CN109230118A - Determine the method and device of the quality of storage the loaded cargo of robot - Google Patents
Determine the method and device of the quality of storage the loaded cargo of robot Download PDFInfo
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- CN109230118A CN109230118A CN201810671735.5A CN201810671735A CN109230118A CN 109230118 A CN109230118 A CN 109230118A CN 201810671735 A CN201810671735 A CN 201810671735A CN 109230118 A CN109230118 A CN 109230118A
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- Prior art keywords
- motor
- robot
- storage
- torque
- quality
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/0492—Storage devices mechanical with cars adapted to travel in storage aisles
Abstract
The present invention provides a kind of method and devices of the quality of determining storage loaded cargo of robot.This method comprises: the average phase current of the motor of the acquisition storage robot；The torque of the motor is calculated according to the average phase current；The quality of the load cargo is determined according to the torque.It can be seen that the embodiment of the present invention contributes to obtain the quality for the cargo that storage robot is loaded by motor, the process is simple and quick, as a result accurately.Without additionally installing other sensor modules, without additional installation space and can reduce storage robot hardware cost.
Description
Technical field
The present invention relates to storage fields, relate more specifically to a kind of side of the quality of determining storage loaded cargo of robot
Method and device.
Background technique
Storage robot has had to compare in fields such as electric business, 2B to be widely applied.Wherein, storage robot is loaded
The quality of cargo is one of important parameter needed for robot operation.A kind of existing means for obtaining cargo mass are in mechanical machine
Structure specific position installs pressure or the sensor modules such as pulling force or deformation, and weight is transformed into electric signal and realizes measurement again.
This means need to reserve specific space installation sensor module in storage robot, to will lead to storage
Robot volume heaviness is inconvenient.In addition, additional sensor module can also make cost increase.
Summary of the invention
The present invention provides a kind of method and devices of the quality of determining storage loaded cargo of robot, without additional
Installation space and it can reduce cost.
According to an aspect of the present invention, a kind of method of the quality of determining storage loaded cargo of robot, institute are provided
The method of stating includes:
Acquire the average phase current of the motor of the storage robot；
The torque of the motor is calculated according to the average phase current；
The quality of the load cargo is determined according to the torque.
In a kind of implementation of the invention, the average phase current of the motor of the acquisition storage robot, packet
It includes:
Load cargo top act in place and after stablizing, is acquired into the motor in the Ding Ju mechanism of the storage robot
Average phase current in preset duration.
In a kind of implementation of the invention, the torque that the motor is calculated according to the average phase current, packet
It includes:
The product for the Motor torque constant that the torque is the average phase current and the motor is calculated.
In a kind of implementation of the invention, the quality that the load cargo is determined according to the torque, comprising:
Determine that the quality is equal to the product of the torque and the power coefficient of conductivity divided by acceleration of gravity.
In a kind of implementation of the invention, the power coefficient of conductivity is that the Ding Ju mechanism of the storage robot completes
Top lift after the power coefficient of conductivity, the power coefficient of conductivity is pre- to first pass through mechanical analysis and be derived from.
According to another aspect of the present invention, a kind of device of the quality of determining storage loaded cargo of robot is provided,
The step of described device is for realizing aforementioned aspects or each embodiment the method, described device includes:
Acquisition module, the average phase current of the motor for acquiring the storage robot；
Computing module, for calculating the torque of the motor according to the average phase current；
Determining module, for determining the quality of the load cargo according to the torque.
According to another aspect of the invention, a kind of device of the quality of determining storage loaded cargo of robot is provided,
Including memory, processor and the computer program for being stored on the memory and running on the processor, the place
Reason device is realized when executing the computer program determines storage the loaded cargo of robot described in aforementioned aspects and each example
Quality method the step of.
In accordance with a further aspect of the present invention, a kind of computer storage medium is provided, computer program is stored thereon with, institute
It states and realizes determining storage the loaded goods of robot described in aforementioned aspects and each example when computer program is executed by processor
The step of method of the quality of object.
In accordance with a further aspect of the present invention, provide a kind of storage robot, the storage robot include Ding Ju mechanism,
The device of the quality of storage the loaded cargo of robot is determined described in motor and any of the above-described aspect.
It can be seen that the embodiment of the present invention contributes to obtain the quality for the cargo that storage robot is loaded by motor, it should
Process is simple and quick, as a result accurately.Without additionally installing other sensor modules, without additional installation space and can drop
The hardware cost of low storage robot.
Detailed description of the invention
The embodiment of the present invention is described in more detail in conjunction with the accompanying drawings, the above and other purposes of the present invention,
Feature and advantage will be apparent.Attached drawing is used to provide to further understand the embodiment of the present invention, and constitutes explanation
A part of book, is used to explain the present invention together with the embodiment of the present invention, is not construed as limiting the invention.In the accompanying drawings,
Identical reference label typically represents same parts or step.
Fig. 1 is that one of the method for the quality for determining storage the loaded cargo of robot of the embodiment of the present invention schematically flows
Cheng Tu；
Fig. 2 is a schematic frame of the device of the quality for determining storage the loaded cargo of robot of the embodiment of the present invention
Figure；
Fig. 3 be the device of the quality for determining storage the loaded cargo of robot of the embodiment of the present invention another is schematic
Block diagram.
Specific embodiment
In order to enable the object, technical solutions and advantages of the present invention become apparent, root is described in detail below with reference to accompanying drawings
According to example embodiments of the present invention.Obviously, described embodiment is only a part of the embodiments of the present invention, rather than this hair
Bright whole embodiments, it should be appreciated that the present invention is not limited by example embodiment described herein.Based on described in the present invention
The embodiment of the present invention, those skilled in the art's obtained all other embodiment in the case where not making the creative labor
It should all fall under the scope of the present invention.
Storage robot includes Ding Ju mechanism, which can also be referred to as lifting body or lifting mechanism etc.,
It can be used for load cargo to go up and down.Storage robot further includes motor, can convert electrical energy into mechanical energy.The electricity
Machine can be magneto, and the Motor torque constant of motor can be expressed as Ct.For magneto, Motor torque
Constant is fixed and is known, such as can be obtained from factory constant.That is, in the embodiment of the present invention, storage
The Motor torque constant Ct of the motor of robot is known constant, and dimension can be Nm/A.Wherein, N indicates newton, m table
Show that rice, A indicate ampere.
In addition, storage robot can also include battery or dry cell etc., for providing electric energy.Certainly, storage machine
People also includes other structures etc., is no longer enumerated here.
Fig. 1 is that one of the method for the quality for determining storage the loaded cargo of robot of the embodiment of the present invention schematically flows
Cheng Tu.Method shown in FIG. 1 includes:
S110 acquires the average phase current of the motor of the storage robot.
S120 calculates the torque of the motor according to the average phase current.
S130 determines the quality of the load cargo according to the torque.
Illustratively, in S110, the load cargo top can be lifted in place in the Ding Ju mechanism of the storage robot
And after stablizing, average phase current of the motor in preset duration is acquired.Average phase current can be expressed as I, dimension
For A (ampere).
Specifically, can control Ding Ju mechanism will load the act of cargo top in place, and after top act is stable in place, motor stops substantially
Rotation stop is dynamic, and the electric current of motor is approximate DC at this time.At this point it is possible to acquire the average phase current of motor.For example, Ke Yi
Carry out multiple current acquisition in preset duration, and by multi collect to current value be averaged to obtain average phase current.Its
In, preset duration can be 1 second (s) or 3s or 5s etc., and the present invention does not limit this.For example, 5 primary currents can be acquired in 1s
Value, and calculate the average value of 5 primary current values.Interference and error can be eliminated as best one can in this way, so that obtained average phase current
It is more acurrate.
Illustratively, the motor torsion that the torque is the average phase current and the motor can be calculated in S120
The product of square constant.Torque, can be expressed as T, dimension Nm by the output torque of the obtained torque, that is, motor of S120.
Specifically, for magneto, phase current is directly proportional to the torque of motor, and proportionality coefficient is motor torsion
Square constant.Therefore, the torque of motor can be obtained according to the proportional relation, indicated are as follows: T=Ct × I.
Illustratively, it can determine that the quality is equal to the product of the torque and the power coefficient of conductivity divided by gravity in S130
Acceleration.It can be M by quality representation, dimension is kg (kilogram).
Specifically, the power coefficient of conductivity is expressed as K, S130 can obtain mass M by following formula: M=K × T/g.Wherein, g
Indicate acceleration of gravity, the occurrence of g and the position at place are related, such as g=9.8m/s2.In conjunction with the above-mentioned expression formula about T,
It follows that M=K × Ct × I/g."/" indicates division arithmetic in formula.
Wherein, the power coefficient of conductivity is that the Ding Ju mechanism of the storage robot completes the power coefficient of conductivity after top is lifted, described
The power coefficient of conductivity is pre- to first pass through mechanical analysis and be derived from.The power coefficient of conductivity is expressed as K, and dimension can be 1/m.
That is, can derive entire Ding Ju mechanism by mechanical analysis before S130 or before S110
Complete the power coefficient of conductivity K after top is lifted.Wherein, power coefficient of conductivity K is related with the geometric parameter of Ding Ju mechanism, which can
To include the size etc. of the arm of force.
It can be seen that the embodiment of the present invention contributes to obtain the quality for the cargo that storage robot is loaded by motor, it should
Process is simple and quick, as a result accurately.Without additionally installing other sensor modules, without additional installation space and can drop
The hardware cost of low storage robot.
Fig. 2 is a schematic frame of the device of the quality for determining storage the loaded cargo of robot of the embodiment of the present invention
Figure.Device 20 shown in Fig. 2 includes acquisition module 210, computing module 220 and determining module 230.
Acquisition module 210, the average phase current of the motor for acquiring the storage robot；
Computing module 220, for calculating the torque of the motor according to the average phase current；
Determining module 230, for determining the quality of the load cargo according to the torque.
Illustratively, acquisition module 210 can be specifically used for: the storage robot Ding Ju mechanism by the load
Cargo top is lifted in place and after stablizing, and average phase current of the motor in preset duration is acquired.It can be by average phase current table
It is shown as I, dimension is A (ampere).
Specifically, can control Ding Ju mechanism will load the act of cargo top in place, and after top act is stable in place, motor stops substantially
Rotation stop is dynamic, and the electric current of motor is approximate DC at this time.At this point, acquisition module 210 can acquire the average phase current of motor.Citing
For, can carry out multiple current acquisition in preset duration, and by multi collect to current value be averaged to be put down
Equal phase current.Wherein, preset duration can be 1 second (s) or 3s or 5s etc., and the present invention does not limit this.For example, can be in 1s
5 primary current values are acquired, and calculate the average value of 5 primary current values.Interference and error can be eliminated as best one can in this way, so that obtain
Average phase current is more acurrate.
Illustratively, computing module 220 can be specifically used for: the torque is calculated as the average phase current and institute
State the product of the Motor torque constant of motor.The output torque of the obtained torque, that is, motor of computing module 220, can be by torque
It is expressed as T, dimension Nm.
Specifically, for magneto, phase current is directly proportional to the torque of motor, and proportionality coefficient is motor torsion
Square constant.Therefore, the torque of motor can be obtained according to the proportional relation, indicated are as follows: T=Ct × I.
Illustratively, determining module 230 can be specifically used for: determine that the quality is equal to the torque and the power coefficient of conductivity
Product divided by acceleration of gravity.It can be M by quality representation, dimension is kg (kilogram).
Specifically, the power coefficient of conductivity is expressed as K, determining module 230 can obtain mass M by following formula: M=K × T/
g.Wherein, g indicates acceleration of gravity, and the occurrence of g and the position at place are related, such as g=9.8m/s2.In conjunction with above-mentioned about T's
Expression formula, it can be deduced that: M=K × Ct × I/g.
Wherein, the power coefficient of conductivity is that the Ding Ju mechanism of the storage robot completes the power coefficient of conductivity after top is lifted, described
The power coefficient of conductivity is pre- to first pass through mechanical analysis and be derived from.The power coefficient of conductivity is expressed as K, and dimension can be 1/m.
That is, the device 20 can also include derivation module, for deriving entire top act machine by mechanical analysis
Structure completes the power coefficient of conductivity K after top is lifted.Wherein, power coefficient of conductivity K is related with the geometric parameter of Ding Ju mechanism, the geometric parameter
It may include the size etc. of the arm of force.
It can be seen that the embodiment of the present invention contributes to obtain the quality for the cargo that storage robot is loaded by motor, it should
Process is simple and quick, as a result accurately.Without additionally installing other sensor modules, without additional installation space and can drop
The hardware cost of low storage robot.
Device 20 shown in Fig. 2 can be realized the quality of aforementioned determining storage the loaded cargo of robot shown in FIG. 1
Method, to avoid repeating, which is not described herein again.
Those of ordinary skill in the art may be aware that list described in conjunction with the examples disclosed in the embodiments of the present disclosure
Member and algorithm steps can be realized with the combination of electronic hardware or computer software and electronic hardware.These functions are actually
It is implemented in hardware or software, the specific application and design constraint depending on technical solution.Professional technician
Each specific application can be used different methods to achieve the described function, but this realization is it is not considered that exceed
The scope of the present invention.
In addition, the embodiment of the invention also provides the device of another quality for determining storage the loaded cargo of robot,
Including memory, processor and the computer program for being stored on the memory and running on the processor, processor
The step of method of the quality of aforementioned determining storage the loaded cargo of robot shown in FIG. 1 is realized when executing described program.
As shown in figure 3, the device 30 may include memory 310 and processor 320.
Memory 310 stores for realizing the quality of determining storage the loaded cargo of robot according to an embodiment of the present invention
Method in corresponding steps computer program code.
Computer program code of the processor 320 for storing in run memory 310, is implemented according to the present invention with executing
The corresponding steps of the method for the quality for determining storage the loaded cargo of robot of example, and for realizing implementing according to the present invention
Acquisition module 210, computing module 220 and determining module in the device of the quality for determining storage the loaded cargo of robot of example
230。
Illustratively, following steps are executed when the computer program code is run by processor 320: acquires the storehouse
Store up the average phase current of the motor of robot；The torque of the motor is calculated according to the average phase current；According to the torque
Determine the quality of the load cargo.
As an example, processor 320 can be used for: the storage robot Ding Ju mechanism by the load cargo top
It lifts in place and after stablizing, acquires average phase current of the motor in preset duration.
As an example, processor 320 can be used for: it is the average phase current and the motor that the torque, which is calculated,
Motor torque constant product.Specifically, processor 320 can pass through T=Ct × I calculated torque.Wherein, T indicates torque,
Ct indicates that Motor torque constant, I indicate average phase current.
As an example, processor 320 can be used for: determine that the quality is equal to the product of the torque and the power coefficient of conductivity
Divided by acceleration of gravity.Specifically, processor 320 can obtain quality by M=K × T/g.Wherein, M indicates quality, and K is indicated
The power coefficient of conductivity, g indicate acceleration of gravity.
It is understood that memory 310 can store for acquiring average phase current, calculated torque and determining that the software of quality is calculated
Method.
The embodiment of the invention also provides a kind of storage robot, the storage robot include Ding Ju mechanism, motor and
The device of the quality for determining storage the loaded cargo of robot described above.
In addition, being stored thereon with computer program the embodiment of the invention also provides a kind of computer storage medium.Work as institute
When stating computer program and being executed by processor, the matter of aforementioned determining storage the loaded cargo of robot shown in FIG. 1 may be implemented
The step of method of amount.For example, the computer storage medium is computer readable storage medium.
Computer storage medium for example may include the storage card of smart phone, the storage unit of tablet computer, personal meter
The hard disk of calculation machine, read-only memory (ROM), Erasable Programmable Read Only Memory EPROM (EPROM), the read-only storage of portable compact disc
Any combination of device (CD-ROM), USB storage or above-mentioned storage medium.Computer readable storage medium can be one
Or any combination of multiple computer readable storage mediums, such as a computer readable storage medium includes average for acquiring
The computer-readable program code of phase current, another computer readable storage medium include for carry out calculated torque and really
Determine the computer-readable program code of quality.
It can be seen that the embodiment of the present invention contributes to obtain the quality for the cargo that storage robot is loaded by motor, it should
Process is simple and quick, as a result accurately.Without additionally installing other sensor modules, without additional installation space and can drop
The hardware cost of low storage robot.
Although describing example embodiment by reference to attached drawing here, it should be understood that above example embodiment are only exemplary
, and be not intended to limit the scope of the invention to this.Those of ordinary skill in the art can carry out various changes wherein
And modification, it is made without departing from the scope of the present invention and spiritual.All such changes and modifications are intended to be included in appended claims
Within required the scope of the present invention.
Those of ordinary skill in the art may be aware that list described in conjunction with the examples disclosed in the embodiments of the present disclosure
Member and algorithm steps can be realized with the combination of electronic hardware or computer software and electronic hardware.These functions are actually
It is implemented in hardware or software, the specific application and design constraint depending on technical solution.Professional technician
Each specific application can be used different methods to achieve the described function, but this realization is it is not considered that exceed
The scope of the present invention.
In several embodiments provided herein, it should be understood that disclosed device and method can pass through it
Its mode is realized.For example, apparatus embodiments described above are merely indicative, for example, the division of the unit, only
Only a kind of logical function partition, there may be another division manner in actual implementation, such as multiple units or components can be tied
Another equipment is closed or is desirably integrated into, or some features can be ignored or not executed.
In the instructions provided here, numerous specific details are set forth.It is to be appreciated, however, that implementation of the invention
Example can be practiced without these specific details.In some instances, well known method, structure is not been shown in detail
And technology, so as not to obscure the understanding of this specification.
Similarly, it should be understood that in order to simplify the present invention and help to understand one or more of the various inventive aspects,
To in the description of exemplary embodiment of the present invention, each feature of the invention be grouped together into sometimes single embodiment, figure,
Or in descriptions thereof.However, the method for the invention should not be construed to reflect an intention that i.e. claimed
The present invention claims features more more than feature expressly recited in each claim.More precisely, such as corresponding power
As sharp claim reflects, inventive point is that the spy of all features less than some disclosed single embodiment can be used
Sign is to solve corresponding technical problem.Therefore, it then follows thus claims of specific embodiment are expressly incorporated in this specific
Embodiment, wherein each, the claims themselves are regarded as separate embodiments of the invention.
It will be understood to those skilled in the art that any combination pair can be used other than mutually exclusive between feature
All features disclosed in this specification (including adjoint claim, abstract and attached drawing) and so disclosed any method
Or all process or units of equipment are combined.Unless expressly stated otherwise, this specification (is wanted including adjoint right
Ask, make a summary and attached drawing) disclosed in each feature can be replaced with an alternative feature that provides the same, equivalent, or similar purpose.
In addition, it will be appreciated by those of skill in the art that although some embodiments described herein include other embodiments
In included certain features rather than other feature, but the combination of the feature of different embodiments mean it is of the invention
Within the scope of and form different embodiments.For example, in detail in the claims, embodiment claimed it is one of any
Can in any combination mode come using.
Various component embodiments of the invention can be implemented in hardware, or to run on one or more processors
Software module realize, or be implemented in a combination thereof.It will be understood by those of skill in the art that can be used in practice
Microprocessor or digital signal processor (Digital Signal Processing, DSP) are implemented according to the present invention to realize
The some or all functions of some modules in the article analytical equipment of example.The present invention is also implemented as executing here
Some or all program of device (for example, computer program and computer program product) of described method.In this way
Realization program of the invention can store on a computer-readable medium, or can have the shape of one or more signal
Formula.Such signal can be downloaded from an internet website to obtain, and perhaps be provided on the carrier signal or with any other shape
Formula provides.
It should be noted that the above-mentioned embodiments illustrate rather than limit the invention, and ability
Field technique personnel can be designed alternative embodiment without departing from the scope of the appended claims.In the claims,
Any reference symbol between parentheses should not be configured to limitations on claims.Word "comprising" does not exclude the presence of not
Element or step listed in the claims.Word "a" or "an" located in front of the element does not exclude the presence of multiple such
Element.The present invention can be by means of including the hardware of several different elements and being come by means of properly programmed computer real
It is existing.In the unit claims listing several devices, several in these devices can be through the same hardware branch
To embody.The use of word first, second, and third does not indicate any sequence.These words can be explained and be run after fame
Claim.
The above description is merely a specific embodiment or to the explanation of specific embodiment, protection of the invention
Range is not limited thereto, and anyone skilled in the art in the technical scope disclosed by the present invention, can be easily
Expect change or replacement, should be covered by the protection scope of the present invention.Protection scope of the present invention should be with claim
Subject to protection scope.
Claims (9)
1. a kind of method of the quality of determining storage the loaded cargo of robot, which is characterized in that the described method includes:
Acquire the average phase current of the motor of the storage robot；
The torque of the motor is calculated according to the average phase current；
The quality of the load cargo is determined according to the torque.
2. the method according to claim 1, wherein the average phase of the motor of the acquisition storage robot
Electric current, comprising:
Load cargo top act in place and after stablizing, is acquired into the motor pre- in the Ding Ju mechanism of the storage robot
If the average phase current in duration.
3. the method according to claim 1, wherein described calculate the motor according to the average phase current
Torque, comprising:
The product for the Motor torque constant that the torque is the average phase current and the motor is calculated.
4. according to the method in any one of claims 1 to 3, which is characterized in that described according to torque determination
Load the quality of cargo, comprising:
Determine that the quality is equal to the product of the torque and the power coefficient of conductivity divided by acceleration of gravity.
5. according to the method described in claim 4, it is characterized in that, the top that the power coefficient of conductivity is the storage robot is lifted
Mechanism completes the power coefficient of conductivity after top is lifted.
6. a kind of device of the quality of determining storage the loaded cargo of robot, which is characterized in that described device is for realizing power
Benefit requires the step of any one of 1 to 5 the method, and described device includes:
Acquisition module, the average phase current of the motor for acquiring the storage robot；
Computing module, for calculating the torque of the motor according to the average phase current；
Determining module, for determining the quality of the load cargo according to the torque.
7. a kind of device of the quality of determining storage the loaded cargo of robot, including memory, processor and described in being stored in
The computer program run on memory and on the processor, which is characterized in that the processor executes the computer
The step of any one of claims 1 to 5 the method is realized when program.
8. a kind of computer storage medium, is stored thereon with computer program, which is characterized in that the computer program is processed
The step of device realizes any one of claims 1 to 5 the method when executing.
9. a kind of storage robot, which is characterized in that the storage robot includes that Ding Ju mechanism, motor and aforesaid right are wanted
Device described in asking 6 or 7.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810671735.5A CN109230118A (en) | 2018-06-26 | 2018-06-26 | Determine the method and device of the quality of storage the loaded cargo of robot |
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|---|---|---|---|
| CN201810671735.5A CN109230118A (en) | 2018-06-26 | 2018-06-26 | Determine the method and device of the quality of storage the loaded cargo of robot |
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| CN201810671735.5A Pending CN109230118A (en) | 2018-06-26 | 2018-06-26 | Determine the method and device of the quality of storage the loaded cargo of robot |
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| CN112405615A (en) * | 2020-10-30 | 2021-02-26 | 珠海格力电器股份有限公司 | Robot tail end load quality detection method and device and industrial robot |
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