CN106584458A - Energy conservation method for robot and energy conservation robot - Google Patents
Energy conservation method for robot and energy conservation robot Download PDFInfo
- Publication number
- CN106584458A CN106584458A CN201611063000.1A CN201611063000A CN106584458A CN 106584458 A CN106584458 A CN 106584458A CN 201611063000 A CN201611063000 A CN 201611063000A CN 106584458 A CN106584458 A CN 106584458A
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- robot
- main frame
- teaching machine
- dormancy
- signal
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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
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0081—Programme-controlled manipulators with master teach-in means
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Manipulator (AREA)
Abstract
The invention discloses an energy conservation method for a robot. The method comprises following steps: (1) setting dormancy time threshold Tth; (2) enabling the robot to enter in the dormancy mode at the timekeeping time Tth when a user stops to operate a demonstrator and starts timing; (3) resetting timekeeping time when the user operates the demonstrator, and stopping the dormancy state to enter the normal operation mode if the robot is in the dormancy state. The energy conservation method for the robot has following beneficial effects: when a user has to be away from the robot for dealing with other things and is too busy to turn off or forgets to turn off the robot in case of emergencies, energy consumption of the robot can be effectively reduced, thereby achieving the purpose of energy conservation.
Description
Technical field
The invention belongs to robot control field, and in particular to a kind of robot power-economizing method and energy-conservation robot.
Background technology
With society and science and technology progress, robot become increasing people work, study, life in can not or
Scarce instrument, the function of existing robot is more and more powerful, and its consumption to electric energy is also more and more.
The various all kinds of robots for commonly using at present, such as in industrial robot, it is both needed to consume certain in open and close machine each time
Time, and people are when operation robot, often can be because some accidents must not process it without departing from robot
His thing, so that hurry leave robot and without time shutdown or forget shutdown, then within a period of time left, machine
Device people can undoubtedly cause substantial amounts of waste of energy still in working condition；Sometimes, people are not long because of the time left, because
This is not intended to round counterpoise returning to customs, the action of start each time, because open and close machine each time is intended to expend a period of time,
The efficiency of work can undoubtedly be affected.
So, in order to preferably be managed to the energy of robot, it is necessary to design a kind of power-economizing method of robot,
To reduce electric energy loss.
The content of the invention
Goal of the invention：For problems of the prior art, the invention discloses a kind of robot power-economizing method, the party
Method can effectively reduce the energy consumption of robot, so as to reach the purpose of energy-conservation；Simultaneously the invention discloses a kind of application the method
Energy-conservation robot.
Technical scheme：The invention discloses a kind of robot power-economizing method, comprises the steps：
(1) dormancy time threshold value T is setth；
(2) timing is started when user stops operation robot, timing time reaches TthWhen, robot enters dormancy mould
Formula；
(3) when user operation robot, timing time resets, if robot is in park mode, stops dormancy
Into normal mode of operation.
Further, the robot includes teaching machine, robot main frame and robot body；Wherein teaching machine and machine
People's main frame is connected, and to robot main frame dormancy or wake-up signal are sent, and control robot main frame performs corresponding operational mode；Machine
People's main frame is connected respectively with teaching machine and robot body, for obtaining dormancy or wake-up signal, the execution phase of teaching machine output
Answer operational mode and send dormancy or wake-up signal to robot body；Robot body is connected with robot main frame, obtains
Dormancy that the robot main frame sends or wake-up signal simultaneously perform corresponding operational mode；Dormancy time threshold value is set on teaching machine
Tth, timing is started when user stops operation teaching machine, timing time reaches TthWhen, robot enters park mode；Work as user
During operation teaching machine, timing time resets, if robot is in park mode, stops dormancy and enters normal mode of operation.
Further, teaching machine includes display, operation detector unit, miniature processing controller and input equipment；Wherein
Display is connected with operation detector unit, to show, confirm operation information；Operation detector unit respectively with display, miniature
Processing controller is connected with input equipment, operates detector unit by the real-time output function reaction letter of the operation of sensing input equipment
Number give miniature processing controller；Miniature processing controller is connected with operation detector unit, for setting dormancy time threshold value Tth, and
Receive the operation reaction signal that operation detector unit is exported；When input equipment does not have user operation, miniature processing controller is opened
Beginning timing, timing time reaches TthWhen, miniature processing controller to robot main frame sends sleep signal；When input equipment it is useful
Family miniature processing controller timing time clearing when operating, miniature processing controller to robot main frame sends wake-up signal.
Further, robot main frame includes central controller and actuator unit；Central controller processes teaching machine and passes
Pass the dormancy that comes or wake-up signal and perform corresponding mode of operation, output dormancy or wake-up signal are to actuator unit；Drive
Device unit, receives dormancy or wake-up signal that central controller sends, and controls driven machine human body.
Preferably, teaching machine sends sleep signal to robot main frame, and robot main frame and robot body enter dormancy
After pattern, teaching machine enters park mode；When user operation teaching machine, teaching machine first wakes up and enters normal mode of operation, it
Afterwards timing time resets, and teaching machine to robot main frame sends wake-up signal, and robot main frame and robot body enter normal
Mode of operation.Control of the teaching machine to robot main frame may insure using such pattern change order.
Preferably, teaching machine sends sleep signal to robot main frame, and teaching machine, robot main frame and robot body are same
When enter park mode；When user operation teaching machine, teaching machine timing time resets, and teaching machine sends to robot main frame and calls out
Awake signal, teaching machine, robot main frame and robot body enter normal mode of operation simultaneously.Teaching machine and robot main frame,
Robot body enters park mode or normal mode of operation simultaneously, it is possible to achieve more preferable energy-saving effect.
Preferably, robot main frame is wirelessly to be connected with teaching machine.
Preferably, input equipment is button and touch-screen.
The invention also discloses using the energy-conservation robot of above-mentioned robot power-economizing method.
Beneficial effect：Compared with prior art, robot power-economizing method disclosed by the invention and energy-conservation robot are realized
Such as other things must not be processed without departing from robot in some accidents so that hurry leave robot and close without the time
Machine or forget shutdown when, the energy consumption of robot can be effectively reduced, so as to reach the purpose of energy-conservation.
Description of the drawings
Fig. 1 is robot power-economizing method schematic flow sheet disclosed by the invention；
Fig. 2 is energy-conservation robot composition structural representation in embodiment；
Fig. 3 is the concrete composition schematic diagram of energy-conservation robot in embodiment.
Specific embodiment
With reference to the accompanying drawings and detailed description, the present invention is further elucidated.
Robot power-economizing method flow chart disclosed by the invention is illustrated in figure 1, is comprised the steps：
(1) dormancy time threshold value T is setth；
(2) timing is started when user stops operation teaching machine, timing time reaches TthWhen, robot enters dormancy mould
Formula；
(3) when user operation teaching machine, timing time resets, if robot is in park mode, stops dormancy
Into normal mode of operation.
As shown in Fig. 2 constituting structural representation, including teaching machine, robot master for the energy-conservation robot in the present embodiment
Machine and robot body；Wherein teaching machine is connected with robot main frame, and to robot main frame dormancy or wake-up signal, control are sent
Robot main frame performs corresponding operational mode；Robot main frame is connected respectively with teaching machine and robot body, shows for obtaining
The dormancy of religion device output or wake-up signal, perform corresponding operational mode and send dormancy or wake-up signal to robot body；
Robot body is connected with robot main frame, obtains dormancy or wake-up signal that the robot main frame sends and performs and mutually meets the tendency of
Row mode；Dormancy time threshold value T is set on teaching machineth, timing is started when user stops operation teaching machine, timing time reaches
TthWhen, robot enters park mode；When user operation teaching machine, timing time resets, if robot is in dormancy mould
Formula, then stop dormancy and enter normal mode of operation.
As shown in figure 3, disclosed in the present embodiment energy-conservation robot concrete composition schematic diagram, teaching machine include show
Device, operation detector unit, miniature processing controller and input equipment；Display is connected with operation detector unit, to show, really
Recognize operation information；Operation detector unit is connected respectively with display, miniature processing controller and input equipment, operates detector unit
By sensing the real-time output function reaction signal of operation of input equipment to miniature processing controller；Miniature processing controller and behaviour
Make detector unit to be connected, for setting dormancy time threshold value Tth, and receive the operation reaction signal that operation detector unit is exported；
When input equipment does not have user operation, miniature processing controller starts timing, and timing time reaches TthWhen, miniature process control
Device to robot main frame sends sleep signal；When input equipment has user operation, miniature processing controller timing time resets,
Miniature processing controller to robot main frame sends wake-up signal.
Robot main frame includes central controller and actuator unit；Central controller processes the dormancy that teaching machine transmission comes
Or wake-up signal and corresponding mode of operation being performed, output dormancy or wake-up signal are to actuator unit；Actuator unit, receives
Dormancy or wake-up signal that central controller sends, and control driven machine human body.
Robot main frame is easy to the operation of user with teaching machine to be wirelessly connected in the present embodiment；Input equipment is button
And touch-screen, the operation of user is made with visualization.
In the present embodiment, when user does not operate button or the duration of touch-screen to reach TthWhen, teaching machine is to robot master
Machine sends sleep signal, and robot main frame and robot body are entered after park mode, and teaching machine enters park mode；Work as user
When operation button or touch-screen, teaching machine first wakes up and enters normal mode of operation, and afterwards timing time resets, and teaching machine is to machine
People's main frame sends wake-up signal, and robot main frame and robot body enter normal mode of operation.
In another embodiment of the present invention, when user does not operate button or the duration of touch-screen to reach TthWhen, teaching machine
Sleep signal is sent to robot main frame, teaching machine, robot main frame and robot body enter park mode simultaneously.Work as user
Operation button or during touch-screen, teaching machine timing time resets, and teaching machine to robot main frame sends wake-up signal, teaching machine,
Robot main frame and robot body enter normal mode of operation simultaneously.
Claims (9)
1. a kind of robot power-economizing method, it is characterised in that comprise the steps：
(1) dormancy time threshold value T is setth；
(2) timing is started when user stops operation robot, timing time reaches TthWhen, robot enters park mode；
(3) when user operation robot, timing time resets, if robot is in park mode, stops dormancy and enters
Normal mode of operation.
2. robot power-economizing method according to claim 1, it is characterised in that the robot includes teaching machine, machine
People's main frame and robot body；
The teaching machine is connected with robot main frame, and to robot main frame dormancy or wake-up signal, control robot main frame are sent
Perform corresponding operational mode；
The robot main frame is connected respectively with teaching machine and robot body, for obtaining the dormancy or wake-up of teaching machine output
Signal, perform corresponding operational mode and send dormancy or wake-up signal to robot body；
The robot body is connected with robot main frame, obtains dormancy or wake-up signal that the robot main frame sends and holds
The corresponding operational mode of row；
Dormancy time threshold value T is set on the teaching machineth, timing is started when user stops operation teaching machine, timing time reaches
To TthWhen, robot enters park mode；When user operation teaching machine, timing time resets, if robot is in dormancy
Pattern, then stop dormancy and enter normal mode of operation.
3. robot power-economizing method according to claim 2, it is characterised in that the teaching machine includes display, operation
Detector unit, miniature processing controller and input equipment；
The display is connected with operation detector unit, to show, confirm operation information；
The operation detector unit is connected respectively with display, miniature processing controller and input equipment, and operation detector unit is led to
The real-time output function reaction signal of operation of sensing input equipment is crossed to miniature processing controller；
The miniature processing controller is connected with operation detector unit, for setting dormancy time threshold value Tth, and receive operation inspection
Survey the operation reaction signal that unit is exported；
When input equipment does not have user operation, miniature processing controller starts timing, and timing time reaches TthWhen, miniature process
Controller to robot main frame sends sleep signal；
When input equipment has user operation, miniature processing controller timing time resets, and miniature processing controller is to robot master
Machine sends wake-up signal.
4. robot power-economizing method according to claim 2, it is characterised in that the robot main frame includes central authorities' control
Device and actuator unit；
The central controller processes the next dormancy of teaching machine transmission or wake-up signal and performs corresponding mode of operation, and output is stopped
Sleep or wake-up signal is to actuator unit；
The actuator unit, receives dormancy or wake-up signal that central controller sends, and controls driven machine human body.
5. the robot power-economizing method according to claim 2-4, it is characterised in that the teaching machine to robot main frame is sent out
Sleep signal, robot main frame and robot body is sent to enter after park mode, teaching machine enters park mode；Work as user operation
During teaching machine, teaching machine first wakes up and enters normal mode of operation, and afterwards timing time resets, and teaching machine to robot main frame sends
Wake-up signal, robot main frame and robot body enter normal mode of operation.
6. the robot power-economizing method according to claim 2-4, it is characterised in that the teaching machine to robot main frame is sent out
Sleep signal, teaching machine, robot main frame and robot body is sent to enter park mode simultaneously；When user operation teaching machine,
Teaching machine timing time resets, and teaching machine to robot main frame sends wake-up signal, teaching machine, robot main frame and robot sheet
Body enters normal mode of operation simultaneously.
7. the robot power-economizing method according to claim 2-4, it is characterised in that the robot main frame is with teaching machine
Wireless connection.
8. robot power-economizing method according to claim 3, it is characterised in that the input equipment is button and touch
Screen.
9. a kind of energy-conservation robot, it is characterised in that any one of the energy-conservation robot application claim 1 to 8
Robot power-economizing method.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611063000.1A CN106584458B (en) | 2016-11-28 | 2016-11-28 | A kind of robot power-economizing method and energy saving robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611063000.1A CN106584458B (en) | 2016-11-28 | 2016-11-28 | A kind of robot power-economizing method and energy saving robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106584458A true CN106584458A (en) | 2017-04-26 |
| CN106584458B CN106584458B (en) | 2019-01-08 |
Family
ID=58593519
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
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| CN201611063000.1A Active CN106584458B (en) | 2016-11-28 | 2016-11-28 | A kind of robot power-economizing method and energy saving robot |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107688344A (en) * | 2017-08-22 | 2018-02-13 | 广东美的智能机器人有限公司 | The dormancy control method and its device of robot |
| CN108972592A (en) * | 2018-08-09 | 2018-12-11 | 北京云迹科技有限公司 | Intelligent awakening method and device for robot |
| CN109062621A (en) * | 2018-08-03 | 2018-12-21 | 珠海市微半导体有限公司 | A kind of control method and system waking up robot |
| CN109343897A (en) * | 2018-08-09 | 2019-02-15 | 北京云迹科技有限公司 | Awakening method and device for robot |
| CN111376245A (en) * | 2018-12-27 | 2020-07-07 | 深圳市优必选科技有限公司 | Steering engine control method and system and robot |
| CN113641132A (en) * | 2021-08-18 | 2021-11-12 | 珠海格力电器股份有限公司 | Robot timing energy-saving circuit and automatic machine |
| CN113814981A (en) * | 2021-10-18 | 2021-12-21 | 北京云迹科技有限公司 | Robot operation method and device, storage medium and robot |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107688344A (en) * | 2017-08-22 | 2018-02-13 | 广东美的智能机器人有限公司 | The dormancy control method and its device of robot |
| CN107688344B (en) * | 2017-08-22 | 2021-04-23 | 广东美的智能机器人有限公司 | Robot dormancy control method and device |
| CN109062621A (en) * | 2018-08-03 | 2018-12-21 | 珠海市微半导体有限公司 | A kind of control method and system waking up robot |
| CN108972592A (en) * | 2018-08-09 | 2018-12-11 | 北京云迹科技有限公司 | Intelligent awakening method and device for robot |
| CN109343897A (en) * | 2018-08-09 | 2019-02-15 | 北京云迹科技有限公司 | Awakening method and device for robot |
| CN111376245A (en) * | 2018-12-27 | 2020-07-07 | 深圳市优必选科技有限公司 | Steering engine control method and system and robot |
| CN111376245B (en) * | 2018-12-27 | 2022-02-22 | 深圳市优必选科技有限公司 | Steering engine control method and system and robot |
| CN113641132A (en) * | 2021-08-18 | 2021-11-12 | 珠海格力电器股份有限公司 | Robot timing energy-saving circuit and automatic machine |
| CN113814981A (en) * | 2021-10-18 | 2021-12-21 | 北京云迹科技有限公司 | Robot operation method and device, storage medium and robot |
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| CN106584458B (en) | 2019-01-08 |
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