CN109687557A - Robot electric quantity management method and device and robot - Google Patents
Robot electric quantity management method and device and robot Download PDFInfo
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- CN109687557A CN109687557A CN201910133594.6A CN201910133594A CN109687557A CN 109687557 A CN109687557 A CN 109687557A CN 201910133594 A CN201910133594 A CN 201910133594A CN 109687557 A CN109687557 A CN 109687557A
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- 238000007726 management method Methods 0.000 title claims abstract description 29
- 230000005611 electricity Effects 0.000 claims abstract description 78
- 238000012544 monitoring process Methods 0.000 claims abstract description 48
- 238000000034 method Methods 0.000 claims abstract description 10
- 230000008929 regeneration Effects 0.000 claims description 7
- 238000011069 regeneration method Methods 0.000 claims description 7
- 238000010586 diagram Methods 0.000 description 9
- 235000012054 meals Nutrition 0.000 description 5
- 235000013305 food Nutrition 0.000 description 4
- 235000013399 edible fruits Nutrition 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 238000012423 maintenance Methods 0.000 description 2
- 230000000737 periodic effect Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000008439 repair process Effects 0.000 description 1
Classifications
-
- 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
- H02J7/0069—Charging or discharging for charge maintenance, battery initiation or rejuvenation
-
- 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
- H02J7/0047—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries with monitoring or indicating devices or circuits
- H02J7/0048—Detection of remaining charge capacity or state of charge [SOC]
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Manipulator (AREA)
- Charge And Discharge Circuits For Batteries Or The Like (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The application discloses a robot electric quantity management method and device and a robot. The method comprises the steps of monitoring the current electric quantity of the robot; and generating a recharge instruction if the current amount of electricity is below a minimum recharge amount threshold. The technical problem that the electric quantity of the robot cannot continuously maintain operation is solved. Can open or close the automatic electric quantity management function that returns and fill through this application, simultaneously through setting up the minimum electric quantity that the robot moved and the minimum electric quantity that the robot left the electric pile, the cooperation electric quantity management realizes right the management strategy of robot electric quantity.
Description
Technical field
This application involves robot fields, in particular to a kind of robot electric quantity management method and device, machine
People.
Background technique
Mobile robot refers to and can be meal delivery robot, cruise robot, robot on duty, guest-meeting robot etc.
The robot etc. of executable inter-related task.
Inventors have found that mobile robot is holding at runtime mostly without electricity guarantee to will lead to robot
It is out of service due to not enough power supply during row task, to also need manually to safeguard.
Aiming at the problem that robot electric quantity in the related technology can not continue to maintain operation, effective solution is not yet proposed at present
Scheme.
Summary of the invention
The main purpose of the application is to provide a kind robot electric quantity management method and device, robot, to solve
Robot electric quantity can not continue the problem of maintaining operation.By the electricity of real-time monitoring robot itself, and combines and be set in not
Same Scene realization automatic charging, to guarantee the ability that robot can be continued for operation.
To achieve the goals above, according to the one aspect of the application, a kind of robot electric quantity management method is provided, is used
In allowing the robot to continuous service.
Robot electric quantity management method according to the application includes: monitoring robot current electric quantity；And if described work as
Preceding electricity recharges power threshold lower than minimum, then generates and recharge instruction.
Further, when the monitoring robot current electric quantity further include: whether judge robot currently is idle and super
Cross preset duration；If it is determined that robot is currently empty not busy and is more than preset duration, then generates and recharge instruction；And if it is determined that
Robot is currently empty not busy but is less than preset duration, then does not generate and recharge instruction.
Further, when the monitoring robot current electric quantity further include: judge whether robot is currently executing timing
Task；And if it is determined that robot is currently executing timed task and reaching the assignment of mission time, then generation recharges instruction.
Further, if the current electric quantity recharges power threshold lower than minimum, include: if generation recharges instruction
The current electric quantity lower than it is minimum recharge power threshold when robot be carrying out current task, then the current task execute
After completion, regeneration recharges instruction；And if the current electric quantity lower than it is minimum recharge power threshold when robot do not exist
Current task is executed, then directly generates and recharges instruction.
Further, if the current electric quantity recharges power threshold lower than minimum, include: if generation recharges instruction
The current electric quantity recharges power threshold lower than minimum, then recharges finger according to the minimum electricity generation that robot can leave charging pile
It enables；And if the current electric quantity recharges power threshold lower than minimum, the minimum electricity of task is subjected to according to robot
Generation recharges instruction.
Further, after the current electricity of monitoring robot further include: if the current electric quantity recharges electricity not less than minimum
Threshold value is measured, then judges whether robot executes completion task；And if it is determined that robot has executed completion task, then generate back
Fill instruction.
To achieve the goals above, according to the another aspect of the application, a kind of robot electric quantity managing device is provided, is used
In allowing the robot to continuous service.
Include: monitoring modular according to the robot electric quantity managing device of the application, is used for monitoring robot current electric quantity；With
And module is recharged, if the current electric quantity recharges power threshold lower than minimum, generation recharges instruction.
Further, the monitoring modular includes: the first judging unit, for judge robot currently whether be it is idle and
More than preset duration；First processing units are used to then generate back if it is determined that robot is currently empty not busy and be more than preset duration
Fill instruction；And the second processing unit, for if it is determined that robot is currently empty not busy but be less than preset duration, then not generating
Recharge instruction.
Further, the monitoring modular includes: second judgment unit, for judging whether robot is currently fixed in execution
When task；And third processing unit, be used for if it is determined that robot currently execute timed task and reach assignment of mission when
Between, then it generates and recharges instruction.
To achieve the goals above, according to the another aspect of the application, a kind of robot is provided, it is described for configuring
Robot electric quantity managing device.
Robot electric quantity management method and device, robot in the embodiment of the present application, it is currently electric using monitoring robot
The mode of amount, if recharging power threshold lower than minimum by the current electric quantity, generation recharges instruction, and having reached makes machine
People is capable of the purpose of continuous service under various application scenarios, to realize the technology effect of the robot electric quantity guarantee of automation
Fruit, and then solve the technical issues of robot electric quantity can not continue maintenance operation.
Detailed description of the invention
The attached drawing constituted part of this application is used to provide further understanding of the present application, so that the application's is other
Feature, objects and advantages become more apparent upon.The illustrative examples attached drawing and its explanation of the application is for explaining the application, not
Constitute the improper restriction to the application.In the accompanying drawings:
Fig. 1 is the robot electric quantity management method flow diagram according to the application first embodiment；
Fig. 2 is the robot electric quantity management method flow diagram according to the application second embodiment；
Fig. 3 is the robot electric quantity management method flow diagram according to the application 3rd embodiment；
Fig. 4 is the robot electric quantity management method flow diagram according to the application fourth embodiment；
Fig. 5 is the robot electric quantity management method flow diagram according to the 5th embodiment of the application；
Fig. 6 is the robot electric quantity management method flow diagram according to the application sixth embodiment；
Fig. 7 is the robot electric quantity managing device structural schematic diagram according to the application first embodiment；
Fig. 8 is the robot electric quantity managing device structural schematic diagram according to the application second embodiment；
Fig. 9 is the robot electric quantity managing device structural schematic diagram according to the application 3rd embodiment.
Specific embodiment
In order to make those skilled in the art more fully understand application scheme, below in conjunction in the embodiment of the present application
Attached drawing, the technical scheme in the embodiment of the application is clearly and completely described, it is clear that described embodiment is only
The embodiment of the application a part, instead of all the embodiments.Based on the embodiment in the application, ordinary skill people
Member's every other embodiment obtained without making creative work, all should belong to the model of the application protection
It encloses.
It should be noted that the description and claims of this application and term " first " in above-mentioned attached drawing, "
Two " etc. be to be used to distinguish similar objects, without being used to describe a particular order or precedence order.It should be understood that using in this way
Data be interchangeable under appropriate circumstances, so as to embodiments herein described herein.In addition, term " includes " and " tool
Have " and their any deformation, it is intended that cover it is non-exclusive include, for example, containing a series of steps or units
Process, method, system, product or equipment those of are not necessarily limited to be clearly listed step or unit, but may include without clear
Other step or units listing to Chu or intrinsic for these process, methods, product or equipment.
It should be noted that in the absence of conflict, the features in the embodiments and the embodiments of the present application can phase
Mutually combination.The application is described in detail below with reference to the accompanying drawings and in conjunction with the embodiments.
Robot electric quantity management method in the application, for allowing the robot to continuous service, comprising: monitoring robot
Current electric quantity；And if the current electric quantity recharges power threshold lower than minimum, generation recharges instruction.Pass through the application's
Method can allow robot to recharge automatically, and keep robot electric quantity being capable of continuous service under robot operating status.At this
In application, the managing electric quantity function of recharging automatically, while the minimum electricity run by setting robot can be turned on or off
Amount and robot leave the minimum electricity of charging pile, and cooperation managing electric quantity realizes the management strategy to the robot electric quantity.
As shown in Figure 1, this method specifically includes following step S102 extremely for allowing the robot to continuous service
Step S104:
Step S102, monitoring robot current electric quantity；
According to priority, the current electric quantity of monitoring robot is needed, so that the real time electrical quantity to robot obtains.Electricity
The priority of amount can guarantee robot will not due to being carrying out task during it is out of service due to not enough power supply.
It should be noted that the mode of monitoring robot electricity is not defined in embodiments herein, as long as
It can satisfy the requirement of monitoring.
The current electric quantity with periodic monitor or can be monitored in real time, and preferably real-time monitoring can better assure
The managing electric quantity of robot is more efficient.
Step S104, if the current electric quantity recharges power threshold lower than minimum, generation recharges instruction.
It is described it is minimum recharge power threshold, refer to can at least guarantee robot can complete current task electricity use
Amount, for example the electricity of robot residue 20% is minimum to recharge power threshold.
It is described it is minimum recharge power threshold, may also mean that can at least guarantee robot return charging pile on electricity make
Dosage.For example the electricity of robot residue 5% is minimum to recharge power threshold.
It is described it is minimum recharge power threshold, be also possible to refer to guarantee that robot can complete current task and return
Charge the electricity usage amount loaded onto.For example the electricity of robot residue 10% is minimum to recharge power threshold.
It should be noted that it is described it is minimum recharge power threshold in the embodiment of the present application and without specifically limiting, this
Field technical staff can select and configure according to actual use situation.
If the current electric quantity lower than it is described it is minimum recharge power threshold when, it is necessary to charge, generate back at this time
Fill instruction.
It should be noted that it is described recharge instruction can be directly generated by robot terminal or server generation after
Be issued to robot terminal, be not defined in this application, if can satisfy it is described recharge instruction can be in the machine
It is executed on device people.While it is noted that being recharged as preferred in the present embodiment using in robot terminal generation
Instruction, and the mode executed on the robot terminal can be avoided the real-time of managing electric quantity caused by server network delay
Property.
It can be seen from the above description that the application realizes following technical effect:
Robot electric quantity management method and device, robot in the embodiment of the present application, it is currently electric using monitoring robot
The mode of amount, if recharging power threshold lower than minimum by the current electric quantity, generation recharges instruction, and having reached makes machine
People is capable of the purpose of continuous service under various application scenarios, to realize the technology effect of the robot electric quantity guarantee of automation
Fruit, and then solve the technical issues of robot electric quantity can not continue maintenance operation.
According to the embodiment of the present application, as preferred in the present embodiment, as shown in Fig. 2, the monitoring robot is currently electric
When amount further include:
Step S202, judges whether robot is currently idle and is more than preset duration；
Whether also need to judge the robot while monitoring robot current electric quantity currently is idle shape
Whether state and be more than pre-set time span, the robot are currently idle as inferior to monitoring the preferential of electricity
Grade by judging whether the robot is currently the free time and the idle time has been more than preset time, and obtains robot and works as
Preceding usage scenario, for example, the robot is currently at the non-working time.For another example, between the robot is at work
Non task state etc..
Step S204 is then generated if it is determined that robot is currently empty not busy and is more than preset duration and is recharged instruction；And
If according to the state for judging the robot currently empty spare time in above-mentioned steps and being more than to preset
Time span, need to generate and recharge instruction, recharge instruction by described to can control robot return charging pile enterprising
Row charging.For example, due to learning that the robot is currently at the non-working time by judging to obtain, it is possible to carry out quick
Charging.Or due to learning that the robot is currently at the non task state of working time by judging to obtain, it is possible to
It is charged in short-term.
Step S206 is not generated then if it is determined that robot is currently empty not busy but is less than preset duration and is recharged instruction.
If according to the state for judging the robot currently empty spare time in above-mentioned steps but be less than pre-set
Time span does not need generation and recharges instruction.Due to do not generate it is described recharge instruction, so robot needs continue to execute currently
Task waits next task to be subjected.
It should be noted that the preset duration needs to be determined according to actual use scene, for example meal delivery robot exists
As soon as after completing a task, the duration of next task is waited to be not suitable as preset duration.Because if the robot
The efficiency that charging influences whether food delivery is carried out in food delivery gap.For another example, meal delivery robot does not have after completing a upper task
Subsequent task is at this time the free time, and when the idle time has been more than 10 minutes, at this time in order to guarantee the electricity of the robot
Amount is needed to generate to recharge instruction robot is allowed to return on the charging pile and be charged.
Robot according to recharge instruction return to charging charging pile charged when, may include following scene: inoperative
Time, working time non task state, stipulated time reach, reach the minimum electricity requirement recharged, task execution completion etc..
According to the embodiment of the present application, as preferred in the present embodiment, as shown in figure 3, the monitoring robot is currently electric
When amount further include:
Step S302, judges whether robot is currently executing timed task；And
Also need to judge the robot currently whether described in the execution while monitoring robot current electric quantity
Timed task, the timed task refer to that robot needs the task on duty in one place for a long time.Specifically, the machine
The timed task that people executes is task on duty, welcome's task dispatching etc..Specific timing is not appointed in embodiments herein
Business is defined.
Step S304 is then generated back if it is determined that robot is currently executing timed task and reaching the assignment of mission time
Fill instruction.
According to above-mentioned steps, if it is determined that when the robot is currently executing timed task and has had reached task
Between when, can be generated and recharge instruction, allow robot to return on charging pile and charge.
According to the embodiment of the present application, as preferred in the present embodiment, as shown in figure 4, if the current electric quantity is lower than
It is minimum to recharge power threshold, then it generates and recharges instruction and include:
Step S402, if the current electric quantity lower than it is minimum recharge power threshold when robot be carrying out when predecessor
Business, then after the current task executes completion, regeneration recharges instruction；And
The current electric quantity lower than it is minimum recharge power threshold when, if the current electric quantity recharges electricity lower than minimum
Robot is carrying out current task when threshold value, then needs after at least described current task executes completion, regeneration recharges
Instruction, allows robot to return on charging pile and charges.
Specifically, by being configured to the minimum power threshold that recharges to guarantee that robot can complete current task
Electricity usage amount, for example the electricity of robot residue 20% is minimum to recharge power threshold.It has been executed in the current task
After, recharging instruction in generation can guarantee that robot can normally return to completion charging on charging pile.
Step S404, if the current electric quantity lower than it is minimum recharge power threshold when robot execute when predecessor
Business, then directly generate and recharge instruction.
If current electric quantity lower than it is minimum recharge power threshold when robot not execute current task, can directly give birth to
At instruction, allows robot to return on charging pile and charge.
Specifically, by being configured to the minimum power threshold that recharges that can at least guarantee that robot returns on charging pile
Electricity usage amount.For example the electricity of robot residue 5% is minimum to recharge power threshold.Since the robot is not executing
Current task, recharging instruction in generation can guarantee that robot can normally return to completion charging on charging pile.
According to the embodiment of the present application, as preferred in the present embodiment, as shown in figure 5, if the current electric quantity is lower than
It is minimum to recharge power threshold, then it generates and recharges instruction and include:
Step S502 can leave charging according to robot if the current electric quantity recharges power threshold lower than minimum
The minimum electricity generation of stake recharges instruction；And
Under the premise of electricity priority, if the current electric quantity recharges power threshold lower than minimum, what is generated is returned
Fill instruction in be can be left according to robot charging pile minimum electricity be require generation, that is to say, that recharge instruction middle finger
The fixed robot need the time charged on charging pile and meet the robot can obtain the robot can be from
The minimum electricity of the charging pile is opened to require.For example, the minimum electricity for leaving the charging pile is 40%.If current machine
People has been only filled with 50% electricity, if the robot at this time receives new task again at this time, may exit off charging
Stake carries out task execution.
Step S504 is subjected to task according to robot if the current electric quantity recharges power threshold lower than minimum
Minimum electricity generation recharge instruction.
Under the premise of electricity priority, if the current electric quantity recharges power threshold lower than minimum, what is generated is returned
Fill is that the minimum electricity of task is subjected to according to robot be to require to generate in instruction, that is to say, that is recharged specified in instruction
It is that robot obtains enough can receive an assignment not yet that the robot, which cannot leave charging pile and execute the premise of task,
Minimum electricity.For example, the minimum electricity that robot is subjected to task is 80%.If current robot has been only filled with 70% electricity
Amount, the robot receives new task again at this time, then cannot leave charging pile and carry out task execution.
According to the embodiment of the present application, as preferred in the present embodiment, as shown in fig. 6, after the current electricity of monitoring robot
Further include:
Step S602 judges whether robot executes if the current electric quantity recharges power threshold not less than minimum
Completion task；And
If the current electric quantity not less than it is described it is minimum recharge power threshold when, need to judge the robot whether with
Promote executing and completing distribution for task.Such as, if execute complete task on duty, whether execute completion pass dish task, whether
It executes and completes welcome's task dispatching etc..
Step S604 is then generated if it is determined that robot has executed completion task and is recharged instruction.
If according to above-mentioned steps judge the robot executed complete corresponding task when, as long as having executed
Instruction can be recharged by generating at task, allow robot to return on charging pile and charge.It is without judgement
It is no be timed task, it is whether complete in idle state and task time as defined in whether reaching etc., as long as the robot
After executing completion task, it can all be generated according to preset configuration and recharge instruction.
According to the embodiment of the present application, as preferred in the present embodiment, in the embodiment of the present application robot electric quantity management
Method, for allowing the robot to continuous service, which comprises monitoring robot current electric quantity；And if described work as
Preceding electricity recharges power threshold lower than minimum, then generates and recharge instruction.
When the monitoring robot current electric quantity further include:
Judge whether robot is currently idle and is more than preset duration；
If it is determined that robot is currently empty not busy and is more than preset duration, then generates and recharge instruction；And
If it is determined that robot is currently empty not busy but is less than preset duration, does not then generate and recharge instruction.
When the monitoring robot current electric quantity further include:
Judge whether robot is currently executing timed task；And
If it is determined that robot is currently executing timed task and reaching the assignment of mission time, then generates and recharge instruction.
If the current electric quantity recharges power threshold lower than minimum, generation recharges instruction and includes:
If the current electric quantity lower than it is minimum recharge power threshold when robot be carrying out current task, described
After current task executes completion, regeneration recharges instruction；And
If the current electric quantity lower than it is minimum recharge power threshold when robot not execute current task, directly give birth to
It is instructed at recharging.
If the current electric quantity recharges power threshold lower than minimum, generation recharges instruction and includes:
If the current electric quantity recharges power threshold lower than minimum, the minimum electricity of charging pile can be left according to robot
Amount generates and recharges instruction；And
If the current electric quantity recharges power threshold lower than minimum, the minimum electricity of task is subjected to according to robot
Generation recharges instruction.
After the current electricity of monitoring robot further include:
If the current electric quantity recharges power threshold not less than minimum, judge whether robot executes completion task；
And
If it is determined that robot has executed completion task, then generates and recharge instruction.
It should be noted that step shown in the flowchart of the accompanying drawings can be in such as a group of computer-executable instructions
It is executed in computer system, although also, logical order is shown in flow charts, and it in some cases, can be with not
The sequence being same as herein executes shown or described step.
According to the embodiment of the present application, additionally provide it is a kind of for implementing the device of above-mentioned robot electric quantity management method, such as
Shown in Fig. 7, which includes: monitoring modular 10, is used for monitoring robot current electric quantity；And module 20 is recharged, if described
Current electric quantity recharges power threshold lower than minimum, then generates and recharge instruction.
According to priority in the monitoring modular 10 of the embodiment of the present application, the current electric quantity of monitoring robot is needed, thus right
The real time electrical quantity of robot is obtained.The priority of electricity can guarantee that robot will not be due to being carrying out the process of task
In it is out of service due to not enough power supply.
It should be noted that the mode of monitoring robot electricity is not defined in embodiments herein, as long as
It can satisfy the requirement of monitoring.
The current electric quantity with periodic monitor or can be monitored in real time, and preferably real-time monitoring can better assure
The managing electric quantity of robot is more efficient.
The embodiment of the present application recharge it is minimum described in module 20 recharge power threshold, robot can at least be guaranteed by referring to
It can complete the electricity usage amount of current task, for example the electricity of robot residue 20% is minimum to recharge power threshold.
It is described it is minimum recharge power threshold, may also mean that can at least guarantee robot return charging pile on electricity make
Dosage.For example the electricity of robot residue 5% is minimum to recharge power threshold.
It is described it is minimum recharge power threshold, be also possible to refer to guarantee that robot can complete current task and return
Charge the electricity usage amount loaded onto.For example the electricity of robot residue 10% is minimum to recharge power threshold.
It should be noted that it is described it is minimum recharge power threshold in the embodiment of the present application and without specifically limiting, this
Field technical staff can select and configure according to actual use situation.
If the current electric quantity lower than it is described it is minimum recharge power threshold when, it is necessary to charge, generate back at this time
Fill instruction.
It should be noted that it is described recharge instruction can be directly generated by robot terminal or server generation after
Be issued to robot terminal, be not defined in this application, if can satisfy it is described recharge instruction can be in the machine
It is executed on device people.While it is noted that being recharged as preferred in the present embodiment using in robot terminal generation
Instruction, and the mode executed on the robot terminal can be avoided the real-time of managing electric quantity caused by server network delay
Property.
According to the embodiment of the present application, as preferred in the present embodiment, as shown in figure 8, the monitoring modular includes: first
Judging unit 101, for judging whether robot is currently idle and is more than preset duration；First processing units 102, for such as
Fruit judges that robot is currently empty not busy and is more than preset duration, then generates and recharge instruction；And the second processing unit 103, it is used for
If it is determined that robot is currently empty not busy but is less than preset duration, does not then generate and recharge instruction.
It also needs to sentence while the monitoring robot current electric quantity in first judging unit 101 of the embodiment of the present application
Whether the robot that breaks currently be idle state and be more than pre-set time span, and the robot is currently
Whether the no idle priority as inferior to monitoring electricity is that the idle and idle time is super by judging the robot currently
Preset time has been crossed, and has obtained the current usage scenario of robot, for example, the robot is currently at the non-working time.Again
For example, the robot be at work between non task state etc..
In the first processing units 102 of the embodiment of the present application if according to judging that the robot is current in above-mentioned steps
For idle state and be more than pre-set time span, needed to generate and recharge instruction, by it is described recharge instruction can
It is charged on the robot return charging pile with controlling.For example, due to learning that the robot is current by judging to obtain
It is on one's own time, it is possible to carry out quick charge.Or due to being by judging that acquisition learns the robot currently
Non task state between at work, it is possible to be charged in short-term.
In the second processing unit 103 of the embodiment of the present application if according to judging that the robot is current in above-mentioned steps
For idle state but it is less than pre-set time span, generation is not needed and recharges instruction.Due to not generating described recharge
Instruction, so robot needs to continue to execute current task or waits next task to be subjected.
It should be noted that the preset duration needs to be determined according to actual use scene, for example meal delivery robot exists
As soon as after completing a task, the duration of next task is waited to be not suitable as preset duration.Because if the robot
The efficiency that charging influences whether food delivery is carried out in food delivery gap.For another example, meal delivery robot does not have after completing a upper task
Subsequent task is at this time the free time, and when the idle time has been more than 10 minutes, at this time in order to guarantee the electricity of the robot
Amount is needed to generate to recharge instruction robot is allowed to return on the charging pile and be charged.
Robot according to recharge instruction return to charging charging pile charged when, may include following scene: inoperative
Time, working time non task state, stipulated time reach, reach the minimum electricity requirement recharged, task execution completion etc..
According to the embodiment of the present application, as preferred in the present embodiment, as shown in figure 9, the monitoring modular includes: second
Judging unit 104, for judging whether robot is currently executing timed task；And third processing unit 105, if for
Judge that robot is currently executing timed task and reaching the assignment of mission time, then generates and recharge instruction.
It also needs to sentence while the monitoring robot current electric quantity in the second judgment unit 104 of the embodiment of the present application
Whether the robot that breaks currently is executing the timed task, the timed task refer to robot need it is on duty for a long time
The task of one place.Specifically, the timed task that the robot executes is, task on duty, welcome's task dispatching etc..In this Shen
Specific timed task is not defined in embodiment please.
According to above-mentioned steps in the third processing unit 105 of the embodiment of the present application, if it is determined that the robot is currently just
When executing timed task and having had reached task time, it can be generated and recharge instruction, allow robot to return to charging pile enterprising
Row charging.
The module that recharges of robot electric quantity managing device includes: first to recharge configuration unit, if worked as described
Preceding electricity lower than it is minimum recharge power threshold when robot be carrying out current task, then the current task execute complete with
Afterwards, regeneration recharges instruction；And second recharge configuration unit, if recharging electricity threshold lower than minimum for the current electric quantity
Zhi Shi robot is not executing current task, then directly generates and recharge instruction.
Described first recharge in configuration unit the current electric quantity lower than it is minimum recharge power threshold when, if described work as
Preceding electricity lower than it is minimum recharge power threshold when robot be carrying out current task, then need to hold in at least described current task
After row is completed, regeneration recharges instruction, allows robot to return on charging pile and charges.
Specifically, by being configured to the minimum power threshold that recharges to guarantee that robot can complete current task
Electricity usage amount, for example the electricity of robot residue 20% is minimum to recharge power threshold.It has been executed in the current task
After, recharging instruction in generation can guarantee that robot can normally return to completion charging on charging pile.
Described second recharge in configuration unit if current electric quantity lower than it is minimum recharge power threshold when robot do not holding
Row current task can then directly generate instruction, allow robot to return on charging pile and charge.
Specifically, by being configured to the minimum power threshold that recharges that can at least guarantee that robot returns on charging pile
Electricity usage amount.For example the electricity of robot residue 5% is minimum to recharge power threshold.Since the robot is not executing
Current task, recharging instruction in generation can guarantee that robot can normally return to completion charging on charging pile.
Recharging module described in robot electric quantity managing device includes: that third recharges configuration unit, if worked as described
Preceding electricity recharges power threshold lower than minimum, then recharges instruction according to the minimum electricity generation that robot can leave charging pile；With
And the 4th recharge configuration unit, if recharging power threshold lower than minimum for the current electric quantity, can connect according to robot
Instruction is recharged by the minimum electricity generation of task.
The third recharges in configuration unit under the premise of electricity priority, if the current electric quantity is lower than minimum time
Charge volume threshold value, then generate recharge instruction in be can be left according to robot charging pile minimum electricity be require generation,
That is, recharge specify the robot to need the time charged on charging pile in instruction and meet the robot can
Obtaining the robot may exit off the minimum electricity of the charging pile to require.For example, leaving the minimum electricity of the charging pile
Amount is 40%.If current robot has been only filled with 50% electricity, if the robot at this time receives newly again at this time
Task, then may exit off charging pile carry out task execution.
Described 4th recharges in configuration unit under the premise of electricity priority, if the current electric quantity is lower than minimum time
Charge volume threshold value, then generate recharge instruction in be subjected to according to robot task minimum electricity be require generation,
That is recharging the premise for specifying the robot that cannot leave charging pile execution task in instruction is that robot obtains not yet
Enough minimum electricity that can be received an assignment.For example, the minimum electricity that robot is subjected to task is 80%.If current machine
Device people has been only filled with 70% electricity, and the robot receives new task again at this time, then cannot leave charging pile into
Row task execution.
Robot electric quantity managing device further include: charging presetting module, the charging presetting module include: that task judgement is single
Member, for the current electric quantity not less than it is minimum recharge power threshold when, judge whether robot executes completion task；And appoint
Business generation unit, when for judging that robot has executed completion task, generation recharges instruction.
In the task judging unit if the current electric quantity not less than it is described it is minimum recharge power threshold when, need to sentence
Whether the robot break to promote execution to complete the task of distribution.Such as, if it executes completion task on duty, whether execute
It completes to pass dish task, whether execute and complete welcome's task dispatching etc..
It is completed accordingly in the task generation unit if judging that the robot has executed according to above-mentioned steps
When task, as long as instruction can be recharged by generating by then executing the task that completes, allows robot to return on charging pile and filled
Electricity.Without judging whether it is timed task, it is whether complete in idle state and task time as defined in whether reaching etc.,
As long as can all be generated according to preset configuration after the robot has executed completion task and recharge instruction.
In another embodiment of the application, robot is provided, for configuring the robot electric quantity managing device,
The realization principle and beneficial effect of the robot electric quantity managing device as described above, no longer repeated herein.
Obviously, those skilled in the art should be understood that each module of above-mentioned the application or each step can be with general
Computing device realize that they can be concentrated on a single computing device, or be distributed in multiple computing devices and formed
Network on, optionally, they can be realized with the program code that computing device can perform, it is thus possible to which they are stored
Be performed by computing device in the storage device, perhaps they are fabricated to each integrated circuit modules or by they
In multiple modules or step be fabricated to single integrated circuit module to realize.In this way, the application be not limited to it is any specific
Hardware and software combines.
The foregoing is merely preferred embodiment of the present application, are not intended to limit this application, for the skill of this field
For art personnel, various changes and changes are possible in this application.Within the spirit and principles of this application, made any to repair
Change, equivalent replacement, improvement etc., should be included within the scope of protection of this application.
Claims (10)
1. a kind of robot electric quantity management method, which is characterized in that for allowing the robot to continuous service, the method packet
It includes:
Monitoring robot current electric quantity；And
If the current electric quantity recharges power threshold lower than minimum, generation recharges instruction.
2. robot electric quantity management method according to claim 1, which is characterized in that the monitoring robot current electric quantity
When further include:
Judge whether robot is currently idle and is more than preset duration；
If it is determined that robot is currently empty not busy and is more than preset duration, then generates and recharge instruction；And
If it is determined that robot is currently empty not busy but is less than preset duration, does not then generate and recharge instruction.
3. robot electric quantity management method according to claim 1, which is characterized in that the monitoring robot current electric quantity
When further include:
Judge whether robot is currently executing timed task；And
If it is determined that robot is currently executing timed task and reaching the assignment of mission time, then generates and recharge instruction.
4. robot electric quantity management method according to claim 1, which is characterized in that if the current electric quantity is lower than most
It is low to recharge power threshold, then it generates and recharges instruction and include:
If the current electric quantity lower than it is minimum recharge power threshold when robot be carrying out current task, described current
After task execution is completed, regeneration recharges instruction；And
If the current electric quantity lower than it is minimum recharge power threshold when robot not execute current task, directly generate back
Fill instruction.
5. robot electric quantity management method according to claim 1, which is characterized in that if the current electric quantity is lower than most
It is low to recharge power threshold, then it generates and recharges instruction and include:
If the current electric quantity recharges power threshold lower than minimum, the minimum electricity that can leave charging pile according to robot is raw
It is instructed at recharging；And
If the current electric quantity recharges power threshold lower than minimum, generated according to the minimum electricity that robot is subjected to task
Recharge instruction.
6. robot electric quantity management method according to claim 1, which is characterized in that after the current electricity of monitoring robot also
Include:
If the current electric quantity recharges power threshold not less than minimum, judge whether robot executes completion task；And
If it is determined that robot has executed completion task, then generates and recharge instruction.
7. a kind of robot electric quantity managing device, which is characterized in that for allowing the robot to continuous service, described device packet
It includes:
Monitoring modular is used for monitoring robot current electric quantity；And
Module is recharged, if the current electric quantity recharges power threshold lower than minimum, generation recharges instruction.
8. robot electric quantity managing device according to claim 7, which is characterized in that the monitoring modular includes:
First judging unit, for judging whether robot is currently idle and is more than preset duration；
First processing units are used to then generate and recharge instruction if it is determined that robot is currently empty not busy and be more than preset duration；With
And
The second processing unit, for if it is determined that robot is currently empty not busy but be less than preset duration, then not generating and recharging finger
It enables.
9. robot electric quantity managing device according to claim 7, which is characterized in that the monitoring modular includes:
Second judgment unit, for judging whether robot is currently executing timed task；And
Third processing unit is used for if it is determined that robot then gives birth to currently in execution timed task and arrival assignment of mission time
It is instructed at recharging.
10. a kind of robot, which is characterized in that for configuring such as the described in any item robot electric quantity management of claim 7 to 9
Device.
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| CN110427036A (en) * | 2019-08-14 | 2019-11-08 | 成都普诺思博科技有限公司 | A kind of cloud management system of commercialization clean robot |
| CN111028418A (en) * | 2019-11-28 | 2020-04-17 | 弗徕威智能机器人科技（上海）有限公司 | Method and device for managing vending robot |
| CN113098089A (en) * | 2021-03-31 | 2021-07-09 | 北京云迹科技有限公司 | Robot-cooperated wireless charging method and system and robot |
| CN113541245A (en) * | 2021-06-28 | 2021-10-22 | 江西省智能产业技术创新研究院 | Charging method, charging system, readable storage medium and intelligent terminal device |
| CN114256925A (en) * | 2021-12-22 | 2022-03-29 | 香港中文大学深港创新研究院(福田) | Robot automatic charging system and charging method thereof |
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| CN109085828A (en) * | 2018-08-07 | 2018-12-25 | 北京云迹科技有限公司 | A kind of charging method method and distributed robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110427036A (en) * | 2019-08-14 | 2019-11-08 | 成都普诺思博科技有限公司 | A kind of cloud management system of commercialization clean robot |
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| CN113098089A (en) * | 2021-03-31 | 2021-07-09 | 北京云迹科技有限公司 | Robot-cooperated wireless charging method and system and robot |
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Application publication date: 20190426 |