CN113640679A - Method for realizing electric quantity judgment based on robot workload - Google Patents
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R31/00—Arrangements for testing electric properties; Arrangements for locating electric faults; Arrangements for electrical testing characterised by what is being tested not provided for elsewhere
- G01R31/36—Arrangements for testing, measuring or monitoring the electrical condition of accumulators or electric batteries, e.g. capacity or state of charge [SoC]
- G01R31/382—Arrangements for monitoring battery or accumulator variables, e.g. SoC
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Abstract
The invention discloses a method for judging electric quantity based on robot workload, which comprises the following steps: collecting the actions of the robot and monitoring the electric quantity of the battery; establishing a comparison relation between the instruction and the electricity consumption; issuing an instruction and judging the feasibility of the instruction; and when the electric quantity is insufficient in the execution process, performing instruction processing judgment according to the property of the instruction to be completed. According to the technical scheme, historical data are recorded, robot actions are collected, battery electric quantity monitoring is carried out, and the construction of the comparison relation between the instructions and the electric quantity is achieved, so that the instructions are issued, feasibility judgment of the instructions is achieved according to the instruction electric quantity, secondary judgment of the feasibility of the instructions is carried out according to the stage instructions to be completed in the working process, and corresponding processing of the instructions is achieved according to the time requirements of the stage instructions.
Description
Technical Field
The invention relates to the technical field of robot control, in particular to a method for judging electric quantity based on robot workload.
Background
The mobile robot is a mechanical device for automatically executing required work, and consists of an executing mechanism, a driving device, a detecting device, a control system and the like. The intelligent robot can receive human commands, run pre-programmed programs and perform actions according to principles formulated by artificial intelligence technology, and has the task of assisting or replacing human work, such as production, construction or work in dangerous areas such as high-voltage power utilization environments.
The existing robot usually adopts the mode of minimum electric quantity reminding, namely when the electric quantity of the robot is lower than the set minimum electric quantity threshold value, the robot stops working and returns to charge.
Chinese patent document CN109687557A discloses a "robot electric quantity management method and apparatus, and a robot". The method comprises the steps of monitoring the current electric quantity of the robot; and generating a recharge instruction if the current amount of electricity is below a minimum recharge amount threshold. The technical problem that the electric quantity of the robot cannot continuously maintain operation is solved. Can open or close the automatic electric quantity management function that returns and fill through this application, simultaneously through setting up the minimum electric quantity that the robot moved and the minimum electric quantity that the robot left the electric pile, the cooperation electric quantity management realizes right the management strategy of robot electric quantity. The technical scheme sets the lowest electric quantity as a fixed value, so that the utilization rate of the electric quantity of the battery is low, and the instruction is difficult to effectively finish.
Disclosure of Invention
The invention mainly solves the problems that the lowest electric quantity is set as a fixed value in the prior technical scheme, so that the utilization rate of the electric quantity of a battery is low, and an instruction is difficult to effectively complete, and provides a method for realizing electric quantity judgment based on the workload of a robot.
The technical problem of the invention is mainly solved by the following technical scheme: the invention comprises the following steps:
s1, collecting robot action and monitoring battery power;
s2, establishing a comparison relation between the instruction and the electricity consumption;
s3, issuing an instruction and judging the feasibility of the instruction;
and S4, when the electric quantity is insufficient in the execution process, judging the instruction processing according to the property of the instruction to be completed.
Preferably, the step S1 collects the robot motion InThe robot performs action InFront and rear battery power variation Δ DnIf the battery capacity variation amount is Delta DnWhen the robot performs single discontinuous action during change, the action I is judgednWith an electric quantity Dn(ii) a If the battery capacity variation amount is Delta DnWhen the robot performs single continuous action during change, the continuous action is divided according to a single time period as a unit to realize the judgment of the electricity consumption of the action in the single time period; if the battery capacity variation amount is Delta DnWhen the robot changes, the robot simultaneously performs a plurality of actions, and the unknown single-action power consumption is judged by combining the known single-action power consumption for decomposition.
Preferably, in step S2, the command is first decomposed into several single actions, the electricity consumption of the non-continuous actions is added, the electricity consumption of the continuous actions in a single time period is multiplied by the used time period, and the command electricity consumption D is obtained by summing upjnThereby formingAnd establishing a comparison relation between the instruction and the electricity consumption. When the electricity consumption of the continuous action in the command is calculated, the period used by the continuous action in the command is judged, and then the electricity consumption used by the continuous action is calculated.
Preferably, the step S3 of issuing a command and performing command feasibility judgment specifically includes:
s3.1, issuing an instruction by taking a stage as a unit according to an execution sequence;
s3.2 staged commanding of electricity consumption DjnCalculating and battery residual capacity DThe residue is leftDetecting;
s3.3 Combined bottom-protected electric quantity D0Carrying out stage instruction feasibility judgment;
and S3.4, if the judgment is successful, continuing the feasibility judgment of the next-stage instruction, and if the judgment is failed, starting execution of the successful-stage instruction.
Preferably, the step S3.2 issues the command in a stage of a complete execution content, and detects the power consumption required by the command of the next stage and the remaining power of the battery before the command of the next stage is executed. The instructions are issued in stages, so that the robot can execute in stages, the loss result caused by insufficient electric quantity in the instruction execution process is avoided, feasibility judgment is carried out when the instructions are reached, and the problem that the instructions which are not enough in electric quantity are issued in advance and cannot be executed effectively due to time consumption is avoided.
Preferably, the bottom-saving electric quantity D in the step S3.30The electric quantity required by charging is returned to the charging end after the robot finishes the execution of the instruction at the stage, the electric quantity required by the robot to move to the charging position and the electric quantity required by the starting of the charging action are included, and the bottom-keeping electric quantity D0The size varies with the stage instruction content.
Preferably, step S3.3 specifically includes executing the stage command to determine the remaining battery capacity D of the battery before executing the stage commandThe residue is leftSubtracting the command power consumption DjnResidual capacity and bottom-protected capacity D0Comparing, if the residual electric quantity is larger than the bottom-preserving electric quantity D0If the remaining capacity is less than or equal to the bottom-preserving capacity D, the stage instruction is feasible0Then the stage instruction is not feasible.
Preferably, in the execution process of step S4, the feasibility secondary determination is performed before the next stage instruction is performed, and if the determination fails, the instruction processing determination is performed according to the property of the to-be-completed instruction. Because various factors exist in the instruction execution process, the instruction power consumption at the stage can exceed the theoretical power consumption, so that the residual battery power is insufficient to execute the instruction at the next stage, and therefore, in the execution process, feasibility secondary judgment is carried out before the instruction at the next stage, and the condition that the power is insufficient in the stage instruction execution process is prevented.
Preferably, the instruction processing and determining specifically includes:
s4.1, firstly, the electric quantity needed by the instruction in the finishing stage is judged,
s4.2 then calculating the charging time T required by the lowest electric quantity of the instruction in the finishing stage1And time T required for full chargemax，
S4.3, sending a time requirement inquiry of a stage instruction to a worker;
s4.4 if the time requirement of the stage instruction is > TmaxThen robot charges TmaxContinuing to complete the stage instruction after time, if TmaxTime requirement > T for ≧ phase instruction1Then robot charges T1Continuing to complete the stage instruction after time, if T1And if the time requirement of the phase instruction is more than or equal to the time requirement of the phase instruction, transferring the phase instruction to the idle robot for execution.
The invention has the beneficial effects that: the method comprises the steps of recording historical data, collecting robot actions, monitoring battery electric quantity, and realizing the construction of a comparison relation between an instruction and the electric quantity, so that the instruction is issued, the feasibility judgment of the instruction is realized according to the instruction electric quantity, the secondary judgment of the instruction feasibility is carried out according to a stage instruction to be completed in the working process, and the corresponding processing of the instruction is realized according to the time requirement of the stage instruction.
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FIG. 1 is a flow chart of the present invention.
Detailed Description
The technical scheme of the invention is further specifically described by the following embodiments and the accompanying drawings.
Example (b): the method for judging the electric quantity based on the workload of the robot in the embodiment is shown in fig. 1, and includes the following steps:
and S1, collecting the robot action and monitoring the battery power. Collecting robot actions InThe robot performs action InFront and rear battery power variation Δ Dn，
If the battery capacity variation amount is Delta DnWhen the robot performs single discontinuous action during change, the action I is judgednWith an electric quantity Dn；
If the battery capacity variation amount is Delta DnWhen the robot performs single continuous action during change, the continuous action is divided according to a single time period as a unit to realize the judgment of the electricity consumption of the action in the single time period;
if the battery capacity variation amount is Delta DnWhen the robot changes, the robot simultaneously performs a plurality of actions, and the unknown single-action power consumption is judged by combining the known single-action power consumption for decomposition.
S2 construction command and power consumption contrast relation, first decomposing the command into several single actions, adding the power consumptions of discontinuous actions, multiplying the single time period power consumption of continuous action with the used time period, summarizing to obtain command power consumption DjnAnd therefore, the comparison relation between the instruction and the electricity consumption is constructed. When the electricity consumption of the continuous action in the command is calculated, the period used by the continuous action in the command is judged, and then the electricity consumption used by the continuous action is calculated.
S3, issuing an instruction and making an instruction feasibility determination, specifically including:
and S3.1, issuing the instruction by taking the stage as a unit according to the execution sequence, and issuing the instruction by taking one complete execution content as the stage. The robot gives out the instruction by stages, so that the robot can execute by stages conveniently, and the loss result caused by insufficient electric quantity in the instruction execution process is avoided.
S3.2 staged commanding of electricity consumption DjnCalculating and battery residual capacity DThe residue is leftDetecting; detecting the power consumption required by the next stage instruction and the next stage instruction executionThe remaining capacity of the front battery. And the feasibility judgment is carried out when the instruction is issued, so that the problem that the instruction which is not enough in electric quantity is issued in advance and cannot be effectively executed due to the fact that the instruction is time-consuming is avoided.
S3.3 Combined bottom-protected electric quantity D0Performing feasibility judgment on the phase command, specifically comprising the step of judging the residual electric quantity D of the battery before executing the phase commandThe residue is leftSubtracting the command power consumption DjnResidual capacity and bottom-protected capacity D0Comparing, if the residual electric quantity is larger than the bottom-preserving electric quantity D0If the remaining capacity is less than or equal to the bottom-preserving capacity D, the stage instruction is feasible0Then the stage instruction is not feasible.
Wherein, the bottom-protection electric quantity D0The electric quantity required by charging is returned to the charging end after the robot finishes the execution of the instruction at the stage, the electric quantity required by the robot to move to the charging position and the electric quantity required by the starting of the charging action are included, and the bottom-keeping electric quantity D0The size varies with the stage instruction content.
And S3.4, if the judgment is successful, continuing the feasibility judgment of the next-stage instruction, and if the judgment is failed, starting execution of the successful-stage instruction.
And S4, when the electric quantity is insufficient in the execution process, judging the instruction processing according to the property of the instruction to be completed. And in the execution process, performing feasibility secondary judgment before the next-stage instruction, and if the judgment fails, performing instruction processing judgment according to the property of the instruction to be completed. Because various factors exist in the instruction execution process, the instruction power consumption at the stage can exceed the theoretical power consumption, so that the residual battery power is insufficient to execute the instruction at the next stage, and therefore, in the execution process, feasibility secondary judgment is carried out before the instruction at the next stage, and the condition that the power is insufficient in the stage instruction execution process is prevented. The instruction processing and judging specifically comprises the following steps:
s4.1, firstly, the electric quantity needed by the instruction in the finishing stage is judged,
s4.2 then calculating the charging time T required by the lowest electric quantity of the instruction in the finishing stage1And time T required for full chargemax，
S4.3, sending a time requirement inquiry of a stage instruction to a worker;
s4.4 ifPhase instruction time requirement > TmaxThen robot charges TmaxContinuing to complete the stage instruction after time, if TmaxTime requirement > T for ≧ phase instruction1Then robot charges T1Continuing to complete the stage instruction after time, if T1And if the time requirement of the phase instruction is more than or equal to the time requirement of the phase instruction, transferring the phase instruction to the idle robot for execution.
The specific embodiments described herein are merely illustrative of the spirit of the invention. Various modifications or additions may be made to the described embodiments or alternatives may be employed by those skilled in the art without departing from the spirit or ambit of the invention as defined in the appended claims.
Although the terms phase instruction, feasibility, etc. are used more herein, the possibility of using other terms is not excluded. These terms are used merely to more conveniently describe and explain the nature of the present invention; they are to be construed as being without limitation to any additional limitations that may be imposed by the spirit of the present invention.
Claims (9)
1. A method for judging electric quantity based on robot workload is characterized by comprising the following steps:
s1, collecting robot action and monitoring battery power;
s2, establishing a comparison relation between the instruction and the electricity consumption;
s3, issuing an instruction and judging the feasibility of the instruction;
and S4, when the electric quantity is insufficient in the execution process, judging the instruction processing according to the property of the instruction to be completed.
2. The method for judging electric quantity based on robot workload according to claim 1, wherein the step S1 is to collect robot action InThe robot performs action InFront and rear battery power variation Δ DnIf the battery capacity variation amount is Delta DnWhen the robot performs single discontinuous action during change, the action I is judgednWith an electric quantity Dn(ii) a If the battery capacity variation amount is Delta DnWhen the robot performs single continuous action during change, the continuous action is divided according to a single time period as a unit to realize the judgment of the electricity consumption of the action in the single time period; if the battery capacity variation amount is Delta DnWhen the robot changes, the robot simultaneously performs a plurality of actions, and the unknown single-action power consumption is judged by combining the known single-action power consumption for decomposition.
3. The method as claimed in claim 2, wherein the step S2 is implemented by first decomposing the command into several single actions, adding the power consumption of the discontinuous actions, multiplying the power consumption of the continuous actions in a single time period by the time period, and summing to obtain the command power consumption DjnAnd therefore, the comparison relation between the instruction and the electricity consumption is constructed.
4. The method of claim 1, wherein the step S3 of issuing the command and making the command feasibility judgment specifically comprises:
s3.1, issuing an instruction by taking a stage as a unit according to an execution sequence;
s3.2 staged commanding of electricity consumption DjnCalculating and detecting the residual electric quantity D of the battery;
s3.3 Combined bottom-protected electric quantity D0Carrying out stage instruction feasibility judgment;
and S3.4, if the judgment is successful, continuing the feasibility judgment of the next-stage instruction, and if the judgment is failed, starting execution of the successful-stage instruction.
5. The method of claim 4, wherein the step S3.2 is performed by giving an instruction in a phase of a complete execution content, detecting the power consumption required by the next phase instruction and the remaining battery power before the next phase instruction is executed.
6. The method of claim 4, wherein the step S3.3 is performed by keeping a bottom power D0The electric quantity required by charging is returned to the charging end after the robot finishes the execution of the instruction at the stage, the electric quantity required by the robot to move to the charging position and the electric quantity required by the starting of the charging action are included, and the bottom-keeping electric quantity D0The size varies with the stage instruction content.
7. The method of claim 5, wherein step S3.3 specifically comprises subtracting the command power consumption D from the remaining battery capacity D of the battery before the execution of the phase commandjnResidual capacity and bottom-protected capacity D0Comparing, if the remaining capacity is>Bottom-protected electric quantity D0If the remaining capacity is less than or equal to the bottom-preserving capacity D, the stage instruction is feasible0Then the stage instruction is not feasible.
8. The method of claim 1, wherein in the step S4, before the next stage of command execution, the feasibility secondary determination is performed, and if the determination fails, the command processing determination is performed according to the property of the command to be completed.
9. The method of claim 8, wherein the instruction processing and determining specifically comprises:
s4.1, firstly, the electric quantity needed by the instruction in the finishing stage is judged,
s4.2 then calculating the charging time T required by the lowest electric quantity of the instruction in the finishing stage1And time T required for full chargemax，
S4.3, sending a time requirement inquiry of a stage instruction to a worker;
s4.4 time requirement of if stage instruction>TmaxThen robot charges TmaxContinuing to complete the stage instruction after time, if TmaxTime requirement of ≧ phase instruction>T1Then robot charges T1Continuing to complete the stage instruction after time, if T1And if the time requirement of the phase instruction is more than or equal to the time requirement of the phase instruction, transferring the phase instruction to the idle robot for execution.
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