CN112564235A - Robot charging stress release method and device, terminal and storage medium - Google Patents
Robot charging stress release method and device, terminal and storage medium Download PDFInfo
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- CN112564235A CN112564235A CN202011472120.3A CN202011472120A CN112564235A CN 112564235 A CN112564235 A CN 112564235A CN 202011472120 A CN202011472120 A CN 202011472120A CN 112564235 A CN112564235 A CN 112564235A
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- 238000006243 chemical reaction Methods 0.000 abstract description 8
- 230000008569 process Effects 0.000 abstract description 7
- 230000000694 effects Effects 0.000 abstract description 5
- 238000013021 overheating Methods 0.000 description 8
- 230000008878 coupling Effects 0.000 description 3
- 238000010168 coupling process Methods 0.000 description 3
- 238000005859 coupling reaction Methods 0.000 description 3
- 238000010438 heat treatment Methods 0.000 description 3
- 238000004891 communication Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
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- 238000013461 design Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
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- 230000005284 excitation Effects 0.000 description 1
- 230000020169 heat generation Effects 0.000 description 1
- 230000002045 lasting effect Effects 0.000 description 1
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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
Abstract
The invention discloses a robot charging stress release method, which comprises the following steps: controlling a charging pile on the robot to charge, and acquiring a charging signal of the robot; sending a motor incapability instruction to the robot to enable the motor of the robot to execute incapability operation and release stress; and sending a motor enabling instruction to the robot after the motor disabling instruction is sent and the preset time is separated, so that the motor of the robot can execute enabling operation. According to the invention, by utilizing the characteristic of incapability of the motor, when the robot is charged by the charging pile, the incapability of the motor of the robot is controlled, the stress is released, and the phenomenon that the heat productivity of the motor is overlarge due to the stress generated continuously for a long time is avoided. Then the motor is controlled to execute the enabling operation, the situation that the robot slides out of the charging pile due to the reaction force of the charging pile when the motor fails for too long time is avoided, the charging process of the robot cannot be continuously carried out, and the method is simple to implement and remarkable in effect.
Description
[ technical field ] A method for producing a semiconductor device
The invention relates to the technical field of robots, in particular to a robot charging stress release method, a device, a terminal and a storage medium.
[ background of the invention ]
With the development of robotics, robots with autonomous movement capabilities have become more and more unmanned, automated, remote, and the like. For example, the robot can be controlled to move to the charging pile to charge when the robot is idle or low in power. When the automatic electric pile that fills of robot, because reasons such as motion control can make the motor and fill electric pile and continuously produce stress, and the lasting stress of long time can make the motor calorific capacity too big, and the temperature lasts the rising, and then can lead to the overheated problem of a series of hardware.
In view of the above, it is desirable to provide a method, an apparatus, a terminal and a storage medium for releasing charging stress of a robot to overcome the above-mentioned drawbacks.
[ summary of the invention ]
The invention aims to provide a robot charging stress release method, a device, a terminal and a storage medium, aiming at solving the problem that the heating value of a motor is overlarge due to the fact that the motor continuously generates stress on a charging pile when a robot is automatically charged, and improving the safety of automatic charging of the robot.
In order to achieve the above object, a first aspect of the present invention provides a robot charging stress relief method, including:
controlling a charging pile on the robot to charge, and acquiring a charging signal of the robot;
sending a motor incapability instruction to the robot to enable the motor of the robot to execute incapability operation and release stress;
and sending a motor enabling instruction to the robot after sending the motor disabling instruction and a preset time interval, so that the motor of the robot can perform enabling operation.
In a preferred embodiment, after the step of sending the motor disabling command and sending the motor enabling command to the robot at a predetermined time interval, the method further comprises the following steps of:
acquiring a charging signal of the robot again, judging whether the charging signal exists or not, and controlling the robot to maintain a charging state if the charging signal exists; and if the result is negative, controlling the robot to charge the charging pile again.
In a preferred embodiment, the robot charging stress relief method further comprises the steps of:
acquiring motor temperature information of the robot, judging whether the motor temperature exceeds a preset temperature threshold value, and if so, controlling the robot to leave the charging pile and suspending charging; and if the result is negative, controlling the robot to continue charging in the charging pile.
The second aspect of the present invention provides a robot charging stress relief device, including:
the charging control module is used for controlling the charging of a charging pile on the robot and acquiring a charging signal of the robot;
the disabling control module is used for sending a motor disabling instruction to the robot so that the motor of the robot executes a disabling operation to release stress;
and the enabling control module is used for sending a motor enabling instruction to the robot after sending the motor disabling instruction and at a preset time interval so as to enable the motor of the robot to execute enabling operation.
In a preferred embodiment, the robot charging stress relief apparatus further comprises:
the charging signal judging module is used for acquiring the charging signal of the robot again, judging whether the charging signal exists or not, and controlling the robot to maintain a charging state if the charging signal exists; and if the result is negative, controlling the robot to charge the charging pile again.
In a preferred embodiment, the robot charging stress relief apparatus further comprises:
the motor temperature judging module is used for acquiring motor temperature information of the robot, judging whether the motor temperature exceeds a preset temperature threshold value or not, and if so, controlling the robot to leave the charging pile and suspending charging; and if the result is negative, controlling the robot to continue charging in the charging pile.
A third aspect of the present invention provides a terminal, which includes a memory, a processor, and a robot charging stress relieving program stored in the memory and executable on the processor, wherein the robot charging stress relieving program, when executed by the processor, implements the steps of the robot charging stress relieving method according to any one of the above embodiments.
A fourth aspect of the present invention provides a computer-readable storage medium storing a robot charging stress relief program, which when executed by a processor implements the steps of the robot charging stress relief method according to any one of the above embodiments.
According to the robot charging overheating method, the characteristic that the motor can lose energy is utilized, when the robot is charged by the charging pile, the motor of the robot is controlled to lose energy, stress is released, and the phenomenon that the heat productivity of the motor is overlarge due to the fact that the stress is continuously generated for a long time is avoided. And then the motor enabling instruction is issued after a preset time interval to control the motor to execute enabling operation, so that the phenomenon that the robot slides out of the charging pile due to the reaction force of the charging pile when the motor fails for too long time is avoided, and the charging process of the robot cannot be continuously carried out. The method provided by the invention is simple to realize and has obvious effect.
[ description of the drawings ]
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.
FIG. 1 is a flow chart of a robot charging overheating method provided by the present invention;
FIG. 2 is a flow chart of another embodiment of a method for overheating the charging of the robot shown in FIG. 1;
FIG. 3 is a flowchart illustrating a charging overheating method for the robot shown in FIG. 1 according to another embodiment
FIG. 4 is a block diagram of a robot charging and overheating device provided by the present invention;
fig. 5 is a block diagram of another embodiment of the robot charging and overheating apparatus shown in fig. 4.
[ detailed description ] embodiments
In order to make the objects, technical solutions and advantageous effects of the present invention more clearly apparent, the present invention is further described in detail below with reference to the accompanying drawings and the detailed description. It should be understood that the detailed description and specific examples, while indicating the preferred embodiment of the invention, are intended for purposes of illustration only and are not intended to limit the scope of the invention.
It is also to be understood that the terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used in the specification of the present invention and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise.
It should be further understood that the term "and/or" as used in this specification and the appended claims refers to and includes any and all possible combinations of one or more of the associated listed items.
In an embodiment of the present invention, a first aspect provides a robot charging stress releasing method, which is used for controlling a robot with an autonomous movement capability to release a continuous stress applied to a charging pile when the charging pile is charged, so as to avoid an excessive heating value caused by a long-time continuous stress generated by a motor. Wherein, owing to need carry out reasons such as motion control to the robot, the motor of robot need be in the enabling state to the maintenance is to filling operations such as touching of electric pile, guarantees the steady of charging process and goes on.
As shown in fig. 1, a robot charging stress relief method includes the following steps S101-S103.
In step S101, the charging pile on the robot is controlled to charge, and a charging signal of the robot is acquired.
In this step, control earlier and fill electric pile pressfitting on the robot and fill electric pile to accomplish the robot and fill electric connection of electric pile and in order to realize charging of robot, then obtain the charge signal of robot through equipment such as the battery management system on the robot body, detect whether the robot is in normal charged state.
In step S102, a motor disabling instruction is transmitted to the robot, causing the motor of the robot to perform a disabling operation to release the stress.
It can be understood that, in order to keep the robot and fill the abundant contact of electric pile, the motor of robot is in running state at any time to the pressfitting fills electric pile, guarantees that the part that charges of robot and the abundant contact of electric pile fill electric pile, and the motor of robot is always to filling electric pile and continuously applying stress promptly. At the moment, the motor is switched to the disabled state by issuing a motor disabling instruction, so that the motor does not operate under an external load, and the stress of the robot and the charging pile is released.
In step S103, a motor enable command is transmitted to the robot after a predetermined time interval after the motor disable command is transmitted, so that the motor of the robot performs an enable operation.
It should be noted that when the robot applies stress to the charging pile, the charging pile also generates a reaction force to the robot. When the motor of robot can't lose, the robot can make the robot slide down and fill electric pile because of the reaction force that fills electric pile, leads to the robot can't continue to charge. Therefore, after the disabling instruction is issued, the enabling instruction of the motor is continuously issued within a preset short time (the enabling instruction is issued immediately without waiting for the motor to return to the state), so that the motor of the robot can execute the enabling operation, the capability that the motor can run towards the external load at any time is recovered, meanwhile, the motor of the robot is correspondingly locked, and the phenomenon that the robot slides out of the charging pile due to the fact that the disabling time of the motor is too long is avoided.
It can be understood that the reaction force of the charging pile to the robot can be offset by the friction force of the robot relative to the ground or the like, so that the stress of the robot can be considered to be completely released. The problem that the heating amount of the motor is too large due to the fact that the motor continuously generates stress on the charging pile when automatic charging of the robot is avoided, and safety of automatic charging of the robot is improved. The method is simple in implementation mode and remarkable in effect.
Further, in an embodiment, as shown in fig. 2, after the step 103, the following step S104 is further included: acquiring a charging signal of the robot again, judging whether the charging signal exists, and controlling the robot to maintain a charging state if the charging signal exists; and if the result is negative, controlling the robot to charge the charging pile again.
In this step, after the control motor carries out the enable operation, judge through the signal of charging of detection robot whether the robot leads to the roll-off to fill electric pile because of the reaction force that fills electric pile when the motor carries out the disability operation, if the signal of charging exists, then it is short to mean the disability time of motor, the robot has not yet come to be promoted by the reaction force that fills electric pile and leads to the roll-off to fill electric pile just by the motor enable instruction and make the motor locking, at this moment, the motor of robot is in the excitation state, be convenient for carry out motion control to the robot at any time, the motor of robot is locked simultaneously, make the robot can not external force promote and roll. If the charging signal is not detected, the robot slides out of the charging pile, the charging process is interrupted, the pile needs to be mounted again for charging, and the steps S101 to S103 are carried out again. Therefore, the normal charging of the robot is ensured by detecting the charging signal of the robot again.
Further, in an embodiment, as shown in fig. 3, the robot charging stress relief method further includes step S105: acquiring motor temperature information of the robot, judging whether the motor temperature exceeds a preset temperature threshold value, and if so, controlling the robot to leave the charging pile and suspending charging; if not, controlling the robot to continue charging in the charging pile.
In the step, the temperature of the motor of the robot is monitored every preset time by monitoring the temperature of the motor, so that the problem that the motor generates excessive heat continuously or is in an enabling state to cause a series of problems caused by overheating of hardware is avoided, and the safety of the robot during autonomous charging is improved.
In summary, the robot charging overheating method provided by the invention utilizes the characteristic of incapability of the motor, when the robot is charged by the charging pile, the incapability of the motor of the robot is controlled, the stress is released, and the phenomenon that the heat productivity of the motor is too large due to the stress generated continuously for a long time is avoided. And then the motor enabling instruction is issued after a preset time interval to control the motor to execute enabling operation, so that the phenomenon that the robot slides out of the charging pile due to the reaction force of the charging pile when the motor fails for too long time is avoided, and the charging process of the robot cannot be continuously carried out. The method provided by the invention is simple to realize and has obvious effect.
The second aspect of the present invention provides a robot charging stress releasing apparatus 100, configured to release a continuous stress applied to a charging pile when a robot with an autonomous moving capability is controlled to charge the charging pile during autonomous charging of the robot, so as to avoid an excessive heat generation caused by a long-time continuous stress generated by a motor. It should be noted that the implementation principle and the implementation mode of the robot charging stress relief apparatus 100 are the same as those of the robot charging stress relief method described above, and therefore, the following description is omitted.
As shown in fig. 4, the robot charging stress relief apparatus 100 includes:
the charging control module 10 is used for controlling the charging of a charging pile on the robot and acquiring a charging signal of the robot;
the disabling control module 20 is used for sending a motor disabling instruction to the robot so that the motor of the robot executes a disabling operation to release stress;
and the enabling control module 30 is used for sending a motor enabling instruction to the robot after sending the motor disabling instruction and at a preset time interval, so that the motor of the robot can execute enabling operation.
Further, in one embodiment, as shown in fig. 5, the robot charging stress relief apparatus 100 further includes:
the charging signal judging module 40 is used for acquiring the charging signal of the robot again, judging whether the charging signal exists, and sending a motor disabling instruction to the robot again if the charging signal exists; and if the result is negative, controlling the robot to charge the charging pile again.
Further, in one embodiment, as shown in fig. 5, the robot charging stress relief apparatus 100 further includes:
the motor temperature judging module 50 is used for acquiring motor temperature information of the robot, judging whether the motor temperature exceeds a preset temperature threshold value, and if so, controlling the robot to leave the charging pile and suspending charging; if not, controlling the robot to continue charging in the charging pile.
A third aspect of the present invention provides a terminal (not shown in the drawings), where the terminal includes a memory, a processor, and a robot charging stress relief program stored in the memory and executable on the processor, and the robot charging stress relief program, when executed by the processor, implements the steps of the robot charging stress relief method according to any one of the above embodiments.
A fourth aspect of the present invention provides a computer-readable storage medium (not shown in the drawings), wherein a robot charging stress releasing program is stored in the computer-readable storage medium, and when being executed by a processor, the robot charging stress releasing program implements the steps of the robot charging stress releasing method according to any one of the foregoing embodiments.
It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-mentioned division of the functional units and modules is illustrated, and in practical applications, the above-mentioned function distribution may be performed by different functional units and modules according to needs, that is, the internal structure of the apparatus is divided into different functional units or modules to perform all or part of the above-mentioned functions. Each functional unit and module in the embodiments may be integrated in one processing unit, or each unit may exist alone physically, or two or more units are integrated in one unit, and the integrated unit may be implemented in a form of hardware, or in a form of software functional unit. In addition, specific names of the functional units and modules are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present application. The specific working processes of the units and modules in the system may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
In the above embodiments, the descriptions of the respective embodiments have respective emphasis, and reference may be made to the related descriptions of other embodiments for parts that are not described or illustrated in a certain embodiment.
Those of ordinary skill in the art will appreciate that the various illustrative elements and method steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.
In the embodiments provided in the present invention, it should be understood that the disclosed system or apparatus/terminal device and method can be implemented in other ways. For example, the above-described system or apparatus/terminal device embodiments are merely illustrative, and for example, the division of the modules or units is only one logical division, and there may be other divisions when actually implemented, for example, multiple units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The invention is not limited solely to that described in the specification and embodiments, and additional advantages and modifications will readily occur to those skilled in the art, so that the invention is not limited to the specific details, representative apparatus, and illustrative examples shown and described herein, without departing from the spirit and scope of the general concept as defined by the appended claims and their equivalents.
Claims (8)
1. A robot charging stress release method is characterized by comprising the following steps:
controlling a charging pile on the robot to charge, and acquiring a charging signal of the robot;
sending a motor incapability instruction to the robot to enable the motor of the robot to execute incapability operation and release stress;
and sending a motor enabling instruction to the robot after sending the motor disabling instruction and a preset time interval, so that the motor of the robot can perform enabling operation.
2. The method for releasing stress during robot charging according to claim 1, wherein said step of sending a motor enable command to said robot after sending a motor disable command at a predetermined interval, further comprises the step of, after said step of enabling said robot motor to perform said operation step:
acquiring a charging signal of the robot again, judging whether the charging signal exists or not, and controlling the robot to maintain a charging state if the charging signal exists; and if the result is negative, controlling the robot to charge the charging pile again.
3. The robot charging stress relief method of claim 2, further comprising the steps of:
acquiring motor temperature information of the robot, judging whether the motor temperature exceeds a preset temperature threshold value, and if so, controlling the robot to leave the charging pile and suspending charging; and if the result is negative, controlling the robot to continue charging in the charging pile.
4. A robot charging stress relief device, comprising:
the charging control module is used for controlling the charging of a charging pile on the robot and acquiring a charging signal of the robot;
the disabling control module is used for sending a motor disabling instruction to the robot so that the motor of the robot executes a disabling operation to release stress;
and the enabling control module is used for sending a motor enabling instruction to the robot after sending the motor disabling instruction and at a preset time interval so as to enable the motor of the robot to execute enabling operation.
5. The robot charging stress relief device of claim 4, further comprising:
the charging signal judging module is used for acquiring the charging signal of the robot again, judging whether the charging signal exists or not, and controlling the robot to maintain a charging state if the charging signal exists; and if the result is negative, controlling the robot to charge the charging pile again.
6. The robot charging stress relief device of claim 4, further comprising:
the motor temperature judging module is used for acquiring motor temperature information of the robot, judging whether the motor temperature exceeds a preset temperature threshold value or not, and if so, controlling the robot to leave the charging pile and suspending charging; and if the result is negative, controlling the robot to continue charging in the charging pile.
7. A terminal, characterized in that the terminal comprises a memory, a processor and a robot charging stress relief program stored in the memory and executable on the processor, the robot charging stress relief program, when executed by the processor, implementing the steps of the robot charging stress relief method according to any of claims 1-3.
8. A computer-readable storage medium storing a robot charging stress relief program which, when executed by a processor, performs the steps of the robot charging stress relief method according to any one of claims 1 to 3.
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| CN202011472120.3A CN112564235A (en) | 2020-12-15 | 2020-12-15 | Robot charging stress release method and device, terminal and storage medium |
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| CN202011472120.3A CN112564235A (en) | 2020-12-15 | 2020-12-15 | Robot charging stress release method and device, terminal and storage medium |
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| CN110838749A (en) * | 2019-11-29 | 2020-02-25 | 上海有个机器人有限公司 | Control method for automatic charging of robot |
| CN110989610A (en) * | 2019-12-13 | 2020-04-10 | 北京云迹科技有限公司 | Method for preventing robot from sliding down slope and robot |
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2020
- 2020-12-15 CN CN202011472120.3A patent/CN112564235A/en active Pending
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2008193783A (en) * | 2007-02-02 | 2008-08-21 | Nec Corp | Charging control method, portable terminal, and charging control system |
| US20110089891A1 (en) * | 2009-10-16 | 2011-04-21 | Micro-Star Internationa'l Co., Ltd. | Electronic device |
| CN106379185A (en) * | 2015-07-14 | 2017-02-08 | 大众汽车有限公司 | A robot and a method for automatic insertion of a charging plug |
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Application publication date: 20210326 |