TWI416843B - Dynamic power scheduling, real time monitoring system and method thereof - Google Patents

Abstract

The present invention discloses a dynamic power scheduling, real time monitoring system and method thereof, which apply in an electronic device. The dynamic power scheduling and real time monitoring system comprises a power module, a scheduling module and a processing module. The power module is used to provide power to the electronic device. The scheduling module schedules actions of the electronic device according to the performance of the power module. The processing module is electrically connected with the power module and the scheduling module, and monitors the residual power of the power module or the power consumption rate of the electronic device. While the residual power is lower than a predetermined amount of power or the power consumption rate is greater than a predetermined consumption rate, the processing module controls the scheduling module to reschedule the actions of the electronic device.

Description

Dynamic power scheduling and real-time monitoring system and method thereof

The present invention relates to a power scheduling and monitoring system and method thereof, and more particularly to a dynamic power scheduling and instant monitoring system and method thereof for optimally configuring dynamic power usage and effectively monitoring electronic devices .

For the management of power usage, existing electronic devices usually do not have a comprehensive power usage analysis, resulting in an overall power supply cannot be effectively used. For example, a humanoid robot that uses a large number of batteries is generally required, and when the humanoid robot performs various actions, its power consumption is very large and rapidly consumed. Therefore, without a complete power management system to distribute usage, its battery can easily be exhausted in an inefficient situation.

At present, the power supply mode of the robot is usually to install a rechargeable battery inside the robot, and set a power shortage warning device on the robot, so that the robot can be moved to the utility power socket before the power is insufficient, and then the power plug of the robot is connected to the socket. In order to charge the robot, or remove the rechargeable battery, replace the rechargeable battery, or charge the rechargeable battery after removing the rechargeable battery. However, if the robot is abnormal due to abnormal power supply, insufficient power, abnormal motor operation, hardware damage, or changes in the external environment (such as increased obstacles, uneven ground, etc.), robots are often making One action, for example, when the robot moves on the foot and any abnormality occurs, the robot may fall to the ground and be damaged. Therefore, how to prevent robot damage when the abnormality occurs before is always a continuous research direction.

Thus, in terms of demand, designing a dynamic power scheduling and real-time monitoring system and method for optimally configuring dynamic power usage and effectively monitoring electronic devices has become an urgent issue in the market.

In view of the above-mentioned problems of the prior art, the object of the present invention is to provide a dynamic power scheduling and real-time monitoring system and method thereof to solve the problem that the current power supply scheduling and operation monitoring of the electronic device are not satisfactory.

According to the purpose of the present invention, a dynamic power scheduling and real-time monitoring system is provided for an electronic device, which comprises an electric energy module, a scheduling module and a processing module. The power module provides the electrical energy required by the electronic device. The scheduling module is based on the performance of the power module to schedule the actions of the electronic device. The processing module is electrically connected to the power module and the scheduling module, and the processing module monitors a residual power of the power module or a power consumption of the electronic device. When the residual power is lower than a preset power or the power consumption is greater than a preset power, the processing module controls the scheduling module to reschedule the action of the electronic device.

According to the purpose of the present invention, a dynamic power scheduling and real-time monitoring method is applied to an electronic device, which includes the following steps: providing an electrical energy required by the electronic device by an electric energy module; Scheduling the action of the electronic device; monitoring a residual power of the power module or one of the power consumption of the electronic device; and when the residual power is lower than a predetermined power or the power consumption is greater than a preset power, weight New scheduling of the action of the electronic device.

The scheduling module schedules the operation of the electronic device under the condition of maximizing the use time of the power module based on the power consumption or the limitation of the operation of the electronic device.

The processing module transmits the power of the power module to a preferential use portion of the electronic device when the residual power is lower than a first preset value.

The processing module sends a charging signal when the residual power is lower than a second preset value.

The processing module controls the action according to the action of the electronic device originally scheduled by the scheduling module as a reference when the residual power is lower than the preset power or the power consumption is greater than the preset power. The scheduling module reschedules the action of the electronic device.

The processing module monitors the power consumption of the electronic device by a current or a voltage of the power module.

The processing module monitors the power consumption of the electronic device or whether an abnormal condition occurs in the electronic device according to a statistical program control.

The warning module further includes an early warning module. When the power consumption of the electronic device monitored by the processing module or the abnormality occurs in the electronic device, the early warning module sends an abnormal signal to a remote monitoring device.

In view of the above, the dynamic power scheduling and real-time monitoring system and method thereof according to the present invention can have the following advantages:

The dynamic power scheduling and real-time monitoring system and its method can optimize the power usage of the robot under consideration of real application and environmental constraints, and can have Effectively monitor the operation of the motor and battery used by the robot. Once the abnormal behavior is found, the remote engineer will be notified immediately of the emergency treatment, or the system will automatically adopt a rescheduling strategy to solve the abnormal behavior. That is to say, when an abnormal situation of the robot is detected, the dynamic power scheduling and the real-time monitoring system and the method thereof propose various strategies for respectively corresponding solutions for different situations, so that the robot can generate corresponding actions. The purpose is to solve the unexpected event without changing the order of the robot action, and to achieve power saving effect. If the battery is broken, a strategy that prioritizes the safety of the robot will be proposed.

2‧‧‧Dynamic power scheduling and real-time monitoring system

10‧‧‧ Robot

20‧‧‧Power Module

21‧‧‧ Scheduling module

22‧‧‧Processing module

23‧‧‧Warning module

30‧‧‧Robot foot

31‧‧‧ Robot body

41‧‧‧Battery of the robot head

42‧‧‧Battery of the robot's right arm

43‧‧‧Battery of the left arm of the robot

44‧‧‧Battery of the robot leg

S51~S54‧‧‧Steps

FIG. 1 is a schematic diagram of an embodiment of a dynamic power scheduling and instant monitoring system applied to an electronic device according to the present invention.

2 is a block diagram of an embodiment of a dynamic power sequencing and instant monitoring system of the present invention.

FIG. 3 is a partial schematic view showing an embodiment of the dynamic power scheduling and real-time monitoring system applied to the electronic device of the present invention.

Figure 4 is a schematic diagram of power configuration of an embodiment of the dynamic power scheduling and real-time monitoring system of the present invention.

Figure 5 is a flow chart of the dynamic power scheduling and real-time monitoring method of the present invention.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS In the following, the embodiments of the dynamic power supply scheduling and the real-time monitoring system and the method thereof according to the present invention will be described with reference to the related drawings. For the sake of understanding, the same components in the following embodiments are denoted by the same reference numerals.

Please refer to FIG. 1 , which is a schematic diagram of an embodiment of a dynamic power scheduling and instant monitoring system applied to an electronic device according to the present invention. As shown, the dynamic power scheduling and real-time monitoring system of the present invention can be applied to an electronic device. In this embodiment, the electronic device can be a robot 10. Please refer to FIG. 2, which is a block diagram of an embodiment of the dynamic power scheduling and real-time monitoring system of the present invention. As shown, the dynamic power scheduling and real-time monitoring system 2 of the present invention includes a power module 20, a scheduling module 21, a processing module 22, and an early warning module 23. The power module 20 can include a plurality of batteries to provide the electrical energy required by the robot 10.

The scheduling module 21 is electrically connected to the power module 20, and can schedule the movement of the robot 10 according to the performance of the power module. The scheduling module 21 schedules the operation of the robot 10 under the condition that the power consumption of the plurality of batteries in the power module 20 is maximized based on the power consumption of the motor of the robot 10 or the limitation of the operation of the robot 10. In addition, the power scheduling mode of the scheduling module 21 can use the Neighboring Search Method to search for the best scheduling, including variable definition, hypothesis, target, restriction, and optimal solution search. process. That is to say, the scheduling module 21 expects the robot 10 to reach the maximum usage time in consideration of the battery life of the power module 20, and the limitation of the power consumption of the robot 10 motor and the limitation of the robot 10 when performing the operation. A power scheduling mode of the robot 10 is constructed.

The processing module 22 is electrically connected to the power module 20 and the scheduling module 21, which may be an integrated circuit and a processing integrated circuit, or an integrated application integrated circuit; and the present invention is actually implemented. Not limited to this. The processing module 22 can monitor the residual power of the plurality of batteries of the power module 20 in the robot 10 or the power consumption of each part of the robot 10 . ‘When the residual power of the battery is lower than a preset power or the power consumption is greater than a preset power At the time of the rate, the processing module 22 can control the motion of the scheduling robot 21 to reschedule the robot 10 according to the motion of the robot 10 originally scheduled by the scheduling module 21 as a reference. That is to say, in the embodiment, when the abnormality is detected, the processing module 22 can control the scheduling module 21 to propose various strategies, and propose corresponding solutions for different situations for the robot. 10 generates a corresponding action, the purpose of which is to solve the unexpected event without changing the order of action of the robot 10, and to achieve a power saving effect. If the battery is broken in the power module 20, the processing module 22 can control the scheduling module 21 to propose a strategy that prioritizes the security of the robot 10. Alternatively, if the external environment changes, the processing module 22 can also control the scheduling module 21 to propose a corresponding strategy.

Moreover, the early warning module 23 can send an abnormal signal to a remote monitoring device. Incidentally, it should be understood by those of ordinary skill in the art to which the present invention pertains that the implementations of the power sequencing and monitoring methods described above are merely examples and are not limiting; in addition, those skilled in the art may arbitrarily Combine the above functional modules to form an integrated module, or split into individual functional detail units, depending on the design convenience.

Please refer to FIG. 3 , which is a partial schematic diagram of an embodiment of a dynamic power sequencing and instant monitoring system applied to an electronic device according to the present invention. As shown, when the residual capacity of the battery is lower than a first predetermined value, the processing module 22 transmits the power of the power module 20 to a preferential portion of the robot 10: for example, the foot 30 of the robot 10 or The body 31, these two parts that mainly support the weight of the robot. Please refer to FIG. 4, which is a schematic diagram of power configuration of an embodiment of the dynamic power scheduling and real-time monitoring system of the present invention. As shown in the figure, the processing module 22 can also transfer part of the power of the battery in the power module 20 to a battery with insufficient power. For example, the actual situation shown in this figure In the embodiment, the part of the battery 41 that supplies the head of the robot 10, the battery 42 of the right arm of the supply robot 10, and the battery 44 of the leg of the supply robot 10 are transmitted to the left arm for frequent operation due to frequent operation in the previous period. Battery 43. In this way, it will maintain the normal use of the overall battery and increase the battery life.

When the residual power of the battery is lower than a second preset value, the processing module 22 controls most of the parts of the robot 10 to switch from the "normal operation state" to an "idle state" or a "sleep state"; and the processing module 22 can control the robot 10 to return to a charging preset position, or the processing module 22 can send a charging signal to notify the user to immediately charge the battery to prevent the wear of important parts of the robot 10 or the battery.

In response to the above, the processing module 22 of the dynamic power scheduling and instant monitoring system of the present invention can monitor the power consumption of the robot 10 by a current or a voltage of the power module 20. Moreover, the processing module 22 monitors the power consumption of the robot 10 or whether an abnormality has occurred in the robot 10 according to a statistical process control (SPC). In this embodiment, when the robot 10 performs the operation of optimizing the scheduling, the processing module 22 monitors the residual power of the plurality of batteries in the robot 10 and the power consumption of the motor, and the discharge amount is monitored. Based on the Multi-Phase Principle Component Analysis-based Statistical Process Control (Multi-Phase PCA-based PCA-based SPC), the motor 10 motor is diagnosed in terms of power consumption. An exception has occurred. Therefore, in actual implementation, the main variables can be used to analyze the components that have a greater influence on the current and voltage, and then use the Nelson Rules to find out the cause of the anomaly. For example, it is detected that there is insufficient power in the battery, or an abnormal situation occurs in the use of the motor. more In other cases, when the hardware is damaged (such as motor short circuit, battery destruction) or the external environment changes (such as increased obstacles, the ground is not flat), the dynamic power scheduling and real-time monitoring system can immediately send a message to the remote end. The monitoring device notifies the remote monitoring personnel that the remote monitoring personnel can process it immediately.

In addition, when the abnormality is detected, the processing module 22 can control the scheduling module 21 to propose various strategies for different situations to provide a corresponding solution for the user to use, the purpose of which is to not change the robot. 10 In the case of the sequence of actions, the emergency is solved and the power saving effect is achieved. However, if the battery is broken, the safety of the robot 10 is prioritized, and the remaining power is distributed to a more necessary part, such as the robot 10. Foot 30 or body 31. Because these two parts are the places that mainly support the weight of the robot 10. After rescheduling, the robot 10 can execute the command again, and the processing module 22 will continue to monitor it in real time.

It should be noted that those having ordinary knowledge in the field to which the present invention pertains should be aware that the main variables are used to analyze the components that have a greater influence on current and voltage, and the analysis is not necessarily only for current and voltage, and other analysis can be added. Ingredients. In the present embodiment, the statistical program control process uses the Nelson rule to find out the cause of the abnormality, which is merely an example of the implementation, not a limitation, and is described herein first.

Although the foregoing description of the dynamic power scheduling and the instant monitoring system of the present invention has also described the concept of the dynamic power scheduling and the instantaneous monitoring method of the dynamic power scheduling and the instantaneous monitoring system of the present invention, for the sake of clarity For the sake of reference, a detailed description of the flowchart will be further described below.

Please refer to FIG. 5, which is a dynamic power scheduling and instant monitoring method of the present invention. flow chart. As shown in the figure, the dynamic power scheduling and real-time monitoring method of the present invention can be applied to an electronic device. The dynamic power scheduling and real-time monitoring system includes a power module, a scheduling module, and a processing module. . The dynamic power scheduling and real-time monitoring method comprises the following steps: (S51) providing an electric energy required by the electronic device by an electric energy module; (S52) scheduling an action of the electronic device according to the performance of the electric energy module; (S53) Monitoring a residual power of the power module or one of the power consumption of the electronic device; and (S54) rescheduling the electronic device when the residual power is lower than a predetermined power or the power consumption is greater than a preset power The action of the device.

The detailed description and implementation manner of the dynamic power scheduling and real-time monitoring method of the dynamic power scheduling and real-time monitoring system of the present invention have been described in the foregoing description of the dynamic power scheduling and real-time monitoring system of the present invention, which is briefly described herein. Will not be described.

In summary, the dynamic power scheduling and real-time monitoring system and the method thereof according to the present invention can propose various strategies when detecting an abnormal situation of the robot, and propose corresponding solutions for different situations, respectively. The robot generates corresponding actions, the purpose of which is to solve the emergency and achieve the power saving effect without changing the order of the robots. If the battery is broken, a strategy that prioritizes the safety of the robot will be proposed.

The above is intended to be illustrative only and not limiting. Any equivalent modifications or changes to the spirit and scope of the present invention shall be included in the appended claims. Please be within the scope of the patent.

2‧‧‧Dynamic power scheduling and real-time monitoring system

20‧‧‧Power Module

21‧‧‧ Scheduling module

22‧‧‧Processing module

23‧‧‧Warning module

Claims (14)

A dynamic power scheduling and real-time monitoring system is applied to an electronic device, comprising: an electric energy module for providing electric energy required by the electronic device; and a scheduling module according to the performance of the electric energy module; The action of scheduling the electronic device, wherein the scheduling module schedules the operation of the electronic device under the condition of maximizing the use time of the power module based on the power consumption or the limitation of the operation of the electronic device; And a processing module electrically connecting the power module and the scheduling module, and monitoring a residual power of the power module or a power consumption of the electronic device, when the residual power is lower than a preset When the power or the power consumption is greater than a preset power, the processing module controls the scheduling module to reschedule the action of the electronic device. The dynamic power scheduling and real-time monitoring system of claim 1, wherein the processing module transmits the power of the power module to the electronic device when the residual power is lower than a first preset value One of the priority parts. The dynamic power scheduling and real-time monitoring system of claim 2, wherein the processing module sends a charging signal when the residual power is lower than a second preset value. A dynamic power scheduling and real-time monitoring system is applied to an electronic device, comprising: an electric energy module for providing electric energy required by the electronic device; and a scheduling module according to the performance of the electric energy module; To schedule the movement of the electronic device And a processing module electrically connecting the power module and the scheduling module, and monitoring a residual power of the power module or a power consumption of the electronic device, wherein the residual power is lower than When the preset power or the power consumption is greater than a preset power, the processing module controls the scheduling module to reschedule according to the action of the electronic device originally scheduled by the scheduling module as a reference. The action of the electronic device. The dynamic power scheduling and real-time monitoring system according to claim 1 or 4, wherein the processing module monitors the power consumption of the electronic device by a current or a voltage of the power module. . A dynamic power scheduling and real-time monitoring system is applied to an electronic device, comprising: an electric energy module for providing electric energy required by the electronic device; and a scheduling module according to the performance of the electric energy module; The operation of the electronic device is scheduled; and a processing module is electrically connected to the power module and the scheduling module, and monitors a residual power of the power module or a power consumption of the electronic device. When the residual power is lower than a preset power or the power consumption is greater than a preset power, the processing module controls the scheduling module to reschedule the action of the electronic device, wherein the processing module is based on a statistic The program controls to monitor the power consumption of the electronic device or whether an abnormal condition occurs in the electronic device. The dynamic power scheduling and real-time monitoring system described in claim 6 further includes an early warning module, when the power consumption of the electronic device monitored by the processing module or the abnormality occurs in the electronic device The warning module sends an abnormal signal to a remote monitoring device. A dynamic power scheduling and real-time monitoring method is applied to an electronic device, comprising the steps of: providing an electric energy required by the electronic device by an electric energy module; and scheduling an action of the electronic device according to the performance of the electric energy module; Monitoring a residual power of the power module or power consumption of the electronic device; when the residual power is lower than a preset power or the power consumption is greater than a preset power, rescheduling the operation of the electronic device; And scheduling the operation of the electronic device under the condition of maximizing the use time of the power module based on the power consumption or the limitation of the operation of the electronic device. The dynamic power scheduling and real-time monitoring method as described in claim 8 further includes the following steps: when the residual power is lower than a first preset value, transmitting the power of the power module to the electronic device A priority use part. The method of dynamic power scheduling and real-time monitoring according to claim 9 further includes the following steps: when the residual power is lower than a second preset value, a charging signal is sent through the processing module. A dynamic power scheduling and real-time monitoring method is applied to an electronic device, comprising the steps of: providing an electric energy required by the electronic device by an electric energy module; and scheduling an action of the electronic device according to the performance of the electric energy module; Monitoring a residual power of the power module or power consumption of the electronic device; and when the residual power is lower than a preset power or the power consumption is greater than a preset power, the processing module is configured according to the schedule The action of the electronic device originally scheduled by the module is a reference Controlling the scheduling module to reschedule the action of the electronic device. The dynamic power scheduling and real-time monitoring method as described in claim 8 or claim 11, further comprising the step of monitoring the power consumption of the electronic device by a current or a voltage of the power module. A dynamic power scheduling and real-time monitoring method is applied to an electronic device, comprising the steps of: providing an electric energy required by the electronic device by an electric energy module; and scheduling an action of the electronic device according to the performance of the electric energy module; Monitoring a residual power of the power module or power consumption of the electronic device; when the residual power is lower than a preset power or the power consumption is greater than a preset power, rescheduling the operation of the electronic device; And controlling the power consumption of the electronic device or whether the electronic device has an abnormal condition according to a statistical program. The method of dynamic power scheduling and real-time monitoring according to claim 13 further includes the following steps: when the power consumption of the electronic device monitored by the processing module or the abnormality occurs in the electronic device, An early warning module sends an abnormal signal to a remote monitoring device.