CN109494833B - Electric quantity planning method based on robot working power consumption, robot and chip - Google Patents
Electric quantity planning method based on robot working power consumption, robot and chip Download PDFInfo
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- CN109494833B CN109494833B CN201811378157.2A CN201811378157A CN109494833B CN 109494833 B CN109494833 B CN 109494833B CN 201811378157 A CN201811378157 A CN 201811378157A CN 109494833 B CN109494833 B CN 109494833B
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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
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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
- H02J7/0029—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 invention discloses an electric quantity planning method based on robot working electricity consumption, a robot and a chip, wherein the electric quantity planning method comprises the following steps: acquiring the work demand electric quantity, the current work area and the work time of the robot in the current work area, which are measured in advance by the robot, and acquiring the battery capacity maintenance duration of the robot; setting a preset battery consumption of the robot in an effective working period and a ratio relation between the working demand electric quantity and the preset battery consumption according to the numerical relation between the working time and the endurance time; and determining the recharging times of the robot in the current working area according to the ratio relation, further calculating to obtain the working times of the robot in the current working area, and distributing the actual power consumption of each effective working period for the robot based on the working times. According to the technical scheme, the intelligent planning is performed on the robot battery, so that the loss of the battery is reduced, and the service life of a product is prolonged.
Description
Technical Field
The invention belongs to the field of power management, and particularly relates to an electric quantity planning method based on robot working electricity consumption, a robot and a chip.
Background
When the robot moves freely for security protection or cleaning and the like, the energy supply of the robot almost depends on the battery of the robot. Therefore, the robot must check the power consumption state of its own battery at all times. When the robot is used, if the robot is charged after the battery is exhausted, the capacity of the battery is gradually reduced, and the service life of a product is shortened.
Disclosure of Invention
Aiming at the problem of service life of the battery, the invention provides the following technical scheme: an electric quantity planning method based on robot working electricity utilization comprises the following steps: acquiring the work demand electric quantity, the current work area and the work time of the robot in the current work area, which are measured in advance by the robot, and acquiring the battery capacity maintenance duration of the robot; setting a preset battery consumption of the robot in an effective working period and a ratio relation between the working demand electric quantity and the preset battery consumption according to the numerical relation between the working time and the endurance time; and determining the recharging times of the robot in the current working area according to the ratio relation, further calculating to obtain the working times of the robot in the current working area, and distributing the actual power consumption of each effective working period for the robot based on the working times.
Further, the setting of a preset battery consumption of the robot in an effective working period and a ratio relationship between the working demand electric quantity and the preset battery consumption according to the numerical relationship between the working time and the duration includes: judging whether the working time is less than the endurance time or not, if so, not setting the preset battery consumption; otherwise, setting the ratio relation between the work demand electric quantity and the preset battery consumption according to the ratio of the work time to the endurance time and the battery capacity of the robot.
Further, the determining the recharging times of the robot in the current working area includes: and rounding the ratio of the work demand electric quantity to the preset battery consumption to obtain an integral value as the recharging times.
Further, the further calculating to obtain the number of times of the robot working in the current working area includes: and judging whether the product result of the preset battery consumption and the recharging times is smaller than the working required electric quantity, if so, taking the result of adding one to the recharging times as the working times, otherwise, directly taking the recharging times as the working times.
Further, the allocating the actual power consumption of each effective work cycle for the robot based on the work times includes: and distributing the work demand electric quantity according to the work times to obtain average electric quantity as the actual electric quantity.
Further, the allocating the actual power consumption of each effective work cycle to the robot based on the work times further includes: increasing the working times by a preset time to obtain actual working times, and then distributing the electric quantity required by the work evenly according to the actual working times to obtain average electric quantity; then, adjusting the average power consumption of one time in the actual working times to be less than the preset battery consumption by a preset electric quantity, and correspondingly taking the average power consumption as the actual power consumption of the effective working period; the average power consumption of the residual unadjusted actual working times is measured as an average value and correspondingly used as the actual power consumption of each residual effective working period; wherein the sum of the actual electricity consumptions of the actual work times is equal to the work demand electricity.
Further, in one effective work period, when the robot finishes a work task and returns to charge, the current residual battery capacity is charged to a preset charging value of the battery capacity of the robot; wherein the current remaining battery capacity is a difference value between the preset charging value and the actual power consumption; and the preset charging value is smaller than the working required electric quantity and is determined by the working task in the current working area.
Further, the effective work period is obtained by distributing the working time according to the proportion of the actual electricity consumption to the work demand electricity.
A robot with electric quantity planning function, the robot has battery, possess the function of recharging automatically, the robot includes a kind of electric quantity planning device, the said electric quantity planning device includes obtaining module, battery consumption presumes the module and distributes the module; the acquisition module is used for acquiring the work demand electric quantity, the current work area and the work time of the robot in the current work area, which are measured in advance by the robot, and acquiring the battery capacity maintenance duration of the robot; the battery consumption setting module is used for setting a preset battery consumption of the robot in an effective working period and a ratio relation between the working required electric quantity and the preset battery consumption by calculating a numerical relation between the working time and the cruising time according to the working time and the cruising time provided by the obtaining module; the distribution module is used for determining the recharging times of the robot in the current working area according to the ratio relation provided by the battery usage setting module, further calculating the working times of the robot in the current working area, and distributing the actual power consumption of each effective working period for the robot based on the working times.
And the chip is used for storing a program code corresponding to the electric quantity planning method and controlling the robot to complete an electric quantity planning task in the current working area.
The invention combines the working electric quantity of a robot with the battery consumption capacity, provides an electric consumption planning method based on the real-time electric quantity of the robot, and controls the robot to work and recharge under the condition of reasonable electric quantity constraint by setting a preset battery consumption and the discharge working times of the battery, thereby avoiding the overdischarge phenomenon of the battery and prolonging the service life of a product.
Drawings
Fig. 1 is a flowchart of an electric quantity planning method based on robot working power consumption according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be described in detail below with reference to the accompanying drawings in the embodiments of the present invention.
Fig. 1 is a flowchart of an electric quantity planning method based on working electricity consumption of a robot according to an embodiment of the present invention, where the robot is a cleaning robot in an embodiment of the present invention, and the cleaning robot carries a rechargeable lithium battery therein and has an automatic recoil charging function.
As shown in fig. 1, in step 101, acquiring a work demand electric quantity, a current work area and a work time of the current work area, which are measured by the robot in advance, and acquiring a cruising time for maintaining a battery capacity of the robot; the current working area is a cleaning area marked by the robot in advance on the grid map, the working demand electric quantity is the battery electric quantity consumed by the robot to completely clean the current working area, and the working time in the current working area is the statistical time for the robot to finish cleaning the current working area.
In the embodiment of the invention, the built-in battery with 4000mAh battery capacity of the robot can support the robot to continue the journey for 2 hours, the working time of the robot for completing the working task in the current working area is 2.8 hours, the working required electricity quantity is 140% of the battery capacity with 4000mAh according to the ratio of the working time to the cruising time, the working time is longer than the cruising time, therefore, the ratio of the cruising time to the working time is 1.4, the value of the working time is larger than 1, the robot can not complete the cleaning task in the current working area under the condition of exhausting the battery only by one-time cleaning operation, so the preset battery consumption is required to be set to plan the progress of the robot in one-time cleaning task, and then the robot is controlled to return to the base for charging after the battery of the robot is monitored to reach the preset battery consumption, the cleaning robot is used for the next cleaning task, so that the transition loss of the robot battery is avoided, and the service life of the product is prolonged. In the embodiment of the invention, the robot needs to perform cleaning twice to complete the cleaning task in the current working area, and the preset battery consumption of the robot in the effective working period is set to be 70% of the battery capacity in consideration of 140% of the battery capacity with the working demand electric quantity of 4000 mAh. It should be noted that, according to the battery test experience result, when the preset battery consumption is 70% of the battery capacity, the preset battery consumption is the optimal battery consumption of the robot in the effective working period, which can avoid excessive battery consumption, and meanwhile, the remaining battery power can also support the robot to complete seat return charging.
In step 103, according to the ratio relationship between the work demand electric quantity and the preset battery consumption, the recharging times of the robot in the current work area are determined, the work times of the robot in the current work area are calculated, and then the actual power consumption of each effective work period is distributed for the robot based on the work times.
The method comprises the following specific steps: firstly, rounding up the ratio of the work demand electric quantity to the preset battery consumption to obtain an integer value as the recharging times, wherein when the work demand electric quantity is 140% of the battery capacity of 4000mAh, the ratio of the work demand electric quantity to the preset battery consumption is 1.4, rounding up the ratio to obtain 1, namely the recharging times are 1.
Then, judging whether the product result of the preset battery consumption and the recharging times is smaller than the work required electric quantity, if so, taking the result of adding one to the recharging times as the work times, otherwise, directly taking the recharging times as the work times, under the embodiment of the invention, the working required electric quantity is 140 percent of the battery capacity of 4000mAh, the recharging times are 1, the preset battery consumption is 70 percent of the battery capacity, the product of the preset battery consumption and the recharging number is obviously smaller than the working demand electric quantity, so that the recharging number with the value of 1 needs to be added with one to obtain 2, therefore, the working times are equal to 2, which means that after the robot finishes one cleaning in the current working area and finishes one seat returning charging, the robot continues to clean the next time in the current working area.
Alternatively, in an embodiment, the operation required power is 140% of the battery capacity of 4000mAh, that is, the ratio of the operation time to the endurance time is 1.4, and the preset battery consumption may be set to be 70% of the battery capacity. The method is implemented according to the previous steps, since the ratio of the working required electric quantity to the preset battery consumption is 1.4, the ratio is 1 after rounding up, that is, the recharging times is 1; then, the product of the preset battery consumption and the recharging times is smaller than the work demand electric quantity, so that the work times are 2, the work demand electric quantity is distributed evenly according to the work times, the distributed average power consumption is 70% of the battery capacity, and the distributed average power consumption is used as the actual power consumption, namely the actual power consumption of each effective work period is distributed to the robot based on the work times.
Optionally, in another embodiment, the operation required power is 150% of the battery capacity of 4000mAh, that is, the ratio of the operation time to the endurance time is 1.5, and the preset battery consumption may be set to be 75% of the battery capacity. The method is implemented according to the previous steps, since the ratio of the working required electric quantity to the preset battery consumption is 1.5, the ratio is 2 after rounding up, that is, the recharging number is 2; then, the product result of the preset battery consumption and the recharging times is less than the work requirement electric quantity, so that the work times is 3, the actual work times is changed into 3, the work requirement electric quantity is evenly distributed according to the actual work times, and the distributed average electric quantity is about 50% of the battery capacity and is used as the actual electric quantity which is lower than the preset consumed electric quantity; then, the average power consumption of a certain time in the actual working times is adjusted to be smaller than the preset battery consumption by a preset electric quantity, and since the preset electric quantity is set to be 20% of the battery capacity in the embodiment, the actual power consumption correspondingly used as the effective working period is 30% of the battery capacity; in the actual working times, the average power consumption of the remaining times which are not adjusted is averaged, in this embodiment, if the remaining times which are not adjusted are 2, the average power consumption of the remaining 2 times is averaged again, and the result is 60% of the battery capacity, which is correspondingly used as the actual power consumption of the remaining 2 effective working cycles; thereby preventing the battery from entering an overdischarge state in which the sum of the actual used amounts of the actual operation times is equal to the operation demand amount.
In the embodiment of the present invention, the working required power is 140% of the battery capacity of 4000mAh, the working frequency is 1, and the preset battery consumption is 70% of the battery capacity. When the battery consumption of the robot in the current working area is 70% of the battery capacity, the robot performs recoil charging, and marks the cleaned area as a traversed area, wherein the robot has completed one effective working period, and the traversed area is half of the current working area; and after the charging is finished, continuing to clean the unmarked area in the current working area, namely cleaning the remaining half area of the current working area, thereby finishing cleaning the current working area. According to the embodiment of the invention, the robot battery is intelligently planned and is charged back and forth once, so that the loss of the battery is reduced, and the service life of a product is prolonged.
In the above embodiment, in one of the effective work periods, when the robot completes the work task and returns to charging, the current remaining battery capacity is charged to the preset charging value of the battery capacity of the robot; wherein the current remaining battery capacity is a difference value between the preset charging value and the actual power consumption; the preset charging value is smaller than the required working power, is determined by the working task in the current working area, and is determined by the specific cleaning environment in the embodiment of the invention. And the effective work period is distributed according to the proportion of the actual electricity consumption to the work demand electricity.
The embodiment of the invention also provides a robot with an electric quantity planning function, the robot is provided with a battery and has an automatic recharging function, the robot comprises an electric quantity planning device, and the electric quantity planning device comprises an acquisition module, a battery consumption setting module and a distribution module; the acquisition module is used for acquiring the work demand electric quantity, the current work area and the work time of the robot in the current work area which are measured in advance by the robot, and acquiring the endurance time of the robot for maintaining the battery capacity; the battery consumption setting module is used for calculating the numerical relationship between the working time and the endurance time according to the working time and the endurance time provided by the obtaining module, and setting the preset battery consumption of the robot in an effective working period and the ratio relationship between the working required electric quantity and the preset battery consumption; and the distribution module is used for determining the recharging times of the robot in the current working area according to the ratio relation provided by the battery usage setting module, further calculating the working times of the robot in the current working area, and distributing the actual power consumption of each effective working period for the robot based on the working times.
With regard to the apparatus of the above embodiment, the specific manner in which each module performs operations has been described in detail in the embodiment of the power planning method, and will not be described in detail here.
The embodiment of the invention also provides a chip, wherein the chip is used for storing the program code corresponding to the electric quantity planning method and controlling the robot to complete the electric quantity planning task in the current working area. The chip is arranged in the robot and used for controlling the electric quantity planning device to intelligently plan the robot battery, so that the loss of the battery is reduced, and the service life of a product is prolonged. It should be noted that the chip may be embedded in the electric quantity planning device or disposed on a corresponding control board outside the electric quantity planning device.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention and not to limit it; although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art will understand that: modifications to the specific embodiments of the invention or equivalent substitutions for parts of the technical features may be made; without departing from the spirit of the present invention, it is intended to cover all aspects of the invention as defined by the appended claims.
Claims (9)
1. An electric quantity planning method based on robot working electricity utilization is characterized by comprising the following steps:
acquiring the work demand electric quantity, the current work area and the work time of the robot in the current work area, which are measured in advance by the robot, and acquiring the battery capacity maintenance duration of the robot;
setting a preset battery consumption of the robot in an effective working period and a ratio relation between the working demand electric quantity and the preset battery consumption according to the numerical relation between the working time and the endurance time; the setting of the preset battery consumption of the robot in the effective working period and the ratio relationship between the working demand electric quantity and the preset battery consumption according to the numerical relationship between the working time and the endurance time comprises the following steps:
judging whether the working time is less than the endurance time or not, if so, not setting the preset battery consumption;
otherwise, setting the ratio relation between the work demand electric quantity and the preset battery consumption according to the ratio of the work time to the endurance time and the battery capacity of the robot;
and determining the recharging times of the robot in the current working area according to the ratio relation, further calculating to obtain the working times of the robot in the current working area, and distributing the actual power consumption of each effective working period for the robot based on the working times.
2. The power planning method according to claim 1, wherein the determining the number of recharging times of the robot in the current working area comprises:
and rounding the ratio of the work demand electric quantity to the preset battery consumption to obtain an integral value as the recharging times.
3. The power planning method according to claim 1, wherein the further calculating to obtain the number of times of the robot works in the current working area includes:
and judging whether the product result of the preset battery consumption and the recharging times is smaller than the working required electric quantity, if so, taking the result of adding one to the recharging times as the working times, otherwise, directly taking the recharging times as the working times.
4. The power planning method of claim 1, wherein the allocating the actual power consumption for each effective work cycle to the robot based on the number of work times comprises:
and distributing the work demand electric quantity according to the work times to obtain average electric quantity as the actual electric quantity.
5. The power planning method of claim 1, wherein the allocating the actual power consumption for each effective work cycle to the robot based on the number of work times further comprises:
increasing the working times by a preset time to obtain actual working times, and then distributing the electric quantity required by the work evenly according to the actual working times to obtain average electric quantity;
then, adjusting the average power consumption of one time in the actual working times to be less than the preset battery consumption by a preset electric quantity, and correspondingly taking the average power consumption as the actual power consumption of the effective working period; the average power consumption of the residual unadjusted actual working times is measured as an average value and correspondingly used as the actual power consumption of each residual effective working period; wherein the sum of the actual electricity consumptions of the actual work times is equal to the work demand electricity.
6. The power planning method according to claim 4 or 5, further comprising, during one of the active work periods, charging from the current remaining battery capacity to a preset charging value of the battery capacity of the robot when the robot completes the work task and returns to the charging;
wherein the current remaining battery capacity is a difference value between the preset charging value and the actual power consumption; and the preset charging value is smaller than the working required electric quantity and is determined by the working task in the current working area.
7. The method of claim 6, wherein the effective work period is allocated according to a ratio of the actual power consumption to the work demand.
8. A robot with electric quantity planning function, the robot has battery, possess the function of recharging automatically, characterized by that, the robot includes an electric quantity planning device, the said electric quantity planning device includes obtaining module, battery consumption presumes the module and distributes the module;
the acquisition module is used for acquiring the work demand electric quantity, the current work area and the work time of the robot in the current work area, which are measured in advance by the robot, and acquiring the battery capacity maintenance duration of the robot;
the battery consumption setting module is used for setting a preset battery consumption of the robot in an effective working period and a ratio relation between the working required electric quantity and the preset battery consumption by calculating a numerical relation between the working time and the cruising time according to the working time and the cruising time provided by the obtaining module; the setting of the preset battery consumption of the robot in the effective working period and the ratio relationship between the working demand electric quantity and the preset battery consumption according to the numerical relationship between the working time and the endurance time comprises the following steps:
judging whether the working time is less than the endurance time or not, if so, not setting the preset battery consumption;
otherwise, setting the ratio relation between the work demand electric quantity and the preset battery consumption according to the ratio of the work time to the endurance time and the battery capacity of the robot;
the distribution module is used for determining the recharging times of the robot in the current working area according to the ratio relation provided by the battery usage setting module, further calculating the working times of the robot in the current working area, and distributing the actual power consumption of each effective working period for the robot based on the working times.
9. A chip, wherein the chip is configured to store a program code corresponding to the power planning method according to any one of claims 1 to 7, and is configured to control the robot according to claim 8 to complete a power planning task in the current working area.
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| US10732226B2 (en) | 2017-05-26 | 2020-08-04 | Hand Held Products, Inc. | Methods for estimating a number of workflow cycles able to be completed from a remaining battery capacity |
| WO2021012525A1 (en) * | 2019-07-24 | 2021-01-28 | 苏州宝时得电动工具有限公司 | Method for controlling automatic locomotion device to return to station, and automatic locomotion device |
| 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 |
| CN111077806B (en) * | 2019-11-25 | 2020-08-18 | 广西科技师范学院 | Electric quantity management system for mobile robot |
| JP7434944B2 (en) | 2020-01-30 | 2024-02-21 | セイコーエプソン株式会社 | Robot systems and control equipment |
| CN112137508B (en) * | 2020-09-15 | 2021-08-24 | 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 |
| CN113282432A (en) * | 2021-05-21 | 2021-08-20 | 深圳优地科技有限公司 | Task management method, device, storage medium and program product |
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