Charging power matching method and system for tower bolt robot

Abstract

The invention relates to the technical field of charging power distribution, and particularly provides a tower bolt robot charging power matching method and system, and the method comprises the steps: obtaining the maximum total charging power, and obtaining the charging demands of all to-be-charged tower bolt robots; determining first target charging power according to the battery health degree score; when the sum value of all the first target charging power is smaller than or equal to the maximum total charging power, the to-be-charged tower drum bolt robot is controlled to be charged according to the first target charging power; when the sum value of all the first target charging powers is larger than the maximum total charging power, second target charging powers corresponding to all the to-be-charged tower bolt robots are determined according to the priorities of all the tasks and the remaining time of all the tasks, and the to-be-charged tower bolt robots are controlled to be charged according to the second target charging powers; according to the method, the charging power distribution strategy can be dynamically adjusted according to the maximum charging power and the charging requirements of all the to-be-charged tower bolt robots.

Description

Technical Field

[0001] The present application relates to the technical field of charging power distribution, and in particular to a tower bolt robot charging power matching method and system. Background Art

[0002] A tower bolting robot is an automated device that performs critical operations such as bolt tightening, inspection, and maintenance within a tower (such as a wind turbine tower). The robot operates independently within the tower, powered by an internal rechargeable battery. To ensure continuous and stable performance, the robot returns to a pre-set charging station within the tower for recharging after completing its task or when the battery level falls below a preset minimum.

[0003] In order to improve overall work efficiency and shorten construction period, existing technologies usually deploy multiple tower bolt robots in the tower to collaboratively perform different work tasks. However, deploying multiple tower bolt robots may result in multiple tower bolt robots needing to be recharged at the same time. Since there is a physical upper limit to the total charging power of the tower, when multiple tower bolt robots are recharging at the same time, these tower bolt robots will compete for the limited total charging power. The existing tower bolt robot charging power allocation method usually allocates a fixed charging power to each tower bolt robot. This charging power allocation method may be applicable when a single robot is charging or the total charging power is sufficient, but in complex scenarios where multiple tower bolt robots are charging at the same time and the total charging power is limited, its limitations are very obvious.

[0004] Specifically, existing technologies are unable to effectively address the following challenges: First, when multiple tower bolt robots are charged at the same time and the sum of all charging powers exceeds the upper limit of the total charging power, a simple fixed power allocation strategy cannot effectively coordinate the charging power of multiple tower bolt robots. Therefore, the existing technology has the problem that some tower bolt robots cannot obtain sufficient charging power and the charging efficiency of some tower bolt robots is low due to the inability to effectively coordinate the charging power of multiple tower bolt robots.

[0005] Secondly, different tasks performed by tower bolt robots may have different urgency or completion time requirements, which means that the corresponding robots' power replenishment needs have different priorities. Robots corresponding to high-priority tasks need to be recharged as quickly as possible to restore their operational capabilities. However, existing charging power allocation methods for tower bolt robots cannot dynamically adjust the charging speed based on task priority. Therefore, the existing technology still has the problem of not being able to dynamically adjust the charging speed based on task priority, resulting in the delay of completing high-priority tasks in a timely manner.

[0006] In summary, existing technologies, given the limited charging power supply within the tower, are unable to effectively address power competition when charging multiple robots simultaneously, nor the varying charging requirements of different task priorities. This limitation severely impacts the efficiency of power replenishment for tower bolting robots and limits the overall efficiency and continuity of the robots' operations. Therefore, a method is urgently needed to dynamically and intelligently manage and allocate charging power across multiple robots to maximize overall charging efficiency and operational continuity.

[0007] There is no effective technical solution to the above problems. It should be noted that the above information disclosed in this section is only used to understand the background of the present invention, and therefore may contain information that does not constitute prior art. Summary of the Invention

[0008] The purpose of this application is to provide a tower bolt robot charging power matching method and system, which can effectively avoid the situation where some tower bolt robots cannot obtain sufficient charging power due to the inability to effectively coordinate the charging power of multiple tower bolt robots, the charging efficiency of some tower bolt robots is low, and high-priority tasks cannot be completed in time due to the inability to dynamically adjust the charging speed according to the task priority, thereby effectively improving the overall operating efficiency and continuity of the robot to maximize the overall charging efficiency and robot operation continuity.

[0009] In a first aspect, the present application provides a tower bolt robot charging power matching method for allocating charging power to multiple tower bolt robots. The tower bolt robot charging power matching method includes the following steps: S1. Obtain the maximum total charging power and the charging requirements of each tower bolt robot to be charged. The charging requirements include the battery health score and task identifier. S2. For each tower bolt robot to be charged, query a pre-built mapping table of battery health scores and charging powers according to the corresponding battery health score to determine a first target charging power; S3. When the sum of all first target charging powers is less than or equal to the maximum total charging power, control the tower bolt robot to be charged to charge according to its corresponding first target charging power; S4. When the sum of all first target charging powers is greater than the maximum total charging power, the preset task priority and task remaining time are obtained according to the task identifier, and then the second target charging power corresponding to each tower bolt robot to be charged is determined according to all task priorities and all task remaining times, on the premise that the sum of the charging powers of all tower bolt robots to be charged is less than or equal to the maximum total charging power, and the tower bolt robots to be charged are controlled to charge according to their corresponding second target charging powers.

[0010] The present application provides a tower bolt robot charging power matching method, which can dynamically adjust the charging power allocation strategy according to the maximum charging power and the charging requirements of all tower bolt robots to be charged. Therefore, the present application can effectively avoid the situation where some tower bolt robots cannot obtain sufficient charging power due to the inability to effectively coordinate the charging power of multiple tower bolt robots, the charging efficiency of some tower bolt robots is low, and high-priority tasks cannot be completed in time due to the inability to dynamically adjust the charging speed according to the task priority when multiple tower bolt robots are charged at the same time and the sum of all charging powers exceeds the upper limit of the total charging power. This effectively improves the overall operating efficiency and continuity of the robot to maximize the overall charging efficiency and robot operation continuity.

[0011] Optionally, step S4 includes: S41. When the sum of all first target charging powers is greater than the maximum total charging power, obtain a preset task priority and a task remaining time according to the task identifier; S42. For each tower bolt robot to be charged, query a pre-built mapping relationship table of priority, remaining time, and allocation score based on the task priority and remaining task time to obtain a corresponding charging allocation score; S43. Normalize all charging allocation scores to determine the charging power allocation weight corresponding to each tower bolt robot to be charged; S44. For each tower bolt robot to be charged, calculate the second target charging power according to the maximum total charging power and the corresponding charging power distribution weight, and control the tower bolt robot to be charged to be charged according to its corresponding second target charging power.

[0012] Optionally, each tower bolt robot to be charged corresponds to a charging unit, and all charging units are electrically connected to the charging station via charging cables. Step S2 includes: S21. For each tower bolt robot to be charged, query a pre-built mapping table of battery health scores and charging powers according to the corresponding battery health scores to determine a preliminary charging power. S22. For each tower bolt robot to be charged, obtain preset charging cable parameters based on its corresponding charging unit, query a pre-built mapping table of cable parameters and power compensation coefficients based on the charging cable parameters to obtain a first charging power compensation coefficient, and then calculate a first target charging power based on the preliminary charging power and the first charging power compensation coefficient. Step S42 includes: S421. For each tower bolt robot to be charged, query a pre-built mapping relationship table of priority, remaining time, and allocation score based on the task priority and remaining task time to obtain a corresponding preliminary allocation score; S422. For each tower bolt robot to be charged, query a pre-built mapping relationship table of cable parameters and score compensation coefficients according to the corresponding charging cable parameters to obtain a first allocation score compensation coefficient, and then calculate the charging allocation score based on the preliminary allocation score and the first allocation score compensation coefficient.

[0013] Optionally, step S22 includes: S221. For each tower bolt robot to be charged, obtain the cumulative usage time of the charging cable and preset charging cable parameters based on its corresponding charging unit, query a pre-built mapping relationship table of cable parameters and power compensation coefficients based on the charging cable parameters, and query a pre-built mapping relationship table of cable usage time and power compensation coefficients based on the cumulative usage time of the charging cable to obtain a first charging power compensation coefficient and a second charging power compensation coefficient, and then calculate a first target charging power based on the preliminary charging power, the first charging power compensation coefficient, and the second charging power compensation coefficient. Step S422 includes: A1. For each tower bolt robot to be charged, query the pre-built mapping relationship table of cable parameters and score compensation coefficients according to the corresponding charging cable parameters, and query the pre-built mapping relationship table of cable usage time and score compensation coefficients according to the corresponding cumulative usage time of the charging cable to obtain the first allocation score compensation coefficient and the second allocation score compensation coefficient, and then calculate the charging allocation score based on the preliminary allocation score, the first allocation score compensation coefficient and the first allocation score compensation coefficient.

[0014] Optionally, different charging units are located at different heights, and step S221 includes: B1. For each tower bolt robot to be charged, obtain the cumulative usage time of the charging cable and preset charging cable parameters based on its corresponding charging unit, query a pre-built mapping relationship table between cable parameters and power compensation coefficients based on the charging cable parameters, and query a pre-built mapping relationship table between cable usage time and power compensation coefficients based on the cumulative usage time of the charging cable to obtain a first charging power compensation coefficient and a second charging power compensation coefficient. B2. For each tower bolt robot to be charged, calculate the height difference between its corresponding charging unit and the charging station. Based on the height difference, query a pre-built mapping table of height differences and power compensation coefficients to obtain a first cable stretch compensation coefficient. Then, calculate a first target charging power based on the preliminary charging power, the first charging power compensation coefficient, the second charging power compensation coefficient, and the first cable stretch compensation coefficient. Step A1 includes: A11. For each tower bolt robot to be charged, query a pre-built mapping table between cable parameters and score compensation coefficients based on the corresponding charging cable parameters, and query a pre-built mapping table between cable usage time and score compensation coefficients based on the corresponding cumulative usage time of the charging cable to obtain a first allocated score compensation coefficient and a second allocated score compensation coefficient. A12. For each tower bolt robot to be charged, query the pre-built mapping relationship table of height difference and score compensation coefficient according to the corresponding height difference to obtain the second cable stretch compensation coefficient, and then calculate the charging allocation score based on the preliminary allocation score, the first allocation score compensation coefficient, the first allocation score compensation coefficient and the second cable stretch compensation coefficient.

[0015] Optionally, the charging cable parameters include charging cable length, charging cable material, and charging cable cross-sectional area.

[0016] Optionally, step S41 includes: S411. When the sum of all first target charging powers is greater than the maximum total charging power, obtain the task completion degree, the preset task priority, and the task remaining time according to the task identifier; Step S421 includes: C1. For each tower bolt robot to be charged, query the pre-built mapping relationship table of priority, remaining time and allocation score according to the task priority and remaining task time to obtain the corresponding original allocation score, and query the pre-built mapping relationship table of completion degree and score compensation coefficient according to the task completion degree to obtain the third allocation score compensation coefficient, and then calculate the preliminary allocation score based on the original allocation score and the third allocation score compensation coefficient.

[0017] Optionally, the tower bolt robot charging power matching method further includes the steps of: S5. For each tower bolt robot to be charged, obtain actual battery parameters, and when the actual battery parameters reach preset battery parameters, control the tower bolt robot to be charged to charge according to the preset charging power, and the preset charging power is less than the first target charging power and the second target charging power.

[0018] Optionally, the actual battery parameters include an actual battery temperature, an actual battery current, and an actual battery voltage, and the preset battery parameters include a preset battery temperature, a preset battery current, and a preset battery voltage.

[0019] Optionally, the preset battery parameters are determined based on ambient temperature and ambient humidity.

[0020] In a second aspect, the present application further provides a tower bolt robot charging power matching system for distributing charging power to multiple tower bolt robots. The tower bolt robot charging power matching system includes the following steps: The information acquisition module is used to obtain the maximum total charging power and the charging requirements of each tower bolt robot to be charged. The charging requirements include the battery health score and task identification; A first target charging power acquisition module is configured to query a pre-built mapping table of battery health scores and charging powers for each tower bolt robot to be charged according to the corresponding battery health score to determine a first target charging power; A first charging control module is configured to control the tower bolt robot to be charged to charge according to its corresponding first target charging power when the sum of all first target charging powers is less than or equal to the maximum total charging power; The second charging control module is used to obtain the preset task priority and task remaining time according to the task identifier when the sum of all first target charging powers is greater than the maximum total charging power, and then determine the second target charging power corresponding to each tower bolt robot to be charged according to all task priorities and all task remaining times under the premise that the sum of the charging powers of all tower bolt robots to be charged is less than or equal to the maximum total charging power, and control the tower bolt robots to be charged to charge according to their corresponding second target charging power.

[0021] The present application provides a tower bolt robot charging power matching system, which can dynamically adjust the charging power allocation strategy according to the maximum charging power and the charging requirements of all tower bolt robots to be charged. Therefore, the present application can effectively avoid the situation where some tower bolt robots cannot obtain sufficient charging power due to the inability to effectively coordinate the charging power of multiple tower bolt robots, the charging efficiency of some tower bolt robots is low, and high-priority tasks cannot be completed in time due to the inability to dynamically adjust the charging speed according to the task priority when multiple tower bolt robots are charged at the same time and the sum of all charging powers exceeds the upper limit of the total charging power. This effectively improves the overall operating efficiency and continuity of the robot to maximize the overall charging efficiency and robot operation continuity.

[0022] From the above, it can be seen that the tower bolt robot charging power matching method and system provided by the present application can dynamically adjust the charging power allocation strategy according to the maximum charging power and the charging requirements of all tower bolt robots to be charged. Therefore, the present application can effectively avoid the situation when multiple tower bolt robots are charged at the same time and the sum of all charging powers exceeds the upper limit of the total charging power due to the inability to effectively coordinate the charging power of multiple tower bolt robots, resulting in some tower bolt robots being unable to obtain sufficient charging power, some tower bolt robots having low charging efficiency, and high-priority tasks being unable to be completed in time due to the inability to dynamically adjust the charging speed according to the task priority, thereby effectively improving the overall operating efficiency and continuity of the robot to maximize the overall charging efficiency and robot operation continuity. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 A flowchart of a tower bolt robot charging power matching method provided in an embodiment of the present application.

[0024] Figure 2 A schematic structural diagram of a tower bolt robot charging power matching system provided in an embodiment of the present application.

[0025] Reference numerals: 1. information acquisition module; 2. first target charging power acquisition module; 3. first charging control module; 4. second charging control module. DETAILED DESCRIPTION

[0026] The technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all of the embodiments. The components of the embodiments of the present application generally described and shown in the drawings here can be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the present application provided in the drawings is not intended to limit the scope of the application for protection, but merely represents the selected embodiments of the present application. Based on the embodiments of the present application, all other embodiments obtained by those skilled in the art without making creative work fall within the scope of protection of the present application.

[0027] It should be noted that similar reference numerals and letters represent similar items in the following drawings. Therefore, once an item is defined in one drawing, it does not need to be further defined or explained in subsequent drawings. At the same time, in the description of this application, the terms "first", "second", etc. are only used to distinguish the description and should not be understood as indicating or implying relative importance.

[0028] First, as Figure 1 As shown, the present application provides a tower bolt robot charging power matching method.

[0029] The present application provides a tower bolt robot charging power matching method for allocating charging power to multiple tower bolt robots. The tower bolt robot charging power matching method includes the following steps: S1. Obtain the maximum total charging power and the charging requirements of each tower bolt robot to be charged. The charging requirements include the battery health score and task identifier. S2. For each tower bolt robot to be charged, query a pre-built mapping table of battery health scores and charging powers according to the corresponding battery health score to determine a first target charging power; S3. When the sum of all first target charging powers is less than or equal to the maximum total charging power, control the tower bolt robot to be charged to charge according to its corresponding first target charging power; S4. When the sum of all first target charging powers is greater than the maximum total charging power, the preset task priority and task remaining time are obtained according to the task identifier, and then the second target charging power corresponding to each tower bolt robot to be charged is determined according to all task priorities and all task remaining times, on the premise that the sum of the charging powers of all tower bolt robots to be charged is less than or equal to the maximum total charging power, and the tower bolt robots to be charged are controlled to charge according to their corresponding second target charging powers.

[0030] The maximum total charging power in step S1 can be provided by the tower charging station system. This maximum total charging power is the upper limit of the charging power that the tower charging station system can provide. The charging demand in step S1 is generated by the tower bolt robot to be charged (a tower bolt robot that needs to be charged or a tower bolt robot that is currently charging) or the tower bolt robot management system (an existing system for managing tower bolt robots). This charging demand includes a battery health score and a task identifier. The battery health score can be a value that reflects the current health of the battery, for example, it can be a value calculated based on internal resistance and cycle count. The task identifier can associate the tower bolt robot with the task it is currently performing or about to perform.

[0031] For each tower bolt robot to be charged, step S2 determines the first target charging power by querying a pre-constructed mapping table of battery health score and charging power according to the corresponding battery health score. The mapping table stores the recommended charging power values ​​corresponding to different battery health scores. Step S2 is equivalent to determining the ideal value of the charging power that the tower bolt robot can receive based on the actual battery health of the tower bolt robot to be charged.

[0032] After obtaining the first target charging power, the present application first sums the first target charging powers of all tower bolt robots to be charged, and then compares the sum with the maximum total charging power. Specifically, if the sum is less than or equal to the maximum total charging power, it means that the charging power provided by the tower charging station system can directly meet the ideal charging requirements of all tower bolt robots to be charged. At this time, the tower bolt robots to be charged can be controlled to charge according to their corresponding first target charging power (i.e., executing step S3); if the sum is greater than the maximum total charging power, it means that the charging power provided by the tower charging station system cannot meet the ideal charging requirements of all tower bolt robots to be charged. At this time, it is necessary to first obtain the preset task priority and task remaining time according to the task identifier of each tower bolt robot to be charged, and then, on the premise that the total charging power obtained by all tower bolt robots to be charged does not exceed the maximum total charging power, comprehensively consider the task priority and task remaining time of all tower bolt robots to be charged to determine the actual charging power (second target charging power) that each tower bolt robot to be charged should obtain, and finally control the tower bolt robot to be charged according to its corresponding second target charging power. Specifically, the task priority and task remaining time of this embodiment preferably have a pre-built mapping relationship table of task identification, task priority and task remaining time, that is, this embodiment can obtain the task priority and task remaining time by querying the mapping relationship table according to the task identification. The task priority reflects the importance or urgency of the task currently being performed or about to be performed by the tower bolt robot to be charged. The task remaining time can be the remaining execution time of the task currently being performed by the tower bolt robot to be charged (which can be obtained by calculating the difference between the end time node of the currently executed task and the current time node) or the start time of the task about to be performed by the tower bolt robot to be charged. The difference between the time node and the current time node. Since the sum of all the first target charging powers is greater than the maximum total charging power, this embodiment can introduce task priority and remaining time as the basis for allocation. When the charging power provided by the tower charging station system cannot meet the ideal charging requirements of all tower bolt robots to be charged, the charging power will be allocated to the tower bolt robots to be charged corresponding to the tasks with high priority or less remaining time, so as to ensure that the key tasks can be completed in time, thereby effectively avoiding the situation where the tasks with high priority or less remaining time cannot be completed in time due to multiple tower bolt robots to be charged competing for limited charging power resources at the same time.It should be understood that, since the charging power provided by the tower charging station system can directly meet the ideal charging requirements of all tower bolt robots to be charged, this embodiment controls the tower bolt robots to be charged to charge according to their corresponding first target charging power. When the charging power provided by the tower charging station system cannot meet the ideal charging requirements of all tower bolt robots to be charged, this embodiment determines the second target charging power corresponding to each tower bolt robot to be charged based on all task priorities and all task remaining times, on the premise that the sum of the charging powers of all tower bolt robots to be charged is less than or equal to the maximum total charging power, and controls the tower bolt robots to be charged to charge according to their corresponding second target charging power. Therefore, this embodiment is equivalent to dynamically adjusting the charging power allocation strategy according to the maximum charging power and the charging requirements of all tower bolt robots to be charged.

[0033] Specifically, for example, a tower charging station system with a maximum total charging power of 10 kW and three tower bolt robots (R1, R2, and R3) to be charged. Step S1 obtains a maximum total charging power of 10 kW, and the charging requirement for tower bolt robot R1 is a battery health score of 85 and a task identifier of T_A. The charging requirement for tower bolt robot R2 is a battery health score of 70 and a task identifier of T_B. The charging requirement for tower bolt robot R3 is a battery health score of 90 and a task identifier of T_C. A pre-built mapping table between battery health scores and charging power is as follows: when the battery health score is greater than or equal to 90, the charging power is 5 kW; when the battery health score is less than 90 and greater than or equal to 75, the charging power is 4 kW; and when the battery health score is less than or equal to 70, the charging power is 3 kW. After executing step S2, the first target charging power of the tower bolt robot to be charged is 4kW, the first target charging power of the tower bolt robot to be charged R2 is 3kW, and the first target charging power of the tower bolt robot to be charged R3 is 5kW. Since the sum of all the first target charging powers is 4kW + 3kW + 5kW = 12kW, and 12kW is greater than the maximum total charging power of 10kW, so step S4 needs to be executed. At this time, the preset task priority and task remaining time are obtained according to the task identifier. For example, the priority of task T_A is high, and the task remaining time is 2 hours; the priority of task T_B is medium, and the task remaining time is 4 hours; the priority of task T_C is high, and the task remaining time is 1 hour. Then, on the premise that the sum of the charging powers of all tower bolt robots to be charged is less than or equal to the maximum total charging power, the second target charging power corresponding to each tower bolt robot to be charged is determined according to all task priorities and all task remaining times. For example, the second target charging power of the tower bolt robot R1 to be charged is 4.5kW, the second target charging power of the tower bolt robot R2 to be charged is 2kW, and the second target charging power of the tower bolt robot R3 to be charged is 3.5kW. Finally, the tower bolt robot R1 to be charged is controlled to charge at 4.5kW, the tower bolt robot R2 to be charged is controlled to charge at 2kW, and the tower bolt robot R3 to be charged is controlled to charge at 3.5kW.

[0034] The present application provides a tower bolt robot charging power matching method, which can dynamically adjust the charging power allocation strategy according to the maximum charging power and the charging requirements of all tower bolt robots to be charged. Therefore, the present application can effectively avoid the situation where some tower bolt robots cannot obtain sufficient charging power due to the inability to effectively coordinate the charging power of multiple tower bolt robots, the charging efficiency of some tower bolt robots is low, and high-priority tasks cannot be completed in time due to the inability to dynamically adjust the charging speed according to the task priority when multiple tower bolt robots are charged at the same time and the sum of all charging powers exceeds the upper limit of the total charging power. This effectively improves the overall operating efficiency and continuity of the robot to maximize the overall charging efficiency and robot operation continuity.

[0035] In some preferred embodiments, step S4 includes: S41. When the sum of all first target charging powers is greater than the maximum total charging power, obtain a preset task priority and a task remaining time according to the task identifier; S42. For each tower bolt robot to be charged, query a pre-built mapping relationship table of priority, remaining time, and allocation score based on the task priority and remaining task time to obtain a corresponding charging allocation score; S43. Normalize all charging allocation scores to determine the charging power allocation weight corresponding to each tower bolt robot to be charged; S44. For each tower bolt robot to be charged, calculate the second target charging power according to the maximum total charging power and the corresponding charging power distribution weight, and control the tower bolt robot to be charged to be charged according to its corresponding second target charging power.

[0036] For each tower bolt robot to be charged, step S42 obtains a corresponding charging allocation score by querying a pre-built mapping table of priority, remaining time, and allocation score based on the task priority and remaining time. This mapping table stores the allocation scores corresponding to different task priorities and remaining times. This embodiment is equivalent to converting the abstract task priority and remaining time into a quantified value (charging allocation score). The normalization process in step S43 converts the charging allocation score into a proportional value to determine a charging power allocation weight. This charging power allocation weight reflects the proportion of the total charging power that each tower bolt robot to be charged should contribute. It should be understood that because the normalization process determines that the sum of the charging power allocation weights corresponding to all tower bolt robots to be charged is 1, and this embodiment calculates the second target charging power based on the maximum total charging power and the corresponding charging power allocation weights, this embodiment ensures that the sum of all second target charging powers does not exceed the maximum total charging power. This ensures that the second target charging power for each tower bolt robot to be charged is determined based on all task priorities and all remaining time, assuming that the sum of the charging powers of all tower bolt robots to be charged is less than or equal to the maximum total charging power. Preferably, in order to avoid the situation where the second target charging power corresponding to the tower bolt robot to be charged is greater than the ideal value of the charging power it can receive under actual battery health conditions due to the task priority corresponding to the tower bolt robot to be charged being too high and / or the remaining time of the task being too short, this embodiment needs to make the final second target charging power less than or equal to the first target charging power. Specifically, when the second target charging power calculated based on the maximum total charging power and the corresponding charging power allocation weight is greater than the first target charging power, this embodiment uses the first target charging power as the final second target charging power.

[0037] In some preferred embodiments, each tower bolt robot to be charged corresponds to a charging unit, and all charging units are electrically connected to the charging station via charging cables. Step S2 includes: S21. For each tower bolt robot to be charged, query a pre-built mapping table of battery health scores and charging powers based on the corresponding battery health score to determine a preliminary charging power. S22. For each tower bolt robot to be charged, obtain preset charging cable parameters based on its corresponding charging unit, query a pre-built mapping table of cable parameters and power compensation coefficients based on the charging cable parameters to obtain a first charging power compensation coefficient, and then calculate a first target charging power based on the preliminary charging power and the first charging power compensation coefficient. Step S42 includes: S421. For each tower bolt robot to be charged, query a pre-built mapping relationship table of priority, remaining time, and allocation score based on the task priority and remaining task time to obtain a corresponding preliminary allocation score; S422. For each tower bolt robot to be charged, query a pre-built mapping relationship table of cable parameters and score compensation coefficients according to the corresponding charging cable parameters to obtain a first allocation score compensation coefficient, and then calculate the charging allocation score based on the preliminary allocation score and the first allocation score compensation coefficient.

[0038] Because the charging cables connecting the charging units and charging stations are pre-manufactured and pre-installed, the parameters of the charging cables corresponding to the charging units can be obtained through pre-calibration. That is, the charging cable parameters are preset values, and each charging unit corresponds to a preset charging cable parameter. The mapping table between cable parameters and power compensation coefficients in this embodiment stores charging power compensation coefficients corresponding to different charging cable parameters. The operating principles of steps S21 and S22 are as follows: the charging cable has transmission loss, and the magnitude of the transmission loss is related to the charging cable parameters. After obtaining the initial power supply, this embodiment first obtains the charging cable parameters corresponding to the tower bolt robot to be charged, then obtains a first charging power compensation coefficient based on the charging cable parameters, and finally compensates the initial power supply using the first charging power compensation coefficient to determine the first target charging power (preferably the product of the initial power supply and the first charging power compensation coefficient). Therefore, this embodiment considers the impact of the charging cable transmission loss when determining the first target charging power. This ensures that the charging power actually received by the tower bolt robot to be charged at the first target charging power is closer to its ideal value, thereby effectively improving the charging efficiency of the tower bolt robot to be charged. The charging allocation score of this embodiment is preferably the product of the preliminary allocation score and the first allocation score compensation coefficient. The working principles of steps S421 and S422 are similar to those of steps S21 and S22 and will not be discussed in detail here.

[0039] In some preferred embodiments, step S22 includes: S221. For each tower bolt robot to be charged, obtain the cumulative usage time of the charging cable and preset charging cable parameters based on its corresponding charging unit, query a pre-built mapping relationship table of cable parameters and power compensation coefficients based on the charging cable parameters, and query a pre-built mapping relationship table of cable usage time and power compensation coefficients based on the cumulative usage time of the charging cable to obtain a first charging power compensation coefficient and a second charging power compensation coefficient, and then calculate a first target charging power based on the preliminary charging power, the first charging power compensation coefficient, and the second charging power compensation coefficient. Step S422 includes: A1. For each tower bolt robot to be charged, query the pre-built mapping relationship table of cable parameters and score compensation coefficients according to the corresponding charging cable parameters, and query the pre-built mapping relationship table of cable usage time and score compensation coefficients according to the corresponding cumulative usage time of the charging cable to obtain the first allocation score compensation coefficient and the second allocation score compensation coefficient, and then calculate the charging allocation score based on the preliminary allocation score, the first allocation score compensation coefficient and the first allocation score compensation coefficient.

[0040] This embodiment can use a timer to measure the usage time of the charging cable to obtain the cumulative usage time of the charging cable. Specifically, the timer starts when the charging unit begins charging the tower bolt robot to be charged, and stops when the charging unit stops charging the tower bolt robot to be charged. The mapping relationship table between cable usage time and power compensation coefficient in this embodiment stores the charging power compensation coefficients corresponding to different cable usage times. The first target charging power in this embodiment is preferably the product of the preliminary charging power, the first charging power compensation coefficient, and the second charging power compensation coefficient. The charging allocation score in this embodiment is preferably the product of the preliminary allocation score, the first allocation score compensation coefficient, and the first allocation score compensation coefficient. Because charging cable performance changes with cumulative usage time (typically, charging cable performance degrades with increasing cumulative usage time), compensating for charging power and allocation scores based solely on charging cable parameters may not accurately reflect the impact of actual charging cable losses on the charging power and allocation scores. This embodiment, however, utilizes a second charging power compensation coefficient determined based on the cumulative usage time of the charging cable to compensate for the first target charging power. Furthermore, this embodiment also compensates for the charging allocation score based on the second allocation score compensation coefficient determined based on the cumulative usage time of the charging cable. Therefore, this embodiment considers both the inherent losses (transmission losses caused by the charging cable's inherent parameters) and usage losses (transmission losses caused by the increasing cumulative usage time of the charging cable) of the charging cable when calculating the first target charging power and charging allocation score. This makes the calculated first target charging power and charging allocation score more realistic, thereby enabling more reasonable and effective power allocation when the charging power provided by the tower charging station system cannot meet the ideal charging requirements of all tower bolt robots to be charged, further improving overall charging efficiency and robot operational continuity.

[0041] In some preferred embodiments, different charging units are located at different heights, and step S221 includes: B1. For each tower bolt robot to be charged, obtain the cumulative usage time of the charging cable and preset charging cable parameters based on its corresponding charging unit, query a pre-built mapping relationship table between cable parameters and power compensation coefficients based on the charging cable parameters, and query a pre-built mapping relationship table between cable usage time and power compensation coefficients based on the cumulative usage time of the charging cable to obtain a first charging power compensation coefficient and a second charging power compensation coefficient. B2. For each tower bolt robot to be charged, calculate the height difference between its corresponding charging unit and the charging station. Based on the height difference, query a pre-built mapping table of height differences and power compensation coefficients to obtain a first cable stretch compensation coefficient. Then, calculate a first target charging power based on the preliminary charging power, the first charging power compensation coefficient, the second charging power compensation coefficient, and the first cable stretch compensation coefficient. Step A1 includes: A11. For each tower bolt robot to be charged, query a pre-built mapping table between cable parameters and score compensation coefficients based on the corresponding charging cable parameters, and query a pre-built mapping table between cable usage time and score compensation coefficients based on the corresponding cumulative usage time of the charging cable to obtain a first allocated score compensation coefficient and a second allocated score compensation coefficient. A12. For each tower bolt robot to be charged, query the pre-built mapping relationship table of height difference and score compensation coefficient according to the corresponding height difference to obtain the second cable stretch compensation coefficient, and then calculate the charging allocation score based on the preliminary allocation score, the first allocation score compensation coefficient, the first allocation score compensation coefficient and the second cable stretch compensation coefficient.

[0042] Because the operating heights of different tower bolt robots typically vary, prior art typically installs charging units at different tower heights to minimize the distance between the tower bolt robots and their operating locations, thereby reducing the energy required to move them to their operating locations. This embodiment calculates the height difference by calculating the difference between the charging unit's installation height (preset value) and the charging station's installation height (preset value). This embodiment's mapping table between height differences and power compensation coefficients stores power compensation coefficients corresponding to different height differences. These power compensation coefficients reflect the impact of cable stretching or force changes caused by height differences on charging power transmission and charging connection stability. This embodiment's mapping table between height differences and scoring compensation coefficients also stores scoring compensation coefficients corresponding to different height differences. Since the scoring compensation coefficients are used to calculate the charging allocation score, and this embodiment determines the second target charging power based on the charging allocation score, these scoring compensation coefficients also reflect the impact of cable stretching or force changes caused by height differences on charging power transmission and charging connection stability. Since the height difference between the charging unit and the charging station will affect the stretching degree and stress condition of the charging cable, the stretching degree and stress condition of the charging cable will affect the power transmission and charging connection stability of the charging cable, and this embodiment can consider the influence of the height difference between the charging unit and the charging station when calculating the first target charging power and the charging distribution score. Therefore, this embodiment can further improve the calculation accuracy of the first target charging power and the charging distribution score to optimize the charging power matching process of the tower bolt robot.

[0043] In some preferred embodiments, the charging cable parameters include the length, material, and cross-sectional area of ​​the charging cable. Specifically, the length of the charging cable affects the resistance of the charging cable. Other conditions being equal, the longer the charging cable, the greater the resistance. The material of the charging cable affects the resistivity of the charging cable, and different charging cable materials may have different resistivities. The cross-sectional area of ​​the charging cable affects the resistance of the charging cable. Other conditions being equal, the larger the cross-sectional area of ​​the charging cable, the lower the resistance.

[0044] In some preferred embodiments, step S41 includes: S411. When the sum of all first target charging powers is greater than the maximum total charging power, obtain the task completion degree, the preset task priority, and the task remaining time according to the task identifier; Step S421 includes: C1. For each tower bolt robot to be charged, query the pre-built mapping relationship table of priority, remaining time and allocation score according to the task priority and remaining task time to obtain the corresponding original allocation score, and query the pre-built mapping relationship table of completion degree and score compensation coefficient according to the task completion degree to obtain the third allocation score compensation coefficient, and then calculate the preliminary allocation score based on the original allocation score and the third allocation score compensation coefficient.

[0045] This embodiment can obtain task completion from the tower bolt robot management system. The task completion can reflect the progress of the task currently being executed by the tower bolt robot to be charged. Preferably, if there is no task being executed by the tower bolt robot to be charged, this embodiment does not obtain the task completion and the third allocation score compensation coefficient. That is, when the tower bolt robot to be charged does not have a task being executed, this embodiment uses the original allocation score as the preliminary allocation score. The mapping relationship table of completion and score compensation coefficient in this embodiment stores the score compensation coefficients corresponding to different task completions. Preferably, in this mapping relationship table, the task completion is negatively correlated with the score compensation coefficient, that is, this embodiment is equivalent to increasing the preliminary allocation score of tasks with lower completion and decreasing the preliminary allocation score of tasks with higher completion. Therefore, this embodiment can allocate more charging power to tasks with low task completion, high task priority, or short task remaining time when the charging power provided by the tower charging station system cannot meet the ideal charging requirements of all tower bolt robots to be charged, thereby improving the overall task completion efficiency.

[0046] In some preferred embodiments, the tower bolt robot charging power matching method further includes the steps of: S5. For each tower bolt robot to be charged, obtain actual battery parameters, and when the actual battery parameters reach preset battery parameters, control the tower bolt robot to be charged to charge according to the preset charging power, and the preset charging power is less than the first target charging power and the second target charging power.

[0047] This embodiment can utilize existing battery parameter acquisition technology (such as existing sensors integrated in the tower bolt robot battery management system) to obtain actual battery parameters. The preset battery parameters of this embodiment can be values ​​determined by technical personnel in this field based on experience or actual needs. If the actual battery parameters reach the preset battery parameters, it indicates that the battery status is abnormal. At this time, the tower bolt robot to be charged needs to be charged at a lower charging power (less than the preset charging power of the first target charging power and the second target charging power) to protect the battery and ensure charging safety. That is, this embodiment is equivalent to providing a battery protection mechanism.

[0048] In some preferred embodiments, the actual battery parameters include the actual battery temperature, the actual battery current, and the actual battery voltage, and the preset battery parameters include the preset battery temperature, the preset battery current, and the preset battery voltage. Specifically, when at least one of the three conditions of the actual battery temperature reaching the preset battery temperature, the actual battery current reaching the preset battery current, and the actual battery voltage reaching the preset battery voltage is met, this embodiment controls the tower bolt robot to be charged to charge at the preset charging power. Therefore, this embodiment can effectively avoid battery overheating, overcurrent, or overvoltage during the charging process of the tower bolt robot to be charged, thereby effectively extending the battery life of the tower bolt robot to be charged.

[0049] In some preferred embodiments, the preset battery parameters are determined based on the ambient temperature and humidity. This embodiment can determine the preset battery parameters by querying a pre-built mapping table of temperature, humidity, and battery parameters based on the ambient temperature and humidity. This embodiment can utilize existing temperature sensors to obtain the ambient temperature and humidity sensors to obtain the ambient humidity. Because this embodiment is equivalent to dynamically adjusting the preset battery parameters based on the ambient temperature and humidity, it can enable the battery protection mechanism to better adapt to different environmental conditions, thereby effectively improving charging safety and helping to maintain the health of the battery. Preferably, when the installation heights of all charging units are the same, this embodiment determines the preset battery parameters corresponding to all charging units based on the same ambient temperature and the same ambient humidity. When the installation heights of different charging units are different, this embodiment obtains the temperature and humidity of the environment in which each charging unit is located, and then determines the preset battery parameters corresponding to each charging unit based on the ambient temperature and ambient humidity corresponding to each charging unit. That is, when the installation heights of different charging units are different, this embodiment may determine the preset battery parameters corresponding to each charging unit based on different ambient temperatures and ambient humidity, so as to avoid the situation where the preset battery parameters determined based on the same ambient temperature and the same ambient humidity cannot meet the safety requirements of charging units at different installation heights due to uneven temperature or humidity distribution in the tower.

[0050] From the above, it can be seen that the tower bolt robot charging power matching method provided by the present application can dynamically adjust the charging power allocation strategy according to the maximum charging power and the charging requirements of all tower bolt robots to be charged. Therefore, the present application can effectively avoid the situation when multiple tower bolt robots are charged at the same time and the sum of all charging powers exceeds the upper limit of the total charging power due to the inability to effectively coordinate the charging power of multiple tower bolt robots, resulting in some tower bolt robots being unable to obtain sufficient charging power, some tower bolt robots having low charging efficiency, and high-priority tasks being unable to be completed in time due to the inability to dynamically adjust the charging speed according to the task priority, thereby effectively improving the overall operating efficiency and continuity of the robot to maximize the overall charging efficiency and robot operation continuity.

[0051] Second, as Figure 2 As shown, the present application also provides a tower bolt robot charging power matching system for distributing charging power to multiple tower bolt robots. The tower bolt robot charging power matching system includes the following steps: Information acquisition module 1 is used to obtain the maximum total charging power and the charging requirements of each tower bolt robot to be charged. The charging requirements include the battery health score and task identifier; A first target charging power acquisition module 2 is configured to query a pre-built mapping table between battery health scores and charging powers for each tower bolt robot to be charged according to the corresponding battery health score to determine a first target charging power; The first charging control module 3 is configured to control the tower bolt robot to be charged to charge according to the corresponding first target charging power when the sum of all first target charging powers is less than or equal to the maximum total charging power; The second charging control module 4 is used to obtain the preset task priority and task remaining time according to the task identifier when the sum of all the first target charging powers is greater than the maximum total charging power, and then determine the second target charging power corresponding to each tower bolt robot to be charged according to all task priorities and all task remaining times on the premise that the sum of the charging powers of all tower bolt robots to be charged is less than or equal to the maximum total charging power, and control the tower bolt robots to be charged to charge according to their corresponding second target charging power.

[0052] A tower bolt robot charging power matching system provided in the present application includes an information acquisition module 1, a first target charging power acquisition module 2, a first charging control module 3 and a second charging control module 4. The tower bolt robot charging power matching system provided in this embodiment is used to execute the steps in the tower bolt robot charging power matching method provided in the first aspect above. The principle of the tower bolt robot charging power matching system provided in this embodiment is the same as the principle of the tower bolt robot charging power matching method provided in the first aspect above, and will not be discussed in detail here.

[0053] From the above, it can be seen that the tower bolt robot charging power matching method and system provided by the present application can dynamically adjust the charging power allocation strategy according to the maximum charging power and the charging requirements of all tower bolt robots to be charged. Therefore, the present application can effectively avoid the situation when multiple tower bolt robots are charged at the same time and the sum of all charging powers exceeds the upper limit of the total charging power due to the inability to effectively coordinate the charging power of multiple tower bolt robots, resulting in some tower bolt robots being unable to obtain sufficient charging power, some tower bolt robots having low charging efficiency, and high-priority tasks being unable to be completed in time due to the inability to dynamically adjust the charging speed according to the task priority, thereby effectively improving the overall operating efficiency and continuity of the robot to maximize the overall charging efficiency and robot operation continuity.

[0054] In the embodiments provided in this application, it should be understood that the disclosed devices and methods can be implemented in other ways. The device embodiments described above are merely schematic. For example, the division of the above-mentioned units is only a logical function division. There may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another robot, 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 communication interface, the indirect coupling or communication connection of the device or unit can be electrical, mechanical or other forms.

[0055] In addition, the functional modules in each embodiment of the present application can be integrated together to form an independent part, or each module can exist independently, or two or more modules can be integrated to form an independent part.

[0056] In this document, relational terms such as first and second, etc. are used merely to distinguish one entity or operation from another entity or operation, but do not necessarily require or imply any actual relationship or order between these entities or operations.

[0057] The above description is merely an embodiment of the present application and is not intended to limit the scope of protection of the present application. For those skilled in the art, various modifications and variations of the present application are possible. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present application shall be included in the scope of protection of the present application.

Claims

1. A tower bolt robot charging power matching method for distributing charging power to multiple tower bolt robots, characterized in that: The tower bolt robot charging power matching method comprises the following steps: S1. Obtain the maximum total charging power and the charging requirements of each tower bolt robot to be charged, wherein the charging requirements include a battery health score and a task identifier; S2. For each of the tower bolt robots to be charged, query a pre-built mapping table of battery health scores and charging powers according to the corresponding battery health scores to determine a first target charging power; S3. When the sum of all the first target charging powers is less than or equal to the maximum total charging power, control the tower bolt robot to be charged to charge according to its corresponding first target charging power; S4. When the sum of all the first target charging powers is greater than the maximum total charging power, the preset task priority and task remaining time are obtained according to the task identifier, and then, on the premise that the sum of the charging powers of all the tower bolt robots to be charged is less than or equal to the maximum total charging power, the second target charging power corresponding to each of the tower bolt robots to be charged is determined according to all the task priorities and all the task remaining times, and the tower bolt robots to be charged are controlled to charge according to their corresponding second target charging powers.

2. The tower bolt robot charging power matching method according to claim 1, characterized in that: Step S4 includes: S41. When the sum of all the first target charging powers is greater than the maximum total charging power, obtaining a preset task priority and a task remaining time according to the task identifier; S42. For each of the tower bolt robots to be charged, query a pre-built mapping relationship table of priority, remaining time, and allocation score according to the task priority and the remaining time of the task to obtain a corresponding charging allocation score; S43: Normalize all the charging allocation scores to determine a charging power allocation weight corresponding to each of the tower bolt robots to be charged; S44. For each of the tower bolt robots to be charged, calculate the second target charging power according to the maximum total charging power and the corresponding charging power allocation weight, and control the tower bolt robot to be charged to be charged according to its corresponding second target charging power.

3. The tower bolt robot charging power matching method according to claim 2, characterized in that: Each of the tower bolt robots to be charged corresponds to a charging unit, and all of the charging units are electrically connected to the charging station via charging cables. Step S2 includes: S21. For each of the tower bolt robots to be charged, query a pre-built mapping table of battery health scores and charging powers according to the corresponding battery health scores to determine a preliminary charging power. S22. For each tower bolt robot to be charged, obtain preset charging cable parameters based on its corresponding charging unit, query a pre-built mapping table of cable parameters and power compensation coefficients based on the charging cable parameters to obtain a first charging power compensation coefficient, and then calculate a first target charging power based on the preliminary charging power and the first charging power compensation coefficient. Step S42 includes: S421. For each of the tower bolt robots to be charged, query a pre-built mapping relationship table of priority, remaining time, and allocation score according to the task priority and the remaining time of the task to obtain a corresponding preliminary allocation score; S422. For each of the tower bolt robots to be charged, query a pre-constructed mapping relationship table of cable parameters and score compensation coefficients according to the corresponding charging cable parameters to obtain a first allocation score compensation coefficient, and then calculate the charging allocation score based on the preliminary allocation score and the first allocation score compensation coefficient.

4. The tower bolt robot charging power matching method according to claim 3, characterized in that: Step S22 includes: S221. For each tower bolt robot to be charged, obtain, based on its corresponding charging unit, the cumulative usage time of the charging cable and preset charging cable parameters, and query a pre-established mapping relationship table between cable parameters and power compensation coefficients based on the charging cable parameters and a pre-established mapping relationship table between cable usage time and power compensation coefficients based on the cumulative usage time of the charging cable to obtain a first charging power compensation coefficient and a second charging power compensation coefficient, and then calculate a first target charging power based on the preliminary charging power, the first charging power compensation coefficient, and the second charging power compensation coefficient. Step S422 includes: A1. For each of the tower bolt robots to be charged, query the pre-constructed mapping relationship table between cable parameters and score compensation coefficients according to the corresponding charging cable parameters, and query the pre-constructed mapping relationship table between cable usage time and score compensation coefficients according to the corresponding cumulative usage time of the charging cable to obtain the first allocation score compensation coefficient and the second allocation score compensation coefficient, and then calculate the charging allocation score based on the preliminary allocation score, the first allocation score compensation coefficient and the first allocation score compensation coefficient.

5. The tower bolt robot charging power matching method according to claim 3, characterized in that: The charging cable parameters include charging cable length, charging cable material, and charging cable cross-sectional area.

6. The tower bolt robot charging power matching method according to claim 3, characterized in that: Step S41 includes: S411. When the sum of all the first target charging powers is greater than the maximum total charging power, obtain a task completion degree, a preset task priority, and a task remaining time according to the task identifier; Step S421 includes: C1. For each of the tower bolt robots to be charged, query the pre-constructed mapping relationship table of priority, remaining time and allocation score according to the task priority and the remaining time of the task to obtain the corresponding original allocation score, and query the pre-constructed mapping relationship table of completion degree and score compensation coefficient according to the task completion degree to obtain the third allocation score compensation coefficient, and then calculate the preliminary allocation score according to the original allocation score and the third allocation score compensation coefficient.

7. The tower bolt robot charging power matching method according to claim 1, characterized in that: The tower bolt robot charging power matching method further comprises the steps of: S5. For each of the tower bolt robots to be charged, obtain actual battery parameters, and when the actual battery parameters reach preset battery parameters, control the tower bolt robot to be charged to charge according to a preset charging power, and the preset charging power is less than the first target charging power and the second target charging power.

8. The tower bolt robot charging power matching method according to claim 7, characterized in that: The actual battery parameters include actual battery temperature, actual battery current and actual battery voltage, and the preset battery parameters include preset battery temperature, preset battery current and preset battery voltage.

9. The tower bolt robot charging power matching method according to claim 7, characterized in that: The preset battery parameters are determined based on ambient temperature and ambient humidity.

10. A tower bolt robot charging power matching system for distributing charging power to multiple tower bolt robots, characterized in that: The tower bolt robot charging power matching system includes the following steps: An information acquisition module is used to obtain the maximum total charging power and the charging requirements of each tower bolt robot to be charged, wherein the charging requirements include a battery health score and a task identifier; a first target charging power acquisition module configured to query a pre-built mapping table of battery health scores and charging powers for each of the tower bolt robots to be charged according to the corresponding battery health scores, so as to determine a first target charging power; a first charging control module, configured to control the tower bolt robot to be charged to charge according to its corresponding first target charging power when the sum of all the first target charging powers is less than or equal to the maximum total charging power; The second charging control module is used to obtain the preset task priority and task remaining time according to the task identifier when the sum of all the first target charging powers is greater than the maximum total charging power, and then determine the second target charging power corresponding to each tower bolt robot to be charged according to all the task priorities and all the task remaining times on the premise that the sum of the charging powers of all the tower bolt robots to be charged is less than or equal to the maximum total charging power, and control the tower bolt robots to be charged to charge according to their corresponding second target charging powers.

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