CN105446203B - A kind of robot power supply control method and system - Google Patents
A kind of robot power supply control method and system Download PDFInfo
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- CN105446203B CN105446203B CN201610003130.XA CN201610003130A CN105446203B CN 105446203 B CN105446203 B CN 105446203B CN 201610003130 A CN201610003130 A CN 201610003130A CN 105446203 B CN105446203 B CN 105446203B
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- G—PHYSICS
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- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
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Abstract
The present invention provides a kind of robot power supply control method and systems, wherein this method includes：Control terminal calculates the robot quantity for currently needing to run according to the workload of work-yard；Control terminal collects the electric quantity of power supply information of each robot, and determines the robot quantity being currently running；Control terminal determines the robot for needing to be turned on or off according to the electric quantity of power supply information for currently needing the robot quantity run, the robot quantity being currently running and each robot；Control terminal sends control signal to determining robot；Robot receives the control signal that control terminal is sent, and executing the corresponding control of control signal to the power supply of above-mentioned robot according to the control signal operates.The present invention improves and is turned on or off machine human efficiency.
Description
Technical field
The present invention relates to robotic technology fields, in particular to a kind of robot power supply control method and system.
Background technology
With the development of the social economy, the rule of the large size such as supermarket, airport, the station and logistics warehouse stream of people, logistics place
Mould and quantity constantly expand, and in order to meet the needs of people, robot are begun to use to carry out utonomous working.
On a place, it may be necessary to which a robots up to a hundred work, in the prior art, when needing some of which
When robot is worked, typically by manually carrying out selectively turning on the power supply of certain robots, when needing machine
When people is stopped, then by the power supply of artificial closing machine people.
But since there are many robot quantity of work, when being turned on or off robot power supply using manual type,
Need by staff one by one remove to be turned on or off robot power supply, efficiency is very low.
Invention content
In view of this, the present invention provides a kind of robot power supply control method and system, for solving in the prior art
When there are many robot quantity of work, robot power supply, the very low problem of efficiency are turned on or off using manual type.
In a first aspect, an embodiment of the present invention provides a kind of robot power supply control method, the method includes：
Control terminal calculates the robot quantity for currently needing to run according to the workload of work-yard；
Control terminal collects the electric quantity of power supply information of each robot, and determines the robot quantity being currently running；
Control terminal according to it is described it is current need run robot quantity, the robot quantity being currently running and
The electric quantity of power supply information of each robot, determines the robot for needing to be turned on or off；
Control terminal sends control signal to the determining robot, the control signal be unlatching power control signal or
Person closes power control signal；
The robot receives the control signal that the control terminal is sent, according to the control signal to the robot
Power supply executes the corresponding control operation of the control signal.
With reference to first aspect, an embodiment of the present invention provides the first possible realization method of above-mentioned first aspect,
In, the control terminal sends control signal to the determining robot and the robot executes the control signal and corresponds to
Control operation after, further include：
Control terminal judges whether the electric quantity of power supply information of robot is less than preset value；
If the electric quantity of power supply information of the robot is less than the preset value, charging instruction signal is sent to the machine
Device people, the charging instruction signal include the location information of robot charging station.
With reference to first aspect, an embodiment of the present invention provides second of possible realization method of above-mentioned first aspect,
In, the control terminal according to it is described it is current need run robot quantity, the robot quantity being currently running and
The electric quantity of power supply information of each robot determines the robot for needing to be turned on or off, including：
Control terminal is ranked up all robots according to the electric quantity of power supply information of each robot；
Control terminal obtains what the maximum current needs of electric quantity of power supply information were run from all robots after sequence
The robot of acquisition is formed the first machine list by quantity robot of robot；
The robot being currently running is formed the second machine list by control terminal；
Control terminal compares the first machine list and the second machine list, determines and needs to be turned on or off
Robot.
Second of possible realization method with reference to first aspect, an embodiment of the present invention provides the of above-mentioned first aspect
Three kinds of possible realization methods, wherein the control terminal compares the first machine list and the second machine list,
Determine the robot for needing to be turned on or off, including：
Control terminal determines the first machine being not present in the first machine list from the second machine list
Device people, the robot that first robot is determined as needing to close；
Control terminal determines the second machine being not present in the second machine list from the first machine list
Device people, the robot that second robot is determined as needing to open.
With reference to first aspect, an embodiment of the present invention provides the 4th kind of possible realization method of above-mentioned first aspect,
In, the robot receives the control signal that the control terminal is sent, according to the control signal to the power supply of the robot
The corresponding control operation of the control signal is executed, including：
Robot receives the control signal that the control terminal is sent；
The control signal is sent to the power management module of the robot by robot；
Robot determines the type of the control signal by the power management module；
If it is determined that the control signal is to open power control signal, then robot is opened by the power management module
The power supply of robot；
If it is determined that the control signal is to close power control signal, then robot is closed by the power management module
The power supply of robot.
Second aspect, an embodiment of the present invention provides a kind of robot power supply control system, the system comprises：
Control terminal calculates the robot quantity for currently needing to run for the workload according to work-yard；It collects each
The electric quantity of power supply information of robot, and determine the robot quantity being currently running；And run according to the current needs
The electric quantity of power supply information of robot quantity, the robot quantity being currently running and each robot determines and needs to open
The robot for opening or closing；It is additionally operable to send control signal to the determining robot, the control signal is to open electricity
Source controls signal or closes power control signal；
Robot, the control signal sent for receiving the control terminal, according to the control signal to the robot
Power supply execute the corresponding control of the control signal and operate.
In conjunction with second aspect, an embodiment of the present invention provides the first possible realization method of above-mentioned second aspect,
In, the control terminal includes：
Judgment module, for judging whether the electric quantity of power supply information of robot is less than preset value；
First sending module, if the electric quantity of power supply information for the robot is less than the preset value, transmission is filled
Electric command signal gives the robot, and the charging instruction signal includes the location information of robot charging station.
In conjunction with second aspect, an embodiment of the present invention provides second of possible realization method of above-mentioned second aspect,
In, the control terminal further includes：
Sorting module, for being ranked up to all robots according to the electric quantity of power supply information of each robot；
First comprising modules, for from all robots after sequence, obtaining the maximum current need of electric quantity of power supply
The robot of acquisition is formed the first machine list by the quantity robot of robot to be run；
Second comprising modules, for the robot being currently running to be formed the second machine list；
First determining module is determined and is needed for comparing the first machine list and the second machine list
The robot being turned on or off.
In conjunction with second of possible realization method of second aspect, an embodiment of the present invention provides the of above-mentioned second aspect
Three kinds of possible realization methods, wherein first determining module includes：
First determination unit, for from the second machine list, determining in the first machine list not
Existing first robot, the robot that first robot is determined as needing to close；
Second determination unit, for from the first machine list, determining in the second machine list not
Existing second robot, the robot that second robot is determined as needing to open.
In conjunction with second aspect, an embodiment of the present invention provides the 4th kind of possible realization method of above-mentioned second aspect,
In, the robot includes：
Receiving module, the control signal sent for receiving the control terminal；
Second sending module, the power management module for the control signal to be sent to the robot；
Second determining module, the type for determining the control signal by the power management module；
Opening module is used for if it is determined that the control signal then passes through the power management to open power control signal
Module opens the power supply of robot；
Closedown module is used for if it is determined that the control signal then passes through the power management to close power control signal
The power supply of module closing machine people.
Robot power supply control method and system provided by the invention, the machine being turned on or off to needs by control terminal
After device human hair send control signal, robot to receive the control signal of control terminal transmission, according to the control signal to robot
Power supply executes the corresponding control operation of control signal, improves and is turned on or off machine human efficiency.
To enable the above objects, features and advantages of the present invention to be clearer and more comprehensible, preferred embodiment cited below particularly, and coordinate
Appended attached drawing, is described in detail below.
Description of the drawings
In order to illustrate the technical solution of the embodiments of the present invention more clearly, below will be to needed in the embodiment attached
Figure is briefly described, it should be understood that the following drawings illustrates only certain embodiments of the present invention, therefore is not construed as pair
The restriction of range for those of ordinary skill in the art without creative efforts, can also be according to this
A little attached drawings obtain other relevant attached drawings.
Fig. 1 shows a kind of flow chart for robot power supply control method that the embodiment of the present invention 1 provides；
Fig. 2 shows the flows that the control terminal that the embodiment of the present invention 1 provides determines the robot for needing to be turned on or off
Figure；
Fig. 3 shows a kind of structural schematic diagram for robot power supply control system that the embodiment of the present invention 2 provides.
Specific implementation mode
Below in conjunction with attached drawing in the embodiment of the present invention, technical solution in the embodiment of the present invention carries out clear, complete
Ground describes, it is clear that described embodiment is only a part of the embodiment of the present invention, instead of all the embodiments.Usually
The component for the embodiment of the present invention being described and illustrated herein in the accompanying drawings can be arranged and be designed with a variety of different configurations.Cause
This, the detailed description of the embodiment of the present invention to providing in the accompanying drawings is not intended to limit claimed invention below
Range, but it is merely representative of the selected embodiment of the present invention.Based on the embodiment of the present invention, those skilled in the art are not doing
The every other embodiment obtained under the premise of going out creative work, shall fall within the protection scope of the present invention.
In view of in the prior art, in work-yard, when needing robot to be worked, typically by artificial
The power supply for opening robot, it is this using artificial when needing periods of robot operation stop, then by the power supply of artificial closing machine people
It is turned on or off the mode of robot power supply, efficiency is very low.Based on this, an embodiment of the present invention provides a kind of robot power supplies
Control method and system.It is described below by embodiment.
Embodiment 1
An embodiment of the present invention provides a kind of robot power supply control methods.It is controlled using control terminal in the embodiment of the present invention
The open and close of robot power supply processed, the control terminal can be computer, smart mobile phone and PAD (Portable
Android Device, tablet computer) etc..
In control terminal setting, there are one robot number information lists, the number of all robots are store above, when need
When opening the power supply of some of which robot, control terminal can be according to depositing in the control terminal in the list of robot number information
The number of the above-mentioned robot of storage sends to the robot and opens power control signal, when needing to close some of which robot
Power supply when, control terminal can be according to the volume of the above-mentioned robot stored in robot number information list in the control terminal
Number, it is sent to the robot and closes power control signal.
Wherein, the generation of the robot number information list in above-mentioned control terminal, specifically comprises the following steps：
Control terminal receives the connection request that machine human hair is sent, which includes the number of robot；
The number of above-mentioned robot is added in robot number information list by control terminal, is thus formed in control terminal
One include all robots number robot number information list.
Wherein, above-mentioned control terminal and robot can be by wireless network connections, which can be WI-FI
(Wireless-Fidelity, Wireless Fidelity) can be 433MHz dedicated networks, can also be 2.4G wireless networks.
As shown in Figure 1, robot power supply control method provided in an embodiment of the present invention, including step S110~S150, tool
Body is as follows：
S110：Control terminal calculates the robot quantity for currently needing to run according to the workload of work-yard.
On a few thing place, it may be necessary to which robot transports goods or be some other work, staff
The workload that the workload of the work-yard, each robot can be completed within the unit interval, and need more
It finishes the work of the work-yard these parameters in long-time to be input in control terminal, control terminal inputs upper according to staff
Parameter is stated, the robot quantity for currently needing to run is calculated.
S120：Control terminal collects the electric quantity of power supply information of each robot, and determines the machine number being currently running
Amount.
Control terminal passes through the power supply electricity for being wirelessly connected regular or real-time reception machine human hair and sending between each robot
Measure information.For each robot setting in robot coding information list, there are one mode bits in control terminal, work as machine
When people is in open state, the mode bit of the robot then sets 1, when robot is closed, the state of the robot
Position is then set to 0, and control terminal can determine the robot quantity in open state according to the mode bit of robot, and in unlatching
The robot quantity of state is exactly the robot quantity being currently running.
S130：Control terminal is according to the robot quantity for currently needing to run, the robot quantity being currently running and every
The electric quantity of power supply information of a robot determines the robot for needing to be turned on or off.
As one embodiment, as shown in Fig. 2, control terminal determines the robot for needing to be turned on or off, including step
S131~S134, it is specific as follows：
S131：Control terminal is ranked up all robots according to the electric quantity of power supply information of each robot；
Control terminal understands regular or each robot of real-time collecting electric quantity of power supply information, and according to the power supply of each robot
Information about power is ranked up all robots, can by all robots according to electric quantity of power supply information from high to low or from
It is low to high to be ranked up.In embodiments of the present invention, it is preferably ranked up from high to low according to electric quantity of power supply information.
S132：Control terminal obtains that electric quantity of power supply information is maximum currently needs to run from all robots after sequence
Quantity robot of robot, the robot of acquisition is formed into the first machine list；
After control terminal sorts to all robots according to the electric quantity of power supply information of each robot, according to the power supply of robot
The sequence of information about power from big to small obtains the quantity robot of robot for currently needing to run, and the robot of acquisition is formed
First machine list, the first machine list include the number of the robot of above-mentioned acquisition.
For the more detailed description above process, will be exemplified below.Such as it currently needs to run 50 machines
People chooses robot according to the sequence of above-mentioned all robots since the highest robot one end of electric quantity of power supply information, chooses
50 robots, this 50 robots be exactly electric quantity of power supply information it is maximum it is current need 50 robots running, by this 50
A robot forms the first machine list.Certainly, it is according to work-yard that the robot run is needed in the embodiment of the present invention
Workload computing show that above-mentioned 50 robots are the robot quantity for illustrating and illustrating and how choosing and need to run
A robot, there is no limit the robot quantity for needing to run.
S133：The robot being currently running is formed the second machine list by control terminal；
Wherein, the second machine list includes the number for the robot being currently running.
S134：Control terminal compares the first machine list and the second machine list, determines what needs were turned on or off
Robot.
Wherein, as one embodiment, control terminal compares the first machine list and the second machine list, determines and needs
The robot being turned on or off, may include steps of：
Control terminal determines the first robot being not present in the first machine list from the second machine list, will
Above-mentioned first robot is determined as the robot for needing to close；
In this step, the number that a robot can be selected from the second machine list successively, then first
It traverses and searches in machine list, if searching the number less than above-mentioned robot in the first machine list, illustrate the
The robot is not present in one machine list.By the number of all robots in the second machine list successively in the first machine
Traversal lookup is carried out in device list, and then determines the robot being not present in the first machine list, by the first robot
The robot being not present in list is denoted as the first robot.
And above-mentioned the first robot determined is then currently running, but be not the robot of electric quantity of power supply information abundance,
So the robot that above-mentioned first robot is determined as needing to close.
Control terminal determines the second robot being not present in the second machine list from the first machine list, will
Above-mentioned second robot is determined as the robot for needing to open.
In this step, the number that a robot can be selected from the first machine list successively, in the second machine
It traverses and searches in list, if searching the number less than above-mentioned robot in the second machine list, illustrate the second machine
The robot is not present in device list.By the number of all robots in the first machine list successively in the second robot
Traversal lookup is carried out in list, and then determines the robot being not present in the second machine list, by the second machine list
In the robot that is not present be denoted as the second robot.
And above-mentioned the second robot determined is then not to be currently running, but the machine of electric quantity of power supply information abundance
People, so the robot that above-mentioned second robot is determined as needing to open.
S140：Control terminal sends control signal to determining robot, the control signal be open power control signal or
Person closes power control signal.
In above-mentioned steps, it has been determined that need the robot being turned on or off, control terminal can be to above-mentioned determination
Robot sends control signal, which is to open power control signal or close power control signal, to above-mentioned determination
The robot opened is needed to send the control signal for opening power supply, the robot closed to above-mentioned determining needs, which is sent, closes power supply
Control signal.
S150：Robot receives the control signal that control terminal is sent, and is held to the power supply of robot according to above-mentioned control signal
The corresponding control operation of the row control signal.
Wherein, as one embodiment, robot receives the control signal that control terminal is sent, according to above-mentioned control signal pair
The power supply of robot executes the corresponding operating procedure of control signal, specifically comprises the following steps：
Robot receives the control signal that control terminal is sent；
Robot sends control signals to the power management module of above-mentioned robot；
Robot determines the type of control signal by power management module；
If it is determined that control signal is to open power control signal, then robot is opened by power management module by robot
Power supply；
If it is determined that control signal is to close power control signal, then robot passes through power management module closing machine people's
Power supply.
Wherein, power management module is by a kind of effective and reasonable element for distributing to robot all parts of power supply, also
The open and close of robot power supply can be controlled.
In above-mentioned steps, the type for the control signal that control terminal is sent is to open robot power supply to control signal or closing
Robot power supply controls signal, after robot receives the control signal of control terminal transmission, can be sent to the control signal
The power management module of robot determines that the control signal is to open power control signal also by the power management module of robot
It is to close power control signal, if it is determined that the control signal is to open power control signal, then robot passes through power management
Module opens the power supply of robot, if it is determined that the control signal is to close power control signal, then robot passes through power supply pipe
Manage module closing machine people's power supply.
Wherein, above-mentioned control terminal sends control signal to determining robot and robot execution control signal is corresponding
Further include following steps after control operation：
Control terminal judges whether the electric quantity of power supply information of robot is less than preset value；
If the electric quantity of power supply information of robot is less than above-mentioned preset value, charging instruction signal is sent to above-mentioned machine
People, wherein the charging instruction signal includes the location information of robot charging station.
Control terminal understands regular or each robot of real-time collecting electric quantity of power supply information, when robot has executed control terminal hair
After the unlatching power control signal or closing power control signal that send, control terminal can believe the electric quantity of power supply of current robot
Breath is judged, an electric quantity of power supply information preset value is stored up in control end memory, if above-mentioned robot is in open state,
And if the electric quantity of power supply information of current robot is less than the preset value, control terminal can send charging instruction signal to this
Robot, the charging instruction signal include the location information of robot charging station, when above-mentioned robot receives control terminal hair
After the charging instruction signal sent, charging station specified in the charging instruction signal can be arrived and charged.
If above-mentioned robot is in standby, and if current robot electric quantity of power supply information be less than it is above-mentioned pre-
If value, then control terminal can send unlatching power control signal first gives the robot, power supply control is opened when robot executes
After signal, control terminal can send charging instruction signal and give the robot, which includes robot charging station
Location information can be to advising in the charging instruction signal after above-mentioned robot receives the charging instruction signal of control terminal transmission
Fixed charging station charges.
Robot power supply control method provided in an embodiment of the present invention, the machine being turned on or off to needs by control terminal
After device human hair send control signal, robot to receive the control signal of control terminal transmission, according to the control signal to robot
Power supply executes the corresponding control operation of control signal, improves and is turned on or off machine human efficiency.
Embodiment 2
An embodiment of the present invention provides a kind of robot power supply control systems.As shown in figure 3, the system includes control terminal
310 and robot 320.
Wherein, control terminal 310 can be computer, smart mobile phone and PAD etc..
Control terminal 310 calculates the quantity for the robot 320 for currently needing to run for the workload according to work-yard；
The electric quantity of power supply information of each robot 320 is collected, and determines the quantity for the robot 320 being currently running；And according to working as
Quantity, the quantity for the robot 320 being currently running and the electricity of each robot 320 of the preceding robot 320 for needing to run
Source information about power determines the robot 320 for needing to be turned on or off；It is additionally operable to send control letter to determining robot 320
Number, which is to open power control signal or closing power control signal；
Robot 320, the control signal for receiving the transmission of control terminal 310, according to above-mentioned control signal to robot 320
Power supply execute the control signal corresponding control operation.
As shown in figure 3, above system includes multiple robots 320, wherein multiple any numbers for more than 1, this hair
Bright embodiment does not limit above-mentioned multiple concrete numerical value.
Wherein, by wireless network connection, which can be WI-FI for control terminal 310 and robot 320, can be with
Can also be 2.4G wireless networks for 433MHz dedicated networks.
In embodiments of the present invention, control terminal 310 calculates the machine for currently needing to run according to the workload of work-yard
The quantity of device people 320, and the electric quantity of power supply information of each robot 320 is collected, and determine the robot 320 being currently running
Quantity, according to the quantity for currently needing the quantity of the robot 320 run, the robot 320 being currently running and each
The electric quantity of power supply information of robot 320 determines and needs the robot 320 that is turned on or off, and to determining above-mentioned robot
320 send control signal, which is to open power control signal or close power control signal, and robot 320 connects
After the control signal for receiving the transmission of control terminal 310, control signal is executed to the power supply of robot 320 according to the control signal and is corresponded to
Control operation, the control operation for open robot 320 power supply or closing machine people 320 power supply.
In the embodiment of the present invention, control signal, machine are sent by the robot that control terminal is turned on or off to needs
After people receives the control signal of control terminal transmission, it is corresponding that control signal is executed to the power supply of robot according to the control signal
Control operation, improves and is turned on or off machine human efficiency.
As one embodiment, wherein control terminal 310 may include：
Judgment module, the first sending module, sorting module, the first comprising modules, the second comprising modules and first determine
Module.
Judgment module, for judging whether the electric quantity of power supply information of robot 320 is less than preset value；
First sending module sends charging instruction if the electric quantity of power supply information for robot 320 is less than preset value
For signal to robot 320, which includes the location information of robot charging station.
In embodiments of the present invention, when control terminal 310 sends control signal and robot 320 to determining robot 320
After executing the corresponding control operation of the control signal, it is pre- that judgment module can judge whether the electric quantity of power supply information of robot is less than
If value, if the electric quantity of power supply information of robot 320 is less than preset value, and above-mentioned robot 320 is in open state, then the
One sending module can send charging instruction signal to robot 320, after robot 320 receives the charging instruction signal, can arrive
The robot charging station that the charging instruction signal includes charges；
If above-mentioned robot 320 is in standby, and if the electric quantity of power supply information of current robot 320 is less than
Above-mentioned preset value, then control terminal 310 can send unlatching power control signal first gives the robot 320, when robot 320 is held
After row opens power control signal, the first sending module can send charging instruction signal and the robot 320, robot 320 is given to connect
After receiving the charging instruction signal, the robot charging station that can include to the charging instruction signal charges.
Sorting module, for being ranked up to all robots according to the electric quantity of power supply information of each robot；
First comprising modules, for from all robots after sequence, obtaining the maximum current need of electric quantity of power supply information
The robot of acquisition is formed the first machine list by the quantity robot of robot to be run；
Second comprising modules, for the robot being currently running to be formed the second machine list；
First determining module, for comparing the first machine list and the second machine list, determine need to open or
The robot of closing.
In embodiments of the present invention, control terminal 310 calculates the machine for currently needing to run according to the workload of work-yard
Device people's quantity, after collecting the electric quantity of power supply information of each robot, and the determining robot quantity being currently running, sequence
Module can be ranked up all robots according to the electric quantity of power supply information of each robot, and the first comprising modules can be from sequence
In all robots afterwards, the maximum current quantity robot of robot for needing to run of electric quantity of power supply information is obtained, will be obtained
The robot taken forms the first machine list, and the robot being currently running is formed the second robot by the second comprising modules
List finally compares above-mentioned first machine list and the second machine list by the first determining module, determine need to open or
The robot that person closes.
As one embodiment, wherein above-mentioned first determining module may include：
First determination unit and the second determination unit.
First determination unit, for from the second machine list, determine to be not present in the first machine list the
One robot, the robot that the first robot is determined as needing to close；
Second determination unit, for from the first machine list, determine to be not present in the second machine list the
Two robots, the robot that the second robot is determined as needing to open.
In inventive embodiments, the first determining module, which determines, needs the robot being turned on or off to comprise the following processes：
After the first comprising modules form the first machine list, the second comprising modules form the second machine list,
First determination unit can determine the first machine being not present in the first machine list from above-mentioned second machine list
First robot is determined as needing the robot that closes by people, wherein the first robot is to be currently running, but is not power supply electricity
The robot of information abundance is measured, the second determination unit is determined not deposit in the second machine list from the first machine list
The second robot, the second robot is determined as to need the robot opened, wherein the second robot is not transport
Row, but the robot of electric quantity of power supply information abundance, so that the robot to work is all the robot of electricity abundance.
As one embodiment, wherein robot 320 may include：
Receiving module, the control signal for receiving the transmission of control terminal 310；
Second sending module, the power management module for above-mentioned control signal to be sent to robot 320；
Second determining module, the type for determining control signal by power management module；
Opening module is used for if it is determined that above-mentioned control signal then passes through power management module to open power control signal
Open the power supply of robot 320；
Closedown module is used for if it is determined that above-mentioned control signal then passes through power management module to close power control signal
The power supply of closing machine people 320.
After the receiving module of robot 320 receives the control signal of the transmission of control terminal 310, which can be passed through
Second sending module is sent to the power management module of robot 320, and the second determining module can be determined by power management module
The type of the type of above-mentioned control signal, the control signal for unlatching power control signal or closes power control signal, if
Second determining module determines that above-mentioned control signal is to open power control signal, then opening module is opened by power management module
The power supply of robot 320, if the second determining module determines that above-mentioned control signal is to close power control signal, closedown module is logical
Cross the power supply of power management module closing machine people 320.
Robot power supply control system provided in an embodiment of the present invention, including control terminal and robot, by control terminal to
The robot being turned on or off is needed to send control signal, after robot receives the control signal of control terminal transmission, according to
The control signal executes the corresponding control of control signal to the power supply of robot and operates, and improves and is turned on or off robot
Efficiency.
The above description is merely a specific embodiment, but scope of protection of the present invention is not limited thereto, any
Those familiar with the art in the technical scope disclosed by the present invention, can easily think of the change or the replacement, and should all contain
Lid is within protection scope of the present invention.Therefore, protection scope of the present invention should be based on the protection scope of the described claims.
Claims (8)
1. a kind of robot power supply control method, which is characterized in that including：
Control terminal calculates the robot quantity for currently needing to run according to the workload of work-yard；
Control terminal collects the electric quantity of power supply information of each robot, and determines the robot quantity being currently running；
Control terminal is ranked up all robots according to the electric quantity of power supply information of each robot；
Control terminal obtains the maximum current machine for needing to run of electric quantity of power supply information from all robots after sequence
The robot of acquisition is formed the first machine list by people's quantity robot；
The robot being currently running is formed the second machine list by control terminal；
Control terminal compares the first machine list and the second machine list, determines the machine for needing to be turned on or off
Device people；
Control terminal sends control signal to the determining robot, and the control signal is to open power control signal or pass
Close power control signal；
The robot receives the control signal that the control terminal is sent, according to the control signal to the power supply of the robot
Execute the corresponding control operation of the control signal.
2. according to the method described in claim 1, it is characterized in that, the control terminal sends control to the determining robot
After signal and the robot execute the corresponding control operation of the control signal, further include：
Control terminal judges whether the electric quantity of power supply information of robot is less than preset value；
If the electric quantity of power supply information of the robot is less than the preset value, charging instruction signal is sent to the machine
People, the charging instruction signal include the location information of robot charging station.
3. according to the method described in claim 1, it is characterized in that, the control terminal compares the first machine list and institute
The second machine list is stated, determines the robot for needing to be turned on or off, including：
Control terminal determines the first machine being not present in the first machine list from the second machine list
People, the robot that first robot is determined as needing to close；
Control terminal determines the second machine being not present in the second machine list from the first machine list
People, the robot that second robot is determined as needing to open.
4. according to the method described in claim 1, it is characterized in that, the robot receives the control letter that the control terminal is sent
Number, the corresponding control of the control signal is executed to the power supply of the robot according to the control signal and is operated, including：
Robot receives the control signal that the control terminal is sent；
The control signal is sent to the power management module of the robot by robot；
Robot determines the type of the control signal by the power management module；
If it is determined that the control signal is to open power control signal, then machine is opened by the power management module by robot
The power supply of people；
If it is determined that the control signal is to close power control signal, then robot passes through the power management module closing machine
The power supply of people.
5. a kind of robot power supply control system, which is characterized in that including：
Control terminal calculates the robot quantity for currently needing to run for the workload according to work-yard；Collect each machine
The electric quantity of power supply information of people, and determine the robot quantity being currently running；According to the electric quantity of power supply of each robot
Information is ranked up all robots, from all robots after sequence, obtains the maximum current need of electric quantity of power supply
The robot of acquisition is formed the first machine list, is currently being transported described by the quantity robot of robot to be run
Capable robot forms the second machine list, compares the first machine list and the second machine list, determines
The robot being turned on or off is needed, is additionally operable to send control signal to the determining robot, the control signal is
It opens power control signal or closes power control signal；
Robot, the control signal sent for receiving the control terminal, according to the control signal to the electricity of the robot
Source executes the corresponding control operation of the control signal.
6. system according to claim 5, which is characterized in that the control terminal includes：
Judgment module, for judging whether the electric quantity of power supply information of robot is less than preset value；
First sending module sends charging and refers to if the electric quantity of power supply information for the robot is less than the preset value
Enable signal to the robot, the charging instruction signal includes the location information of robot charging station.
7. system according to claim 5, which is characterized in that the control terminal includes：
First determination unit, for from the second machine list, determining to be not present in the first machine list
The first robot, first robot is determined as to need the robot that closes；
Second determination unit, for from the first machine list, determining to be not present in the second machine list
The second robot, second robot is determined as to need the robot opened.
8. system according to claim 5, which is characterized in that the robot includes：
Receiving module, the control signal sent for receiving the control terminal；
Second sending module, the power management module for the control signal to be sent to the robot；
Second determining module, the type for determining the control signal by the power management module；
Opening module is used for if it is determined that the control signal then passes through the power management module to open power control signal
Open the power supply of robot；
Closedown module is used for if it is determined that the control signal then passes through the power management module to close power control signal
The power supply of closing machine people.
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| CN106779579A (en) * | 2016-11-14 | 2017-05-31 | 平安科技（深圳）有限公司 | Scheduling method and device of arranging an order according to class and grade |
| CN106781369B (en) * | 2016-12-05 | 2020-10-16 | 浙江立镖机器人有限公司 | Robot work control method and device |
| CN108945921A (en) * | 2018-06-07 | 2018-12-07 | 锥能机器人（上海）有限公司 | Cargo automatic allocates system and its operation method |
| CN114142599A (en) * | 2021-12-01 | 2022-03-04 | 山东新坐标智能装备有限公司 | Robot power management system and method |
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Effective date of registration: 20230531 Address after: No. 96 Changda Road, Linping Street, Linping District, Hangzhou City, Zhejiang Province, 311119 Patentee after: ZHEJIANG LIBIAO ROBOT CO.,LTD. Address before: 310000 0614-2 room, 199 business building, Xihu District Wensanlu Road, Hangzhou, Zhejiang. Patentee before: HANGZHOU YAMEILIJIA TECHNOLOGY Co.,Ltd. |
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