CN108445407A - A kind of detection method of quantity of electricity, device and computer readable storage medium - Google Patents
A kind of detection method of quantity of electricity, device and computer readable storage medium Download PDFInfo
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- CN108445407A CN108445407A CN201810224400.9A CN201810224400A CN108445407A CN 108445407 A CN108445407 A CN 108445407A CN 201810224400 A CN201810224400 A CN 201810224400A CN 108445407 A CN108445407 A CN 108445407A
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- cycle time
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- voltage value
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R31/00—Arrangements for testing electric properties; Arrangements for locating electric faults; Arrangements for electrical testing characterised by what is being tested not provided for elsewhere
- G01R31/36—Arrangements for testing, measuring or monitoring the electrical condition of accumulators or electric batteries, e.g. capacity or state of charge [SoC]
- G01R31/367—Software therefor, e.g. for battery testing using modelling or look-up tables
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- Charge And Discharge Circuits For Batteries Or The Like (AREA)
Abstract
The embodiment of the invention discloses a kind of detection method of quantity of electricity, device and computer readable storage mediums, by acquiring bus voltage value and bus current value of each driver within each cycle time；According to bus voltage value, bus current value and cycle time, the driving permit notification of All Drives is calculated；Performance number according to pre-stored each electrical equipment and cycle time calculate the electricity consumption permit notification of all electrical equipments.According to the voltage value of battery, driving permit notification and electricity consumption permit notification, the remaining capacity of battery is determined.Under normal circumstances, driver can all sample busbar voltage and electric current, the bus voltage value and current value that controller passes through each period each driver of acquisition, calculate the permit notification of All Drives, in addition the electricity consumption permit notification of miscellaneous equipment is estimated again, to extrapolate the remaining capacity of battery, it is not necessary that special monitoring cell electricity quantity device is arranged, so that it may remaining with monitor electricity.
Description
Technical field
The present invention relates to battery powered technical fields, can more particularly to a kind of detection method of quantity of electricity, device and computer
Read storage medium.
Background technology
Battery refers to the device that the energy of the forms such as chemical energy, interior energy, luminous energy, atomic energy can be converted into electric energy.
In chemical cell, according to the characteristic that can restore battery storage electric energy with charging modes, one-shot battery (also referred to as original can be divided into
Battery) and secondary cell (also known as accumulator, be commonly called as rechargeable battery, can repeatedly use) two major classes.Due to needing weight
It is multiple to use, generally use secondary cell in robot.
Small scale robot has various strict demands due to the limitation of volume, size, weight to the power supply that it is used.Such as：
Mobile robot generally can not take the mode that cable is powered (in addition to some pipe robots, underwater robot), it is necessary to use
Battery or internal combustion engine power supply；Relative to applications such as automobiles, it is desirable that battery is small, light-weight, energy density is big；And it is required that
The safety of automobile batteries, reliability are approached or reach under the conditions of various vibrations, impact.
When mobile robot passes through battery powered, since the electricity of battery is limited, so the controller of mobile robot needs
The electricity for monitoring battery, to charge in time in the case of not enough power supply.In traditional approach, in protection built in battery
Information about power is informed controller by plate, protection board by data communication mode, but the protection board price with communication function can be compared with
Height increases hardware cost.
As it can be seen that how under the premise of not increasing hardware cost realize electricity monitoring, be those skilled in the art urgently
It solves the problems, such as.
Invention content
The purpose of the embodiment of the present invention is to provide a kind of detection method of quantity of electricity, device and computer readable storage medium, can
To realize the monitoring of electricity under the premise of not increasing hardware cost.
In order to solve the above technical problems, the embodiment of the present invention provides a kind of detection method of quantity of electricity, including：
Acquire bus voltage value and bus current value of each driver within each cycle time；
According to the bus voltage value, the bus current value and cycle time, all drivers are calculated
Drive permit notification；
Performance number according to pre-stored each electrical equipment and the cycle time calculate all electricity consumptions
The electricity consumption permit notification of equipment；
According to voltage value, the driving permit notification and the electricity consumption permit notification of battery, the electricity is determined
The remaining capacity in pond.
Optionally, bus voltage value and bus current value packet of each driver of acquisition within each cycle time
It includes：
Using bus voltage value and bus current of the synchronous triggering each driver of type collection within each cycle time
Value.
Optionally, described according to the bus voltage value, the bus current value and cycle time, calculate all institutes
The driving permit notification for stating driver includes：
According to following formula, the driving permit notification W of all drivers is calculatedd,
Wherein, VijIndicate bus voltage value of i-th of driver within j-th of cycle time, IijIndicate i-th of driving
Bus current value of the device within j-th of cycle time, Δ t indicate to acquire the week of the bus voltage value and the bus current value
Time phase, n indicate that the number of driver, m indicate the number of the cycle time；
Correspondingly, the performance number according to pre-stored each electrical equipment and the cycle time, calculate
The electricity consumption permit notification of all electrical equipments includes：
According to following formula, the electricity consumption permit notification W of all electrical equipments is calculatedother,
Wother=m × (Pother×Δt)
Wherein, PotherIndicate the summation of the performance number of pre-stored each electrical equipment.
Optionally, further include：
When the remaining capacity of the battery is less than predetermined threshold value, prompt message is sent to control system.
The embodiment of the present invention additionally provides a kind of electric quantity detection apparatus, including collecting unit, computing unit and determination unit；
The collecting unit, for acquiring bus voltage value and bus current of each driver within each cycle time
Value；
The computing unit, for according to the bus voltage value, the bus current value and cycle time, calculating
The driving permit notification of all drivers；
The computing unit is additionally operable to the performance number according to pre-stored each electrical equipment and the cycle time,
Calculate the electricity consumption permit notification of all electrical equipments；
The determination unit, for voltage value, the driving permit notification and the electricity consumption total work according to battery
Consumption value determines the remaining capacity of the battery.
Optionally, the collecting unit was specifically used for using the synchronous triggering each driver of type collection at each period
Interior bus voltage value and bus current value.
Optionally, the computing unit is specifically used for, and according to following formula, the driving for calculating all drivers is total
Power consumption number Wd,
Wherein, VijIndicate bus voltage value of i-th of driver within j-th of cycle time, IijIndicate i-th of driving
Bus current value of the device within j-th of cycle time, Δ t indicate to acquire the week of the bus voltage value and the bus current value
Time phase, n indicate that the number of driver, m indicate the number of the cycle time；
And according to following formula, calculate the electricity consumption permit notification W of all electrical equipmentsother,
Wother=m × (Pother×Δt)
Wherein, PotherIndicate the summation of the performance number of pre-stored each electrical equipment.
Optionally, further include prompt unit；
The prompt unit, for when the remaining capacity of the battery is less than predetermined threshold value, being carried to control system transmission
Show information.
The embodiment of the present invention additionally provides a kind of electric quantity detection apparatus, including：
Memory, for storing computer program；
Processor, for executing the computer program to realize such as the step of above-mentioned detection method of quantity of electricity.
The embodiment of the present invention additionally provides a kind of computer readable storage medium, is deposited on the computer readable storage medium
Computer program is contained, is realized such as the step of above-mentioned detection method of quantity of electricity when the computer program is executed by processor.
By acquiring bus voltage value of each driver within each cycle time it can be seen from above-mentioned technical proposal
With bus current value；According to the bus voltage value, the bus current value and cycle time, can calculate all described
The driving permit notification of driver；It performance number according to pre-stored each electrical equipment and the cycle time, can be with
Calculate the electricity consumption permit notification of all electrical equipments.The electricity consumption of the driving permit notification and other electrical equipments of driver
Permit notification reflects the consumption of battery, total according to the voltage value of battery, the driving permit notification and the electricity consumption
Power consumption number, it may be determined that go out the remaining capacity of the battery.Under normal circumstances, driver can all carry out busbar voltage and electric current
Sampling, controller calculate All Drives by the bus voltage value and current value of each period each driver of acquisition
In addition permit notification estimates the electricity consumption permit notification of miscellaneous equipment again, to extrapolate the remaining capacity of battery, pass through the skill
Art scheme is without being arranged special monitoring cell electricity quantity device, so that it may remaining with monitor electricity.
Description of the drawings
In order to illustrate the embodiments of the present invention more clearly, attached drawing needed in the embodiment will be done simply below
It introduces, it should be apparent that, drawings in the following description are only some embodiments of the invention, for ordinary skill people
For member, without creative efforts, other drawings may also be obtained based on these drawings.
Fig. 1 is a kind of flow chart of detection method of quantity of electricity provided in an embodiment of the present invention；
Fig. 2 is a kind of structural schematic diagram of electric quantity detection apparatus provided in an embodiment of the present invention；
Fig. 3 is a kind of hardware architecture diagram of electric quantity detection apparatus provided in an embodiment of the present invention.
Specific implementation mode
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation describes, it is clear that described embodiments are only a part of the embodiments of the present invention, rather than whole embodiments.Based on this
Embodiment in invention, without making creative work, what is obtained is every other by those of ordinary skill in the art
Embodiment belongs to the scope of the present invention.
In order to enable those skilled in the art to better understand the solution of the present invention, with reference to the accompanying drawings and detailed description
The present invention is described in further detail.
Next, a kind of detection method of quantity of electricity that the embodiment of the present invention is provided is discussed in detail.Fig. 1 is the embodiment of the present invention
A kind of flow chart of the detection method of quantity of electricity provided, this method include：
S101：Acquire bus voltage value and bus current value of each driver within each cycle time.
Detection method of quantity of electricity provided in an embodiment of the present invention can be adapted for setting to driver and other power consumptions by battery
The device of available electricity, such as mobile robot.It introduces for convenience of follow-up, is next examined with the battery capacity in mobile robot
It is unfolded to introduce for survey.
One or more drivers are generally fitted in mobile robot, each driver can pass through controller local area network
(Controller Area Network, CAN) or Ethernet are communicated with controller.
By taking CAN as an example, controller is connected by CANOpen buses with each driver, and CANOpen agreements share 6 kinds and lead to
Interrogate object.Wherein, process data object (Process Data Object, PDO) mainly completes real-time Data Transmission, transmission
Type has synchronous, asynchronous, cycle, time triggered.
In embodiments of the present invention, the mode that PDO synchronizes triggering may be used in controller, acquires each driver in each week
Bus voltage value in time phase and bus current value.
Wherein, PDO, which synchronizes triggering mode, its corresponding cycle time, driver its operation within different cycle time
State is not quite similar, correspondingly, the different corresponding bus voltage values of cycle time inner driver is not quite similar, the different periods
The corresponding bus current value of time inner driver is also not quite similar.
For example, the bus current value of No. 1 driver of first cycle time acquisition is V11, the acquisition of second period time
No. 1 driver bus current value be V12, V11And V12Value may it is identical may also be different.
Therefore, bus voltage value and bus current value can once be sampled in each cycle time inner driver,
Namely each cycle time inner driver can acquire a bus voltage value and bus current value.
Each driver can be by CANOpen buses by the bus voltage value and busbar in its corresponding each cycle time
Current value is transferred to controller.Controller can arrive the information MAP of the bus voltage value of All Drives and bus current value
In PDO.
S102：According to the bus voltage value, the bus current value and cycle time, all drivings are calculated
The driving permit notification of device.
Controller has its corresponding process cycle, process cycle to indicate to calculate the cycle time of battery dump energy.Wherein,
The process cycle and the cycle time value of driver may be the same or different, and be not specifically limited herein.
By taking a driver as an example, the product of bus voltage value and bus current value by calculating the driver can be with
The power of the driver is obtained, which, which is multiplied by cycle time, can obtain what the driver consumed within a cycle time
Power consumption number.In that way, power consumption number of the All Drives within a cycle time can be calculated, by these power consumption numbers
Addition can obtain power consumption number of the All Drives within a cycle time.It in embodiments of the present invention, can will be each
The power consumption number of All Drives adds up in cycle time, obtains the driving permit notification of all drivers.
Specifically, the driving permit notification W of all drivers according to following formula, can be calculatedd,
Wherein, VijIndicate bus voltage value of i-th of driver within j-th of cycle time, IijIndicate i-th of driving
Bus current value of the device within j-th of cycle time, Δ t indicate to acquire the week of the bus voltage value and the bus current value
Time phase, n indicate that the number of driver, m indicate the number of the cycle time.
S103：Performance number according to pre-stored each electrical equipment and the cycle time calculate all institutes
State the electricity consumption permit notification of electrical equipment.
In mobile robot other than setting driver and motor, other electrical equipments are usually contained, for example, sensing
Device, I/O module, camera, communication apparatus, business device etc..
In the concrete realization, the performance number of each electrical equipment can be obtained by way of test, or according to specification
On record performance number obtain the performance number of electrical equipment, the performance numbers of these electrical equipments is often fixed numbers, so, can
To prestore the performance number of these electrical equipments in the controller.
In the concrete realization, the performance number of each electrical equipment can be added, obtains the performance number of these electrical equipments
Summation.Summation according to the performance number and cycle time calculate the electricity consumption permit notification of all electrical equipments.Specifically
, the electricity consumption permit notification W of all electrical equipments according to following formula, can be calculatedother,
Wother=m × (Pother×Δt)
Wherein, PotherIndicate that the summation of the performance number of pre-stored each electrical equipment, Δ t indicate described in acquisition
The cycle time of bus voltage value and the bus current value, m indicate the number of the cycle time.
S104：According to voltage value, the driving permit notification and the electricity consumption permit notification of battery, institute is determined
State the remaining capacity of battery.
After each charging complete, the capacitance of battery reaches maximum.The maximum of battery can be prestored in the controller
Capability value.
After each charging complete, controller can in the way of the cumulative summation of each cycle time, calculate driver and
Cumulative power consumption number of other electrical equipments from battery charging complete to current period time, when calculating remaining capacity, battery
Maximum capacity is the current capacities W of batterybat, the remaining capacity W of batteryIt is remainingIt can be according to following formula WIt is remaining=Wbat-Wd-
WotherCalculate the remaining capacity of battery.
In embodiments of the present invention, it other than the mode of cycle time cumulative summation, can also calculate as follows
The remaining capacity of battery.When completing one-shot battery charging, the maximum capacity of battery is the current capacities of battery at this time, with
For process cycle is identical with the cycle time value of driver, when controller gets each driver in first cycle time
Bus voltage value and when bus current value, then calculate the driving permit notification of the time cycle inner driver and other use
The electricity consumption permit notification of electric equipment, the current capacities of battery subtract driving permit notification and electricity consumption permit notification, as battery
Remaining capacity.It, can be using the remaining capacity of this calculated battery as electricity when calculating the remaining capacity of battery next time
The current electric quantity in pond, and according to the bus voltage value and bus current value of each driver in second period time for getting,
Calculate driving permit notification and the electricity consumption permit notification of other electrical equipments in the second period time, battery it is current
Capacity subtracts driving permit notification and electricity consumption permit notification, the as remaining capacity of battery.And so on, each week can be calculated
The remaining capacity of battery in time phase, until battery needs to re-start charging.After battery completes primary charging, and can
In the manner described above, to recalculate the remaining capacity of battery.
By acquiring bus voltage value of each driver within each cycle time it can be seen from above-mentioned technical proposal
With bus current value；According to the bus voltage value, the bus current value and cycle time, can calculate all described
The driving permit notification of driver；It performance number according to pre-stored each electrical equipment and the cycle time, can be with
Calculate the electricity consumption permit notification of all electrical equipments.The electricity consumption of the driving permit notification and other electrical equipments of driver
Permit notification reflects the consumption of battery, total according to the voltage value of battery, the driving permit notification and the electricity consumption
Power consumption number, it may be determined that go out the remaining capacity of the battery.Under normal circumstances, driver can all carry out busbar voltage and electric current
Sampling, controller calculate All Drives by the bus voltage value and current value of each period each driver of acquisition
In addition permit notification estimates the electricity consumption permit notification of miscellaneous equipment again, to extrapolate the remaining capacity of battery, pass through the skill
Art scheme is without being arranged special monitoring cell electricity quantity device, so that it may remaining with monitor electricity.
When the remaining capacity of battery is less, it possibly can not ensure the normal work of all devices in mobile robot, be
Timely prompting user charges to the battery of mobile robot, and notification mechanisms can be arranged.Specifically, when the battery
When remaining capacity is less than predetermined threshold value, prompt message is sent to control system.
By taking mobile robot as an example, control system refers to the background monitoring system of mobile robot, and user can be by this
Control system monitors the working condition of mobile robot.
Wherein, the value of predetermined threshold value can be set according to actual demand, be not specifically limited herein.
By the way that notification mechanisms are arranged, user can be reminded to charge the battery in mobile robot in time, to ensure
The normal work of mobile robot.
Fig. 2 is a kind of structural schematic diagram of electric quantity detection apparatus provided in an embodiment of the present invention, and described device includes acquisition
Unit 21, computing unit 22 and determination unit 23；
The collecting unit 21, for acquiring bus voltage value and busbar electricity of each driver within each cycle time
Flow valuve；
The computing unit 22, for according to the bus voltage value, the bus current value and cycle time, calculating
Go out the driving permit notification of all drivers；
When the computing unit 22 is additionally operable to performance number and the period according to pre-stored each electrical equipment
Between, calculate the electricity consumption permit notification of all electrical equipments；
The determination unit 23, for total according to the voltage value of battery, the driving permit notification and the electricity consumption
Power consumption number determines the remaining capacity of the battery.
Optionally, the collecting unit was specifically used for using the synchronous triggering each driver of type collection at each period
Interior bus voltage value and bus current value.
Optionally, the computing unit is specifically used for, and according to following formula, the driving for calculating all drivers is total
Power consumption number Wd,
Wherein, VijIndicate bus voltage value of i-th of driver within j-th of cycle time, IijIndicate i-th of driving
Bus current value of the device within j-th of cycle time, Δ t indicate to acquire the week of the bus voltage value and the bus current value
Time phase, n indicate that the number of driver, m indicate the number of the cycle time；
And according to following formula, calculate the electricity consumption permit notification W of all electrical equipmentsother,
Wother=m × (Pother×Δt)
Wherein, PotherIndicate the summation of the performance number of pre-stored each electrical equipment.
Optionally, further include prompt unit；
The prompt unit, for when the remaining capacity of the battery is less than predetermined threshold value, being carried to control system transmission
Show information.
The explanation of feature may refer to the related description of embodiment corresponding to Fig. 1 in embodiment corresponding to Fig. 2, here no longer
It repeats one by one.
By acquiring bus voltage value of each driver within each cycle time it can be seen from above-mentioned technical proposal
With bus current value；According to the bus voltage value, the bus current value and cycle time, can calculate all described
The driving permit notification of driver；It performance number according to pre-stored each electrical equipment and the cycle time, can be with
Calculate the electricity consumption permit notification of all electrical equipments.The electricity consumption of the driving permit notification and other electrical equipments of driver
Permit notification reflects the consumption of battery, total according to the voltage value of battery, the driving permit notification and the electricity consumption
Power consumption number, it may be determined that go out the remaining capacity of the battery.Under normal circumstances, driver can all carry out busbar voltage and electric current
Sampling, controller calculate All Drives by the bus voltage value and current value of each period each driver of acquisition
In addition permit notification estimates the electricity consumption permit notification of miscellaneous equipment again, to extrapolate the remaining capacity of battery, pass through the skill
Art scheme is without being arranged special monitoring cell electricity quantity device, so that it may remaining with monitor electricity.
Fig. 3 is a kind of hardware architecture diagram of electric quantity detection apparatus 30 provided in an embodiment of the present invention, including memory
31, for storing computer program；Processor 32, for executing the computer program to realize such as above-mentioned detection method of quantity of electricity
The step of.
The embodiment of the present invention additionally provides a kind of computer readable storage medium, is deposited on the computer readable storage medium
Computer program is contained, is realized such as the step of above-mentioned detection method of quantity of electricity when the computer program is executed by processor.
Be provided for the embodiments of the invention above a kind of detection method of quantity of electricity, device and computer readable storage medium into
It has gone and has been discussed in detail.Each embodiment is described by the way of progressive in specification, the highlights of each of the examples are with
The difference of other embodiment, just to refer each other for identical similar portion between each embodiment.Disclosed in embodiment
For device, since it is corresponded to the methods disclosed in the examples, so description is fairly simple, related place is referring to method portion
It defends oneself bright.It should be pointed out that for those skilled in the art, in the premise for not departing from the principle of the invention
Under, it can be with several improvements and modifications are made to the present invention, these improvement and modification also fall into the protection of the claims in the present invention
In range.
Professional further appreciates that, unit described in conjunction with the examples disclosed in the embodiments of the present disclosure
And algorithm steps, can be realized with electronic hardware, computer software, or a combination of the two, in order to clearly demonstrate hardware and
The interchangeability of software generally describes each exemplary composition and step according to function in the above description.These
Function is implemented in hardware or software actually, depends on the specific application and design constraint of technical solution.Profession
Technical staff can use different methods to achieve the described function each specific application, but this realization is not answered
Think beyond the scope of this invention.
The step of method described in conjunction with the examples disclosed in this document or algorithm, can directly be held with hardware, processor
The combination of capable software module or the two is implemented.Software module can be placed in random access memory (RAM), memory, read-only deposit
Reservoir (ROM), electrically programmable ROM, electrically erasable ROM, register, hard disk, moveable magnetic disc, CD-ROM or technology
In any other form of storage medium well known in field.
Claims (10)
1. a kind of detection method of quantity of electricity, which is characterized in that including：
Acquire bus voltage value and bus current value of each driver within each cycle time；
According to the bus voltage value, the bus current value and cycle time, the driving of all drivers is calculated
Permit notification；
Performance number according to pre-stored each electrical equipment and the cycle time calculate all electrical equipments
Electricity consumption permit notification；
According to voltage value, the driving permit notification and the electricity consumption permit notification of battery, the battery is determined
Remaining capacity.
2. according to the method described in claim 1, it is characterized in that, each driver of acquisition is within each cycle time
Bus voltage value and bus current value include：
Using bus voltage value and bus current value of the synchronous triggering each driver of type collection within each cycle time.
3. according to the method described in claim 1, it is characterized in that, described according to the bus voltage value, the bus current
Value and cycle time, the driving permit notification for calculating all drivers include：
According to following formula, the driving permit notification W of all drivers is calculatedd,
Wherein, VijIndicate bus voltage value of i-th of driver within j-th of cycle time, IijIndicate i-th of driver
When the period of the bus current value in j cycle time, the Δ t expressions acquisition bus voltage value and the bus current value
Between, n indicates that the number of driver, m indicate the number of the cycle time；
Correspondingly, the performance number according to pre-stored each electrical equipment and the cycle time, calculate all
The electricity consumption permit notification of the electrical equipment includes：
According to following formula, the electricity consumption permit notification W of all electrical equipments is calculatedother,
Wother=m × (Pother×Δt)
Wherein, PotherIndicate the summation of the performance number of pre-stored each electrical equipment.
4. according to the method described in claim 1-3 any one, which is characterized in that further include：
When the remaining capacity of the battery is less than predetermined threshold value, prompt message is sent to control system.
5. a kind of electric quantity detection apparatus, which is characterized in that including collecting unit, computing unit and determination unit；
The collecting unit, for acquiring bus voltage value and bus current value of each driver within each cycle time；
The computing unit, for according to the bus voltage value, the bus current value and cycle time, calculating all
The driving permit notification of the driver；
The computing unit is additionally operable to the performance number according to pre-stored each electrical equipment and the cycle time, calculates
Go out the electricity consumption permit notification of all electrical equipments；
The determination unit is used for voltage value, the driving permit notification and the electricity consumption permit notification according to battery,
Determine the remaining capacity of the battery.
6. device according to claim 5, which is characterized in that the collecting unit is specifically used for using synchronous triggering pattern
Acquire bus voltage value and bus current value of each driver within each cycle time.
7. device according to claim 5, which is characterized in that the computing unit is specifically used for, according to following formula, meter
Calculate the driving permit notification W of all driversd,
Wherein, VijIndicate bus voltage value of i-th of driver within j-th of cycle time, IijIndicate i-th of driver
When the period of the bus current value in j cycle time, the Δ t expressions acquisition bus voltage value and the bus current value
Between, n indicates that the number of driver, m indicate the number of the cycle time；
And according to following formula, calculate the electricity consumption permit notification W of all electrical equipmentsother,
Wother=m × (Pother×Δt)
Wherein, PotherIndicate the summation of the performance number of pre-stored each electrical equipment.
8. according to the device described in claim 5-7 any one, which is characterized in that further include prompt unit；
The prompt unit, for when the remaining capacity of the battery is less than predetermined threshold value, prompt letter to be sent to control system
Breath.
9. a kind of electric quantity detection apparatus, which is characterized in that including：
Memory, for storing computer program；
Processor, for executing the computer program to realize the detection method of quantity of electricity as described in Claims 1-4 any one
The step of.
10. a kind of computer readable storage medium, which is characterized in that be stored with computer on the computer readable storage medium
Program realizes the step of the detection method of quantity of electricity as described in any one of Claims 1-4 when the computer program is executed by processor
Suddenly.
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111007406A (en) * | 2019-12-09 | 2020-04-14 | 烽火通信科技股份有限公司 | Internet of things node power consumption statistical learning device and method |
| CN111157901A (en) * | 2020-01-14 | 2020-05-15 | 上海荃信信息技术有限公司 | Battery electric quantity detection method and device |
| WO2021120061A1 (en) * | 2019-12-18 | 2021-06-24 | 京东方科技集团股份有限公司 | Terminal device, and method and apparatus for determining remaining electric quantity of battery |
| CN114397587A (en) * | 2022-01-13 | 2022-04-26 | 上海瑞浦青创新能源有限公司 | Method, device and readable storage medium for estimating remaining power of battery system |
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