CN113640679A - A method for realizing electric quantity judgment based on robot workload - Google Patents

A method for realizing electric quantity judgment based on robot workload Download PDF

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CN113640679A
CN113640679A CN202110886613.XA CN202110886613A CN113640679A CN 113640679 A CN113640679 A CN 113640679A CN 202110886613 A CN202110886613 A CN 202110886613A CN 113640679 A CN113640679 A CN 113640679A
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instruction
robot
power
stage
electric quantity
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丁一岷
傅进
周刚
曹阳
戚中译
申志成
屠楚明
张拥军
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Jiaxing Power Supply Co of State Grid Zhejiang Electric Power Co Ltd
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Jiaxing Power Supply Co of State Grid Zhejiang Electric Power Co Ltd
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
    • G01R31/00—Arrangements for testing electric properties; Arrangements for locating electric faults; Arrangements for electrical testing characterised by what is being tested not provided for elsewhere
    • G01R31/36—Arrangements for testing, measuring or monitoring the electrical condition of accumulators or electric batteries, e.g. capacity or state of charge [SoC]
    • G01R31/382—Arrangements for monitoring battery or accumulator variables, e.g. SoC
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1674—Programme controls characterised by safety, monitoring, diagnostic

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)

Abstract

The invention discloses a method for judging electric quantity based on robot workload, which comprises the following steps: collecting the actions of the robot and monitoring the electric quantity of the battery; establishing a comparison relation between the instruction and the electricity consumption; issuing an instruction and judging the feasibility of the instruction; and when the electric quantity is insufficient in the execution process, performing instruction processing judgment according to the property of the instruction to be completed. According to the technical scheme, historical data are recorded, robot actions are collected, battery electric quantity monitoring is carried out, and the construction of the comparison relation between the instructions and the electric quantity is achieved, so that the instructions are issued, feasibility judgment of the instructions is achieved according to the instruction electric quantity, secondary judgment of the feasibility of the instructions is carried out according to the stage instructions to be completed in the working process, and corresponding processing of the instructions is achieved according to the time requirements of the stage instructions.

Description

Method for realizing electric quantity judgment based on robot workload
Technical Field
The invention relates to the technical field of robot control, in particular to a method for judging electric quantity based on robot workload.
Background
The mobile robot is a mechanical device for automatically executing required work, and consists of an executing mechanism, a driving device, a detecting device, a control system and the like. The intelligent robot can receive human commands, run pre-programmed programs and perform actions according to principles formulated by artificial intelligence technology, and has the task of assisting or replacing human work, such as production, construction or work in dangerous areas such as high-voltage power utilization environments.
The existing robot usually adopts the mode of minimum electric quantity reminding, namely when the electric quantity of the robot is lower than the set minimum electric quantity threshold value, the robot stops working and returns to charge.
Chinese patent document CN109687557A discloses a "robot electric quantity management method and apparatus, 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. The technical scheme sets the lowest electric quantity as a fixed value, so that the utilization rate of the electric quantity of the battery is low, and the instruction is difficult to effectively finish.
Disclosure of Invention
The invention mainly solves the problems that the lowest electric quantity is set as a fixed value in the prior technical scheme, so that the utilization rate of the electric quantity of a battery is low, and an instruction is difficult to effectively complete, and provides a method for realizing electric quantity judgment based on the workload of a robot.
The technical problem of the invention is mainly solved by the following technical scheme: the invention comprises the following steps:
s1, collecting robot action and monitoring battery power;
s2, establishing a comparison relation between the instruction and the electricity consumption;
s3, issuing an instruction and judging the feasibility of the instruction;
and S4, when the electric quantity is insufficient in the execution process, judging the instruction processing according to the property of the instruction to be completed.
Preferably, the step S1 collects the robot motion InThe robot performs action InFront and rear battery power variation Δ DnIf the battery capacity variation amount is Delta DnWhen the robot performs single discontinuous action during change, the action I is judgednWith an electric quantity Dn(ii) a If the battery capacity variation amount is Delta DnWhen the robot performs single continuous action during change, the continuous action is divided according to a single time period as a unit to realize the judgment of the electricity consumption of the action in the single time period; if the battery capacity variation amount is Delta DnWhen the robot changes, the robot simultaneously performs a plurality of actions, and the unknown single-action power consumption is judged by combining the known single-action power consumption for decomposition.
Preferably, in step S2, the command is first decomposed into several single actions, the electricity consumption of the non-continuous actions is added, the electricity consumption of the continuous actions in a single time period is multiplied by the used time period, and the command electricity consumption D is obtained by summing upjnThereby formingAnd establishing a comparison relation between the instruction and the electricity consumption. When the electricity consumption of the continuous action in the command is calculated, the period used by the continuous action in the command is judged, and then the electricity consumption used by the continuous action is calculated.
Preferably, the step S3 of issuing a command and performing command feasibility judgment specifically includes:
s3.1, issuing an instruction by taking a stage as a unit according to an execution sequence;
s3.2 staged commanding of electricity consumption DjnCalculating and battery residual capacity DThe residue is leftDetecting;
s3.3 Combined bottom-protected electric quantity D0Carrying out stage instruction feasibility judgment;
and S3.4, if the judgment is successful, continuing the feasibility judgment of the next-stage instruction, and if the judgment is failed, starting execution of the successful-stage instruction.
Preferably, the step S3.2 issues the command in a stage of a complete execution content, and detects the power consumption required by the command of the next stage and the remaining power of the battery before the command of the next stage is executed. The instructions are issued in stages, so that the robot can execute in stages, the loss result caused by insufficient electric quantity in the instruction execution process is avoided, feasibility judgment is carried out when the instructions are reached, and the problem that the instructions which are not enough in electric quantity are issued in advance and cannot be executed effectively due to time consumption is avoided.
Preferably, the bottom-saving electric quantity D in the step S3.30The electric quantity required by charging is returned to the charging end after the robot finishes the execution of the instruction at the stage, the electric quantity required by the robot to move to the charging position and the electric quantity required by the starting of the charging action are included, and the bottom-keeping electric quantity D0The size varies with the stage instruction content.
Preferably, step S3.3 specifically includes executing the stage command to determine the remaining battery capacity D of the battery before executing the stage commandThe residue is leftSubtracting the command power consumption DjnResidual capacity and bottom-protected capacity D0Comparing, if the residual electric quantity is larger than the bottom-preserving electric quantity D0If the remaining capacity is less than or equal to the bottom-preserving capacity D, the stage instruction is feasible0Then the stage instruction is not feasible.
Preferably, in the execution process of step S4, the feasibility secondary determination is performed before the next stage instruction is performed, and if the determination fails, the instruction processing determination is performed according to the property of the to-be-completed instruction. Because various factors exist in the instruction execution process, the instruction power consumption at the stage can exceed the theoretical power consumption, so that the residual battery power is insufficient to execute the instruction at the next stage, and therefore, in the execution process, feasibility secondary judgment is carried out before the instruction at the next stage, and the condition that the power is insufficient in the stage instruction execution process is prevented.
Preferably, the instruction processing and determining specifically includes:
s4.1, firstly, the electric quantity needed by the instruction in the finishing stage is judged,
s4.2 then calculating the charging time T required by the lowest electric quantity of the instruction in the finishing stage1And time T required for full chargemax，
S4.3, sending a time requirement inquiry of a stage instruction to a worker;
s4.4 if the time requirement of the stage instruction is > TmaxThen robot charges TmaxContinuing to complete the stage instruction after time, if TmaxTime requirement > T for ≧ phase instruction1Then robot charges T1Continuing to complete the stage instruction after time, if T1And if the time requirement of the phase instruction is more than or equal to the time requirement of the phase instruction, transferring the phase instruction to the idle robot for execution.
The invention has the beneficial effects that: the method comprises the steps of recording historical data, collecting robot actions, monitoring battery electric quantity, and realizing the construction of a comparison relation between an instruction and the electric quantity, so that the instruction is issued, the feasibility judgment of the instruction is realized according to the instruction electric quantity, the secondary judgment of the instruction feasibility is carried out according to a stage instruction to be completed in the working process, and the corresponding processing of the instruction is realized according to the time requirement of the stage instruction.
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FIG. 1 is a flow chart of the present invention.
Detailed Description
The technical scheme of the invention is further specifically described by the following embodiments and the accompanying drawings.
Example (b): the method for judging the electric quantity based on the workload of the robot in the embodiment is shown in fig. 1, and includes the following steps:
and S1, collecting the robot action and monitoring the battery power. Collecting robot actions InThe robot performs action InFront and rear battery power variation Δ Dn，
If the battery capacity variation amount is Delta DnWhen the robot performs single discontinuous action during change, the action I is judgednWith an electric quantity Dn；
If the battery capacity variation amount is Delta DnWhen the robot performs single continuous action during change, the continuous action is divided according to a single time period as a unit to realize the judgment of the electricity consumption of the action in the single time period;
if the battery capacity variation amount is Delta DnWhen the robot changes, the robot simultaneously performs a plurality of actions, and the unknown single-action power consumption is judged by combining the known single-action power consumption for decomposition.
S2 construction command and power consumption contrast relation, first decomposing the command into several single actions, adding the power consumptions of discontinuous actions, multiplying the single time period power consumption of continuous action with the used time period, summarizing to obtain command power consumption DjnAnd therefore, the comparison relation between the instruction and the electricity consumption is constructed. When the electricity consumption of the continuous action in the command is calculated, the period used by the continuous action in the command is judged, and then the electricity consumption used by the continuous action is calculated.
S3, issuing an instruction and making an instruction feasibility determination, specifically including:
and S3.1, issuing the instruction by taking the stage as a unit according to the execution sequence, and issuing the instruction by taking one complete execution content as the stage. The robot gives out the instruction by stages, so that the robot can execute by stages conveniently, and the loss result caused by insufficient electric quantity in the instruction execution process is avoided.
S3.2 staged commanding of electricity consumption DjnCalculating and battery residual capacity DThe residue is leftDetecting; detecting the power consumption required by the next stage instruction and the next stage instruction executionThe remaining capacity of the front battery. And the feasibility judgment is carried out when the instruction is issued, so that the problem that the instruction which is not enough in electric quantity is issued in advance and cannot be effectively executed due to the fact that the instruction is time-consuming is avoided.
S3.3 Combined bottom-protected electric quantity D0Performing feasibility judgment on the phase command, specifically comprising the step of judging the residual electric quantity D of the battery before executing the phase commandThe residue is leftSubtracting the command power consumption DjnResidual capacity and bottom-protected capacity D0Comparing, if the residual electric quantity is larger than the bottom-preserving electric quantity D0If the remaining capacity is less than or equal to the bottom-preserving capacity D, the stage instruction is feasible0Then the stage instruction is not feasible.
Wherein, the bottom-protection electric quantity D0The electric quantity required by charging is returned to the charging end after the robot finishes the execution of the instruction at the stage, the electric quantity required by the robot to move to the charging position and the electric quantity required by the starting of the charging action are included, and the bottom-keeping electric quantity D0The size varies with the stage instruction content.
And S3.4, if the judgment is successful, continuing the feasibility judgment of the next-stage instruction, and if the judgment is failed, starting execution of the successful-stage instruction.
And S4, when the electric quantity is insufficient in the execution process, judging the instruction processing according to the property of the instruction to be completed. And in the execution process, performing feasibility secondary judgment before the next-stage instruction, and if the judgment fails, performing instruction processing judgment according to the property of the instruction to be completed. Because various factors exist in the instruction execution process, the instruction power consumption at the stage can exceed the theoretical power consumption, so that the residual battery power is insufficient to execute the instruction at the next stage, and therefore, in the execution process, feasibility secondary judgment is carried out before the instruction at the next stage, and the condition that the power is insufficient in the stage instruction execution process is prevented. The instruction processing and judging specifically comprises the following steps:
s4.1, firstly, the electric quantity needed by the instruction in the finishing stage is judged,
s4.2 then calculating the charging time T required by the lowest electric quantity of the instruction in the finishing stage1And time T required for full chargemax，
S4.3, sending a time requirement inquiry of a stage instruction to a worker;
s4.4 ifPhase instruction time requirement > TmaxThen robot charges TmaxContinuing to complete the stage instruction after time, if TmaxTime requirement > T for ≧ phase instruction1Then robot charges T1Continuing to complete the stage instruction after time, if T1And if the time requirement of the phase instruction is more than or equal to the time requirement of the phase instruction, transferring the phase instruction to the idle robot for execution.
The specific embodiments described herein are merely illustrative of the spirit of the invention. Various modifications or additions may be made to the described embodiments or alternatives may be employed by those skilled in the art without departing from the spirit or ambit of the invention as defined in the appended claims.
Although the terms phase instruction, feasibility, etc. are used more herein, the possibility of using other terms is not excluded. These terms are used merely to more conveniently describe and explain the nature of the present invention; they are to be construed as being without limitation to any additional limitations that may be imposed by the spirit of the present invention.

Claims (9)

1.一种基于机器人工作量实现电量判断的方法，其特征在于，包括以下步骤：1. a method for realizing electricity judgment based on robot workload, is characterized in that, comprises the following steps: S1采集机器人动作并进行电池电量监测；S1 collects robot movements and monitors battery power; S2构建指令与用电量对照关系；The relationship between S2 construction instructions and electricity consumption; S3下达指令并进行指令可行性判断；S3 issues an instruction and judges the feasibility of the instruction; S4执行过程中电量不足时根据待完成指令性质进行指令处理判断。When the power is insufficient during the execution of S4, the instruction processing is judged according to the nature of the instruction to be completed. 2.根据权利要求1所述的一种基于机器人工作量实现电量判断的方法，其特征在于，所述步骤S1采集机器人动作In，机器人进行动作In前后的电池电量变化量ΔDn，若电池电量变化量ΔDn变化时机器人进行单一非连续性动作，则判定动作In用电量为Dn；若电池电量变化量ΔDn变化时机器人进行单一连续性动作，则将连续性动作按照单一时间周期为单位分割实现该动作单一时间周期用电量判定；若电池电量变化量ΔDn变化时机器人同时进行多个动作，结合已知单一动作用电量进行分解实现未知单一动作用电量判定。2. A method for realizing electric power judgment based on robot workload according to claim 1, wherein the step S1 collects the robot action I n , and the battery power variation ΔD n before and after the robot performs the action I n , if When the battery power variation ΔD n changes, the robot performs a single discontinuous action, and the power consumption of the action I n is determined as D n ; if the battery power variation ΔD n changes, the robot performs a single continuous action, and the continuous action is determined as A single time period is divided into units to determine the power consumption of the action in a single time period; if the battery power change ΔD n changes, the robot performs multiple actions at the same time, and the known single action power consumption is decomposed to realize the unknown single action power consumption determination. 3.根据权利要求2所述的一种基于机器人工作量实现电量判断的方法，其特征在于，所述步骤S2首先对指令进行分解，将指令分解为若干单一动作，将非连续性动作的用电量进行相加，将连续性动作的单一时间周期用电量与所用时间周期相乘，汇总得到指令用电量Djn，从而构建指令与用电量对照关系。3. The method for realizing electric quantity judgment based on the workload of the robot according to claim 2, wherein the step S2 first decomposes the instruction, decomposes the instruction into several single actions, and decomposes the use of discontinuous actions. The electric power is added, the electric power consumption of a single time period of the continuous operation is multiplied by the used time period, and the commanded power consumption D jn is obtained by summarizing, so as to construct a comparison relationship between the command and the power consumption. 4.根据权利要求1所述的一种基于机器人工作量实现电量判断的方法，其特征在于，所述步骤S3下达指令并进行指令可行性判断具体包括：4. The method for realizing electric quantity judgment based on robot workload according to claim 1, wherein the step S3 of issuing an instruction and performing instruction feasibility judgment specifically includes: S3.1按执行顺序以阶段为单位下达指令；S3.1 Issue instructions in units of stages in the order of execution; S3.2分阶段进行指令用电量Djn计算及电池剩余电量D剩检测；S3.2 Calculate the commanded power consumption D jn and detect the remaining battery power D remaining in stages; S3.3结合保底电量D0进行阶段指令可行性判定；S3.3 carry out the feasibility judgment of the stage command in combination with the guaranteed bottom power D 0 ; S3.4若判定成功，则继续下一阶段指令可行性判定，若判定失败，则就判定成功的阶段指令开始执行。S3.4 If the judgment is successful, proceed to the next stage of instruction feasibility judgment, and if the judgment fails, start the execution of the successful stage instruction. 5.根据权利要求4所述的一种基于机器人工作量实现电量判断的方法，其特征在于，所述步骤S3.2以一个完整执行内容为阶段下达指令，检测下一阶段指令所需用电量以及下一阶段指令执行前电池的剩余电量。5. A method for realizing electric quantity judgment based on robot workload according to claim 4, wherein said step S3.2 takes a complete execution content as a stage to issue an instruction, and detects the power consumption required for the instruction in the next stage amount and the remaining power of the battery before the execution of the next stage command. 6.根据权利要求4所述的一种基于机器人工作量实现电量判断的方法，其特征在于，所述步骤S3.3中保底电量D0为机器人从该阶段指令执行完毕后回到充电端进行充电所需电量，包括机器人位移至充电位置所需电量和开始充电动作所需电量，所述保底电量D0大小随阶段指令内容变化。6. The method for realizing electric quantity judgment based on the workload of the robot according to claim 4, characterized in that, in the step S3.3, the guaranteed bottom electric quantity D 0 is that the robot returns to the charging end after the execution of the instruction at this stage is completed. The power required for charging includes the power required for the robot to move to the charging position and the power required to start the charging action, and the size of the guaranteed bottom power D 0 varies with the content of the phase command. 7.根据权利要求5所述的一种基于机器人工作量实现电量判断的方法，其特征在于，所述步骤S3.3具体包括将阶段指令执行前电池的剩余电量D剩减去指令用电量Djn剩余电量与保底电量D0比较，若剩余电量>保底电量D0，则阶段指令可行，若剩余电量≤保底电量D0，则阶段指令不可行。7. The method for realizing electric power judgment based on the workload of the robot according to claim 5, wherein the step S3.3 specifically comprises subtracting the command power consumption from the remaining power D of the battery before the stage command is executed. The remaining power of D jn is compared with the guaranteed bottom power D 0 , if the remaining power > the guaranteed bottom power D 0 , the stage command is feasible, and if the remaining power ≤ the guaranteed bottom power D 0 , the stage command is infeasible. 8.根据权利要求1所述的一种基于机器人工作量实现电量判断的方法，其特征在于，所述步骤S4在执行过程中，进行下一阶段指令前进行可行性二次判定，若判定失败则根据待完成指令性质进行指令处理判断。8. The method for realizing electric quantity judgment based on robot workload according to claim 1, characterized in that, in the execution process of step S4, a second feasibility judgment is performed before the next stage instruction is executed, if the judgment fails Then, the instruction processing judgment is performed according to the nature of the instruction to be completed. 9.根据权利要求8所述的一种基于机器人工作量实现电量判断的方法，其特征在于，所述指令处理判断具体包括：9. The method for realizing electric quantity judgment based on robot workload according to claim 8, wherein the instruction processing judgment specifically comprises: S4.1首先进行完成阶段指令所需电量判断，S4.1 firstly judges the power required by the command in the completion stage, S4.2然后计算完成阶段指令最低电量所需充电时间T1和完全充满电所需时间Tmax， S4.2 then calculates the required charging time T1 and the time Tmax required to fully charge the required minimum power in the completion stage, S4.3向工作人员发出阶段指令的时间要求询问；S4.3 Inquiry about the time requirements for issuing phase instructions to staff; S4.4若阶段指令的时间要求>Tmax，则机器人充电Tmax时间后继续完成阶段指令，若Tmax≥阶段指令的时间要求>T1，则机器人充电T1时间后继续完成阶段指令，若T1≥阶段指令的时间要求，则将阶段指令转移到空闲机器人上进行执行。S4.4 If the time requirement of the stage command > T max , the robot will continue to complete the stage command after charging T max time. If T max ≥ the time requirement of the stage command > T 1 , the robot will continue to complete the stage command after charging T 1 time. If T 1 ≥ the time requirement of the stage command, the stage command will be transferred to the idle robot for execution.
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Application publication date: 20211112