A method and system for matching charging power for tower bolt robots

Abstract

This application relates to the field of charging power allocation technology, specifically providing a method and system for matching charging power to tower bolt robots. The method includes the following steps: obtaining the maximum total charging power and the charging requirements of each tower bolt robot to be charged; determining a first target charging power based on battery health scores; controlling the tower bolt robots to be charged to charge according to the first target charging power when the sum of all first target charging powers is less than or equal to the maximum total charging power; and determining a second target charging power for each tower bolt robot to be charged based on the priorities of all tasks and the remaining time of all tasks when the sum of all first target charging powers is greater than the maximum total charging power, and controlling the tower bolt robots to be charged to charge according to the second target charging power. This method can dynamically adjust the charging power allocation strategy based on the maximum charging power and the charging requirements of all tower bolt robots to be charged.

Description

Technical Field

[0001] This application relates to the field of charging power distribution technology, and more specifically, to a method and system for matching charging power for a tower bolt robot. Background Technology

[0002] Tower bolt robots are automated devices that perform critical tasks such as bolt tightening, inspection, and maintenance inside towers (e.g., wind turbine towers). These robots can operate independently within the tower's interior and are powered by an internal rechargeable battery unit. To ensure continuous and stable operation, the tower bolt robot must return to a pre-set charging unit inside the tower for recharging after completing its task or when its battery level falls below a preset minimum.

[0003] To improve overall operational efficiency and shorten construction time, existing technologies typically deploy multiple tower bolting robots inside the tower to collaboratively perform different tasks. However, deploying multiple tower bolting robots may result in situations where several robots need to be recharged simultaneously. Since the total charging power of the tower has a physical limit, when multiple tower bolting robots are recharging at the same time, they will compete for this limited total charging power. Existing methods for allocating charging power to each tower bolting robot typically assign a fixed charging power to each robot. This approach may be suitable when a single robot is charging or when the total charging power is sufficient, but its limitations become very apparent in complex scenarios where multiple tower bolting robots are charging simultaneously and the total charging power is limited.

[0004] Specifically, existing technologies struggle to effectively address the following challenges:

[0005] First, when multiple tower bolt robots are charging simultaneously and the sum of all charging power exceeds the upper limit of 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 some tower bolt robots have low charging efficiency because they cannot effectively coordinate the charging power of multiple tower bolt robots.

[0006] Secondly, different tasks performed by tower bolting robots may have different levels of urgency or completion time requirements, which means that the corresponding robots' power replenishment needs have different priorities. Robots for high-priority tasks need to be charged as soon as possible to restore their working capabilities. However, existing tower bolting robot charging power allocation methods cannot dynamically adjust the charging speed according to task priority. Therefore, existing technologies still have the problem of high-priority tasks not being completed in a timely manner due to the inability to dynamically adjust the charging speed according to task priority.

[0007] In summary, existing technologies, under the condition of limited charging power supply inside the tower, cannot effectively solve the problems of power competition when multiple robots are charging simultaneously and the differences in charging needs under different task priorities. This deficiency seriously affects the power replenishment efficiency of the tower bolting robot and limits the overall operational efficiency and continuity of the robot. Therefore, there is an urgent need for a method that can dynamically and intelligently manage and allocate the charging power of multiple robots to maximize overall charging efficiency and robot operation continuity.

[0008] Currently, there is no effective technical solution to the above-mentioned problems. It should be noted that the information disclosed in this section is only for understanding the background of the present invention and therefore may include information that does not constitute prior art. Summary of the Invention

[0009] The purpose of this application is to provide a charging power matching method and system for tower bolt robots, which can effectively avoid situations 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, resulting in low charging efficiency of some tower bolt robots, and high-priority tasks cannot be completed in time due to the inability to dynamically adjust the charging speed according to task priority. This effectively improves the overall operating efficiency and continuity of the robot, thereby maximizing the overall charging efficiency and robot operation continuity.

[0010] In a first aspect, this application provides a method for matching the charging power of a tower bolting robot, used to allocate charging power among multiple tower bolting robots. The method for matching the charging power of a tower bolting robot includes the following steps:

[0011] S1. Obtain the maximum total charging power and the charging requirements of each tower bolt robot to be charged. The charging requirements include battery health score and task identifier.

[0012] S2. For each tower bolt robot to be charged, query the pre-built mapping table of battery health score and charging power according to the corresponding battery health score to determine the first target charging power;

[0013] 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.

[0014] S4. When the sum of all first target charging powers is greater than the maximum total charging power, obtain the preset task priority and remaining task time according to the task identifier. Then, under the premise that the sum of the charging power of all tower bolt robots to be charged is less than or equal to the maximum total charging power, determine the second target charging power corresponding to each tower bolt robot to be charged according to all task priorities and all task remaining time, and control the tower bolt robots to be charged to charge according to their corresponding second target charging power.

[0015] This application provides a charging power matching method for tower bolt robots, which can dynamically adjust the charging power allocation strategy according to the maximum charging power and the charging needs of all tower bolt robots to be charged. Therefore, this application can effectively avoid situations where some tower bolt robots cannot obtain sufficient charging power, some tower bolt robots have low charging efficiency, and high-priority tasks cannot be completed in time due to the inability to dynamically adjust the charging speed according to task priority when multiple tower bolt robots are charging at the same time and the sum of all charging power exceeds the upper limit of total charging power. This effectively improves the overall operating efficiency and continuity of the robot, so as to maximize the overall charging efficiency and robot operation continuity.

[0016] Optionally, step S4 includes:

[0017] S41. When the sum of all first target charging powers is greater than the maximum total charging power, obtain the preset task priority and remaining task time according to the task identifier.

[0018] S42. For each tower bolt robot to be charged, query the pre-built mapping table of priority, remaining time and allocation score according to the task priority and remaining time to obtain the corresponding charging allocation score.

[0019] S43. Normalize all charging allocation scores to determine the charging power allocation weight for each tower bolt robot to be charged.

[0020] S44. For each tower bolt robot to be charged, calculate the second target charging power based on the maximum total charging power and the corresponding charging power allocation weight, and control the tower bolt robot to be charged to charge according to its corresponding second target charging power.

[0021] Optionally, each tower bolt robot to be charged corresponds to one charging unit, and all charging units are electrically connected to the charging station via charging cables. Step S2 includes:

[0022] S21. For each tower bolt robot to be charged, query the pre-built mapping table of battery health score and charging power according to the corresponding battery health score to determine the initial charging power.

[0023] S22. For each tower bolt robot to be charged, obtain the preset charging cable parameters according to its corresponding charging unit, query the pre-built mapping relationship table of cable parameters and power compensation coefficient according to the charging cable parameters to obtain the first charging power compensation coefficient, and then calculate the first target charging power according to the initial charging power and the first charging power compensation coefficient.

[0024] Step S42 includes:

[0025] S421. For each tower bolt robot to be charged, query the pre-built mapping table of priority, remaining time and allocation score according to the task priority and remaining time to obtain the corresponding preliminary allocation score.

[0026] S422. For each tower bolt robot to be charged, query the pre-built mapping table of cable parameters and scoring compensation coefficients according to the corresponding charging cable parameters to obtain the first allocation scoring compensation coefficient, and then calculate the charging allocation score based on the preliminary allocation score and the first allocation scoring compensation coefficient.

[0027] Optionally, step S22 includes:

[0028] S221. For each tower bolt robot to be charged, the cumulative usage time of the charging cable and the preset charging cable parameters are obtained according to the corresponding charging unit. The mapping relationship table between the cable parameters and the power compensation coefficient is pre-built according to the charging cable parameters and the mapping relationship table between the cable usage time and the power compensation coefficient is pre-built according to the cumulative usage time of the charging cable to obtain the first charging power compensation coefficient and the second charging power compensation coefficient. Then, the first target charging power is calculated according to the initial charging power, the first charging power compensation coefficient and the second charging power compensation coefficient.

[0029] Step S422 includes:

[0030] A1. For each tower bolt robot to be charged, query the pre-built mapping table of cable parameters and scoring compensation coefficients based on the corresponding charging cable parameters and the pre-built mapping table of cable usage time and scoring compensation coefficients based on the corresponding cumulative usage time of the charging cable to obtain the first allocation scoring compensation coefficient and the second allocation scoring compensation coefficient. Then, calculate the charging allocation score based on the preliminary allocation score, the first allocation scoring compensation coefficient and the first allocation scoring compensation coefficient.

[0031] Optionally, since different charging units are located at different heights, step S221 includes:

[0032] B1. For each tower bolt robot to be charged, obtain the cumulative usage time of the charging cable and the preset charging cable parameters according to the corresponding charging unit. Then, query the pre-built mapping table of cable parameters and power compensation coefficients according to the charging cable parameters and the pre-built mapping table of cable usage time and power compensation coefficients according to the cumulative usage time of the charging cable to obtain the first charging power compensation coefficient and the second charging power compensation coefficient.

[0033] B2. For each tower bolt robot to be charged, calculate the height difference between its corresponding charging unit and the charging station, and query the pre-built mapping table of height difference and power compensation coefficient according to the height difference to obtain the first cable tension compensation coefficient. Then, calculate the first target charging power according to the initial charging power, the first charging power compensation coefficient, the second charging power compensation coefficient and the first cable tension compensation coefficient.

[0034] Step A1 includes:

[0035] A11. For each tower bolt robot to be charged, query the pre-built mapping table of cable parameters and scoring compensation coefficients according to the corresponding charging cable parameters and query the pre-built mapping table of cable usage time and scoring compensation coefficients according to the corresponding cumulative usage time of the charging cable to obtain the first allocation scoring compensation coefficient and the second allocation scoring compensation coefficient.

[0036] A12. For each tower bolt robot to be charged, query the pre-built mapping table of height difference and scoring compensation coefficient according to the corresponding height difference to obtain the second cable tension compensation coefficient. 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 tension compensation coefficient.

[0037] Optionally, the charging cable parameters include the charging cable length, charging cable material, and charging cable cross-sectional area.

[0038] Optionally, step S41 includes:

[0039] S411. When the sum of all first target charging powers is greater than the maximum total charging power, obtain the task completion rate, preset task priority and remaining task time according to the task identifier.

[0040] Step S421 includes:

[0041] C1. For each tower bolt robot to be charged, query the pre-built mapping table of priority, remaining time and allocation score according to the task priority and remaining time to obtain the corresponding original allocation score, and query the pre-built mapping table of completion and score compensation coefficient according to the task completion to obtain the third allocation score compensation coefficient. Then, calculate the preliminary allocation score based on the original allocation score and the third allocation score compensation coefficient.

[0042] Optionally, the tower bolt robot charging power matching method further includes the following steps:

[0043] S5. For each tower bolt robot to be charged, obtain the actual battery parameters, and when the actual battery parameters reach the preset battery parameters, control the tower bolt robot to be charged to charge according to the preset charging power, which is less than the first target charging power and the second target charging power.

[0044] Optionally, the actual battery parameters include the actual battery temperature, actual battery current, and actual battery voltage, while the preset battery parameters include the preset battery temperature, preset battery current, and preset battery voltage.

[0045] Optionally, the preset battery parameters are determined based on ambient temperature and humidity.

[0046] Secondly, this application also provides a tower bolt robot charging power matching system for distributing charging power among multiple tower bolt robots. The tower bolt robot charging power matching system includes the following steps:

[0047] 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 battery health score and task identifier.

[0048] The first target charging power acquisition module is used to query a pre-built mapping table of battery health score and charging power for each tower bolt robot to be charged, based on the corresponding battery health score, in order to determine the first target charging power.

[0049] The first charging control module is used 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.

[0050] The second charging control module is used to obtain the preset task priority and remaining task time according to the task identifier when the sum of the first target charging power is greater than the maximum total charging power. Then, under the premise that the sum of the charging power 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 the priority of all tasks and the remaining time of all tasks, and the tower bolt robots to be charged are controlled to charge according to their corresponding second target charging power.

[0051] This application provides a charging power matching system for tower bolt robots, which can dynamically adjust the charging power allocation strategy according to the maximum charging power and the charging needs of all tower bolt robots to be charged. Therefore, this application can effectively avoid situations where some tower bolt robots cannot obtain sufficient charging power, some tower bolt robots have low charging efficiency, and high-priority tasks cannot be completed in time due to the inability to dynamically adjust the charging speed according to task priority when multiple tower bolt robots are charging at the same time and the sum of all charging power exceeds the upper limit of total charging power. This effectively improves the overall operating efficiency and continuity of the robot, so as to maximize the overall charging efficiency and robot operation continuity.

[0052] As can be seen from the above, the charging power matching method and system for tower bolt robots provided in this application can dynamically adjust the charging power allocation strategy according to the maximum charging power and the charging needs of all tower bolt robots to be charged. Therefore, this application can effectively avoid situations where some tower bolt robots cannot obtain sufficient charging power, some tower bolt robots have low charging efficiency, and high-priority tasks cannot be completed in time due to the inability to effectively coordinate the charging power of multiple tower bolt robots when multiple tower bolt robots are charging at the same time and the sum of all charging power exceeds the upper limit of total charging power. This effectively improves the overall operating efficiency and continuity of the robot, so as to maximize the overall charging efficiency and robot operation continuity. Attached Figure Description

[0053] Figure 1 A flowchart illustrating a power matching method for charging a tower bolt robot, provided in an embodiment of this application.

[0054] Figure 2 This is a schematic diagram of a tower bolt robot charging power matching system provided in an embodiment of this application.

[0055] Reference numerals in the attached figures: 1. Information acquisition module; 2. First target charging power acquisition module; 3. First charging control module; 4. Second charging control module. Detailed Implementation

[0056] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of the embodiments. The components of the embodiments of this application described and shown in the accompanying drawings can generally be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of this application provided in the accompanying drawings is not intended to limit the scope of the claimed application, but merely represents selected embodiments of this application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without inventive effort are within the scope of protection of this application.

[0057] It should be noted that similar reference numerals and letters in the following figures indicate similar items; therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures. Furthermore, in the description of this application, terms such as "first," "second," etc., are used only to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0058] Firstly, such as Figure 1 As shown, this application provides a method for matching the charging power of a tower bolt robot.

[0059] This application provides a charging power matching method for tower bolt robots, used to distribute charging power among multiple tower bolt robots. The tower bolt robot charging power matching method includes the following steps:

[0060] S1. Obtain the maximum total charging power and the charging requirements of each tower bolt robot to be charged. The charging requirements include battery health score and task identifier.

[0061] S2. For each tower bolt robot to be charged, query the pre-built mapping table of battery health score and charging power according to the corresponding battery health score to determine the first target charging power;

[0062] 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.

[0063] S4. When the sum of all first target charging powers is greater than the maximum total charging power, obtain the preset task priority and remaining task time according to the task identifier. Then, under the premise that the sum of the charging power of all tower bolt robots to be charged is less than or equal to the maximum total charging power, determine the second target charging power corresponding to each tower bolt robot to be charged according to all task priorities and all task remaining time, and control the tower bolt robots to be charged to charge according to their corresponding second target charging power.

[0064] The maximum total charging power in step S1 can be provided by the tower charging station system, which 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 (the tower bolt robot that needs to be charged or the tower bolt robot that is being charged) or the tower bolt robot management system (an existing system for managing tower bolt robots). The 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, the battery health score 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 performing or about to perform.

[0065] For each tower bolt robot to be charged, step S2 determines the first target charging power by querying a pre-built mapping table of battery health scores and charging power based on the corresponding battery health score. This mapping table stores the suggested 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 robot to be charged.

[0066] After obtaining the first target charging power, this application first sums the first target charging power 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 needs 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., execute 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 needs of all tower bolt robots to be charged. At this time, it is necessary to first obtain the preset task priority and remaining task time according to the task identifier of each tower bolt robot to be charged. Then, under the premise that the total charging power obtained by all tower bolt robots to be charged does not exceed the maximum total charging power, the task priority and remaining task time of all tower bolt robots to be charged are comprehensively considered to determine the actual charging power (second target charging power) that each tower bolt robot to be charged should obtain. Finally, the tower bolt robots to be charged are controlled to charge according to their corresponding second target charging power. Specifically, in this embodiment, the task priority and remaining task time preferably exist in a pre-built mapping table of task identifier, task priority, and remaining task time. That is, this embodiment can obtain the task priority and remaining task time by querying the mapping table according to the task identifier. The task priority reflects the importance or urgency of the task currently being executed or about to be executed by the tower bolt robot to be charged. The remaining task time can be the remaining execution time of the task currently being executed 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 executed by the tower bolt robot to be charged. The difference between the time node and the current time node, since the sum of all first target charging powers is greater than the maximum total charging power, this embodiment can prioritize the charging power to the tower bolt robots with high task priority or short remaining time when the charging power provided by the tower charging station system cannot meet the ideal charging needs of all tower bolt robots to be charged, by introducing task priority and remaining time as the allocation basis. This ensures that critical tasks can be completed in a timely manner, thereby effectively avoiding the situation where high priority or short remaining time tasks cannot be completed in a timely manner due to multiple tower bolt robots 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 needs 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. However, when the charging power provided by the tower charging station system cannot meet the ideal charging needs 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 the priority of all tasks and the remaining time of all tasks, provided that the sum of the charging power of all tower bolt robots to be charged is less than or equal to the maximum total charging power. It then 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 based on the maximum charging power and the charging needs of all tower bolt robots to be charged.

[0067] Specifically, taking a tower charging station system with a maximum total charging power of 10kW and three tower bolt robots R1, R2, and R3 to be charged as an example, step S1 obtains the maximum total charging power of 10kW. The charging requirement of tower bolt robot R1 is a battery health score of 85, task identifier T_A; the charging requirement of tower bolt robot R2 is a battery health score of 70, task identifier T_B; and the charging requirement of tower bolt robot R3 is a battery health score of 90, task identifier T_C. The pre-constructed mapping table between battery health score and charging power is as follows: when the battery health score is greater than or equal to 90, the charging power is 5kW; when the battery health score is less than 90 but greater than or equal to 75, the charging power is 4kW; and when the battery health score is less than or equal to 70, the charging power is 3kW. 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 tower bolt robot R2 to be charged is 3kW, and the first target charging power of tower bolt robot R3 to be charged is 5kW. Since the sum of all the first target charging powers is 4kW + 3kW + 5kW = The charging power is 12kW, which is greater than the maximum total charging power of 10kW. Therefore, step S4 needs to be executed. At this time, the preset task priority and remaining task time are obtained according to the task identifier. For example, task T_A has a high priority and a remaining task time of 2 hours; task T_B has a medium priority and a remaining task time of 4 hours; and task T_C has a high priority and a remaining task time of 1 hour. Then, under the premise that the sum of the charging power 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 the priority of all tasks and the remaining time of all tasks. For example, the second target charging power of tower bolt robot R1 is 4.5kW, the second target charging power of tower bolt robot R2 is 2kW, and the second target charging power of tower bolt robot R3 is 3.5kW. Finally, tower bolt robot R1 is controlled to charge at 4.5kW, tower bolt robot R2 at 2kW, and tower bolt robot R3 at 3.5kW.

[0068] This application provides a charging power matching method for tower bolt robots, which can dynamically adjust the charging power allocation strategy according to the maximum charging power and the charging needs of all tower bolt robots to be charged. Therefore, this application can effectively avoid situations where some tower bolt robots cannot obtain sufficient charging power, some tower bolt robots have low charging efficiency, and high-priority tasks cannot be completed in time due to the inability to dynamically adjust the charging speed according to task priority when multiple tower bolt robots are charging at the same time and the sum of all charging power exceeds the upper limit of total charging power. This effectively improves the overall operating efficiency and continuity of the robot, so as to maximize the overall charging efficiency and robot operation continuity.

[0069] In some preferred embodiments, step S4 includes:

[0070] S41. When the sum of all first target charging powers is greater than the maximum total charging power, obtain the preset task priority and remaining task time according to the task identifier.

[0071] S42. For each tower bolt robot to be charged, query the pre-built mapping table of priority, remaining time and allocation score according to the task priority and remaining time to obtain the corresponding charging allocation score.

[0072] S43. Normalize all charging allocation scores to determine the charging power allocation weight for each tower bolt robot to be charged.

[0073] S44. For each tower bolt robot to be charged, calculate the second target charging power based on the maximum total charging power and the corresponding charging power allocation weight, and control the tower bolt robot to be charged to charge according to its corresponding second target charging power.

[0074] For each tower bolt robot to be charged, step S42 obtains the corresponding charging allocation score by querying a pre-built mapping table of priority, remaining time, and allocation score based on task priority and remaining time. This mapping table stores the allocation scores corresponding to different task priorities and remaining times. In other words, this embodiment is equivalent to transforming the abstract task priority and remaining time into a quantified value (charging allocation score). The normalization process in step S43 determines the charging power allocation weight by converting the charging allocation score into a proportional value. This charging power allocation weight reflects the proportion that each tower bolt robot to be charged should account for in the total charging power. It should be understood that since the normalization process can determine 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 weight, this embodiment can ensure that the sum of all second target charging powers does not exceed the maximum total charging power. Thus, under the premise that the sum of the charging power 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 based on all task priorities and all remaining time. Preferably, to avoid a situation where the second target charging power of the tower bolt robot being charged is greater than the ideal value of the charging power it can receive under actual battery health conditions due to the task priority of the tower bolt robot being too high and / or the remaining task time being too short, this embodiment needs to ensure that the final second target charging power is 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.

[0075] In some preferred embodiments, each tower bolt robot to be charged corresponds to one charging unit, and all charging units are electrically connected to the charging station via charging cables. Step S2 includes:

[0076] S21. For each tower bolt robot to be charged, query the pre-built mapping table of battery health score and charging power according to the corresponding battery health score to determine the initial charging power;

[0077] S22. For each tower bolt robot to be charged, obtain the preset charging cable parameters according to its corresponding charging unit, query the pre-built mapping relationship table of cable parameters and power compensation coefficient according to the charging cable parameters to obtain the first charging power compensation coefficient, and then calculate the first target charging power according to the initial charging power and the first charging power compensation coefficient.

[0078] Step S42 includes:

[0079] S421. For each tower bolt robot to be charged, query the pre-built mapping table of priority, remaining time and allocation score according to the task priority and remaining time to obtain the corresponding preliminary allocation score.

[0080] S422. For each tower bolt robot to be charged, query the pre-built mapping table of cable parameters and scoring compensation coefficients according to the corresponding charging cable parameters to obtain the first allocation scoring compensation coefficient, and then calculate the charging allocation score based on the preliminary allocation score and the first allocation scoring compensation coefficient.

[0081] Since the charging cables used to connect the charging units and the charging stations are pre-produced and pre-arranged, 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 of cable parameters and power compensation coefficients in this embodiment stores the charging power compensation coefficients corresponding to different charging cable parameters. The working principle of steps S21 and S22 is as follows: There is transmission loss in the charging cable, and the magnitude of the transmission loss is related to the parameters of the charging cable. 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 the first charging power compensation coefficient based on the charging cable parameters, and finally determines the first target charging power (preferably the product of the initial power supply and the first charging power compensation coefficient) by compensating the initial power supply based on the first charging power compensation coefficient. Therefore, this embodiment is equivalent to considering the influence of the transmission loss of the charging cable when determining the first target charging power, so that the actual charging power received by the tower bolt robot to be charged when charging with the first target charging power is closer to the ideal value of the charging power it can receive, thereby effectively improving the charging efficiency of the tower bolt robot to be charged. In this embodiment, the preferred charging allocation score is the product of the initial 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.

[0082] In some preferred embodiments, step S22 includes:

[0083] S221. For each tower bolt robot to be charged, the cumulative usage time of the charging cable and the preset charging cable parameters are obtained according to the corresponding charging unit. The mapping relationship table between the cable parameters and the power compensation coefficient is pre-built according to the charging cable parameters and the mapping relationship table between the cable usage time and the power compensation coefficient is pre-built according to the cumulative usage time of the charging cable to obtain the first charging power compensation coefficient and the second charging power compensation coefficient. Then, the first target charging power is calculated according to the initial charging power, the first charging power compensation coefficient and the second charging power compensation coefficient.

[0084] Step S422 includes:

[0085] A1. For each tower bolt robot to be charged, query the pre-built mapping table of cable parameters and scoring compensation coefficients based on the corresponding charging cable parameters and the pre-built mapping table of cable usage time and scoring compensation coefficients based on the corresponding cumulative usage time of the charging cable to obtain the first allocation scoring compensation coefficient and the second allocation scoring compensation coefficient. Then, calculate the charging allocation score based on the preliminary allocation score, the first allocation scoring compensation coefficient and the first allocation scoring compensation coefficient.

[0086] This embodiment utilizes a timer to measure the cumulative usage time of the charging cable. Specifically, the timer starts when the charging unit begins charging the robot to be charged (the tower bolt robot) and stops when the charging unit stops charging. The mapping table between cable usage time and power compensation coefficient 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 initial 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 initial allocation score, the first allocation score compensation coefficient, and the second allocation score compensation coefficient. Since the performance of charging cables changes with the increase of cumulative usage time (typically, the performance of charging cables degrades with the increase of cumulative usage time), compensation for charging power and allocation scores based solely on charging cable parameters may not accurately reflect the impact of actual cable losses on charging power and allocation scores. This embodiment can compensate for the first target charging power using a second charging power compensation coefficient determined based on the cumulative usage time of the charging cable. Furthermore, this embodiment can also compensate for the charging allocation score based on a second allocation score compensation coefficient determined based on the cumulative usage time of the charging cable. Therefore, this embodiment is equivalent to considering the inherent losses of the charging cable (transmission losses caused by the charging cable's own parameters) and usage losses (transmission losses caused by the increase in the cumulative usage time 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 closer to the actual situation, thereby enabling more reasonable and effective power allocation when the charging power provided by the tower charging station system cannot meet the ideal charging needs of all tower bolt robots to be charged, and further improving the overall charging efficiency and robot operation continuity.

[0087] In some preferred embodiments, the different charging units are at different heights, and step S221 includes:

[0088] B1. For each tower bolt robot to be charged, obtain the cumulative usage time of the charging cable and the preset charging cable parameters according to the corresponding charging unit. Then, query the pre-built mapping table of cable parameters and power compensation coefficients according to the charging cable parameters and the pre-built mapping table of cable usage time and power compensation coefficients according to the cumulative usage time of the charging cable to obtain the first charging power compensation coefficient and the second charging power compensation coefficient.

[0089] B2. For each tower bolt robot to be charged, calculate the height difference between its corresponding charging unit and the charging station, and query the pre-built mapping table of height difference and power compensation coefficient according to the height difference to obtain the first cable tension compensation coefficient. Then, calculate the first target charging power according to the initial charging power, the first charging power compensation coefficient, the second charging power compensation coefficient and the first cable tension compensation coefficient.

[0090] Step A1 includes:

[0091] A11. For each tower bolt robot to be charged, query the pre-built mapping table of cable parameters and scoring compensation coefficients according to the corresponding charging cable parameters and query the pre-built mapping table of cable usage time and scoring compensation coefficients according to the corresponding cumulative usage time of the charging cable to obtain the first allocation scoring compensation coefficient and the second allocation scoring compensation coefficient.

[0092] A12. For each tower bolt robot to be charged, query the pre-built mapping table of height difference and scoring compensation coefficient according to the corresponding height difference to obtain the second cable tension compensation coefficient. 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 tension compensation coefficient.

[0093] Since the working heights of different tower bolting robots typically vary, existing technologies usually install charging units at different heights on the tower to reduce the distance between the tower bolting robot and the working position, thereby reducing the energy required for the tower bolting robot to move to the working position. This embodiment obtains the height difference by calculating the difference between the installation height (preset value) of the charging unit and the installation height (preset value) of the charging station. The mapping table between height difference and power compensation coefficient in this embodiment stores the power compensation coefficient corresponding to different height differences. This power compensation coefficient reflects the impact of cable tension or stress changes caused by the height difference on charging power transmission and charging connection stability. The mapping table between height difference and scoring compensation coefficient in this embodiment also stores the scoring compensation coefficient corresponding to different height differences. Since the scoring compensation coefficient is used to calculate the charging allocation score, and this embodiment determines the second target charging power based on the charging allocation score, this scoring compensation coefficient also reflects the impact of cable tension or stress changes caused by the height difference on charging power transmission and charging connection stability. Since the height difference between the charging unit and the charging station affects the stretching and stress of the charging cable, and the stretching and stress of the charging cable affect the power transmission and charging connection stability of the charging cable, this embodiment can take into account the influence of the height difference between the charging unit and the charging station when calculating the first target charging power and the charging allocation score. Therefore, this embodiment can further improve the calculation accuracy of the first target charging power and the charging allocation score, so as to optimize the charging power matching process of the tower bolt robot.

[0094] In some preferred embodiments, the charging cable parameters include the charging cable length, charging cable material, and charging cable cross-sectional area. Specifically, the charging cable length affects the charging cable resistance; all other things being equal, a longer charging cable results in a higher resistance. The charging cable material affects the charging cable resistivity; different charging cable materials may have different resistivities. The charging cable cross-sectional area affects the charging cable resistance; all other things being equal, a larger cross-sectional area results in a lower resistance.

[0095] In some preferred embodiments, step S41 includes:

[0096] S411. When the sum of all first target charging powers is greater than the maximum total charging power, obtain the task completion rate, preset task priority and remaining task time according to the task identifier.

[0097] Step S421 includes:

[0098] C1. For each tower bolt robot to be charged, query the pre-built mapping table of priority, remaining time and allocation score according to the task priority and remaining time to obtain the corresponding original allocation score, and query the pre-built mapping table of completion and score compensation coefficient according to the task completion to obtain the third allocation score compensation coefficient. Then, calculate the preliminary allocation score based on the original allocation score and the third allocation score compensation coefficient.

[0099] This embodiment can obtain the task completion rate from the tower bolt robot management system. This task completion rate reflects the progress of the tower bolt robot currently executing a task. Preferably, if there is no task being executed by any tower bolt robot, this embodiment does not obtain the task completion rate and the third allocation score compensation coefficient. That is, when there is no task being executed by any tower bolt robot, this embodiment uses the original allocation score as the preliminary allocation score. The mapping table between completion rate and score compensation coefficient in this embodiment stores the score compensation coefficients corresponding to different task completion rates. Preferably, in this mapping table, task completion rate and score compensation coefficient are negatively correlated. That is, this embodiment is equivalent to increasing the preliminary allocation score of tasks with lower completion rates and decreasing the preliminary allocation score of tasks with higher completion rates. Therefore, this embodiment can allocate more charging power to tasks with low completion rates, high priority, or short remaining time when the charging power provided by the tower charging station system cannot meet the ideal charging needs of all tower bolt robots, thereby improving the overall task completion efficiency.

[0100] In some preferred embodiments, the tower bolt robot charging power matching method further includes the step of:

[0101] S5. For each tower bolt robot to be charged, obtain the actual battery parameters, and when the actual battery parameters reach the preset battery parameters, control the tower bolt robot to be charged to charge according to the preset charging power, which is less than the first target charging power and the second target charging power.

[0102] This embodiment can utilize existing battery parameter acquisition technology (such as existing sensors integrated into the battery management system of the tower bolt robot) to obtain the actual battery parameters. The preset battery parameters in this embodiment can be values ​​determined by those skilled in the art based on experience or actual needs. If the actual battery parameters reach the preset battery parameters, it indicates that the battery state is abnormal. At this time, the tower bolt robot to be charged needs to be charged at a lower charging power (a preset charging power less than 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.

[0103] In some preferred embodiments, the actual battery parameters include the actual battery temperature, actual battery current, and actual battery voltage, while the preset battery parameters include the preset battery temperature, preset battery current, and preset battery voltage. Specifically, when at least one of the three conditions—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 according to the preset charging power. Therefore, this embodiment can effectively avoid battery overheating, overcurrent, or overvoltage during the charging process of the tower bolt robot, thereby effectively extending the battery life of the tower bolt robot.

[0104] In some preferred embodiments, preset battery parameters are determined based on ambient temperature and humidity. This embodiment determines 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 existing humidity sensors to obtain the ambient humidity. Since this embodiment is equivalent to dynamically adjusting the preset battery parameters based on ambient temperature and humidity, it enables the battery protection mechanism to better adapt to different environmental conditions, thereby effectively improving charging safety and helping to maintain the battery's health. Preferably, when all charging units are installed at the same height, this embodiment determines the preset battery parameters corresponding to all charging units based on the same ambient temperature and humidity. When different charging units are installed at different heights, this embodiment acquires the temperature and humidity of the environment where each charging unit is located, and then determines the preset battery parameters corresponding to each charging unit based on the ambient temperature and humidity corresponding to each charging unit. That is, when different charging units are installed at different heights, this embodiment may determine the preset battery parameters corresponding to each charging unit based on different ambient temperatures and humidity to avoid the situation where the preset battery parameters determined based on the same ambient temperature and humidity cannot meet the safety requirements of charging units at different installation heights due to uneven temperature or humidity distribution inside the tower.

[0105] As can be seen from the above, the charging power matching method for tower bolt robots provided in this application can dynamically adjust the charging power allocation strategy according to the maximum charging power and the charging needs of all tower bolt robots to be charged. Therefore, this application can effectively avoid situations where some tower bolt robots cannot obtain sufficient charging power, some tower bolt robots have low charging efficiency, and high-priority tasks cannot be completed in time due to the inability to effectively coordinate the charging power of multiple tower bolt robots, when multiple tower bolt robots are charging at the same time and the sum of all charging power exceeds the upper limit of total charging power. This effectively improves the overall operating efficiency and continuity of the robot, so as to maximize the overall charging efficiency and robot operation continuity.

[0106] Secondly, such as Figure 2 As shown, this application also provides a tower bolt robot charging power matching system for distributing charging power among multiple tower bolt robots. The tower bolt robot charging power matching system includes the following steps:

[0107] Information acquisition module 1 is used to acquire the maximum total charging power and the charging requirements of each tower bolt robot to be charged. The charging requirements include battery health score and task identifier.

[0108] The first target charging power acquisition module 2 is used to query a pre-built mapping table of battery health score and charging power for each tower bolt robot to be charged, based on the corresponding battery health score, in order to determine the first target charging power.

[0109] The first charging control module 3 is used 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.

[0110] The second charging control module 4 is used to obtain the preset task priority and remaining task time according to the task identifier when the sum of the first target charging power is greater than the maximum total charging power. Then, under the premise that the sum of the charging power 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 the priority of all tasks and the remaining time of all tasks, and the tower bolt robots to be charged are controlled to charge according to their corresponding second target charging power.

[0111] The tower bolt robot charging power matching system provided in this 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.

[0112] As can be seen from the above, the charging power matching method and system for tower bolt robots provided in this application can dynamically adjust the charging power allocation strategy according to the maximum charging power and the charging needs of all tower bolt robots to be charged. Therefore, this application can effectively avoid situations where some tower bolt robots cannot obtain sufficient charging power, some tower bolt robots have low charging efficiency, and high-priority tasks cannot be completed in time due to the inability to effectively coordinate the charging power of multiple tower bolt robots when multiple tower bolt robots are charging at the same time and the sum of all charging power exceeds the upper limit of total charging power. This effectively improves the overall operating efficiency and continuity of the robot, so as to maximize the overall charging efficiency and robot operation continuity.

[0113] In the embodiments provided in this application, it should be understood that the disclosed apparatus and method can be implemented in other ways. The apparatus embodiments described above are merely illustrative. For example, the division of the above units is only a logical functional division, and there may be other division methods in actual implementation. Furthermore, multiple units or components may be combined or integrated into another robot, or some features may be ignored or not executed. Additionally, the coupling or direct coupling or communication connection shown or discussed may be through some communication interface; the indirect coupling or communication connection between devices or units may be electrical, mechanical, or other forms.

[0114] In addition, the functional modules in the various embodiments of this 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.

[0115] In this document, relational terms such as first and second are used only to distinguish one entity or operation from another entity or operation, without necessarily requiring or implying any such actual relationship or order between these entities or operations.

[0116] The above description is merely an embodiment of this application and is not intended to limit the scope of protection of this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of protection of this application.

Claims

1. A tower bolt robot charging power matching method for charging power distribution to a plurality of tower bolt robots, characterized by, The tower bolt robot charging power matching method comprises the following steps: S1, acquiring the maximum total charging power and the charging demand of each tower bolt robot to be charged, the charging demand comprising a battery health score and a task identifier; S2, for each tower bolt robot to be charged, querying a pre-constructed mapping relationship table about battery health score and charging power according to the corresponding battery health score 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, controlling the tower bolt robots to be charged to charge according to the corresponding first target charging power; S4, when the sum of all the first target charging powers is greater than the maximum total charging power, acquiring a preset task priority and a task remaining time according to the task identifier, and then determining a 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 controlling the tower bolt robots to be charged to charge according to the corresponding second target charging power; Step S4 comprises: S41, when the sum of all the first target charging powers is greater than the maximum total charging power, acquiring a preset task priority and a task remaining time according to the task identifier; S42, for each tower bolt robot to be charged, querying a pre-constructed mapping relationship table about priority, remaining time and allocation score according to the task priority and the task remaining time to obtain a corresponding charging allocation score; S43, normalizing all the charging allocation scores to determine a charging power allocation weight corresponding to each tower bolt robot to be charged; S44, for each tower bolt robot to be charged, calculating a second target charging power according to the maximum total charging power and the corresponding charging power allocation weight, and controlling the tower bolt robot to be charged to charge according to the corresponding second target charging power.

2. The tower bolting robot charging power matching method of claim 1, wherein, Each tower bolt robot to be charged corresponds to a charging unit, all the charging units are electrically connected with a charging station through a charging cable, and step S2 comprises: S21, for each tower bolt robot to be charged, querying a pre-constructed mapping relationship table about battery health score and charging power according to the corresponding battery health score to determine a preliminary charging power; S22, for each tower bolt robot to be charged, acquiring a preset charging cable parameter according to the corresponding charging unit, querying a pre-constructed mapping relationship table about cable parameter and power compensation coefficient according to the charging cable parameter to obtain a first charging power compensation coefficient, and then calculating a first target charging power according to the preliminary charging power and the first charging power compensation coefficient; Step S42 comprises: S421、for each of the tower bolt robots to be charged, querying a pre-constructed mapping relationship table about priority, remaining time and allocation score according to the task priority and the task remaining time to obtain a corresponding preliminary allocation score; S422、for each of the tower bolt robots to be charged, querying a pre-constructed mapping relationship table about cable parameters and score compensation coefficient according to the corresponding charging cable parameters to obtain a first allocation score compensation coefficient, and then calculating a charging allocation score according to the preliminary allocation score and the first allocation score compensation coefficient.

3. The tower bolting robot charging power matching method of claim 2, wherein, Step S22 includes: S221、for each of the tower bolt robots to be charged, obtaining charging cable cumulative use time and preset charging cable parameters according to the corresponding charging unit, and querying a pre-constructed mapping relationship table about cable parameters and power compensation coefficient according to the charging cable parameters and querying a pre-constructed mapping relationship table about cable use time and power compensation coefficient according to the charging cable cumulative use time to obtain a first charging power compensation coefficient and a second charging power compensation coefficient, and then calculating a first target charging power according to 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, querying a pre-constructed mapping relationship table about cable parameters and score compensation coefficient according to the corresponding charging cable parameters and querying a pre-constructed mapping relationship table about cable use time and score compensation coefficient according to the corresponding charging cable cumulative use time to obtain a first allocation score compensation coefficient and a second allocation score compensation coefficient, and then calculating a charging allocation score according to the preliminary allocation score, the first allocation score compensation coefficient and the second allocation score compensation coefficient.

4. The tower bolting robot charging power matching method of claim 2, wherein, The charging cable parameters include charging cable length, charging cable material and charging cable cross-sectional area.

5. The tower bolting robot charging power matching method according to claim 2, 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, obtaining task completion degree, preset task priority and task remaining time according to the task identifier; Step S421 includes: C1、for each of the tower bolt robots to be charged, querying a pre-constructed mapping relationship table about priority, remaining time and allocation score according to the task priority and the task remaining time to obtain a corresponding original allocation score, and querying a pre-constructed mapping relationship table about completion degree and score compensation coefficient according to the task completion degree to obtain a third allocation score compensation coefficient, and then calculating a preliminary allocation score according to the original allocation score and the third allocation score compensation coefficient.

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

7. The tower bolting robot charging power matching method of claim 6, wherein, The actual battery parameters include the actual battery temperature, actual battery current, and actual battery voltage, while the preset battery parameters include the preset battery temperature, preset battery current, and preset battery voltage.

8. The tower bolting robot charging power matching method of claim 7, wherein, The preset battery parameters are determined based on ambient temperature and humidity.

9. A charging power matching system for tower bolt robots, used for distributing charging power among multiple tower bolt robots, characterized in that, The tower bolt robot charging power matching system is used to perform the steps in the tower bolt robot charging power matching method as described in any one of claims 1-8, and the tower bolt robot charging power matching system includes: The information acquisition module is used to acquire the maximum total charging power and the charging requirements of each tower bolt robot to be charged. The charging requirements include battery health score and task identifier. The first target charging power acquisition module is used to query a pre-built mapping table of battery health score and charging power for each of the tower bolt robots to be charged, based on the corresponding battery health score, in order to determine the first target charging power. The first charging control module is used 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 a preset task priority and remaining task time according to the task identifier when the sum of the first target charging power of all the robots to be charged is greater than the maximum total charging power. Then, under the premise that the sum of the charging power of all the tower bolt robots to be charged is less than or equal to the maximum total charging power, the module determines the second target charging power corresponding to each tower bolt robot to be charged according to the task priority and the remaining task time of all the tasks, and controls the tower bolt robots to be charged to charge according to their corresponding second target charging power.

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