機器人智慧型電源及電池管理系統

Abstract

有鑑於近年全球能源節約意識提升，如何讓能源用得有效率不浪費變成了大家關注的議題。隨著攜帶型電話、攜帶型電腦的普及，以及機器人的應用，電池的有效使用成為非常重要的課題。本論文的目的便是發展一套智慧型電源管理及電池管理系統，讓使用者更方便管理電源，以期能幫助機器人完成所指派的任務而不必擔心電量不足的問題。本論文將發展機器人智慧型電源及電池管理系統，該系統涵蓋電源管理系統、電池管理系統、及資訊分析系統。 在電源管理系統方面，除了監控馬達的電壓、電流以及電池放電量外，更須針對機器人尚能執行多久的時間提供給使用者。異常行為可以藉由即時監控資訊，利用所開發之GMPP系統通知使用者以採取措施，更可加以重新排程延長使用時間。 在電池管理系統方面，除了監控電池電壓、電流及溫度，防止電池過冷過熱、過度放電等異常狀況外，最主要是讓使用者知道電池的殘電量，進而安排何時需要充電，讓使用更有效率。 最後，資訊分析系統能針對歷史資料做異常行為診斷，讓使用者改進使用方式，避免異常行為再度發生。 本論文中所提到的智慧型電源及電池管理系統，可使機器人在電源管理上達到可靠度高和穩定性佳的供電效果，而該系統將會實際運用於機器人上。

The awareness of energy conservation in recent years has made the more efficient use of energy a global topic. Power conservation is a particularly important issue, especially in the use of the increasingly popular mobile phones and notebooks. In addition, robot applications must not only meet fundamental requirements but also conserve power. The purpose of this thesis is to develop an intelligent power management and battery management system that allows users to manage power more efficiently so that robots can complete assigned tasks without the problem of insufficient power. The intelligent power and battery management system consists of power management system, battery management, and data analyzing system. The power management system will real-time monitor the motor currents and voltages, and the battery discharge power to provide users with the sufficient operation time for robots with a rescheduling strategy to extend their operation time. Abnormal behaviors can be observed by monitoring real time information and notifying the user to take immediate action through the constructed generic message-passing platform system (GMPP). The battery management system can monitor the battery voltage, current and temperature to prevent overheating, excessive discharge and abnormal conditions. Finally, the data analyzing system can detect abnormal behavior from historical data, and then users can avoid the same situation by improving the operation process. The proposed intelligent power and battery management system will provide the robot a reliable and stable power supply. It will be implemented in real robot systems.