046] It should be noted that this embodiment uses the least squares method for curve fitting, but polynomial fitting methods and spline interpolation methods can also be used. Because the duration of all monitoring periods is equal, the corresponding frequencies of the component signals of different vibration signals are exactly the same. When performing curve fitting, it is necessary to establish a two-dimensional coordinate system with time as the horizontal axis and vibration data as the vertical axis. The vibration data of each monitoring point at all times in each monitoring period are curve fitted to the corresponding coordinate points in the two-dimensional coordinate system.

[0047] In one implementation of the embodiment of the present invention, the data acquisition frequency of the vibration sensor is set to 100 Hz, and the duration of the monitoring period is set to 4 seconds.

[0048] Step S2: Obtaining ground turbulence compliance according to the amplitude of each component signal and its adjacent frequency component signal and the degree of fluctuation of the corresponding frequency.

[0049] Collisions typically produce instantaneous, intense impact vibrations with large instantaneous amplitudes and strong energy transfer, manifesting as high-frequency, high-amplitude component signals in the frequency domain. Ground vibrations are typically caused by tire-ground contact and road surface unevenness. After filtering by the tires and suspension system, their instantaneous amplitudes are generally smaller, manifesting as low-frequency, low-amplitude component signals in the frequency domain. Based on the amplitudes and corresponding frequencies of the component signals, we can preliminarily analyze the likelihood that the component signals correspond to vibration components caused by ground vibrations.

[0050] The vibrations generated by collisions are high-frequency and diverse, stimulating multiple frequency components, resulting in a broad spectrum and exhibiting broadband characteristics. Ground bumps are typically caused by uneven surfaces where the robot contacts the road surface, manifesting as long-lasting low-frequency vibrations with frequency components concentrated in specific frequency bands, exhibiting narrowband characteristics. Each component signal and its adjacent components together form a local frequency band. This local frequency band may exceed the narrow spectrum of ground bumps. The amplitude of the narrow spectrum differs significantly from that of the components outside the spectrum, resulting in large amplitude fluctuations. However, the likelihood of a local frequency band exceeding the wide spectrum of collisions is low, and the amplitude fluctuations of the local frequency band are relatively stable. The amplitude of each component signal, along with the amplitude of its adjacent components and the degree of fluctuation of the corresponding frequency, can ultimately determine the likelihood that the component signal is caused by ground bumps, thereby determining the ground bump compliance.

[0051] In an embodiment of the present invention, all component signals at each monitoring point in each monitoring period are arranged in frequency order to obtain a signal sequence, and the M component signals immediately preceding and following each component signal in the signal sequence are used as adjacent frequency component signals of each component signal. Here, M is the integer result of one-eighth of the total number of component signals in the signal sequence.

[0052] It should be noted that if there are less than M component signals before or after each component signal in the signal sequence, all component signals before or after it can also be used as the adjacent frequency component signals of each component signal. The component signals obtained by signal decomposition of the vibration signal of the monitoring point during the monitoring period are used as the component signals of the monitoring point during the monitoring period.

[0053] Step S3: Obtain the turbulence attenuation coefficient for each monitoring period; obtain the ground turbulence coefficient for each component signal of each monitoring point in each monitoring period based on the proportional relationship between the amplitude difference and distance of the same frequency component signal of each monitoring point and the other monitoring points in the same monitoring period compared with the deviation of the turbulence attenuation coefficient, and the ground turbulence conformity of the same frequency component signal of each monitoring point in each monitoring period and its previous adjacent monitoring period.

[0054] The mobile charging robot transmits vibrations generated by ground bumps through its tires and propagates throughout its structure. As distance from the ground increases, the energy of the vibration signal is gradually absorbed and dispersed, resulting in weaker vibrations at greater distances from the ground. Furthermore, the robot's external structure is uniform, and ground vibrations primarily propagate vertically. Therefore, the vibration signal exhibits a linear attenuation characteristic in the vertical direction—that is, the vibration amplitude decreases at a uniform rate as the distance from the monitoring point to the ground increases. This determines the attenuation coefficient for the vibration, demonstrating the ideal amplitude attenuation caused by ground bumps.

[0055] The proportional relationship between the amplitude difference and distance of the same frequency component signal at each monitoring point and the other monitoring points during the same monitoring period is used to measure the rate at which the vibration amplitude decreases as the distance from the monitoring point to the ground increases. Through its deviation from the bump attenuation coefficient, the actual attenuation of the component signal's vibration amplitude is analyzed to determine whether it meets the ideal bump attenuation condition and the proportion of ground bump components in the component signal. Because mobile charging and storage robots typically need to continuously adjust their position according to vehicle needs to ensure accurate docking with the charging port, the robot is affected by ground bumps for a longer period of time while walking. Therefore, the same frequency component signal in each monitoring period and its previous adjacent monitoring period should meet the vibration characteristics generated by ground bumps. Therefore, the higher the ground bump consistency of the same frequency component signal in each monitoring period and its previous adjacent monitoring period, the stronger the ground bumpiness exhibited by that frequency in each monitoring period. Combined with the above deviation, the proportion of ground bump components in the component signal can be more accurately analyzed to obtain the ground bump coefficient.

[0056] In one implementation of the embodiment of the present invention, the five adjacent monitoring periods before each monitoring period are used as analysis and detection periods. The first five monitoring periods during the robot charging of the electric vehicle do not participate in the subsequent analysis.

[0057] Step S4: using the ground bump coefficient to adjust the component signal of the monitoring point in each monitoring period, and reconstructing the signal to obtain the corrected vibration signal of the monitoring point in each monitoring period; and controlling the robot to charge and discharge based on the corrected vibration signal.

[0058] The ground vibration probability shows a correlation between the component signals and the ground vibration component, which can be used to determine the portion of the component signal caused by ground vibration. The ground vibration coefficient is used to adjust the component signal at each monitoring point during each monitoring period to remove the ground vibration component from the component signal. Signal reconstruction of the adjusted component signal produces a corrected vibration signal that removes the ground vibration component from the vibration signal. Controlling the robot's charging and discharging based on the corrected vibration signal allows for accurate differentiation between ground vibration and actual collisions, resolving efficiency losses caused by falsely triggering the robot to stop charging or discharging due to ground vibration. This improves the mobile charging and storage robot's charging efficiency for electric vehicles, enhances the user experience, and provides technical support for the mobile charging and storage robot's stable operation in complex road conditions.

[0059] Preferably, in some possible implementations of the present invention, the method for obtaining the ground bump compliance can be found in Figure 2 , which shows a flow chart of a method for obtaining ground bump compliance provided by an embodiment of the present invention, the method comprising:

[0060] Step S210: Obtaining the initial compliance of ground turbulence according to the amplitude and corresponding frequency of the component signal.

[0061] It should be noted that collisions and ground turbulence appear in the frequency domain as component signals with high-frequency, high-amplitude characteristics and low-frequency, low-amplitude characteristics, respectively. Component signals with smaller amplitudes and frequencies are more consistent with the vibration components caused by ground turbulence, and both amplitudes and frequencies are negatively correlated with the initial conformity with ground turbulence. In an embodiment of the present invention, the product of the amplitude of the component signal and the corresponding frequency is negatively correlated to obtain the initial conformity with ground turbulence. Negative correlation processing is achieved by using the inverse of the above product as the exponent of an exponential function with a natural constant as the base. Alternatively, methods such as taking the inverse and function conversion can be used to achieve negative correlation mapping.

[0062] Step S220: Obtain a fluctuation index of the initial bump conformity of each component signal and its adjacent frequency component signal, and obtain the ground bump conformity of each component signal based on the initial bump conformity and the fluctuation index of each component signal.

[0063] It should be noted that variance, standard deviation, interquartile range, and range can describe the degree of fluctuation in a set of data. In the embodiments of the present invention, the fluctuation index refers to variance, which can also be replaced by standard deviation, interquartile range, or range. The amplitude fluctuations of the component signal generated by ground vibration and its adjacent frequency component signals are more obvious, while the amplitudes of the component signal generated by collision vibration and its adjacent frequency component signals are relatively stable. The initial compliance of the vibration determined by the component signal amplitude is relatively consistent with the amplitude fluctuations. Therefore, the larger the variance of the initial compliance of the vibration between each component signal and its adjacent frequency component signals, the more consistent the component signal is with the vibration component caused by ground vibration. The component signal with a larger initial compliance of the vibration is more consistent with the vibration component caused by ground vibration. Therefore, the fluctuation index of the initial compliance of the vibration between the component signal and its adjacent frequency component signals and the initial compliance of the vibration of the component signal are both positively correlated with the ground vibration compliance. In the embodiments of the present invention, the product of the variance of the initial compliance of the vibration between each component signal and its adjacent frequency component signals and the initial compliance of the vibration of each component signal is used as the ground vibration compliance.

[0064] Preferably, in some possible implementations of the embodiments of the present invention, the method for obtaining the turbulence attenuation coefficient can be found in Figure 3 , which shows a flow chart of a method for obtaining a turbulence attenuation coefficient provided by one embodiment of the present invention, the method comprising:

[0065] Step S310: Obtain the single-point ground bumpiness of each component signal of each monitoring point in each monitoring period according to the ground bumpiness consistency of each monitoring point in each monitoring period and the same frequency component signal in the previous adjacent monitoring period.

[0066] In an embodiment of the present invention, the cumulative sum of the ground bump compliance of the same frequency component signal of each monitoring point in the adjacent monitoring periods before each monitoring period is calculated, and the product of the ground bump compliance of each component signal of each monitoring point in each monitoring period and the cumulative sum of its corresponding frequency is used as the single-point ground bump degree of the corresponding component signal.

[0067] It should be noted that ground turbulence lasts longer than a collision, and the component signal representing ground turbulence has a higher ground turbulence compliance during consecutive monitoring periods. A higher ground turbulence compliance for a frequency component signal at a monitoring point in each monitoring period compared to the previous adjacent monitoring period indicates that the frequency component exhibited stronger ground turbulence during that monitoring period, and thus, the ground turbulence at that point is greater. Multiplying the ground turbulence compliance of the component signal by the cumulative sum increases the influence of the ground turbulence compliance of each monitoring period on the ground turbulence represented by the component signal, compared to the historical monitoring period.

[0068] In other embodiments of the present invention, the cumulative sum of the ground turbulence conformity of the same frequency component signal of each monitoring point in each monitoring period and its previous adjacent monitoring period can be calculated as the single-point turbulence of each component signal of each monitoring point in each monitoring period.

[0069] Step S320: Calculate the cumulative sum of the single-point ground bumpiness of the same frequency component signal of all monitoring points in the same monitoring period, and select the frequency corresponding to the maximum cumulative sum as the ground bump frequency of each monitoring period.

[0070] Regular joints or undulations created during pavement construction or maintenance, as well as wear and uneven settlement caused by long-term use, can cause the mobile charging robot to experience near-periodic vibrations while navigating the road. This vibration, caused by ground bumps, manifests as a periodic signal of at least one specific frequency during the monitoring period. The greater the single-point ground bumpiness at the same frequency across multiple monitoring points during the monitoring period, the greater the ground bumpiness at that frequency across all monitoring points during the monitoring period, and the more accurately that frequency represents ground bumpiness.

[0071] Step S330: Obtain the ratio of the amplitude difference of the ground turbulence frequency component signal of any two monitoring points in the same monitoring period to the distance between the two corresponding monitoring points, and take the average of the corresponding ratios of all monitoring points as the turbulence attenuation coefficient of each monitoring period.

[0072] In a specific implementation of the embodiment of the present invention, the turbulence attenuation coefficient K of each monitoring period is expressed as follows:

[0073]

[0074] Where, N is the total number of monitoring points; DB is the ground turbulence frequency; is the amplitude of the ground turbulence frequency component signal at the vth monitoring point in each monitoring period; is the amplitude of the ground turbulence frequency component signal at the u-th monitoring point in each monitoring period; is the distance between the vth monitoring point and the uth monitoring point; is an absolute value function. It should be noted that the ratio of the amplitude difference of the ground turbulence frequency component signal, which best represents ground turbulence conditions, to the distance at different monitoring points during the monitoring period is used to analyze the linear attenuation of the ground turbulence frequency component signal amplitude with increasing distance from the ground. This yields the turbulence attenuation coefficient for the monitoring period, which represents the ideal amplitude attenuation caused by ground turbulence.

[0075] Preferably, in some possible implementations of the embodiments of the present invention, the method for obtaining the ground bump coefficient includes: obtaining the ratio of the difference in amplitude of the same frequency component signal between each monitoring point and all other monitoring points during the same monitoring period to the distance between the two corresponding monitoring points; calculating the cumulative sum of the absolute values ​​of the differences between all ratios and the bump attenuation coefficient as the vibration attenuation deviation of each component signal at each monitoring point during each monitoring period; and obtaining the ground bump coefficient of each component signal at each monitoring point during each monitoring period based on the vibration attenuation deviation and the ground bumpiness at the single point. It should be noted that a smaller vibration attenuation deviation indicates that the actual attenuation of the amplitude of each component signal at each monitoring point during the monitoring period with increasing distance from the ground is closer to the ideal attenuation caused by ground bumpiness, and thus the component signal exhibits stronger ground bumpiness. A larger ground bumpiness at a single point indicates that the component signal exhibits stronger ground bumpiness, and thus the component signal has more components caused by ground bumpiness. Therefore, the vibration attenuation deviation and the ground bumpiness coefficient are negatively correlated, while the ground bumpiness at a single point is positively correlated with the ground bumpiness coefficient. In an embodiment of the present invention, the vibration attenuation deviation of each component signal at each monitoring point in each monitoring period is negatively correlated and mapped, and the product of the mapping result and the single-point ground bumpiness of the component signal is used as the ground bump coefficient of the corresponding component signal.

[0076] In a specific implementation of the embodiment of the present invention, the ground bump coefficient is expressed by the formula:

[0077]

[0078] Where, is the ground turbulence coefficient of the rth component signal at the nth monitoring point in each monitoring period; N is the total number of monitoring points; is the amplitude of the rth component signal at the nth monitoring point in each monitoring period; is the rth component signal of the mth monitoring point except the nth monitoring point; is the distance between the nth monitoring point and the remaining mth monitoring points; K is the turbulence attenuation coefficient of each monitoring period; is the single-point ground bumpiness of the r-th component signal at the n-th monitoring point in each monitoring period; is the vibration attenuation deviation of the rth component signal at the nth monitoring point in each monitoring period; is the absolute value function; exp is the exponential function with a natural constant as the base. It should be noted that Reflects the actual attenuation degree of the amplitude of the rth component signal of the nth monitoring point and the remaining mth monitoring points during the monitoring period as the distance from the ground increases.

[0079] Preferably, in some possible implementation methods of the embodiments of the present invention, the method for obtaining the corrected vibration signal includes: negatively correlating and normalizing the ground bump coefficient, using the processing results to weight the numerical values ​​of all data points of each component signal, and performing curve fitting on the weighted results of all data points of each component signal at corresponding moments to obtain the frequency-corrected component signal corresponding to each component signal; and reconstructing all frequency-corrected component signals of each monitoring point in each monitoring period to obtain the corrected vibration signal of each monitoring point in each monitoring period.

[0080] It should be noted that because component signals with larger ground vibration coefficients have more components caused by ground vibration, to eliminate ground vibration components from the component signals, the data points of the component signals should have smaller values. Therefore, the component signals are adjusted using the result of negative correlation mapping of the ground vibration coefficients to obtain a corrected component signal that eliminates ground vibration components. Subsequently, an inverse Fourier transform is used to reconstruct the corrected component signals at all frequencies of the monitoring point during the monitoring period, obtaining a time-domain vibration signal that eliminates components caused by ground vibration, i.e., the corrected vibration signal.

[0081] In an embodiment of the present invention, the ground bump coefficient of the component signal is normalized to the maximum and minimum based on the ground bump coefficient of all component signals at each monitoring point in each monitoring period, and the difference between the constant 1 and the normalized result is taken as the negative correlation of the ground bump coefficient and the result of normalization processing; other normalization methods can also be selected, such as exponential functions with natural constants as the base, function conversion and other methods, which are not limited here.

[0082] Preferably, in some possible implementation methods of the embodiments of the present invention, the robot charging and discharging control method includes: obtaining the average value of the corrected vibration signals of all monitoring points in each monitoring period, and recording it as the collision vibration signal of each monitoring period; if the value of the highest point of the collision vibration signal is greater than the preset collision threshold, the mobile charging and storage robot stops charging.

[0083] It should be noted that collisions during the charging process of the mobile charging and storage robot will cause vibrations at all monitoring points. In order to improve the accuracy of the vibration analysis caused by collisions, the vibration conditions of all monitoring points are comprehensively considered to obtain the corrected vibration signal of the robot in each monitoring period, thereby obtaining a collision vibration signal. The corresponding value of the ath data point of the collision vibration signal in each monitoring period is equal to the numerical average of the ath data point of the corrected vibration signal of all monitoring points in each monitoring period, where a is an integer between 1 and the total number of data points of the vibration signal. The robot obtains the corrected vibration signal for each monitoring period through the processor. If the value of the highest point of the collision vibration signal is greater than the preset collision threshold, it indicates that the robot has collided during the monitoring period. To ensure the safety of the equipment and the stability of the charging process, the robot's processor calls the stop charging instruction in the memory at the next moment after the last moment in the monitoring period, and the robot stops charging the electric vehicle.

[0084] In one implementation of the embodiment of the present invention, the preset collision threshold is set to 1 mm.

[0085] In other embodiments of the present invention, the corrected vibration signal of the monitoring point noise closest to the charging interface of the robot in each monitoring period can be used as the collision vibration signal.

[0086] So far, the present invention is completed.

[0087] Example 2:

[0088] A mobile charging and storage robot comprises: a memory and a processor, wherein the memory stores instructions; the processor calls the instructions in the memory to enable the mobile charging and storage robot to execute the steps of a flexible charging and discharging method provided in the above embodiment.

[0089] Example 3:

[0090] This embodiment provides a readable storage medium, which stores a program or instruction. When the program or instruction is executed by a processor, the steps of a flexible charging and discharging method provided in the above embodiment are implemented.

[0091] Example 4:

[0092] This embodiment further provides a computer program product. When the computer program product is run on a computer, the computer is caused to execute the above-mentioned related steps to implement a flexible charging and discharging method provided in the above embodiment.

[0093] Among them, the mobile charging robot, readable storage medium or computer program product provided in this embodiment are all used to execute the corresponding methods provided above. Therefore, the beneficial effects that can be achieved can refer to the beneficial effects in the corresponding methods provided above, and will not be repeated here.

[0094] In the embodiments provided in this application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are merely schematic. For example, the division of modules or units is only a logical function division. In actual implementation, there may be other division methods, such as multiple units or components can be combined or integrated into another device, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0095] It should be noted that the order in which the embodiments of the present invention are described above is for illustrative purposes only and does not necessarily represent the superiority or inferiority of the embodiments. The processes depicted in the accompanying drawings do not necessarily require the specific order or sequential order shown to achieve the desired results. In certain embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0096] The various embodiments in this specification are described in a progressive manner, and the same or similar parts between the various embodiments can be referred to each other. Each embodiment focuses on the differences from other embodiments.

Claims

1. A flexible charging and discharging method, comprising setting monitoring points on a mobile charging and storage robot and installing vibration sensors at the monitoring points, wherein all monitoring points are arranged in sequence in a direction perpendicular to the ground and the distance between two adjacent monitoring points in the direction perpendicular to the ground is equal, characterized in that: The method includes: Obtain the vibration signals of different monitoring points on the mobile charging and storage robot during each monitoring period, and decompose the vibration signals into different frequency component signals; Obtain ground turbulence compliance based on the amplitude of each component signal and its adjacent frequency component signal and the degree of fluctuation of the corresponding frequency; Obtaining a turbulence attenuation coefficient for each monitoring period; obtaining a ground turbulence coefficient for each component signal at each monitoring point in each monitoring period based on a deviation of the turbulence attenuation coefficient from a proportional relationship between the amplitude difference and distance of the same frequency component signal at each monitoring point and the other monitoring points in the same monitoring period, and a ground turbulence conformity of the same frequency component signal at each monitoring point in each monitoring period with its previous adjacent monitoring period; Using the ground bump coefficient to adjust the component signal of the monitoring point in each monitoring period, and reconstruct the signal to obtain a corrected vibration signal of the monitoring point in each monitoring period; and controlling the robot to charge and discharge based on the corrected vibration signal; The vibration signal is a fitting curve obtained by curve fitting the vibration data collected by the vibration sensor at all times during each monitoring period; The method for obtaining the ground bump compliance includes: Obtaining the initial compliance of ground turbulence based on the amplitude and corresponding frequency of the component signal; Obtaining a fluctuation index of the initial turbulence conformity of each component signal and its adjacent frequency component signal, and obtaining a ground turbulence conformity of each component signal based on the initial turbulence conformity of each component signal and the fluctuation index; The obtaining of the turbulence attenuation coefficient in each monitoring period includes: According to the ground turbulence consistency of the same frequency component signal of each monitoring point in each monitoring period and its previous adjacent monitoring period, the single-point ground turbulence degree of each component signal of each monitoring point in each monitoring period is obtained; Calculating the cumulative sum of the single-point ground turbulence of the same frequency component signal at all monitoring points in the same monitoring period, and selecting the frequency corresponding to the maximum cumulative sum as the ground turbulence frequency for each monitoring period; Obtain the ratio of the amplitude difference of the ground turbulence frequency component signal of any two monitoring points in the same monitoring period to the distance between the two corresponding monitoring points, and take the average of the ratios corresponding to each two monitoring points among all monitoring points as the turbulence attenuation coefficient for each monitoring period.

2. A flexible charging and discharging method according to claim 1, characterized in that: The obtaining of the ground turbulence coefficient of each component signal of each monitoring point in each monitoring period includes: Obtaining the ratio of the difference in amplitude of the same frequency component signal between each monitoring point and all other monitoring points during the same monitoring period to the distance between the two corresponding monitoring points, and calculating the cumulative sum of the absolute values ​​of the differences between all the ratios and the bump attenuation coefficient as the vibration attenuation deviation of each component signal at each monitoring point in each monitoring period; The ground bump coefficient of each component signal of each monitoring point in each monitoring period is obtained according to the vibration attenuation deviation and the single-point ground bump degree.

3. A flexible charging and discharging method according to claim 1, characterized in that: The method for obtaining the corrected vibration signal includes: Performing negative correlation and normalization processing on the ground bump coefficient, using the processing results to weight the values ​​of all data points of each component signal, and performing curve fitting on the weighted results of all data points of each component signal at corresponding moments to obtain a frequency correction component signal corresponding to each component signal; Signal reconstruction is performed on all frequency correction component signals of each monitoring point in each monitoring period to obtain a corrected vibration signal of each monitoring point in each monitoring period.

4. A flexible charging and discharging method according to claim 1, characterized in that: The controlling the robot to charge and discharge based on the modified vibration signal includes: The average value of the corrected vibration signals of all monitoring points in each monitoring period is obtained and recorded as the collision vibration signal of each monitoring period; if the value of the highest point of the collision vibration signal is greater than the preset collision threshold, the mobile charging and storage robot stops charging.

5. A flexible charging and discharging method according to claim 1, characterized in that: The method for obtaining the single-point ground bumpiness comprises: Calculate the cumulative sum of the ground bump compliance of the same frequency component signal of each monitoring point in the adjacent monitoring periods before each monitoring period, and take the product of the ground bump compliance of each component signal of each monitoring point in each monitoring period and the cumulative sum of its corresponding frequency as the single-point ground bump degree of the corresponding component signal.

6. A flexible charging and discharging method according to claim 2, characterized in that: The vibration attenuation deviation is negatively correlated with the ground bump coefficient, and the single-point ground bump degree is positively correlated with the ground bump coefficient.

7. A flexible charging and discharging method according to claim 1, characterized in that: The volatility indicator is variance.

8. A mobile charging and storage robot, characterized in that: The mobile charging and storage robot includes: a memory and a processor, wherein instructions are stored in the memory; the processor calls the instructions in the memory so that the mobile charging and storage robot executes the steps of a flexible charging and discharging method as described in any one of claims 1 to 7.

9. A readable storage medium, characterized in that: The readable storage medium stores a program or instruction, and when the program or instruction is executed by the processor, the steps of a flexible charging and discharging method according to any one of claims 1 to 7 are implemented.

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