Robot power supply method and device, electronic equipment, computer readable storage medium and computer program product
By detecting information and adjusting strategies for multiple batteries in the robot, the problem of battery energy density limitation was solved, extending battery life and ensuring load power requirements were met.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-12-29
- Publication Date
- 2026-04-14
AI Technical Summary
The limited energy density of robot batteries results in insufficient working time when disconnected from a power source, and multiple battery power supply methods affect load power and battery life.
By detecting information from multiple batteries in the robot, the differences in battery capacity are determined, and the discharge and charging strategies are adjusted. Priority is given to using high-capacity batteries for power supply, and the discharge strategy of undischarged batteries is adjusted in real time to avoid excessive battery consumption.
It extends the lifespan of the robot's battery, ensures the load power requirements, avoids excessive battery consumption, and achieves balanced battery load.
Smart Images
Figure CN121863635A_ABST
Abstract
Description
Technical Field
[0001] This application relates to computer technology, and more particularly to a robot power supply method, apparatus, electronic device, computer-readable storage medium, and computer program product. Background Technology
[0002] Due to the limited energy density of the batteries carried by robots, the working time of robots without power often cannot meet the needs of business scenarios. In order to increase the working time of robots, robots often need to carry multiple batteries. The power supply method of multiple batteries will directly affect the robot's load power and the battery life. In order to meet the robot's load power, the power supply method in related technologies often reduces the battery life. Summary of the Invention
[0003] This application provides a robot power supply method, apparatus, electronic device, computer-readable storage medium, and computer program product, which can extend battery life while ensuring the robot's load power.
[0004] The technical solution of this application embodiment is implemented as follows: This application provides a robot power supply method, the method comprising: The robot performs a first information detection on a first battery to obtain first battery information of the first battery, wherein the first battery includes multiple sub-batteries; Based on the first battery information, determine the first charge difference between any two sub-batteries in the first battery, and based on the first charge difference, determine the discharge strategy of the first battery, and control the robot to execute the discharge strategy of the first battery. During the operation of the robot, the second information is detected on the second battery to obtain the second battery information. The second battery is a sub-battery that is discharging in the first battery. Based on the second battery information, the discharge strategy for the undischarged sub-batteries in the first battery is determined, and the robot is controlled to execute the discharge strategy for the undischarged sub-batteries.
[0005] This application provides a robot power supply device, including: The first detection module is used to perform first information detection on the first battery included in the robot to obtain the first battery information of the first battery, wherein the first battery includes multiple sub-batteries; The first determining module is used to determine the first charge difference between any two sub-batteries in the first battery based on the first battery information, and to determine the discharge strategy of the first battery based on the first charge difference, and to control the robot to execute the discharge strategy of the first battery. The second detection module is used to perform second information detection on the second battery during the operation of the robot, and obtain the second battery information of the second battery, wherein the second battery is a sub-battery that is discharging in the first battery; The second determining module is used to determine the discharge strategy of the undischarged sub-battery in the first battery based on the second battery information, and control the robot to execute the discharge strategy of the undischarged sub-battery.
[0006] In some embodiments, the first detection module is further configured to: when the voltage of the charging port exceeds a first voltage threshold during the operation of the robot, perform current detection on the load current and charging current of the robot; when the load current is less than the charging current, determine the current difference between the load current and the charging current; based on the current difference, charge the first battery included in the robot; and stop charging the first battery when the first battery is fully charged.
[0007] In some embodiments, the first detection module is further configured to perform power detection on the first battery when the voltage of the robot's charging port exceeds a first voltage threshold, and obtain the current power of the first battery; if the current power is not full, perform third information detection on the first battery to obtain third battery information of the first battery; based on the third battery information, determine the second power difference between any two sub-batteries in the first battery, and based on the second power difference, determine the charging strategy of the first battery.
[0008] In some embodiments, the first detection module is further configured to, based on the third battery information, determine a first charge value of the sub-battery with the lowest charge in the first battery; determine a second charge difference between the charge of each sub-battery in the first battery and the first charge value; determine a fourth battery, wherein the fourth battery is a sub-battery in the first battery whose second charge difference is less than a first charge threshold; and send a charging request to the fourth battery so that the fourth battery turns on the charging switch to charge based on the charging request.
[0009] In some embodiments, the first determining module is further configured to, based on the first battery information, determine a second charge value of the sub-battery with the highest charge in the first battery; determine a first charge difference between the charge of each sub-battery in the first battery and the second charge value; determine a fifth battery, wherein the fifth battery is a sub-battery in the first battery whose first charge difference is less than a second charge threshold; and send a first discharge request to the fifth battery so that the fifth battery opens a discharge switch to discharge based on the first discharge request.
[0010] In some embodiments, the second battery information includes the load voltage, undervoltage point, load current and current threshold of the second battery. The second determining module is further configured to send a second discharge request to the third battery when the load voltage of the second battery is less than the undervoltage point or the load current of the second battery is greater than the current threshold, so that the third battery opens the discharge switch to discharge based on the second discharge request.
[0011] This application provides an electronic device, the electronic device comprising: Memory is used to store executable instructions or computer programs. The processor, when executing computer-executable instructions or computer programs stored in the memory, implements the robot power supply method provided in the embodiments of this application.
[0012] This application provides a computer-readable storage medium storing a computer program or computer-executable instructions, which, when executed by a processor, implements the robot power supply method provided in this application.
[0013] This application provides a computer program product, including a computer program or computer executable instructions. When the computer program or computer executable instructions are executed by a processor, they implement the robot power supply method provided in this application.
[0014] The embodiments of this application have the following beneficial effects: This solution can accurately obtain the battery information of multiple batteries included in the robot by detecting information. Then, by determining the power difference between multiple batteries, the battery discharge strategy can be adjusted to avoid excessive consumption of low-power batteries, which could cause irreversible damage to the batteries and reduce their lifespan. During robot operation, battery information is continuously acquired, and the discharge strategy of undischarged batteries is adjusted to avoid excessive battery consumption and affect battery life. At the same time, balanced load is achieved among multiple batteries, ensuring the normal operation of the robot. Attached Figure Description
[0015] Figure 1This is a schematic diagram of the architecture of the robot power supply system 100 provided in an embodiment of this application; Figure 2 This is a schematic diagram of the structure of the electronic device 500 provided in the embodiments of this application; Figure 3A This is a first flowchart illustrating the robot power supply method provided in this application embodiment; Figure 3B This is a second flowchart illustrating the robot power supply method provided in the embodiments of this application; Figure 4 This is a schematic diagram of the battery connection of the robot provided in an embodiment of this application; Figure 5 This is a schematic diagram of battery communication for a robot provided in an embodiment of this application; Figure 6 This is a schematic diagram of the power supply process provided in an embodiment of this application; Figure 7 This is a schematic diagram of the charging process provided in an embodiment of this application; Figure 8 This is a schematic diagram of the battery swapping process provided in the embodiments of this application.
[0016] It should be noted that the terms "first" and "second" mentioned above are only used to distinguish between different options and do not represent the degree of superiority or inferiority of the options or their priority in the implementation process. Detailed Implementation
[0017] To make the objectives, technical solutions, and advantages of this application clearer, the application will be further described in detail below with reference to the accompanying drawings. The described embodiments should not be regarded as limitations on this application. All other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.
[0018] In the following description, references are made to “some embodiments,” which describe a subset of all possible embodiments. However, it is understood that “some embodiments” may be the same subset or different subsets of all possible embodiments and may be combined with each other without conflict.
[0019] In the following description, the terms "first, second, third" are used merely to distinguish similar objects and do not represent a specific ordering of objects. It is understood that "first, second, third" may be interchanged in a specific order or sequence where permitted, so that the embodiments of this application described herein can be implemented in an order other than that illustrated or described herein.
[0020] In the embodiments of this application, the terms "module" or "unit" refer to a computer program or part of a computer program that has a predetermined function and works with other related parts to achieve a predetermined goal, and can be implemented wholly or partially using software, hardware (such as processing circuitry or memory), or a combination thereof. Similarly, a processor (or multiple processors or memory) can be used to implement one or more modules or units. Furthermore, each module or unit can be part of an overall module or unit that includes the functionality of that module or unit.
[0021] Unless otherwise defined, all technical and scientific terms used in the embodiments of this application have the same meaning as commonly understood by one of ordinary skill in the art. The terminology used in the embodiments of this application is for the purpose of describing the embodiments of this application only and is not intended to limit this application.
[0022] In the implementation of this application, the collection and processing of relevant data should strictly comply with the requirements of relevant laws and regulations, obtain the informed consent or separate consent of the personal information subject, and carry out subsequent data use and processing within the scope of laws and regulations and the authorization of the personal information subject.
[0023] Before providing a further detailed description of the embodiments of this application, the nouns and terms involved in the embodiments of this application will be explained, and the nouns and terms involved in the embodiments of this application shall be interpreted as follows.
[0024] 1) Robot: A robot is an automated device that can perform autonomous or semi-autonomous tasks through programming. Robots have movable mechanical parts, such as robotic arms, tracks, and joints, used to perform physical operations or movement, such as the multi-degree-of-freedom joints of industrial robotic arms and the drive wheels of a robot vacuum cleaner. Robots can acquire environmental information through sensors, such as cameras, infrared sensors, ultrasonic sensors, and force sensors, such as the lidar of autonomous vehicles and the obstacle avoidance sensors of home robots. The robot's control system consists of hardware (microcontroller, PLC, industrial computer) and software (control algorithm, program). Robots can complete specific physical actions according to the instructions of the control system, such as welding, handling, cleaning, and voice interaction.
[0025] This application provides a robot power supply method, apparatus, electronic device, computer-readable storage medium, and computer program product, which can extend battery life while ensuring the robot's load power. The following describes exemplary applications of the electronic device provided in this application. The electronic device provided in this application can be implemented as various types of terminals such as laptops, tablets, desktop computers, set-top boxes, smartphones, smart speakers, smartwatches, smart TVs, and vehicle terminals, or it can be implemented as a server. The following will describe exemplary applications when the device is implemented as a server.
[0026] See Figure 1 , Figure 1 This is a schematic diagram of the architecture of the robot power supply system 100 provided in the embodiment of this application. In order to support a robot power supply application, the control center 400 is connected to the power management system 200 through a network or internal line 300. The network 300 can be a wide area network or a local area network, or a combination of the two.
[0027] The control center 400 performs first information detection on the first battery included in the robot to obtain the first battery information, which includes multiple sub-batteries. Based on the first battery information, it determines the first charge difference between any two sub-batteries in the first battery, and determines the discharge strategy of the first battery based on the first charge difference. During the operation of the robot, the control center performs second information detection on the second battery to obtain the second battery information, which is the sub-battery in the first battery that is currently discharging. Based on the second battery information, it determines the discharge strategy of the third battery, which is the sub-battery in the first battery that is not discharging.
[0028] The power management system 200 is used to receive policy change requests corresponding to the power supply strategy issued by the control center 400, adjust the switching of the batteries included in the robot based on the request, and detect the battery information of the batteries included in the robot after receiving the information detection request issued by the control center 400, and return the obtained battery information to the control center 400.
[0029] The robot power supply method provided in this application can be applied to scenarios that require detection of updates to business code, such as reception scenarios and industrial production scenarios. The following example illustrates this: In the reception scenario, the first information detection can be performed on the first battery of the reception robot to obtain the first battery information, which includes multiple sub-batteries. Based on the first battery information, the first charge difference between any two sub-batteries in the first battery is determined, and based on the first charge difference, the discharge strategy of the first battery is determined, and the robot is controlled to execute the discharge strategy of the first battery. During the operation of the reception robot, the second information detection can be performed on the second battery to obtain the second battery information, which is the sub-battery in the first battery that is currently discharging. Based on the second battery information, the discharge strategy of the undischarged sub-batteries in the first battery is determined, and the robot is controlled to execute the discharge strategy of the undischarged sub-batteries.
[0030] In an industrial production scenario, a first information detection is performed on the first battery included in the production robot to obtain the first battery information, which includes multiple sub-batteries. Based on the first battery information, the first charge difference between any two sub-batteries in the first battery is determined, and based on the first charge difference, a discharge strategy for the first battery is determined, and the robot is controlled to execute the discharge strategy for the first battery. During the operation of the production robot, a second information detection is performed on the second battery to obtain the second battery information, which is a sub-battery in the first battery that is currently discharging. Based on the second battery information, a discharge strategy for the undischarged sub-batteries in the first battery is determined, and the robot is controlled to execute the discharge strategy for the undischarged sub-batteries.
[0031] See Figure 2 , Figure 2 This is a schematic diagram of the structure of the electronic device 500 provided in the embodiments of this application, with the electronic device 500 as an example. Figure 1 Taking server 200 as an example, Figure 2 The illustrated electronic device 500 includes at least one processor 510, a memory 550, at least one network interface 520, and a user interface 530. The various components in the electronic device 500 are coupled together via a bus system 540. It is understood that the bus system 540 is used to implement communication between these components. In addition to a data bus, the bus system 540 also includes a power bus, a control bus, and a status signal bus. However, for clarity, ... Figure 2 The general labeled all buses as Bus System 540.
[0032] The processor 510 can be an integrated circuit chip with signal processing capabilities, such as a general-purpose processor, a digital signal processor (DSP), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor can be a microprocessor or any conventional processor, etc.
[0033] User interface 530 includes one or more output devices 531 that enable the presentation of media content, including one or more speakers and / or one or more visual displays. User interface 530 also includes one or more input devices 532, including user interface components that facilitate user input, such as a keyboard, mouse, microphone, touch screen display, camera, other input buttons and controls.
[0034] The memory 550 may be removable, non-removable, or a combination thereof. Exemplary hardware devices include solid-state storage, hard disk drives, optical disk drives, etc. The memory 550 may optionally include one or more storage devices physically located away from the processor 510.
[0035] The memory 550 may include volatile memory or non-volatile memory, or both. The non-volatile memory may be read-only memory (ROM), and the volatile memory may be random access memory (RAM). The memory 550 described in this application embodiment is intended to include any suitable type of memory.
[0036] In some embodiments, memory 550 is capable of storing data to support various operations, examples of which include programs, modules, and data structures or subsets or supersets thereof, as illustrated below.
[0037] Operating system 551 includes system programs for handling various basic system services and performing hardware-related tasks, such as the framework layer, core library layer, driver layer, etc., for implementing various basic business functions and handling hardware-based tasks; The network communication module 552 is used to reach other electronic devices via one or more (wired or wireless) network interfaces 520, exemplary network interfaces 520 including: Bluetooth, WiFi, and Universal Serial Bus (USB), etc. Presentation module 553 is used to enable the presentation of information (e.g., user interface for operating peripheral devices and displaying content and information) via one or more output devices 531 (e.g., display screen, speaker, etc.) associated with user interface 530. The input processing module 554 is used to detect and translate one or more user inputs or interactions from one or more input devices 532.
[0038] In some embodiments, the apparatus provided in this application can be implemented in software. Figure 2 A robot power supply device 555 stored in memory 550 is shown. This device can be software in the form of programs and plug-ins, and includes the following software modules: a first detection module 5551, a first determination module 5552, a second detection module 5553, and a second determination module 5554. These modules are logically connected and can therefore be arbitrarily combined or further separated according to their implemented functions. The functions of each module will be described below.
[0039] In other embodiments, the apparatus provided in this application can be implemented in hardware. As an example, the apparatus provided in this application can be a processor in the form of a hardware decoding processor, which is programmed to execute the robot power supply method provided in this application. For example, the processor in the form of a hardware decoding processor can be one or more application-specific integrated circuits (ASICs), digital signal processors (DSPs), programmable logic devices (PLDs), complex programmable logic devices (CPLDs), field-programmable gate arrays (FPGAs), or other electronic components.
[0040] The robot power supply method provided in the embodiments of this application will be described below. As mentioned above, the electronic device implementing the robot power supply method in the embodiments of this application can be a server, a terminal, or a combination of both. Therefore, the executing entity of each step will not be described again below.
[0041] See Figure 3A , Figure 3A This is a first flowchart illustrating the robot power supply method provided in this application embodiment, which will be combined with... Figure 3A The steps shown are explained.
[0042] In step 101, the robot performs a first information detection on the first battery to obtain the first battery information of the first battery, which includes multiple sub-batteries.
[0043] As an example, a robot can be an automated device capable of performing autonomous or semi-autonomous tasks through programming. A robot possesses movable mechanical parts, such as robotic arms, tracks, and joints, for physical manipulation or movement, such as the multi-degree-of-freedom joints of an industrial robotic arm or the drive wheels of a robotic vacuum cleaner. A robot can acquire environmental information through sensors, common sensors including cameras, infrared sensors, ultrasonic sensors, and force sensors, such as the lidar in autonomous vehicles and obstacle avoidance sensors in home robots. The robot's control system consists of hardware (microcontroller, PLC, industrial computer) and software (control algorithm, program). A robot can perform specific physical actions according to the instructions of the control system, such as welding, handling, cleaning, and voice interaction. In this application, "robot" can specifically refer to a humanoid robot, or it can refer to any machine that includes a mechanical structure and functions using batteries, such as a robot dog or a drone.
[0044] As an example, a robot may include multiple battery slots, each into which a battery can be inserted. Each robot may include multiple batteries. During robot operation, the robot may be powered by a single battery or by multiple batteries simultaneously.
[0045] As an example, the first battery information may include information such as the current battery level, current load voltage, and current load current. The first information detection method for the first battery may be to send a first information detection request to the robot's battery management system, so that the robot's battery management system can return the first battery information corresponding to the first information detection request to the robot's control center.
[0046] In some embodiments, before performing the first information detection on the first battery included in the robot in step 101, the following technical solution may also be performed: when the voltage of the charging port exceeds a first voltage threshold during robot operation, the load current and charging current of the robot are detected; when the load current is less than the charging current, the current difference between the load current and the charging current is determined; based on the current difference, the first battery included in the robot is charged; when the first battery is fully charged, charging of the first battery is stopped.
[0047] As an example, when the voltage at the robot's charging port exceeds a first voltage threshold during robot operation, it indicates that there is an external current input to the robot and the robot is charging. At this time, we can first determine the relationship between the load current and the charging current of the robot during operation. If the charging current is greater than the load current, the charging current can be directly used as the load current, and the current difference between the charging current and the load current can be used as the current to charge the first battery. The charging of the first battery will stop when the first battery is fully charged. For example, if the charging current is 20A and the load capacity is 10A, the charging capacity can be determined to be 10A.
[0048] As an example, the current difference determines the charging power of the battery. Specifically, based on the current difference, the first battery of the robot is charged. The charging power of the first battery can be determined first based on the current difference, and the first battery of the robot is charged according to the charging power. For example, if the current difference is 10A and the charging voltage is 52V, the charging power of the first battery of the robot can be 520W, and then the first battery of the robot is charged according to 520W.
[0049] If the load current is greater than the charging current, it indicates that the charging current cannot fully supply the robot's operation. In this case, the first battery and the charging current need to supply power to the robot simultaneously. Specifically, the current difference between the load current and the charging capacity can be determined, and then the output current supplied by the first battery can be set to the same value as the current difference. For example, if the charging capacity is 10A and the load current is 20A, then the output current supplied by the first battery can be set to 10A.
[0050] In this way, when there is an external current input to the robot, the external current can be used as the load current to power the robot, thus extending the life of the robot's first battery.
[0051] In step 102, based on the first battery information, the first charge difference between any two sub-batteries in the first battery is determined, and based on the first charge difference, the discharge strategy of the first battery is determined, and the robot is controlled to execute the discharge strategy of the first battery.
[0052] In some embodiments, step 102, which involves determining the first charge difference between any two sub-cells in the first battery based on the first battery information, and determining the discharge strategy of the first battery based on the first charge difference, can be implemented through the following technical solution: determining the second charge value of the sub-cell with the highest charge in the first battery based on the first battery information; determining the first charge difference between the charge of each sub-cell in the first battery and the second charge value; determining the fifth battery, which is the sub-cell in the first battery whose first charge difference is less than the second charge threshold; and sending a first discharge request to the fifth battery so that the fifth battery opens the discharge switch to discharge based on the first discharge request.
[0053] As an example, the information of the first battery can be parsed to obtain the power of each of the first batteries included in the robot, and then the second power value of the battery with the highest power in the first battery can be determined. After that, the power difference between the power value of each battery in the first battery and the second power value can be determined as the first power difference.
[0054] As an example, to avoid the robot's first battery running out of power and causing irreversible damage, it is advisable to prioritize powering the robot with batteries of higher capacity. Specifically, the battery with a first capacity difference less than a second capacity threshold can be designated as the fifth battery with higher capacity. For example, if the first battery A has a capacity of 5000mAh, the first battery B has a capacity of 3000mAh, and the first battery C has a capacity of 4000mAh, then the second capacity value is 5000mAh. The first capacity difference of the first battery A is 0mAh, the first capacity difference of the first battery B is 2000mAh, and the first capacity difference of the first battery C is 1000mAh. If the second capacity threshold is 1500mAh, then the first batteries A and B can be identified as the fifth batteries. The robot's control center then sends a first discharge request to the first batteries A and B to activate their discharge switches, allowing them to power the robot.
[0055] By using the methods described above, the battery in the robot can be prevented from running out of power, thus ensuring the battery's lifespan.
[0056] In step 103, the second information is detected for the second battery to obtain the second battery information. The second battery is the battery that is discharging in the first battery.
[0057] As an example, the second battery may include at least one sub-battery.
[0058] As an example, during robot operation, the robot's control center can monitor the second battery information of the discharging second battery in real time. Specifically, the robot's battery management system can send the second battery information to the robot's control center according to a preset cycle. For example, if the preset cycle is 5 seconds, the battery management system will send the second battery information to the control center every 5 seconds.
[0059] In step 104, based on the second battery information, the discharge strategy for the undischarged sub-batteries in the first battery is determined, and the robot is controlled to execute the discharge strategy for the undischarged sub-batteries.
[0060] As an example, the third battery includes at least one sub-battery.
[0061] In some embodiments, the second battery information includes the load voltage, undervoltage point, load current, and current threshold of the second battery. The discharge strategy for determining the undischarged sub-battery in the first battery based on the second battery information in step 104 can be implemented by the following technical solution: when the load voltage of the second battery is less than the undervoltage point, or the load current of the second battery is greater than the current threshold, a second discharge request is sent to the undischarged sub-battery in the first battery, so that the undischarged sub-battery in the first battery opens the discharge switch to discharge based on the second discharge request.
[0062] As an example, when the load voltage of the second battery is less than the undervoltage point, it indicates that the second battery that is discharging in the robot cannot meet the robot's operation requirements, or the second battery cannot supply power normally. Continuing to discharge the second battery may cause other batteries to charge the second battery. At this time, other batteries need to provide power in combination. When the load current of the second battery is greater than the current threshold, it indicates that the current released by the second battery is too large. In order to ensure the service life of the second battery, other batteries also need to provide power in combination.
[0063] As an example, when the load voltage of the second battery is less than the undervoltage point, or the load current of the second battery is greater than the current threshold, a second discharge request can be sent to the undischarged sub-batteries in the first battery to enable them to turn on their discharge switches and supply power to the robot. In this case, the undischarged sub-batteries in the first battery can be sorted according to their charge levels, and their switches can be turned on sequentially. After each undischarged sub-battery in the first battery is turned on, the load voltage, undervoltage point, load current, and current threshold of the second battery are re-detected until the load voltage of the second battery is not less than the undervoltage point and the load current of the second battery is not greater than the current threshold, at which point the switching on the undischarged sub-batteries in the first battery is stopped.
[0064] In some embodiments, the following can also be performed: Figure 3B The scheme shown in steps 1041 to 1043.
[0065] In step 1041, when the voltage at the robot's charging port exceeds a first voltage threshold, the power level of the first battery is detected to obtain the current power level of the first battery.
[0066] As an example, when the voltage at the robot's charging port exceeds a first voltage threshold, it indicates that the robot is charging. At this time, the power level of the first battery in the robot can be detected to determine whether the battery in the robot is fully charged.
[0067] In step 1042, if the current battery level is not full, the third information detection is performed on the first battery to obtain the third battery information of the first battery.
[0068] As an example, if the robot includes a first battery that is not fully charged, third information detection can be performed on the first battery to determine a charging strategy for charging the first battery.
[0069] In step 1043, based on the third battery information, the second charge difference between any two sub-batteries in the first battery is determined, and based on the second charge difference, the charging strategy of the first battery is determined.
[0070] In some embodiments, step 1043, which determines the second charge difference between any two sub-batteries in the first battery based on the third battery information, and determines the charging strategy of the first battery based on the second charge difference, can be implemented by the following technical solution: determining the first charge value of the sub-battery with the lowest charge in the first battery based on the third battery information; determining the second charge difference between the charge of each sub-battery in the first battery and the first charge value; determining a fourth battery, wherein the fourth battery is a sub-battery in the first battery whose second charge difference is less than the first charge threshold; and sending a charging request to the fourth battery so that the fourth battery turns on the charging switch to charge based on the charging request.
[0071] As an example, to avoid further charging of a high-charge battery, which could cause irreversible damage and reduce its lifespan, we can first determine the first charge value of the battery with the lowest charge among the first batteries. Then, we determine the second charge difference between each first battery and its first charge value. For example, the first battery A has a charge of 1000mAh, the first battery B has a charge of 2000mAh, and the first battery C has a charge of 3000mAh. At this time, the first charge value is 1000mAh, the second charge difference of the first battery A is 0mAh, the second charge difference of the first battery B is 1000mAh, and the second charge difference of the first battery C is 2000mAh. If the first charge threshold is 1100mAh, then the first batteries A and B can be identified as the fourth battery. At this time, a charging request can be sent to the fourth battery to activate its charging switch and begin charging.
[0072] As an example, during the charging process of the first battery, the power level of the first battery can be detected in real time, and the minimum power level of the first battery and the second power difference between the first battery and the minimum power level can be determined in real time. A charging request is sent to the fourth battery where the second power difference is less than the first power threshold so that the fourth battery turns on the charging switch to start charging. The charging of the first battery stops when all the first batteries included in the robot are fully charged.
[0073] The following describes an exemplary application of the embodiments of this application in a real-world application scenario.
[0074] See Figure 4, Figure 4 This is a schematic diagram of the battery connection of the robot provided in the embodiments of this application.
[0075] like Figure 4 As shown, the power management system can connect multiple batteries through the positive and negative terminals of the power supply line.
[0076] See Figure 5 , Figure 5 This is a schematic diagram of battery communication for a robot provided in an embodiment of this application.
[0077] like Figure 5 As shown, the power management system is connected to multiple batteries via a communication network, enabling the power management system to send information to each battery through the communication network. This allows the battery to control its corresponding discharge and charging switches based on the received information. At the same time, multiple batteries can also transmit their own battery information to the power management system via the communication network.
[0078] See Figure 6 , Figure 6 This is a schematic diagram of the power supply process provided in the embodiments of this application.
[0079] In step 601, the control center detects the charging port voltage.
[0080] When the charging port voltage is greater than or equal to 52 volts, it is determined that the robot is charging and step 602 is executed. When the charging port voltage is less than 52 volts, it is determined that the robot is not plugged into the charger and is powered by the battery.
[0081] In step 602, the control center detects whether the load current exceeds the charging current.
[0082] If the load current does not exceed the charging capacity, the system load is powered by the charger, and the remaining current of the charger is distributed to the battery. Then, step 603 is executed. If the load capacity exceeds the charging capacity, step 604 is executed.
[0083] In step 603, the control center detects the charging indicator or detects the battery level.
[0084] Once the charging indicator is detected as full or the battery level is 100%, and the battery is determined to be fully charged, charging will stop.
[0085] In step 604, the control center reads information such as voltage, current, and charge of each battery.
[0086] The control center sends information query requests to each battery through the communication line to obtain information such as voltage, current, and charge of each battery.
[0087] In step 605, the control center determines the battery charge difference and battery charge.
[0088] When the battery charge difference is less than the second charge threshold and the charge level of the battery is less than the available charge threshold, a discharge request is sent to all batteries so that all batteries can turn on their discharge switches to power the robot.
[0089] In step 606, the control center sends a command to turn off the switch of the battery with low voltage and current, and turn on the switch of the battery with high voltage and current.
[0090] In step 607, the control center detects the relationship between the load voltage and the undervoltage point, as well as the relationship between the load current and the maximum set current value of a single battery.
[0091] When the load voltage is lower than the undervoltage point, or the load charge is greater than the maximum set current value of a single battery, a discharge request is sent to the low-voltage battery so that the low-voltage battery can turn on the discharge switch and supply power to the robot.
[0092] join Figure 7 , Figure 7 This is a schematic diagram of the charging process provided in the embodiments of this application.
[0093] In step 701, the control center detects the charging port voltage.
[0094] If the detected charging port voltage is less than or equal to 52 volts, the charging mode will be exited. If the detected charging port voltage is greater than 52 volts, the battery level will be determined. If the battery level is 100%, the charging mode will be exited.
[0095] In step 702, the control center detects the load voltage, undervoltage point, load current, and maximum set current value of a single battery.
[0096] When the load voltage is less than the undervoltage point, or the load charge is greater than the maximum set current value of a single battery, a discharge request is sent to the low-voltage battery so that the low-voltage battery opens the discharge switch to supply power to the robot; when the load voltage is not less than the undervoltage point and the load charge is not greater than the maximum set current value of a single battery, step 703 is executed.
[0097] In step 703, the control center determines the charging current.
[0098] If the load current is greater than the charging current, proceed to step 704; otherwise, proceed to step 705. In step 704, the control center determines the relationship between the battery charge difference and the threshold.
[0099] If the power difference is greater than the threshold, the discharge switch of the high-power battery is turned on and the discharge switch of the low-power battery is turned off, and the charger and the high-power battery are powered together; if the power difference is not greater than the threshold, the discharge switches of all power sources are turned on, and the charger and all batteries are powered together.
[0100] In step 705, the control center obtains the power levels of multiple first batteries.
[0101] When the difference in charge level between the first batteries exceeds a threshold, the charging switch for the low-charge battery is turned on, and the charging switch for the high-charge battery is turned off, thus charging the low-charge battery. When the difference in charge level between the first batteries does not exceed the threshold, the charging switch for all batteries is turned on to charge the batteries.
[0102] In step 706, the control center stops charging once all batteries are fully charged.
[0103] join Figure 8 , Figure 8 This is a schematic diagram of the battery swapping process provided in the embodiments of this application.
[0104] In step 801, the control center detects that the battery swap button has been triggered or receives a battery swap request.
[0105] In step 802, the control center detects information such as the voltage, current and charge of each battery.
[0106] In step 803, the control center sends a request to the battery power management system to enable the power management system to turn on the high-charge battery switch and turn off the low-charge battery switch.
[0107] In step 804, the control center determines the battery number of the low-power battery.
[0108] After the control center identifies the battery number of the low-power battery, it removes the battery corresponding to that number.
[0109] In step 805, after determining that a battery has been inserted into the battery slot, the control center determines the battery information of the inserted battery.
[0110] The following description continues to illustrate the exemplary structure of the robot power supply device 555 provided in the embodiments of this application as a software module. In some embodiments, such as... Figure 2 As shown, the software modules stored in the robot power supply device 555 in the memory 550 may include: The first detection module is used to perform first information detection on the first battery included in the robot to obtain the first battery information of the first battery, wherein the first battery includes multiple sub-batteries; The first determining module is used to determine the first charge difference between any two sub-cells in the first battery based on the first battery information, and to determine the discharge strategy of the first battery based on the first charge difference. The second detection module is used to perform second information detection on the second battery during the operation of the robot, and obtain the second battery information of the second battery, wherein the second battery is a sub-battery that is discharging in the first battery; The second determining module is used to determine the discharge strategy of the third battery based on the second battery information, wherein the third battery is the undischarged sub-battery in the first battery.
[0111] In some embodiments, the first detection module 5551 is further configured to: when the voltage of the charging port exceeds a first voltage threshold during the operation of the robot, perform current detection on the load current and charging current of the robot; when the load current is less than the charging current, determine the current difference between the load current and the charging current; based on the current difference, charge the first battery included in the robot; and stop charging the first battery when the first battery is fully charged.
[0112] In some embodiments, the first detection module 5551 is further configured to perform power detection on the first battery when the voltage of the charging port of the robot exceeds a first voltage threshold, and obtain the current power of the first battery; if the current power is not full, perform third information detection on the first battery to obtain third battery information of the first battery; based on the third battery information, determine the second power difference between any two sub-batteries in the first battery, and determine the charging strategy of the first battery based on the second power difference.
[0113] In some embodiments, the first detection module 5551 is further configured to: determine a first charge value of the sub-battery with the lowest charge in the first battery based on the second battery information; determine a second charge difference between the charge of each sub-battery in the first battery and the first charge value; determine a fourth battery, wherein the fourth battery is a sub-battery in the first battery whose second charge difference is less than a first charge threshold; and send a charging request to the fourth battery so that the fourth battery turns on the charging switch to charge based on the charging request.
[0114] In some embodiments, the first determining module 5552 is further configured to: determine a second charge value of the sub-battery with the highest charge in the first battery based on the first battery information; determine a first charge difference between the charge of each sub-battery in the first battery and the second charge value; determine a fifth battery, wherein the fifth battery is a sub-battery in the first battery whose first charge difference is less than a second charge threshold; and send a first discharge request to the fifth battery so that the fifth battery opens a discharge switch to discharge based on the first discharge request.
[0115] In some embodiments, the second battery information includes the load voltage, undervoltage point, load current and current threshold of the second battery. The second determining module 5554 is further configured to send a second discharge request to the third battery when the load voltage of the second battery is less than the undervoltage point or the load current of the second battery is greater than the current threshold, so that the third battery opens the discharge switch to discharge based on the second discharge request.
[0116] This application provides a computer program product comprising a computer program or computer-executable instructions stored in a computer-readable storage medium. A processor of an electronic device reads the computer-executable instructions from the computer-readable storage medium and executes the computer-executable instructions, causing the electronic device to perform the robot power supply method described above in this application.
[0117] This application provides a computer-readable storage medium storing computer-executable instructions or a computer program. When the computer-executable instructions or the computer program are executed by a processor, the processor will execute the robot power supply method provided in this application. For example, ... Figure 3A The robot power supply method is shown.
[0118] In some embodiments, the computer-readable storage medium may be a memory such as RAM, ROM, flash memory, magnetic surface memory, optical disk, or CD-ROM; or it may be a variety of devices including one or any combination of the above-mentioned memories.
[0119] In some embodiments, computer-executable instructions may take the form of programs, software, software modules, scripts, or code, written in any form of programming language (including compiled or interpreted languages, or declarative or procedural languages), and may be deployed in any form, including as stand-alone programs or as modules, components, subroutines, or other units suitable for use in a computing environment.
[0120] As an example, computer-executable instructions may, but do not necessarily, correspond to files in a file system. They may be stored as part of a file that holds other programs or data, for example, in one or more scripts in a Hyper Text Markup Language (HTML) document, in a single file dedicated to the program in question, or in multiple co-located files (e.g., files that store one or more modules, subroutines, or code sections).
[0121] As an example, computer-executable instructions can be deployed to execute on a single electronic device, or on multiple electronic devices located at one location, or on multiple electronic devices distributed across multiple locations and interconnected via a communication network.
[0122] In summary, the embodiments of this application can achieve the following beneficial effects: This solution can accurately obtain the battery information of multiple batteries included in the robot by detecting information. Then, by determining the power difference between multiple batteries, the battery discharge strategy can be adjusted to avoid excessive consumption of low-power batteries, which could cause irreversible damage to the batteries and reduce their lifespan. During robot operation, battery information is continuously acquired, and the discharge strategy of undischarged batteries is adjusted to avoid excessive battery consumption and affect battery life. At the same time, balanced load is achieved among multiple batteries, ensuring the normal operation of the robot.
[0123] The above description is merely an embodiment of this application and is not intended to limit the scope of protection of this application. Any modifications, equivalent substitutions, and improvements made within the spirit and scope of this application are included within the scope of protection of this application.
Claims
1. A method for powering a robot, characterized in that, The method includes: The robot performs a first information detection on a first battery to obtain first battery information of the first battery, wherein the first battery includes multiple sub-batteries; Based on the first battery information, determine the first charge difference between any two sub-batteries in the first battery, and based on the first charge difference, determine the discharge strategy of the first battery, and control the robot to execute the discharge strategy of the first battery. During the operation of the robot, the second information is detected on the second battery to obtain the second battery information. The second battery is a sub-battery that is discharging in the first battery. Based on the second battery information, a discharge strategy for the undischarged sub-batteries in the first battery is determined, and the robot is controlled to execute the discharge strategy for the undischarged sub-batteries. The third battery is an undischarged sub-battery.
2. The method according to claim 1, characterized in that, Prior to performing the first information detection on the first battery included in the robot, the method further includes: When the voltage at the charging port exceeds a first voltage threshold during robot operation, the robot's load current and charging current are detected. When the load current is less than the charging current, the current difference between the load current and the charging current is determined; Based on the current difference, the first battery included in the robot is charged; When the first battery is fully charged, charging of the first battery is stopped.
3. The method according to claim 1, characterized in that, The method further includes: When the voltage at the robot's charging port exceeds a first voltage threshold, the power level of the first battery is detected to obtain the current power level of the first battery. If the current battery level is not full, perform third information detection on the first battery to obtain the third battery information of the first battery; Based on the third battery information, the second charge difference between any two sub-batteries in the first battery is determined, and based on the second charge difference, the charging strategy of the first battery is determined.
4. The method according to claim 3, characterized in that, The step of determining the second charge difference between any two sub-cells in the first battery based on the third battery information, and determining the charging strategy for the first battery based on the second charge difference, includes: Based on the information of the third battery, determine the first charge value of the sub-battery with the lowest charge in the first battery; Determine a second charge difference between the charge level of each sub-cell in the first battery and the first charge level value; A fourth battery is identified, wherein the fourth battery is a sub-battery in the first battery whose second charge difference is less than a first charge threshold; A charging request is sent to the fourth battery so that the fourth battery turns on its charging switch to charge based on the charging request.
5. The method according to claim 1, characterized in that, The step of determining the first charge difference between any two sub-cells in the first battery based on the first battery information, and determining the discharge strategy of the first battery based on the first charge difference, includes: Based on the information of the first battery, determine the second charge value of the sub-battery with the highest charge in the first battery; Determine the first charge difference between the charge level of each sub-cell in the first battery and the second charge level value; The fifth battery is identified as a sub-battery in the first battery whose first charge difference is less than the second charge threshold. A first discharge request is sent to the fifth battery so that the fifth battery turns on the discharge switch to discharge based on the first discharge request.
6. The method according to claim 1, characterized in that, The second battery information includes the second battery's load voltage, undervoltage point, load current, and current threshold. The step of determining the discharge strategy for the undischarged sub-cells in the first battery based on the second battery information includes: When the load voltage of the second battery is less than the undervoltage point, or the load current of the second battery is greater than the current threshold, a second discharge request is sent to the undischarged sub-battery in the first battery, so that the undischarged sub-battery in the first battery opens the discharge switch to discharge based on the second discharge request.
7. A robot power supply device, characterized in that, The device includes: The first detection module is used to perform first information detection on the first battery included in the robot to obtain the first battery information of the first battery, wherein the first battery includes multiple sub-batteries; The first determining module is used to determine the first charge difference between any two sub-batteries in the first battery based on the first battery information, and to determine the discharge strategy of the first battery based on the first charge difference, and to control the robot to execute the discharge strategy of the first battery. The second detection module is used to perform second information detection on the second battery during the operation of the robot, and obtain the second battery information of the second battery, wherein the second battery is a sub-battery that is discharging in the first battery; The second determining module is used to determine the discharge strategy of the undischarged sub-battery in the first battery based on the second battery information, and control the robot to execute the discharge strategy of the undischarged sub-battery.
8. An electronic device, characterized in that, The electronic device includes: Memory is used to store executable instructions or computer programs. The processor, when executing computer-executable instructions or computer programs stored in the memory, implements the robot power supply method according to any one of claims 1 to 6.
9. A computer-readable storage medium storing computer-executable instructions or a computer program, characterized in that, When the computer-executable instructions or computer program are executed by a processor, the robot power supply method according to any one of claims 1 to 6 is implemented.
10. A computer program product comprising computer-executable instructions or a computer program, characterized in that, When the computer-executable instructions or computer program are executed by a processor, the robot power supply method according to any one of claims 1 to 6 is implemented.