CN109813954A - A kind of method and device of the current monitoring of mobile robot - Google Patents
A kind of method and device of the current monitoring of mobile robot Download PDFInfo
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- CN109813954A CN109813954A CN201910133656.3A CN201910133656A CN109813954A CN 109813954 A CN109813954 A CN 109813954A CN 201910133656 A CN201910133656 A CN 201910133656A CN 109813954 A CN109813954 A CN 109813954A
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Abstract
The invention discloses a kind of method and devices of the current monitoring of mobile robot, this method includes the current information of periodically acquisition mobile robot, according to the identification information of operating circuit, determine the ID of operating circuit, the current value of the ID of operating circuit, operating circuit is sent to cloud, so that cloud determines load current value corresponding with the ID of operating circuit according to the ID of operating circuit, and judges whether the current value of operating circuit is greater than load current value, if so, alarming.The technical solution is used to monitor the operating current of each circuit in mobile robot, guarantees the normal work of mobile robot.
Description
Technical field
The present embodiments relate to mobile robot field more particularly to a kind of methods of the current monitoring of mobile robot
And device.
Background technique
With economic and science and technology development, mobile robot has been applied in our actual life, for example, sweeper
Device people, floor-mopping robot, grass-removing robot etc..At present in mobile robot, the not set operating current for each circuit is carried out
The monitoring circuit of monitoring, but the operating current of certain mobile robots is larger, when there is overcurrent in some circuit, all may
The damage that will cause circuit leads to mobile robot cisco unity malfunction.
Summary of the invention
The embodiment of the present invention provides a kind of method and device of the current monitoring of mobile robot, for monitoring mobile machine
The operating current of each circuit in people, guarantees the normal work of mobile robot.
A kind of method of the current monitoring of mobile robot provided in an embodiment of the present invention, comprising:
The periodically current information of acquisition mobile robot；The current information includes the current value of operating circuit and described
The identification information of operating circuit；
According to the identification information of the operating circuit, ID (Identification, the identity mark of the operating circuit are determined
Knowledge number)；
The current value of the ID of the operating circuit, the operating circuit are sent to cloud, so that the cloud is according to institute
The ID for stating operating circuit determines load current value corresponding with the ID of the operating circuit, and judges the electric current of the operating circuit
Whether value is greater than the load current value, if so, alarming.
In above-mentioned technical proposal, the current information of mobile robot is periodically acquired, and according to the electricity that works in current information
The identification information on road, determines the ID of current collected operating circuit, and by the current value of the ID of operating circuit and operating circuit
It is sent to cloud, so that cloud is judged, that is to say, that be in periodic acquisition mobile robot in the technical program
The current information of each circuit, and according to the identification information in current information determine it is current it is collected be in mobile robot it is each
Which circuit of circuit, and the current value of the ID for the operating circuit determined and operating circuit are sent to cloud, it is used for cloud
End is judged.Further, cloud is after the current value of the ID, operating circuit that receive operating circuit, according to operating circuit
ID determine the load current value of work at present circuit, judge whether the current value of operating circuit is more than load current value, if so,
It then alarms, so that staff carries out abnormality processing to above-mentioned alarm, to prevent mobile robot because of certain operating circuit
Operating current overcurrent leads to can not work normally for mobile robot.
Optionally, the current information of the periodically acquisition mobile robot, comprising:
Periodically control Acquisition Circuit is connect with operating circuit, so that Acquisition Circuit acquisition connects with the Acquisition Circuit
The current value of the operating circuit connect.
In above-mentioned technical proposal, it is provided with Acquisition Circuit, by controlling the connection relationship of Acquisition Circuit and operating circuit, with
Acquire the current value of different operating circuit.In addition, realizing one by the connection relationship of control Acquisition Circuit and operating circuit and adopting
Collector acquires multiple operating circuits in a collection period, reduces the workload of mobile robot, saves cost.
Optionally, the identification information of the operating circuit includes when acquiring the acquisition of the current information of the mobile robot
Between；
The identification information according to the operating circuit, determines the ID of the operating circuit, comprising:
According to the acquisition time, mapping table is searched, and is determined and the acquisition from the mapping table
Time corresponding acquisition time section；ID pairs of ID and each operating circuit in the mapping table including multiple operating circuits
The acquisition time section answered；
According to the acquisition time section corresponding with the acquisition time, the ID of the operating circuit is determined.
In above-mentioned technical proposal, be provided with mapping table, in the mapping table including multiple operating circuits ID and
The corresponding acquisition time section of the ID of each operating circuit can basis after periodically collecting the current information of mobile robot
Acquisition time in current information determines acquisition time section corresponding to current acquisition time, and according to the acquisition determined
Period determines the ID of operating circuit belonging to current collected operating current.
Optionally, the current value by the ID of the operating circuit, the operating circuit is sent to cloud, comprising:
After the current value of the ID of the operating circuit, the operating circuit are encoded, sent out by wireless transport module
It send to the cloud.
Optionally, the wireless transport module be bluetooth module or radio-frequency module or WiFi (WIreless-FIdelity,
Wireless Fidelity) module.
In above-mentioned technical proposal, it can be connect by wireless transport module with cloud, ID, operating circuit to operating circuit
Current value encoded after, the information after coding is transmitted to by cloud by wireless transport module.Wherein, the wireless transmission mould
Block is bluetooth module or radio-frequency module or WiFi module.Realize the wireless connection of mobile robot and cloud, cloud can be real-time
The easily working condition of monitoring mobile robot, it is more than corresponding specified for preventing the current value of operating circuit in mobile robot
Current value.
Correspondingly, the embodiment of the invention also provides a kind of devices of the current monitoring of mobile robot, comprising:
Acquisition module, for periodically acquiring the current information of mobile robot；The current information includes operating circuit
Current value and the operating circuit identification information；
Processing module determines the ID of the operating circuit for the identification information according to the operating circuit；By the work
The current value of the ID, the operating circuit that make circuit are sent to cloud, so that the cloud is true according to the ID of the operating circuit
Fixed load current value corresponding with the ID of the operating circuit, and judge whether the current value of the operating circuit is greater than the volume
Constant current value, if so, alarming.
Optionally, the acquisition module is specifically used for:
Periodically control Acquisition Circuit is connect with operating circuit, so that Acquisition Circuit acquisition connects with the Acquisition Circuit
The current value of the operating circuit connect.
Optionally, the identification information of the operating circuit includes when acquiring the acquisition of the current information of the mobile robot
Between；
The processing module is specifically used for:
According to the acquisition time, mapping table is searched, and is determined and the acquisition from the mapping table
Time corresponding acquisition time section；ID pairs of ID and each operating circuit in the mapping table including multiple operating circuits
The acquisition time section answered；
According to the acquisition time section corresponding with the acquisition time, the ID of the operating circuit is determined.
Optionally, the processing module is specifically used for:
After the current value of the ID of the operating circuit, the operating circuit are encoded, sent out by wireless transport module
It send to the cloud.
Optionally, the wireless transport module is bluetooth module or radio-frequency module or WiFi module.
Correspondingly, the embodiment of the invention also provides a kind of calculating equipment, comprising:
Memory, for storing program instruction；
Processor executes above-mentioned movement according to the program of acquisition for calling the program instruction stored in the memory
The method of the current monitoring of robot.
Correspondingly, the embodiment of the invention also provides a kind of computer-readable non-volatile memory medium, including computer
Readable instruction, when computer is read and executes the computer-readable instruction, so that computer executes above-mentioned mobile robot
Current monitoring method.
Detailed description of the invention
To describe the technical solutions in the embodiments of the present invention more clearly, make required in being described below to embodiment
Attached drawing is briefly introduced, it should be apparent that, drawings in the following description are only some embodiments of the invention, for this
For the those of ordinary skill in field, without creative efforts, it can also be obtained according to these attached drawings other
Attached drawing.
Fig. 1 is a kind of schematic diagram of system architecture provided in an embodiment of the present invention；
Fig. 2 is a kind of method flow schematic diagram of the current monitoring of mobile robot provided in an embodiment of the present invention；
Fig. 3 is a kind of apparatus structure schematic diagram of the current monitoring of mobile robot provided in an embodiment of the present invention.
Specific embodiment
To make the objectives, technical solutions, and advantages of the present invention clearer, below in conjunction with attached drawing to the present invention make into
It is described in detail to one step, it is clear that described embodiments are only a part of the embodiments of the present invention, rather than whole implementation
Example.Based on the embodiments of the present invention, obtained by those of ordinary skill in the art without making creative efforts
All other embodiment, shall fall within the protection scope of the present invention.
Fig. 1 illustratively show the embodiment of the present invention provide mobile robot current monitoring method be applicable in be
System framework, which includes cloud 100, mobile robot 200.
Mobile robot 200 includes detection circuit 210 and slowdown monitoring circuit to be checked 220, and detection circuit 210 includes acquisition module
211 and processing module 212, acquisition module 211 is used to acquire the current information of slowdown monitoring circuit 220 to be checked, and by collected electric current
Information is sent to processing module 212；Processing module 212 is used to handle the current information of the transmission of acquisition module 211.Slowdown monitoring circuit to be checked
220 may include control circuit, driving circuit, execution circuit etc..
Cloud 100 is used to receive the information of the transmission of mobile robot 200, and according to the information received, judges moving machine
There is exception with the presence or absence of some slowdown monitoring circuit 220 to be checked in device people 200.
Based on foregoing description, Fig. 2 illustratively shows a kind of electric current of mobile robot provided in an embodiment of the present invention
The process of the method for monitoring, the process can be executed by the device of the current monitoring of mobile robot.As shown in Fig. 2, the process
It specifically includes:
Step 201, the current information of mobile robot is periodically acquired.
Wherein, the current information of mobile robot includes the current value and operating circuit of the operating circuit of mobile robot
Identification information, the identification information of operating circuit include the acquisition time for acquiring the current information of mobile robot.
In the technical program, the current information of mobile robot is periodically acquired, different work electricity in mobile robot
Road can correspond to different collection period, it may also be said to, acquisition time section can be set in each operating circuit, that is, presets work
Make the mapping table of circuit and acquisition time section, includes the ID and each operating circuit of multiple operating circuits in the mapping table
The corresponding acquisition time section of ID.For example, relativity table is as shown in table 1, respectively in period 00:00~02:00 and 12:00
~14:00 acquires the operating current of the corresponding operating circuit of ID1.
Table 1
| The ID of operating circuit | Acquisition time section |
| ID1 | 00:00~02:00,12:00~14:00 |
| ID2 | 02:00~05:00,14:00~17:00 |
| ID3 | 05:00~09:00,17:00~21:00 |
| ID4 | 09:00~12:00,21:00~24:00 |
Optionally, periodically control Acquisition Circuit is connect with operating circuit, so that Acquisition Circuit acquisition connects with Acquisition Circuit
The current value of the operating circuit connect, is still exemplified by Table 1, if current time is between acquisition time section 17:00~21:00,
Acquisition Circuit operating circuit connection corresponding with ID3 is controlled, so that the work of the corresponding operating circuit of Acquisition Circuit acquisition ID3
Circuit values.
Step 202, according to the identification information of the operating circuit, the ID of the operating circuit is determined.
The identification information of operating circuit includes the acquisition time for acquiring the current information of mobile robot, when according to acquisition
Between, it can mapping table is searched, and determines acquisition time section corresponding with acquisition time from mapping table, so
Afterwards according to acquisition time section corresponding with acquisition time, the ID of operating circuit is determined.It is still exemplified by Table 1, periodically acquisition moves
The current information of mobile robot, however, it is determined that the current acquisition time in current collected current information is 16:00, then can be with
It determines that acquisition time section corresponding to the acquisition time is 17:00~21:00, then can be corresponded to according to the acquisition time section
The ID of operating circuit is ID3 out.
Step 203, the current value of the ID of the operating circuit, the operating circuit are sent to cloud.
The current value of the ID of operating circuit, operating circuit is sent to cloud, correspondingly, cloud receives operating circuit
ID, operating circuit current value, cloud can determine corresponding with the ID of operating circuit specified electricity according to the ID of operating circuit
Flow valuve, and judge whether the current value of operating circuit is greater than load current value, if so, alarming.Specifically, can basis
The corresponding load current value of each operating circuit in mobile robot is arranged in experience, and stores beyond the clouds, when cloud receives work
After the ID of circuit, the current value of operating circuit, it can judge whether work at present circuit is in over-current state, if so, can
To generate corresponding warning message, so that staff after receiving warning message, is handled mobile robot.
Optionally, it can be connect by wireless transport module with cloud, i.e., by the ID of operating circuit, the electric current of operating circuit
After value is encoded, cloud is sent to by wireless transport module.Wherein, wireless transport module can be bluetooth module or radio frequency
Module or WiFi module.
In above-mentioned technical proposal, the current information of mobile robot is periodically acquired, and according to the electricity that works in current information
The identification information on road, determines the ID of current collected operating circuit, and by the current value of the ID of operating circuit and operating circuit
It is sent to cloud, so that cloud is judged, that is to say, that be in periodic acquisition mobile robot in the technical program
The current information of each circuit, and according to the identification information in current information determine it is current it is collected be in mobile robot it is each
Which circuit of circuit, and the current value of the ID for the operating circuit determined and operating circuit are sent to cloud, it is used for cloud
End is judged.Further, cloud is after the current value of the ID, operating circuit that receive operating circuit, according to operating circuit
ID determine the load current value of work at present circuit, judge whether the current value of operating circuit is more than load current value, if so,
It then alarms, so that staff carries out abnormality processing to above-mentioned alarm, to prevent work of the mobile robot because of certain circuit
Overcurrent leads to can not work normally for mobile robot.
Based on the same inventive concept, Fig. 3 illustratively shows a kind of mobile robot provided in an embodiment of the present invention
The structure of the device of current monitoring, the device can execute the process of the method for the current monitoring of mobile robot.
Acquisition module 301, for periodically acquiring the current information of mobile robot；The current information includes work electricity
The identification information of the current value on road and the operating circuit；
Processing module 302 determines the ID of the operating circuit for the identification information according to the operating circuit；By institute
The current value of the ID, the operating circuit that state operating circuit are sent to cloud, so that the cloud is according to the operating circuit
ID determines load current value corresponding with the ID of the operating circuit, and judges whether the current value of the operating circuit is greater than institute
Load current value is stated, if so, alarming.
Optionally, the acquisition module 301 is specifically used for:
Periodically control Acquisition Circuit is connect with operating circuit, so that Acquisition Circuit acquisition connects with the Acquisition Circuit
The current value of the operating circuit connect.
Optionally, the identification information of the operating circuit includes when acquiring the acquisition of the current information of the mobile robot
Between；
The processing module 302 is specifically used for:
According to the acquisition time, mapping table is searched, and is determined and the acquisition from the mapping table
Time corresponding acquisition time section；ID pairs of ID and each operating circuit in the mapping table including multiple operating circuits
The acquisition time section answered；
According to the acquisition time section corresponding with the acquisition time, the ID of the operating circuit is determined.
Optionally, the processing module 302 is specifically used for:
After the current value of the ID of the operating circuit, the operating circuit are encoded, sent out by wireless transport module
It send to the cloud.
Optionally, the wireless transport module is bluetooth module or radio-frequency module or WiFi module.
Based on the same inventive concept, the embodiment of the invention also provides a kind of calculating equipment, comprising:
Memory, for storing program instruction；
Processor executes above-mentioned movement according to the program of acquisition for calling the program instruction stored in the memory
The method of the current monitoring of robot.
Based on the same inventive concept, the embodiment of the invention also provides a kind of computer-readable non-volatile memory medium,
Including computer-readable instruction, when computer is read and executes the computer-readable instruction, so that computer execution is above-mentioned
The method of the current monitoring of mobile robot.
The present invention be referring to according to the method for the embodiment of the present invention, the process of equipment (system) and computer program product
Figure and/or block diagram describe.It should be understood that every one stream in flowchart and/or the block diagram can be realized by computer program instructions
The combination of process and/or box in journey and/or box and flowchart and/or the block diagram.It can provide these computer programs
Instruct the processor of general purpose computer, special purpose computer, Embedded Processor or other programmable data processing devices to produce
A raw machine, so that being generated by the instruction that computer or the processor of other programmable data processing devices execute for real
The device for the function of being specified in present one or more flows of the flowchart and/or one or more blocks of the block diagram.
These computer program instructions, which may also be stored in, is able to guide computer or other programmable data processing devices with spy
Determine in the computer-readable memory that mode works, so that it includes referring to that instruction stored in the computer readable memory, which generates,
Enable the manufacture of device, the command device realize in one box of one or more flows of the flowchart and/or block diagram or
The function of being specified in multiple boxes.
These computer program instructions also can be loaded onto a computer or other programmable data processing device, so that counting
Series of operation steps are executed on calculation machine or other programmable devices to generate computer implemented processing, thus in computer or
The instruction executed on other programmable devices is provided for realizing in one or more flows of the flowchart and/or block diagram one
The step of function of being specified in a box or multiple boxes.
Although preferred embodiments of the present invention have been described, it is created once a person skilled in the art knows basic
Property concept, then additional changes and modifications may be made to these embodiments.So it includes excellent that the following claims are intended to be interpreted as
It selects embodiment and falls into all change and modification of the scope of the invention.
Obviously, various changes and modifications can be made to the invention without departing from essence of the invention by those skilled in the art
Mind and range.In this way, if these modifications and changes of the present invention belongs to the range of the claims in the present invention and its equivalent technologies
Within, then the present invention is also intended to include these modifications and variations.
Claims (12)
1. a kind of method of the current monitoring of mobile robot characterized by comprising
The periodically current information of acquisition mobile robot；The current information include operating circuit current value and the work
The identification information of circuit；
According to the identification information of the operating circuit, the identity ID of the operating circuit is determined；
The current value of the ID of the operating circuit, the operating circuit are sent to cloud, so that the cloud is according to the work
The ID for making circuit determines corresponding with the ID of operating circuit load current value, and judges that the current value of the operating circuit is
It is no to be greater than the load current value, if so, alarming.
2. the method as described in claim 1, which is characterized in that the current information of the periodically acquisition mobile robot, packet
It includes:
Periodically control Acquisition Circuit is connect with operating circuit, so that Acquisition Circuit acquisition was connect with the Acquisition Circuit
The current value of operating circuit.
3. the method as described in claim 1, which is characterized in that the identification information of the operating circuit includes acquiring the movement
The acquisition time of the current information of robot；
The identification information according to the operating circuit, determines the ID of the operating circuit, comprising:
According to the acquisition time, mapping table is searched, and is determined and the acquisition time from the mapping table
Corresponding acquisition time section；The ID of ID and each operating circuit in the mapping table including multiple operating circuits are corresponding
Acquisition time section；
According to the acquisition time section corresponding with the acquisition time, the ID of the operating circuit is determined.
4. the method as described in claim 1, which is characterized in that described by the ID of the operating circuit, the operating circuit
Current value is sent to cloud, comprising:
After the current value of the ID of the operating circuit, the operating circuit are encoded, it is sent to by wireless transport module
The cloud.
5. method as claimed in claim 4, which is characterized in that the wireless transport module be bluetooth module or radio-frequency module or
Wireless Fidelity WiFi module.
6. a kind of device of the current monitoring of mobile robot characterized by comprising
Acquisition module, for periodically acquiring the current information of mobile robot；The current information includes the electricity of operating circuit
The identification information of flow valuve and the operating circuit；
Processing module determines the identity ID of the operating circuit for the identification information according to the operating circuit；It will
The ID of the operating circuit, the operating circuit current value be sent to cloud so that the cloud is according to the operating circuit
ID determine corresponding with the ID of operating circuit load current value, and judge whether the current value of the operating circuit is greater than
The load current value, if so, alarming.
7. device as claimed in claim 6, which is characterized in that the acquisition module is specifically used for:
Periodically control Acquisition Circuit is connect with operating circuit, so that Acquisition Circuit acquisition was connect with the Acquisition Circuit
The current value of operating circuit.
8. device as claimed in claim 6, which is characterized in that the identification information of the operating circuit includes acquiring the movement
The acquisition time of the current information of robot；
The processing module is specifically used for:
According to the acquisition time, mapping table is searched, and is determined and the acquisition time from the mapping table
Corresponding acquisition time section；The ID of ID and each operating circuit in the mapping table including multiple operating circuits are corresponding
Acquisition time section；
According to the acquisition time section corresponding with the acquisition time, the ID of the operating circuit is determined.
9. device as claimed in claim 6, which is characterized in that the processing module is specifically used for:
After the current value of the ID of the operating circuit, the operating circuit are encoded, it is sent to by wireless transport module
The cloud.
10. device as claimed in claim 9, which is characterized in that the wireless transport module is bluetooth module or radio-frequency module
Or Wireless Fidelity WiFi module.
11. a kind of calculating equipment characterized by comprising
Memory, for storing program instruction；
Processor requires 1 to 5 according to the program execution benefit of acquisition for calling the program instruction stored in the memory
Described in any item methods.
12. a kind of computer-readable non-volatile memory medium, which is characterized in that including computer-readable instruction, work as computer
When reading and executing the computer-readable instruction, so that computer executes such as method described in any one of claim 1 to 5.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910133656.3A CN109813954B (en) | 2019-02-22 | 2019-02-22 | Current monitoring method and device for mobile robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910133656.3A CN109813954B (en) | 2019-02-22 | 2019-02-22 | Current monitoring method and device for mobile robot |
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| Publication number | Publication date |
|---|---|
| CN109813954B (en) | 2021-11-19 |
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