CN112157658A - Robot power supply current threshold acquisition and exception handling method - Google Patents
Robot power supply current threshold acquisition and exception handling method Download PDFInfo
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- CN112157658A CN112157658A CN202011027103.9A CN202011027103A CN112157658A CN 112157658 A CN112157658 A CN 112157658A CN 202011027103 A CN202011027103 A CN 202011027103A CN 112157658 A CN112157658 A CN 112157658A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
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Abstract
The invention belongs to the field of intelligent robots, and particularly relates to a method for acquiring a power supply current threshold value and processing an abnormality of a robotMaxCurrent minimum value IMinAnd average value IAgv(ii) a When the running time reaches the preset time, outputting IMax、IMinAnd IAgv(ii) a Based on the output of IMax、IMinAnd IAgvData, calculating the over-current IoverPower-down current IunderAnd an overcurrent time Tx(ii) a Based on overcurrent current IoverAnd a power-down current IunderAnd judging whether the power supply current of the robot is abnormal or not, and performing abnormal processing.
Description
Technical Field
The invention belongs to the field of intelligent robots, and particularly relates to a method for acquiring a power supply current threshold value and processing an abnormality of a robot.
Background
The main control collects current information of the battery or the channel, the power management system judges whether the power channel has abnormality such as overcurrent through judging a manually preset threshold value, if the power channel has the abnormality of overcurrent, the power supply of the corresponding channel is shut down, and the power supply is reported to the upper computer. The prior art has the disadvantages that the threshold value used by the robot for judging whether the equipment is in overcurrent or power failure is obtained by manually testing the power utilization condition of the channel, and then the obtained value is taken as a constant and is solidified in a program, or the threshold value is configured by issuing configuration.
In addition, due to the local log storage, if the upper computer equipment fails or communication is abnormal, the captured abnormal information and other key information can be lost, and the problem is not easy to be checked.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides a robot power supply current threshold value obtaining and exception handling method.
The invention is realized by the following technical scheme:
a robot power supply current threshold value obtaining and exception handling method comprises the following steps:
s1, in the normal operation process of the robot, sending a threshold calculation command to the main control module through the upper computer, and circularly calculating the current maximum value I of the power supply current within the preset time required by the command after the main control module receives the commandMaxCurrent minimum value IMinAnd average value IAgv；
S2, when the running time reaches the preset time, outputting IMax、IMinAnd IAgv；
S3, I based on outputMax、IMinAnd IAgvData, calculating the over-current IoverPower-down current IunderAnd an overcurrent time Tx；
S4, based on overcurrent current IoverAnd a power-down current IunderAnd judging whether the power supply current of the robot is abnormal or not, and performing abnormal processing.
Further, in step S1, the loop calculation includes the steps of:
A. collecting channel current information I connected with electric equipmentx；
B. Will IxWith the current maximum value IMaxMaking a comparison if greater than IMaxIs shown byxIs assigned to IMax；
C. Will IxWith the current minimum value IMinMaking a comparison if less than IMinIs shown byxIs assigned to IMin；
D. Calculating the average value of the current IAgv。
Further, step S2 further includes: i to be output by the main control moduleMax、IMinAnd IAgvAnd reporting the data to an upper computer so as to be used by other robots.
Further, the overcurrent I is calculated in step S3overPower-down current IunderAnd an overcurrent time TxThe formula is as follows:
Iover＝Ix-IMax*(PMAX+1) (1)
Iunder＝Ix-IMin*(1-PMIN) (2)
wherein P isMAX、PMINIs a predetermined percentage coefficient, TATo allow time for overcurrent.
Further, the current I based on overcurrentoverAnd a power-down current IunderJudging whether the power supply current of the robot is abnormal or not, and comprising the steps of overcurrent detection as follows:
if IoverGreater than 0 and time exceeding TxAnd if the current information and the timestamp information before and after the overcurrent occur, the corresponding power supply channel is closed, and then the current information and the timestamp information before and after the overcurrent occur are reported to the upper computer.
Further, in step S4, the current is based on the overcurrentoverAnd a power-down current IunderJudging whether the power supply current of the robot is abnormal or not, wherein the method comprises the following power failure detection steps:
if IunderIf the current information and the timestamp information are less than 0, judging that the power failure occurs, and reporting the current information and the timestamp information before and after the power failure to an upper computer when the power failure occurs.
Further, if the communication with the upper computer fails, the current information and the timestamp information are stored in the storage module until the next communication is successful.
Further, by adjusting PMAX、PMINAnd TAThe sensitivity of over-current or power-down detection can be varied.
A computer readable storage medium having stored thereon a computer program, wherein the program, when executed by a processor, implements the steps of a robot power supply current threshold acquisition and exception handling method.
A computer device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor when executing the program implements the steps of the robot power supply current threshold acquisition and exception handling method.
Compared with the prior art, the invention has the following advantages:
1. the threshold value is automatically obtained, and the complicated measurement work is reduced;
2. threshold data is close to practical application, so that errors or misjudgments can be reduced;
3. the power management module stores the abnormal data which are not reported, and is convenient for troubleshooting of power supply problems.
Drawings
The present invention will be described in further detail with reference to the accompanying drawings;
FIG. 1 is a flow chart of a threshold acquisition method of the present invention;
FIG. 2 is a flow chart of an exception handling method of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The first embodiment is as follows:
the robot power supply current threshold value obtaining and exception handling method is applied to a system consisting of a power supply management module, a standby battery, a storage module and upper computer software.
In order to obtain a universal proper threshold, firstly closing a threshold judgment program, then sending a threshold calculation command to the main control module through the upper computer in the normal operation process of the robot, and after receiving the command, circularly executing the following operation flow within the time required by the command by the main control module, as shown in fig. 1:
A. collecting channel current information I connected with electric equipmentx；
B. Ix is compared with the current maximum value IMaxMaking a comparison if greater than IMaxIs shown byxIs assigned to IMax；
C. Ix is compared with the current minimum value IMinMaking a comparison if less than IMinIs shown byxIs assigned to IMin；
D. Calculating the average value of the current IAgv；
After the above-mentioned cycle is over, I can be obtainedMax、IMinAnd IAgvThree data.
The main control module reports the data to the upper computer so as to be convenient for other machines to use.
The embodiment uses the following formula to make overcurrent or power failure judgment, wherein PMAX、PMINIs a percentage coefficient, T, artificially given according to actual needsAArtificially given time allowed for overcurrent:
Iover＝Ix-IMax*(PMAX+1)
Iunder＝Ix-IMin*(1-PMIN)
and judging and processing overcurrent and power failure.
Example two:
the embodiment relates to specific steps of determining and processing overcurrent and power failure, as shown in fig. 2, including:
A. overflowing: if IoverGreater than 0 and time exceeding TxIf the communication with the upper computer fails, the information is stored in the storage module until the next communication is successful.
B. Power down: if IunderIf the communication failure with the upper computer occurs, the information is stored in a storage module until the next communication is successful. If the sensitivity of overcurrent or power failure detection is to be changed, P can be adjustedMAX、PMINAnd TATo be implemented.
The present invention also provides a computer readable storage medium having a computer program stored thereon, wherein the program, when executed by a processor, implements the steps of the robot power supply current threshold acquisition and exception handling method.
The invention also provides computer equipment comprising a memory, a processor and a computer program stored on the memory and capable of running on the processor, wherein the processor realizes the steps of the robot power supply current threshold acquisition and exception handling method when executing the program.
The above-mentioned embodiments are provided to further explain the objects, technical solutions and advantages of the present invention in detail, and it should be understood that the above-mentioned embodiments are only examples of the present invention and are not intended to limit the scope of the present invention. Any modification, equivalent replacement, improvement and the like made without departing from the spirit and scope of the invention are also within the protection scope of the invention.
Claims (10)
1. A robot power supply current threshold value obtaining and exception handling method is characterized by comprising the following steps:
s1, in the normal operation process of the robot, sending a threshold calculation command to the main control module through the upper computer, and circularly calculating the current maximum value I of the power supply current within the preset time required by the command after the main control module receives the commandMaxCurrent minimum value IMinAnd average value IAgv；
S2, when the running time reaches the preset time, outputting IMax、IMinAnd IAgv；
S3, I based on outputMax、IMinAnd IAgvData, calculating the over-current IoverPower-down current IunderAnd an overcurrent time Tx；
S4, based on overcurrent current IoverAnd a power-down current IunderAnd judging whether the power supply current of the robot is abnormal or not, and performing abnormal processing.
2. The robot power supply current threshold acquisition and exception handling method of claim 1, wherein in step S1, the loop calculation comprises the steps of:
A. collecting channel current information I connected with electric equipmentx；
B. Will IxWith the current maximum value IMaxThe comparison is carried out in such a way that,if greater than IMaxIs shown byxIs assigned to IMax；
C. Will IxWith the current minimum value IMinMaking a comparison if less than IMinIs shown byxIs assigned to IMin；
D. Calculating the average value of the current IAgv。
3. The robot power supply current threshold acquisition and exception handling method of claim 2, further comprising at step S2: i to be output by the main control moduleMax、IMinAnd IAgvAnd reporting the data to an upper computer so as to be used by other robots.
4. The robot power supply current threshold acquisition and exception handling method of claim 2, wherein the calculating of the overcurrent current I in step S3overPower-down current IunderAnd an overcurrent time TxThe formula is as follows:
Iover＝Ix-IMax*(PMAX+1) (1)
Iunder＝Ix-IMin*(1-PMIN) (2)
wherein P isMAX、PMINIs a predetermined percentage coefficient, TATo allow time for overcurrent.
5. A robot power supply current threshold acquisition and exception handling method according to claim 4, characterized in that in step S4, said over current I is basedoverAnd a power-down current IunderJudging whether the power supply current of the robot is abnormal or not, and comprising the steps of overcurrent detection as follows:
if IoverGreater than 0 and time exceeding TxThen it is judged asAnd when overcurrent occurs, the corresponding power supply channel is closed, and then current information and timestamp information before and after overcurrent are reported to the upper computer.
6. A robot power supply current threshold acquisition and exception handling method according to claim 5, characterized in that in step S4, said over current I is basedoverAnd a power-down current IunderJudging whether the power supply current of the robot is abnormal or not, wherein the method comprises the following power failure detection steps:
if IunderIf the current information and the timestamp information are less than 0, judging that the power failure occurs, and reporting the current information and the timestamp information before and after the power failure to an upper computer when the power failure occurs.
7. A robot power supply current threshold acquisition and exception handling method according to claim 5 or 6, characterized in that if the communication with the upper computer fails, the current information and the time stamp information are saved to the storage module until the next communication is successful.
8. A robot power supply current threshold acquisition and exception handling method according to claim 4, characterized in that by adjusting PMAX、PMINAnd TAThe sensitivity of over-current or power-down detection can be varied.
9. A computer-readable storage medium, having stored thereon a computer program, wherein the program, when executed by a processor, performs the steps of the robot power supply current threshold acquisition and exception handling method of any of claims 1-8.
10. A computer device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor when executing the program implements the steps of the robot power supply current threshold acquisition and exception handling method according to any of claims 1-8.
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| CN110718893A (en) * | 2019-10-18 | 2020-01-21 | 苏州浪潮智能科技有限公司 | Overcurrent protection method and device |
| CN111308167A (en) * | 2018-12-12 | 2020-06-19 | 惠州市蓝微电子有限公司 | Short circuit and overcurrent detection method |
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2020
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| CN1599172A (en) * | 2003-09-18 | 2005-03-23 | 日本电气株式会社 | Abnormal current determining method, electronic apparatus, and computer program of same |
| CN104037721A (en) * | 2014-06-17 | 2014-09-10 | 林荣坤 | Air switch and air switch intelligent control method |
| DE102014212696A1 (en) * | 2014-07-01 | 2016-01-07 | Bayerische Motoren Werke Aktiengesellschaft | Line network of a motor vehicle with power monitoring |
| CN106208384A (en) * | 2016-08-31 | 2016-12-07 | 宁波智轩物联网科技有限公司 | A kind of housed device Electrical Safety learning system |
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