CN109494833A - A kind of electricity planing method, robot and chip based on robot work electricity consumption - Google Patents
A kind of electricity planing method, robot and chip based on robot work electricity consumption Download PDFInfo
- Publication number
- CN109494833A CN109494833A CN201811378157.2A CN201811378157A CN109494833A CN 109494833 A CN109494833 A CN 109494833A CN 201811378157 A CN201811378157 A CN 201811378157A CN 109494833 A CN109494833 A CN 109494833A
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- electricity
- robot
- work
- consumption
- battery
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Classifications
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
- H02J7/0063—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries with circuits adapted for supplying loads from the battery
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
- H02J7/0029—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries with safety or protection devices or circuits
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
- H02J7/0029—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries with safety or protection devices or circuits
- H02J7/00306—Overdischarge protection
Abstract
The present invention discloses a kind of electricity planing method, robot and chip based on robot work electricity consumption, the electricity planing method includes: work requirements electricity, current operating region and its working time in current operating region for obtaining robot and measuring in advance, while obtaining the cruise duration of the battery capacity maintenance of robot；According to the numerical relation of the working time and the cruise duration, the ratio relation of default amount of battery consumption and the work requirements electricity and the default amount of battery consumption of the robot under active duty cycle is set；According to the ratio relation, determine that robot recharges number in the current operating region, and then work times of the robot in the current operating region are calculated, and be the practical electricity consumption that robot distributes each active duty cycle based on the work times.Technical solution of the present invention reduces the loss to battery, promotes the service life of product by carrying out intelligent planning to robot battery.
Description
Technical field
The invention belongs to field of power management more particularly to it is a kind of based on robot work electricity consumption electricity planing method,
Robot and chip.
Background technique
Robot move freely carry out security protection or keep a public place clean etc. work when, the supply of the energy almost dependent on itself
Battery.Thus, robot must check that cells use electricity condition the moment.Robot in use, if always to
It exhausts to battery and just charges, the capacity that will lead to battery is gradually reduced, and reduces the service life of product.
Summary of the invention
The present invention is directed to the service life problem of battery, proposes following technical scheme: one kind is based on robot work electricity consumption
Electricity planing method, the electricity planing method includes: the work requirements electricity for obtaining robot and measuring in advance, current
Working region and its working time in current operating region, at the same obtain robot battery capacity maintain continuation of the journey when
Between；According to the numerical relation of the working time and the cruise duration, it is default under active duty cycle to set robot
The ratio relation of amount of battery consumption and the work requirements electricity and the default amount of battery consumption；It is closed according to the ratio
System, determines that robot recharges number in the current operating region, and then robot is calculated in the work at present
Work times in region, and be the practical electricity consumption that robot distributes each active duty cycle based on the work times.
Further, the numerical relation according to the working time and the cruise duration, setting robot are having
The default amount of battery consumption and the work requirements electricity and the ratio of the default amount of battery consumption imitated under the duty cycle are closed
System, comprising: judge whether the working time is less than the cruise duration, be, do not set the default amount of battery consumption；It is no
Then, according to the working time and the ratio in the cruise duration and the battery capacity of robot, the work requirements electricity is set
The ratio relation of amount and the default amount of battery consumption.
Further, the determining robot recharges number in the current operating region, comprising: by the work
The ratio of demand electricity and the default amount of battery consumption obtains integer value by the processing that rounds up, and recharges time as described
Number.
Further, described and then work times of the robot in the current operating region are calculated, comprising: to sentence
Whether the default amount of battery consumption of breaking and the result of product for recharging number are less than the work requirements electricity, are then by institute
It states and recharges number and add one result as the work times, it is otherwise described to recharge number directly as the work times.
Further, the practical electricity consumption for distributing each active duty cycle for robot based on the work times
Amount, comprising: by the work requirements electricity according to the work times mean allocation, average electricity consumption is obtained, as the reality
Border electricity consumption.
Further, the practical electricity consumption for distributing each active duty cycle for robot based on the work times
Amount, further includes: one preset times of work times increase are obtained into real work number, then by the work requirements electricity
According to the real work number mean allocation, average electricity consumption is obtained；Then by the primary institute in the real work number
It states average electricity consumption to be adjusted to less than described one default electricity of default amount of battery consumption, accordingly as this time effectively work
The practical electricity consumption in period；And the average electricity consumption of the remaining unadjusted real work number is averaged, it is corresponding
Practical electricity consumption of the ground as remaining each active duty cycle；Wherein, the practical electricity consumption of the real work number
The sum of be equal to the work requirements electricity.
It further, further include in an active duty cycle, returning to charging when robot completes task
When, the charging preset value of the battery capacity of robot is charged to by current residual battery capacity；Wherein, the current residual battery
Capacity is the difference of the charging preset value and the practical electricity consumption；The charging preset value is less than the work requirements electricity
Amount, and determined by the task in the current operating region.
Further, the active duty cycle is that the working time is accounted for the work according to the practical electricity consumption
What the ratio of demand electricity was allocated.
A kind of robot having electricity planning function, the robot have battery, have the function of recharging automatically, the machine
Device people includes a kind of electricity device for planning, and the electricity device for planning includes obtaining module, battery level setting module and distribution
Module；The acquisition module, for obtain work requirements electricity, current operating region that robot measures in advance and its
Working time in current operating region, while the cruise duration that the battery capacity for obtaining robot maintains；The battery level
Setting module, the working time and the cruise duration for being provided according to the acquisition module, by calculating the work
Make the numerical relation in time and the cruise duration to set default amount of battery consumption of the robot under active duty cycle, with
And the ratio relation of the work requirements electricity and the default amount of battery consumption；The distribution module, for according to the electricity
The ratio relation that pond dosage setting module provides, determines that robot recharges number in the current operating region, into
And work times of the robot in the current operating region are calculated, and be robot distribution based on the work times
The practical electricity consumption of each active duty cycle.
A kind of chip, the chip are used to control institute for storing the corresponding program code of the electricity planing method
It states robot and completes electricity planning tasks in the current operating region.
The present invention combines the working power of robot with battery consumption capacity, proposes a kind of electric in real time based on robot
The electricity consumption planing method of amount is existed by one default amount of battery consumption of setting and battery discharge work times to control robot
It is worked and is recharged under conditions of reasonable Constraint, battery is avoided over-discharge electrical phenomena occur, to extend product use
Service life.
Detailed description of the invention
Fig. 1 is a kind of flow chart of electricity planing method based on robot work electricity consumption provided in an embodiment of the present invention.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention is retouched in detail
It states.
Fig. 1 is a kind of flow chart of electricity planing method based on robot work electricity consumption provided in an embodiment of the present invention,
Robot is a kind of clean robot under the embodiment of the present invention, and inside carries charged lithium cells, has and returns seat charging function automatically
Energy.
As shown in Figure 1, obtaining work requirements electricity, the current operating region that robot measures in advance in step 101
And its working time in current operating region, while the cruise duration that the battery capacity for obtaining robot maintains；Wherein, institute
Stating current operating region is the cleaning region that robot marks in advance on grating map, and the work requirements electricity is according to machine
Device people cleans battery capacity consumed by the current operating region completely, and the working time in the current operating region
It is that robot completes to clean the statistical time of the current operating region.
In step 102, according to the numerical relation of the working time and the cruise duration, robot is set in effective work
Make the ratio relation of the default amount of battery consumption and the work requirements electricity and the default amount of battery consumption under the period；
Specifically, judge whether the working time is less than the cruise duration, be, do not need to divide into an active duty cycle
The fixed default amount of battery consumption, and be to maintain conventional amount of battery consumption and continue working；Otherwise, according to the cruise duration with
The ratio of the working time and the battery capacity of robot set the work requirements electricity and the default amount of battery consumption
Ratio relation, and obtain the specific value of the default amount of battery consumption.
Under the embodiment of the present invention, the battery of robot built-in 4000mAh battery capacity can support robot continuation of the journey 2 small
When, and the working time that robot completes task in the current operating region is 2.8 hours, when according to the work
Between with the ratio in the cruise duration known to the work requirements electricity be 4000mAh battery capacity 140%, the work
Time is greater than the cruise duration, so, it is 1.4 according to the ratio of the cruise duration and the working time, numerical value is big
In 1, robot only leans on a cleaning work, also can not be completed in the case where exhausting battery clear in the current operating region
Clean task, therefore need to set the preset amount of battery consumption and carry out progress of the planning robot in primary cleaning task, then
After the battery for monitoring robot reaches the default amount of battery consumption, control robot returns seat charging, in case next time clear
Task use is swept, to avoid robot battery transition loss, is conducive to extend life of product.The machine under the embodiment of the present invention
People needs to clean the clean up task that could be completed in the current operating region twice, it is also contemplated that the work requirements electricity is
The 140% of the battery capacity of 4000mAh, thus set default amount of battery consumption of the robot under the active duty cycle as
The 70% of the battery capacity.It should be noted that according to battery testing empirical results it is found that working as the default amount of battery consumption
For the battery capacity 70% when, the default amount of battery consumption be robot under the active duty cycle most preferably disappearing
Amount of batteries is consumed, it is excessive to can be avoided battery loss, while remaining battery power can also support robot to complete back seat charging.
In step 103, according to the ratio relation of the work requirements electricity and the default amount of battery consumption, machine is determined
People recharges number in the current operating region, and then work of the robot in the current operating region is calculated
Number, being then based on the work times is the practical electricity consumption that robot distributes each active duty cycle.
The specific steps are that: first by the work requirements electricity and the ratio of the default amount of battery consumption by four houses
Five, which enter processing, obtains integer value, recharges number as described, when the battery capacity that the work requirements electricity is 4000mAh
When 140%, then the work requirements electricity and the ratio of the default amount of battery consumption are 1.4, and by rounding up, processing can be obtained
The ratio is 1, i.e., the described number that recharges is 1.
Then, judge whether the default amount of battery consumption and the result of product for recharging number are less than the work and need
Electricity is sought, is, adds the result of a processing as the work times number that recharges, otherwise described to recharge number direct
As the work times, under the embodiment of the present invention, the work requirements electricity is the 140% of the battery capacity of 4000mAh,
It is described recharge number be 1, the default amount of battery consumption be the battery capacity 70%, then the default amount of battery consumption with
The result of product for recharging number is significantly less than the work requirements electricity, therefore need to be to recharge number described in 1 to add by numerical value
One processing obtains 2, so that the work times are equal to 2, it is meant that robot completes one in the current operating region
Secondary cleaning is simultaneously completed after once returning seat charging, and continuation is cleaned next time in the current operating region.
Optionally, under a kind of embodiment, the work requirements electricity is the 140% of the battery capacity of 4000mAh, i.e., described
The ratio in working time and the cruise duration is 1.4, and the default amount of battery consumption may be configured as the battery capacity
70%.It is executed according to abovementioned steps method, since the work requirements electricity and the ratio of the default amount of battery consumption are
1.4, so can obtain the ratio by the processing that rounds up is 1, i.e., the described number that recharges is 1；Then the default electricity can be obtained
Pond consumption and the result of product for recharging number are less than the work requirements electricity, so the work times are 2, then will
For the work requirements electricity according to the work times mean allocation, the average electricity consumption distributed is the battery capacity
70%, it is the reality that robot distributes each active duty cycle as the practical electricity consumption, that is, based on the work times
Border electricity consumption.
Optionally, under another embodiment, the work requirements electricity is the 150% of the battery capacity of 4000mAh, i.e. institute
The ratio for stating working time and the cruise duration is 1.5, and the default amount of battery consumption may be configured as the battery capacity
75%.It is executed according to abovementioned steps method, since the work requirements electricity and the ratio of the default amount of battery consumption are
1.5, so can obtain the ratio by the processing that rounds up is 2, i.e., the described number that recharges is 2；Then the default electricity can be obtained
Pond consumption and the result of product for recharging number are less than the work requirements electricity, so the work times are 3, so that
Real work number becomes 3, then by the work requirements electricity according to the real work number mean allocation, then distribution obtains
Average electricity consumption be about the 50% of the battery capacity, as the practical electricity consumption, be lower than the default consumption electricity；So
The primary average electricity consumption of certain in the real work number is adjusted to less than the default amount of battery consumption one afterwards
Default electricity, since the default electricity described in the present embodiment is set as the 20% of the battery capacity, so being accordingly used as should
The practical electricity consumption of active duty cycle is the 30% of the battery capacity；And in the real work number, residue does not carry out
The average electricity consumption for adjusting number is averaged, and in the present embodiment, it is 2 that number is not adjusted for residue, then to residue 2
The secondary average electricity consumption takes an average value again, as a result the 60% of the battery capacity, accordingly have as remaining 2
Imitate the practical electricity consumption of duty cycle；So that battery avoids enter into over-discharge state, wherein the real work number
The sum of described practical electricity consumption is equal to the work requirements electricity.
Under the embodiment of the present invention, the work requirements electricity is the 140% of the battery capacity of 4000mAh, the work time
Number is 1, and the default amount of battery consumption is the 70% of the battery capacity.When electricity of the robot in the current operating region
When pond consumption is the 70% of battery capacity, then seat charging is carried out back, and is to have traversed region by swept zone marker,
Robot has carried out the active duty cycle at this time, and the region that traversed is the one of the current operating region
Half；After charging complete, the unmarked region continued in the current operating region is cleaned, i.e., to the current work
Make the remaining half region in region to be cleaned, to complete to clean the current operating region.The embodiment of the present invention by pair
Robot battery carries out intelligent planning, and toward returning, seat charging is primary, to reduce the loss to battery, promotes the use of product
Service life.
In the above-described embodiments, in an active duty cycle, charging is returned when robot completes task
When, the charging preset value of the battery capacity of robot is charged to by current residual battery capacity；Wherein, the current residual battery
Capacity is the difference of the charging preset value and the practical electricity consumption；The charging preset value is less than the work requirements electricity
Amount, and determined by the task in the current operating region, by specifically cleaning environment institute under the embodiment of the present invention
It determines.The active duty cycle is the ratio that the working time is accounted for the work requirements electricity according to the practical electricity consumption
What example was allocated.
The embodiment of the present invention also provides a kind of robot for having electricity planning function, which has battery, have
Automatically the function of recharging, the robot include a kind of electricity device for planning, and the electricity device for planning includes obtaining module, battery
Dosage setting module and distribution module；It is described obtain module be used to obtain work requirements electricity that robot measures in advance,
Current operating region and its working time in current operating region, while the continuation of the journey that the battery capacity for obtaining robot maintains
Time；When the working time that the battery level setting module is used to be provided according to the acquisition module is with the continuation of the journey
Between, the numerical relation of the working time Yu the cruise duration are calculated, and be used to set robot under active duty cycle
Default amount of battery consumption and the work requirements electricity and the default amount of battery consumption ratio relation；Then described
Distribution module is used for the ratio relation provided according to the battery level setting module, determines robot in the current work
Make the number that recharges in region, and then work times of the robot in the current operating region are calculated, and is based on institute
Stating work times is the practical electricity consumption that robot distributes each active duty cycle.
About the device of above-described embodiment, the concrete mode that wherein modules execute operation is planned in the electricity
It is described in detail in the embodiment of method, no detailed explanation will be given here.
The embodiment of the present invention also provides a kind of chip, and the chip is for storing the corresponding program of above-mentioned electricity planing method
Code, and electricity planning tasks are completed in the current operating region for controlling the robot.The built-in chip type is in institute
Robot is stated, intelligent planning is carried out to robot battery for controlling the electricity device for planning, reduces the loss to battery,
Promote the service life of product.It in the electricity device for planning or is set to described it should be noted that the chip is built-in
On the corresponding control panel in the outside of electricity device for planning.
Finally it should be noted that: the above embodiments are merely illustrative of the technical scheme of the present invention and are not intended to be limiting thereof；To the greatest extent
The present invention is described in detail with reference to preferred embodiments for pipe, it should be understood by those ordinary skilled in the art that: still
It can modify to a specific embodiment of the invention or some technical features can be equivalently replaced；Without departing from this hair
The spirit of bright technical solution should all cover within the scope of the technical scheme claimed by the invention.
Claims (10)
1. a kind of electricity planing method based on robot work electricity consumption, which is characterized in that the electricity planing method includes:
Obtain work requirements electricity, current operating region and its work in current operating region that robot measures in advance
The cruise duration that the battery capacity made the time, while obtaining robot maintains；
According to the numerical relation of the working time and the cruise duration, it is default under active duty cycle to set robot
The ratio relation of amount of battery consumption and the work requirements electricity and the default amount of battery consumption；
According to the ratio relation, determine that robot recharges number in the current operating region, and then machine is calculated
Work times of the device people in the current operating region, and be each effectively work of robot distribution based on the work times
The practical electricity consumption in period.
2. electricity planing method according to claim 1, which is characterized in that described according to the working time and the continuation of the journey
The numerical relation of time sets default amount of battery consumption and work requirements electricity of the robot under active duty cycle
The ratio relation of amount and the default amount of battery consumption, comprising:
Judge whether the working time is less than the cruise duration, be, does not set the default amount of battery consumption；
Otherwise, according to the working time and the ratio in the cruise duration and the battery capacity of robot, the work is set
The ratio relation of demand electricity and the default amount of battery consumption.
3. electricity planing method according to claim 1, which is characterized in that the determining robot is in the work at present area
Number is recharged in domain, comprising:
The work requirements electricity and the ratio of the default amount of battery consumption are obtained into integer value by the processing that rounds up, made
Number is recharged to be described.
4. electricity planing method according to claim 1, which is characterized in that described and then robot is calculated works as described
Work times in preceding working region, comprising:
Judge whether the default amount of battery consumption and the result of product for recharging number are less than the work requirements electricity, is
Then add one result as the work times number that recharges, otherwise the number that recharges is directly as the work time
Number.
5. electricity planing method according to claim 1, which is characterized in that described based on the work times is robot point
Practical electricity consumption with each active duty cycle, comprising:
By the work requirements electricity according to the work times mean allocation, average electricity consumption is obtained, as the practical use
Electricity.
6. electricity planing method according to claim 1, which is characterized in that described based on the work times is robot point
Practical electricity consumption with each active duty cycle, further includes:
One preset times of work times increase are obtained into real work number, then by the work requirements electricity according to institute
Real work number mean allocation is stated, average electricity consumption is obtained；
Then the primary average electricity consumption in the real work number is adjusted to less than the default amount of battery consumption
One default electricity, accordingly as the practical electricity consumption of this time active duty cycle；And the remaining unadjusted reality
The average electricity consumption of work times is averaged, accordingly the practical electricity consumption as remaining each active duty cycle；
Wherein, the sum of described practical electricity consumption of the real work number is equal to the work requirements electricity.
7. according to electricity planing method described in claim 5 or claim 6, which is characterized in that further include having described in one
It imitates in the duty cycle, when robot, which completes task, returns to charging, robot is charged to by current residual battery capacity
The charging preset value of battery capacity；
Wherein, the current residual battery capacity is the difference of the charging preset value and the practical electricity consumption；The charging
Preset value is less than the work requirements electricity, and is determined by the task in the current operating region.
8. electricity planing method according to claim 7, which is characterized in that when the active duty cycle is by the work
Between be allocated according to the ratio that the practical electricity consumption accounts for the work requirements electricity.
9. a kind of robot for having electricity planning function, which has battery, has the function of recharging automatically, feature
It is, which includes a kind of electricity device for planning, and the electricity device for planning includes obtaining module, battery level setting mould
Block and distribution module；
The acquisition module, for obtain work requirements electricity, current operating region that robot measures in advance and its
Working time in current operating region, while the cruise duration that the battery capacity for obtaining robot maintains；
The battery level setting module, when for according to the working time of the acquisition module offer with the continuation of the journey
Between, robot is set under active duty cycle by calculating the numerical relation of the working time and the cruise duration
The ratio relation of default amount of battery consumption and the work requirements electricity and the default amount of battery consumption；
The distribution module, the ratio relation for being provided according to the battery level setting module, determines that robot exists
Number is recharged in the current operating region, and then work of the robot in the current operating region time is calculated
Number, and be the practical electricity consumption that robot distributes each active duty cycle based on the work times.
10. a kind of chip, which is characterized in that the chip is for storing any one of claim 1 to 8 electricity planing method
Corresponding program code, and electricity planning is completed in the current operating region for controlling robot described in claim 9
Task.
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| CN110530423A (en) * | 2019-08-22 | 2019-12-03 | 绵阳尚显纳博科技有限责任公司 | A kind of environment monitoring sensor |
| CN111077806A (en) * | 2019-11-25 | 2020-04-28 | 广西科技师范学院 | Electric quantity management system for mobile robot |
| CN112137508A (en) * | 2020-09-15 | 2020-12-29 | 珠海市一微半导体有限公司 | Self-adaptive continuous sweeping control method for electric quantity of sweeper, chip and cleaning robot |
| WO2021013173A1 (en) * | 2019-07-24 | 2021-01-28 | 苏州宝时得电动工具有限公司 | Method for controlling automatic traveling device to return to docking station, and automatic traveling device |
| CN113199468A (en) * | 2020-01-30 | 2021-08-03 | 精工爱普生株式会社 | Robot system and control device |
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