CN113910294B - Robot electric quantity testing method, equipment, robot and storage medium - Google Patents
Robot electric quantity testing method, equipment, robot and storage medium Download PDFInfo
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- CN113910294B CN113910294B CN202111121167.XA CN202111121167A CN113910294B CN 113910294 B CN113910294 B CN 113910294B CN 202111121167 A CN202111121167 A CN 202111121167A CN 113910294 B CN113910294 B CN 113910294B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0095—Means or methods for testing manipulators
Abstract
The invention discloses a method, equipment, a robot and a storage medium for testing electric quantity of a robot, wherein the method is applied to a management system and comprises the following steps: receiving an electric quantity data sampling value sent by a robot, wherein the robot samples a target electric quantity data item of the robot at a target sampling frequency to obtain the electric quantity data sampling value and uploads the electric quantity data sampling value to the management system; and storing the electric quantity data sampling value, and outputting and displaying the electric quantity data sampling value according to the data display instruction when the data display instruction is received. The invention provides an automatic test method for the electric quantity of a robot, which does not need a tester to manually observe the electric quantity data displayed by the robot in the whole process, releases the time of the tester, and improves the test efficiency and the test effect.
Description
Technical Field
The present invention relates to the field of robots, and in particular, to a method and apparatus for testing electric quantity of a robot, and a storage medium.
Background
With the continuous development and maturation of robotics, robots are beginning to be widely used in various fields to replace people to complete work. Because the robot monitors the self electric quantity and triggers corresponding actions according to the monitored value, if the electric quantity detected by the robot is abnormal such as jump, the robot can possibly make wrong judgment and make wrong actions, so the electric quantity test of the robot is an important test item. At present, whether the electric quantity of the robot is abnormal or not needs to be continuously observed when the robot is tested, the manual observation efficiency is low, the observation data is incomplete, and the abnormal electric quantity condition is difficult to find.
Disclosure of Invention
The invention mainly aims to provide a method, equipment, a robot and a storage medium for testing the electric quantity of the robot, and aims to solve the technical problems of low efficiency and poor effect of the existing method for manually testing the electric quantity of the robot.
In order to achieve the above object, the present invention provides a method for testing electric quantity of a robot, the method being applied to a management system, the method comprising the steps of:
receiving an electric quantity data sampling value sent by a robot, wherein the robot samples a target electric quantity data item of the robot at a target sampling frequency to obtain the electric quantity data sampling value and uploads the electric quantity data sampling value to the management system;
and storing the electric quantity data sampling value, and outputting and displaying the electric quantity data sampling value according to the data display instruction when the data display instruction is received.
Optionally, the step of outputting and displaying the electric quantity data sampling value according to the data display instruction when the data display instruction is received includes:
when a data display instruction triggered by inputting the serial number of the robot is received, acquiring screening conditions indicated by the data display instruction;
And screening the electric quantity data sampling value according to the screening condition to obtain a target sampling value, and outputting and displaying the target sampling value.
Optionally, the target power data item at least includes a battery power data item, and after the step of receiving the power data sampling value sent by the robot, the method further includes:
extracting first battery electric quantity data at the starting time and second battery electric quantity data at the ending time of a preset period from the electric quantity data sampling value;
calculating test power consumption of the battery of the robot in the preset period according to the first battery power data and the second battery power data;
acquiring a working state of the robot in the preset period, and acquiring a discharging current of the robot battery corresponding to the working state;
calculating to obtain the actual power consumption of the battery of the robot in the preset period according to the discharge current and the duration of the preset period;
and calculating an error of the test power consumption relative to the actual power consumption, so as to determine whether battery power data sampled by the robot are accurate according to the error.
Optionally, the step of outputting and displaying the electric quantity data sampling value according to the data display instruction when the data display instruction is received includes:
when a data display instruction is received, outputting and displaying the electric quantity data sampling value in a curve graph mode by taking time and the target electric quantity data item as display dimensions;
detecting whether a mutation value exists in the electric quantity data sampling value according to a preset mutation threshold value;
and if the mutation value exists, carrying out preset highlighting marking on the mutation value in the graph displayed by output.
Optionally, before the step of receiving the electrical quantity data sampling value sent by the robot, the method further includes:
acquiring a test instruction for the robot configured based on a preset test configuration page, wherein the instruction content of the test instruction comprises a target working state, a target period, a target sampling frequency and a target electric quantity data item;
and sending the test instruction to the robot so that the robot samples the target electric quantity data item of the robot according to the target sampling frequency in the target period of time in the target working state, and obtaining the electric quantity data sampling value and uploading the electric quantity data sampling value to the management system.
To achieve the above object, the present invention also provides a robot power test apparatus, including: the system comprises a memory, a processor and a robot electric quantity testing program which is stored in the memory and can run on the processor, wherein the robot electric quantity testing program realizes the steps of the robot electric quantity testing method when being executed by the processor.
In order to achieve the above object, the present invention also provides a method for testing electric quantity of a robot, the method being applied to a robot, the method comprising the steps of:
sampling a target electric quantity data item of the robot at a target sampling frequency to obtain an electric quantity data sampling value;
uploading the electric quantity data sampling value to a management system, so that the management system can store the electric quantity data sampling value, and outputting and displaying the electric quantity data sampling value according to the data display instruction when receiving the data display instruction.
Optionally, before the step of sampling the target electric quantity data item of the robot at the target sampling frequency to obtain the electric quantity data sampling value, the method further includes:
receiving a test instruction sent by the management system, wherein the management system obtains the test instruction for the robot configured based on a preset test configuration page, and sends the test instruction to the robot, and the indication content of the test instruction comprises a target working state, a target period, a target sampling frequency and a target electric quantity data item;
The step of sampling the target electric quantity data item of the robot at the target sampling frequency to obtain an electric quantity data sampling value comprises the following steps:
and sampling the target electric quantity data item of the robot according to the target sampling frequency in the target period to obtain an electric quantity data sampling value.
To achieve the above object, the present invention also provides a robot including: the system comprises a memory, a processor and a robot electric quantity testing program which is stored in the memory and can run on the processor, wherein the robot electric quantity testing program realizes the steps of the robot electric quantity testing method when being executed by the processor.
In addition, in order to achieve the above object, the present invention also proposes a computer-readable storage medium having stored thereon a robot power test program which, when executed by a processor, implements the steps of the robot power test method as described above.
According to the invention, the robot samples the target electric quantity data item at the target sampling frequency to obtain an electric quantity data sampling value, and the electric quantity data sampling value is uploaded to the management system, and the management system stores the received electric quantity data sampling value and outputs and displays the electric quantity data sampling value when receiving the data display instruction. The invention provides an automatic test method for the electric quantity of a robot, which is characterized in that a robot automatically collects data and uploads the data to a management system, so that a tester can check the abnormal situation of the electric quantity of the robot in the management system when required, the tester does not need to manually observe the electric quantity data displayed by the robot in the whole process, the time of the tester is released, and the test efficiency and the test effect are improved.
Drawings
FIG. 1 is a schematic diagram of a hardware operating environment according to an embodiment of the present invention;
fig. 2 is a flowchart of a first embodiment of a method for testing electric quantity of a robot according to the present invention.
The achievement of the objects, functional features and advantages of the present invention will be further described with reference to the accompanying drawings, in conjunction with the embodiments.
Detailed Description
It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
Referring to fig. 1, fig. 1 is a schematic device structure of a hardware running environment according to an embodiment of the present invention.
It should be noted that, the device for testing the electric quantity of the robot according to the embodiment of the present invention may be a smart phone, a personal computer, a server, etc., which is not limited herein.
As shown in fig. 1, the robot power test apparatus may include: a processor 1001, such as a CPU, a network interface 1004, a user interface 1003, a memory 1005, a communication bus 1002. Wherein the communication bus 1002 is used to enable connected communication between these components. The user interface 1003 may include a Display, an input unit such as a Keyboard (Keyboard), and the optional user interface 1003 may further include a standard wired interface, a wireless interface. The network interface 1004 may optionally include a standard wired interface, a wireless interface (e.g., WI-FI interface). The memory 1005 may be a high-speed RAM memory or a stable memory (non-volatile memory), such as a disk memory. The memory 1005 may also optionally be a storage device separate from the processor 1001 described above.
Those skilled in the art will appreciate that the device configuration shown in fig. 1 is not limiting of the robotic power testing device and may include more or fewer components than shown, or may combine certain components, or may be arranged in different components.
As shown in fig. 1, an operating system, a network communication module, a user interface module, and a robot power test program may be included in a memory 1005, which is a type of computer storage medium. The operating system is a program that manages and controls the hardware and software resources of the device, supporting the operation of the robot power test program and other software or programs. In the device shown in fig. 1, the user interface 1003 is mainly used for data communication with the client; the network interface 1004 is mainly used to establish a communication connection with a server.
When the robotic power testing device is a management system, the processor 1001 may be configured to call a robotic power testing program stored in the memory 1005 and perform the following operations:
receiving an electric quantity data sampling value sent by a robot, wherein the robot samples a target electric quantity data item of the robot at a target sampling frequency to obtain the electric quantity data sampling value and uploads the electric quantity data sampling value to the management system;
And storing the electric quantity data sampling value, and outputting and displaying the electric quantity data sampling value according to the data display instruction when the data display instruction is received.
Further, the outputting and displaying the electric quantity data sampling value according to the data display instruction when the data display instruction is received includes:
when a data display instruction triggered by inputting the serial number of the robot is received, acquiring screening conditions indicated by the data display instruction;
and screening the electric quantity data sampling value according to the screening condition to obtain a target sampling value, and outputting and displaying the target sampling value.
Further, the target power data item at least includes a battery power data item, and after receiving the power data sampling value sent by the robot, the processor 1001 may be further configured to invoke a robot power test program stored in the memory 1005, and perform the following operations:
extracting first battery electric quantity data at the starting time and second battery electric quantity data at the ending time of a preset period from the electric quantity data sampling value;
calculating test power consumption of the battery of the robot in the preset period according to the first battery power data and the second battery power data;
Acquiring a working state of the robot in the preset period, and acquiring a discharging current of the robot battery corresponding to the working state;
calculating to obtain the actual power consumption of the battery of the robot in the preset period according to the discharge current and the duration of the preset period;
and calculating an error of the test power consumption relative to the actual power consumption, so as to determine whether battery power data sampled by the robot are accurate according to the error.
Further, the outputting and displaying the electric quantity data sampling value according to the data display instruction when the data display instruction is received includes:
when a data display instruction is received, outputting and displaying the electric quantity data sampling value in a curve graph mode by taking time and the target electric quantity data item as display dimensions;
detecting whether a mutation value exists in the electric quantity data sampling value according to a preset mutation threshold value;
and if the mutation value exists, carrying out preset highlighting marking on the mutation value in the graph displayed by output.
Further, before receiving the power data sampling value sent by the robot, the processor 1001 may be further configured to call a robot power test program stored in the memory 1005, and perform the following operations:
Acquiring a test instruction for the robot configured based on a preset test configuration page, wherein the instruction content of the test instruction comprises a target working state, a target period, a target sampling frequency and a target electric quantity data item;
and sending the test instruction to the robot so that the robot samples the target electric quantity data item of the robot according to the target sampling frequency in the target period of time in the target working state, and obtaining the electric quantity data sampling value and uploading the electric quantity data sampling value to the management system.
When the robotic power testing device is a robot, the processor 1001 may be configured to call a robotic power testing program stored in the memory 1005 and perform the following operations:
sampling a target electric quantity data item of the robot at a target sampling frequency to obtain an electric quantity data sampling value;
uploading the electric quantity data sampling value to a management system, so that the management system can store the electric quantity data sampling value, and outputting and displaying the electric quantity data sampling value according to the data display instruction when receiving the data display instruction.
Further, before the target power data item of the robot is sampled at the target sampling frequency to obtain the power data sampling value, the processor 1001 may be further configured to invoke the power test program of the robot stored in the memory 1005, and perform the following operations:
Receiving a test instruction sent by the management system, wherein the management system obtains the test instruction for the robot configured based on a preset test configuration page, and sends the test instruction to the robot, and the indication content of the test instruction comprises a target working state, a target period, a target sampling frequency and a target electric quantity data item;
the step of sampling the target electric quantity data item of the robot at the target sampling frequency to obtain an electric quantity data sampling value comprises the following steps:
and sampling the target electric quantity data item of the robot according to the target sampling frequency in the target period to obtain an electric quantity data sampling value.
Based on the above structure, various embodiments of a robot power testing method are presented.
Referring to fig. 2, fig. 2 is a flowchart of a first embodiment of a method for testing electric quantity of a robot according to the present invention.
The embodiments of the present invention provide embodiments of a method for testing the electrical power of a robot, it being noted that although a logical sequence is shown in the flowchart, in some cases the steps shown or described may be performed in a different order than what is shown or described herein. The robot electric quantity testing method is applied to a management system, wherein the management system can be a smart phone, a personal computer, a server and other devices, and also can be a cloud management system, and the embodiment is not limited. In this embodiment, the method for testing the electric quantity of the robot includes:
Step S10, receiving an electric quantity data sampling value sent by a robot, wherein the robot samples a target electric quantity data item of the robot at a target sampling frequency to obtain the electric quantity data sampling value and uploads the electric quantity data sampling value to the management system;
the robot may be a conventional robot controlled by an automatic control program, and may be used to carry goods, plan paths, or distribute goods, etc., and the type of the robot and specific implementation details are not limited in each embodiment.
The battery used by the robot is from various reasons such as different manufacturers, battery aging, robot working environment and the like, so that the battery electric quantity in the robot is inaccurately read, and the electric quantity displayed in a display screen of the robot has abnormal jump conditions, for example, from 30% to 20%. Aiming at the situation, the electric quantity test needs to be carried out on the robot, and whether the electric quantity of the battery of the robot has abnormal jump or not is tested, so that countermeasures can be timely taken when the abnormal jump is found, and the influence on normal work of the robot due to inaccurate electric quantity reading is avoided.
In this embodiment, provide an automatic test scheme of robot electric quantity, report management system through the automatic data sampling that carries out of robot, need not the electric quantity change of test personnel manual observation robot, liberate test personnel's time, improve efficiency of software testing, test personnel can conveniently look over the data of sampling in management system, and then the investigation has the unusual jump condition.
Specifically, the robot may sample a target electric quantity data item of the robot at a target sampling frequency to obtain an electric quantity data sampling value, and upload the electric quantity data sampling value to the management system. The target sampling frequency and the target electric quantity data item can be preconfigured in the robot, and after the robot is started, sampling is carried out according to the target sampling frequency and the target electric quantity data item; or when the robot receives the test instruction, extracting the target sampling frequency and the target electric quantity data item from the test instruction, and further sampling according to the target sampling frequency and the target electric quantity data item. The sampling frequency represents the frequency at which data is acquired, for example, once every five seconds. The electric quantity data item refers to a data item related to electric quantity or electricity consumption, and may include, for example, data items such as battery electric quantity, battery voltage, battery current, charging voltage, charging current, and motor current, and the target electric quantity data item may be one or more items thereof. It will be appreciated that the tester may configure the target power data item as a power data item to be tested, for example, to test a power consumption curve of the robot, and may configure the target power data item to include a battery power data item. The robot samples the target electric quantity data item according to the target sampling frequency, namely, specific data of the target electric quantity data item at the current moment is acquired at intervals, and the sampled electric quantity data sampling value comprises specific data of the target electric quantity data item at each moment of the robot. For example, the target power data item comprises battery power, and then the robot acquires battery power data of the robot at the current moment at intervals; if the battery electric quantity data is expressed by the percentage of the current electric quantity of the battery to the total capacity of the battery, the collected battery electric quantity data is in the range of 0-100%; if the acquisition frequency is 6 times in one minute, the electric quantity data sampling value acquired by the robot in one minute comprises 6 battery electric quantity data.
The specific manner in which the robot samples the target power data item is not limited in this embodiment. For example, when the data item of the battery power is sampled, if the battery self-charging measurement function used in the robot is used, the power data output by the battery can be directly read; or, the robot can calculate the electric quantity data according to the conversion relation between the battery voltage and the battery electric quantity data by measuring the battery voltage.
And uploading the sampled electric quantity data sampling value to a management system by the robot. In a specific embodiment, the robot can upload the management system once every time a sampling value of the electric quantity data is obtained, or can collect the sampling values of the electric quantity data in a period of time and upload the sampling values of the electric quantity data to the management system once.
And step S20, storing the electric quantity data sampling value, and outputting and displaying the electric quantity data sampling value according to the data display instruction when the data display instruction is received.
After receiving the electric quantity data sampling value sent by the robot, the management system can save the electric quantity data sampling value. When the management system receives the data display instruction, outputting and displaying the electric quantity data sampling value according to the data display instruction. The data display instruction may be automatically triggered when the management system receives the electric quantity data sampling value, or may be triggered in the management system by a tester when the tester needs to check the data, or may be triggered at a fixed time, etc., and in this embodiment, the triggering mode of the data display instruction is not limited.
The management system can output and display the electric quantity data sampling values in the forms of tables, graphs, bar charts and the like. A robotic power test user interface may be provided in the management system for displaying power data samples in the interface.
In an embodiment, the management system can be connected with a plurality of robots in a butt joint mode, and each robot uploads the sampled electric quantity data sampling value to the management system, so that a tester can check the electric quantity data sampling value of each robot according to the requirement, and whether the electric quantity abnormal jump condition exists in each robot or not is checked in batches.
In an embodiment, the robot may include a data sampling module and a communication module, and the management system may be a cloud management system including a cloud database and a data analysis module. And a communication channel between the robot and the cloud management system is pre-configured. The robot samples a target electric quantity data item of the robot through a data sampling module at a target sampling frequency to obtain an electric quantity data sampling value, and can convert the data format of the electric quantity data sampling value into a data format agreed with a management system in advance; uploading the electric quantity data sampling value to a cloud database through a communication module; the cloud database stores the electric quantity data sampling value uploaded by the robot, and the data analysis module acquires the electric quantity data sampling value from the cloud database for analysis or output display.
In the embodiment, the robot samples the target electric quantity data item at the target sampling frequency to obtain the electric quantity data sampling value and uploads the electric quantity data sampling value to the management system, the management system stores the received electric quantity data sampling value and outputs and displays the electric quantity data sampling value when receiving the data display instruction.
Further, in an embodiment, the step of outputting and displaying the electric quantity data sampling value according to the data display instruction in the step S20 when the data display instruction is received includes:
step S201, when a data display instruction triggered by inputting the serial number of the robot is received, acquiring a screening condition indicated by the data display instruction;
and step S202, screening the electric quantity data sampling value according to the screening condition to obtain a target sampling value, and outputting and displaying the target sampling value.
The management system may be configured to trigger the data presentation instruction according to the robot number input by the user (typically a robot manager), and may be configured to input the screening condition by the user, and carry the screening condition in the data presentation instruction. For example, in one embodiment, a robot power test user interface may be set in the management system, a data filtering component is set in the interface, a robot number input box or a selection box is provided for a user to input a robot number, a filtering condition input box or a selection box is provided for the user to input a filtering condition, after the user inputs the robot number and the filtering condition, a data displaying instruction for the robot number is triggered, and the filtering condition is carried in the data displaying instruction. In one embodiment, the screening conditions may include a time period to be displayed and a data item to be displayed; the selection items such as 'last five minutes', 'last ten minutes', 'last 24 hours', 'last 7 days' and the like can be provided for a user to select through the screening condition selection box, and the starting time and the ending time can be input through the screening condition input box for the user to support data inquiry and display of different time periods.
When the management system receives a data display instruction aiming at a robot number, the screening condition carried in the data display instruction is obtained. And the electric quantity data sampling values uploaded by each robot in the management system are respectively stored by taking the robot number as an index, and the management system screens the electric quantity data sampling values corresponding to the robot number according to screening conditions to obtain target sampling values, namely sampling values which meet the screening conditions. And the management system outputs and displays the target sampling value.
Further, based on the first embodiment, a second embodiment of the method for testing the electric quantity of the robot according to the present invention is provided, in this embodiment, the target electric quantity data item includes at least a battery electric quantity data item, and after the step S10, the method further includes:
step S30, extracting first battery electric quantity data at the starting time and second battery electric quantity data at the ending time of a preset period from the electric quantity data sampling value;
in this embodiment, when the target power data item includes a battery power data item, the power data sampling value of the battery power data item reported by the robot includes battery power data at each time sampled according to the sampling frequency. The battery power data may be data representing the remaining power of the battery in the robot, specifically, may be directly represented by battery power in AH (ampere per hour), may be represented by a percentage of the current battery power to the total battery capacity, or may be represented by other data capable of representing the battery power.
The management system can determine whether the battery power data sampled by the robot is accurate or not through the battery power data at the starting time and the battery power data at the ending time of a period of time reported by the robot.
Specifically, for battery power data of each time in a preset period obtained by sampling according to a target sampling frequency and uploaded by the robot, the management system may extract battery power data of a start time of the preset period (hereinafter referred to as first battery power data for distinction), and extract battery power data of an end time of the preset period (hereinafter referred to as second battery power data for distinction). The preset period may be a period set as needed in advance, and the robot may sample according to the preset period. Or, the management system can select one of the time period data from the data uploaded by the robot to determine whether the battery power data sampled by the robot is accurate, wherein the time period is a preset time period; the preset period may be selected in a plurality of ways, and in this embodiment, the preset period is not limited, and may be, for example, a period with a certain duration in the middle is selected from a time span of uploading data by the robot.
Step S40, calculating test power consumption of the battery of the robot in the preset period according to the first battery power data and the second battery power data;
after the first battery power data and the second battery power data are extracted, the management system can calculate and obtain the test power consumption of the battery of the robot in a preset period according to the first battery power data and the second battery power data. Specifically, in an embodiment, if the battery power data is represented by battery power in AH (ampere per hour), the second battery power data may be directly subtracted from the first battery power data to obtain the test power consumption in the preset period; for example, the first battery level data is 3.36AH, the second battery level data is 1.32AH, and the test power consumption in the preset period is 3.36-1.32=2.04 AH. In another embodiment, if the battery power data is represented by a percentage of the current power of the battery to the total capacity of the battery, the first battery power data may be subtracted from the second battery power data and then multiplied by the total capacity of the battery to obtain the test power consumption in the preset period; for example, the first battery power data is 28%, the second battery power data is 11%, and the total capacity of the battery is 12AH, then the test power consumption in the preset period is (28% -11%) ×12=2.04 AH.
Step S50, acquiring a working state of the robot in the preset period, and acquiring a discharging current of the robot battery corresponding to the working state;
the management system can acquire the working state of the robot in a preset period. Specifically, the robot may report its own working state in the preset period to the management system; the working state of the robot to be operated in the preset period may be set in advance in the robot and the management system. After the management system obtains the working state of the robot in a preset period, the management system obtains the discharging current of the robot battery preset corresponding to the working state. The discharging current of the battery of the robot in different working states can be different, and the discharging current of the battery of the robot in different working states can be tested in advance.
Step S60, calculating to obtain the actual power consumption of the battery of the robot in the preset period according to the discharge current and the duration of the preset period;
and the management system calculates the actual power consumption of the battery of the robot in the preset period according to the discharge current and the duration of the preset period. Specifically, in an embodiment, if the discharge current is a fixed value, the discharge current may be multiplied by a duration of a preset period to obtain the actual power consumption, for example, the discharge current is 1.7A, and the duration of the preset period is 1 hour and 10 minutes, and the actual power consumption is 1.7a×1.167h=1.98ah. In other embodiments, if the discharge current is a value that varies with time, the actual power consumption of the preset period may be calculated by integrating the discharge current with time according to the variation curve of the discharge current.
Step S70, calculating the error of the test power consumption relative to the actual power consumption, so as to determine whether the battery power data sampled by the robot is accurate according to the error.
After the test power consumption and the actual power consumption within the preset period are calculated, an error of the test power consumption relative to the actual power consumption can be calculated. In a specific embodiment, the difference obtained by subtracting the actual power consumption from the test power consumption may be directly used as the error, or the ratio of the difference to the total capacity of the battery may be used as the error. For example, the test power consumption is 2.04AH, the actual power consumption is 1.89AH, and the total battery capacity is 12AH, and the error is (2.04-1.98)/12×100=0.5% can be calculated. In an embodiment, after the error is calculated, the management system may directly output the error, so that the user may determine whether the battery power data sampled by the robot is accurate according to the output error. In another embodiment, the management system may also compare the error with a preset threshold, if the error is smaller than the threshold, determine that the battery power data sampled by the robot is within the allowable error range, and determine that the deviation of the battery power data sampled by the robot is larger and inaccurate if the error is not smaller than the threshold; the management system outputs the accurate result compared with the threshold value, so that a user can intuitively know whether the battery power data sampled by the robot is accurate.
In an embodiment, in order to improve the accuracy of the test, the robot may sample and upload data to the management system in a period of a stable discharging operation state (for example, a standby state), and the management system extracts the first battery power data and the second battery power data in a preset period of the period, so as to calculate an error of the test power consumption relative to the actual power consumption based on the first battery power data, the second battery power data and the discharging current of the operation state.
Further, in an embodiment, the step of outputting and displaying the electric quantity data sampling value according to the data display instruction in the step S20 when the data display instruction is received includes:
step S203, when a data display instruction is received, outputting and displaying the electric quantity data sampling value in a curve graph mode by taking time and the target electric quantity data item as display dimensions;
when the management system receives the data display instruction, the time and the target electric quantity data item can be used as display dimensions, and the electric quantity data sampling value is output and displayed in a curve graph mode. Specifically, the electrical quantity data sampling value may be plotted as a graph that varies with time, with time as a horizontal axis dimension, and with the target electrical quantity data item as a vertical axis dimension. If a plurality of target electric quantity data items are provided, respectively drawing graphs corresponding to the target electric quantity data items; if the curves corresponding to the target electric quantity data items are drawn in one coordinate system, the curves can be distinguished and displayed in different colors or lines.
Step S204, detecting whether a mutation value exists in the electric quantity data sampling value according to a preset mutation threshold value;
the management system can detect whether a mutation value exists in the electric quantity data sampling value according to a preset mutation threshold value. The preset mutation threshold value can be preset according to the need, and when the change of the electric quantity data sampling value in a period of shorter time exceeds the threshold value, the electric quantity data sampling value in the period of time is suddenly changed, and the electric quantity data sampling value belongs to a mutation value; when a plurality of electric quantity data items exist, the mutation threshold values corresponding to the electric quantity data items can be set, and whether the mutation values exist in the electric quantity data sampling values of the electric quantity data items or not is detected according to the mutation threshold values corresponding to the electric quantity data items. Specifically, in an embodiment, the abrupt change value may refer to two sampling values with a time interval between sampling time points smaller than a preset duration and a numerical value difference larger than a preset abrupt change threshold, that is, the management system may search for whether there are two sampling values with a time interval between sampling time points smaller than a preset duration and a numerical value difference larger than a preset abrupt change threshold in the electric quantity data sampling values, and if there are two sampling values, the two sampling values are taken as the abrupt change value; it will be appreciated that if there are multiple pairs of sample values that meet this condition, there are correspondingly multiple pairs of abrupt values.
Step S205, if the mutation value exists, a preset salient mark is carried out on the mutation value in the output display graph.
If the mutation value is detected to exist, the management system can preset the mutation value in the output display graph. The preset salient mark is a salient mark mode set in advance according to needs, for example, a coordinate point corresponding to the mutation value is salient with a striking color, a time period corresponding to the mutation value is salient with a striking color in a graph, and the like, which is not limited in this embodiment.
Through carrying out the abrupt change value detection to the electric quantity data sampling value of the electric quantity data item that the robot uploaded, output the demonstration in the graph with the abrupt change value when detecting the abrupt change value, can make the user learn the unusual condition that whether the electric quantity data sampling value of robot takes place the abrupt change through the graph of output demonstration fast.
In an embodiment, the management system may also detect whether a mutation value exists in the electric quantity data sampling value according to a preset mutation threshold after receiving the electric quantity data sampling value sent by the receiving robot and uploaded by the robot; if the mutation value exists, a prompt message is output to prompt the user that the mutation value exists, and the content of the prompt message is not limited.
Further, in an embodiment, before the step S10, the method further includes:
step S80, acquiring a test instruction for the robot configured based on a preset test configuration page, wherein the instruction content of the test instruction comprises a target working state, a target period, a target sampling frequency and a target electric quantity data item;
the management system can set a test configuration page according to the needs in advance, so that a user can configure test instructions in the test configuration page according to the needs; configuration options or input boxes of working state, test time period, sampling frequency and electric quantity data items can be provided in the test configuration page, so that a user can configure the indication content of the test instruction according to the requirement; further, when a plurality of robots are accessed to the management system, the management system can provide numbering options or input boxes of the robots in the test configuration page, so that a user can select one or a plurality of robot setting test instructions in batch. The user obtains a test instruction for the robot configured based on the test configuration page, and the indication content of the test instruction can comprise a target working state, a target period, a target sampling frequency and a target electric quantity data item, namely, the test instruction indicates the robot to sample the target electric quantity data item of the robot according to the target sampling frequency in the target period under the target working state.
It is understood that the user may set the period of time, the operating state, the sampling frequency, and the electrical quantity data items to be tested for the robot to be tested; the working state may include standby state, motor operation, discharging state, charging state, etc., and the dividing rule and kind are not limited herein, and may be different according to the type and model of the robot. For example, several items of data such as battery power, battery voltage, battery current, and motor current when the test robot is in a motor operation state within 1 hour may be set, and the sampling frequency is set to be once every five seconds; for another example, in order to test whether the sampled value of the electric quantity data collected by the robot is accurate, the battery electric quantity data item of the test robot in a standby working state within 24 hours can be set, and the sampling frequency is set once every 10 seconds.
Step S90, sending the test instruction to the robot, so that the robot samples the target electric quantity data item of the robot in the target period according to the target sampling frequency in the target working state, and obtains the electric quantity data sampling value and uploads the electric quantity data sampling value to the management system.
The management system sends the acquired test instruction to the corresponding robot, so that after the robot receives the test instruction, the robot samples the target electric quantity data item of the robot according to the target sampling frequency in the target period of time according to the instruction of the test instruction, and an electric quantity data sampling value is obtained and uploaded to the management system.
Further, based on the first and/or second embodiments, a third embodiment of the method for testing electric quantity of a robot according to the present invention is provided, in this embodiment, the method is applied to a robot, and the robot may be a conventional robot controlled by an automatic control program and may be used for carrying goods, planning paths or acquiring delivery, etc., and the type and specific implementation details of the robot are not limited in each embodiment. The method comprises the following steps:
step A10, sampling a target electric quantity data item of the robot at a target sampling frequency to obtain an electric quantity data sampling value;
and step A20, uploading the electric quantity data sampling value to a management system so that the management system can output the electric quantity data sampling value.
Further, in an embodiment, before the step a10, the method further includes:
Step A30, receiving a test instruction sent by the management system, wherein the management system obtains the test instruction for the robot configured based on a preset test configuration page, and sends the test instruction to the robot, and the indication content of the test instruction comprises a target working state, a target period, a target sampling frequency and a target electric quantity data item;
the step A10 comprises the following steps:
and step A101, sampling the target electric quantity data item of the robot according to the target sampling frequency in the target period to obtain an electric quantity data sampling value.
Specific extension implementations of steps a10 to a30 and a101 in this embodiment may refer to the content of the first and/or second embodiments, and are not described herein. Compared with the prior art, the beneficial effects of the method for testing the electric quantity of the robot provided by the embodiment are the same as those of the method for testing the electric quantity of the robot provided by the first and/or second embodiments, and are not described in detail herein.
In addition, the embodiment of the invention also provides a computer readable storage medium, wherein the storage medium is stored with a robot electric quantity testing program, and the robot electric quantity testing program realizes the steps of a robot electric quantity testing method when being executed by a processor.
Embodiments of the robot power testing apparatus and the computer readable storage medium of the present invention may refer to embodiments of the robot power testing method of the present invention, and are not described herein.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
The foregoing embodiment numbers of the present invention are merely for the purpose of description, and do not represent the advantages or disadvantages of the embodiments.
From the above description of the embodiments, it will be clear to those skilled in the art that the above-described embodiment method may be implemented by means of software plus a necessary general hardware platform, but of course may also be implemented by means of hardware, but in many cases the former is a preferred embodiment. Based on such understanding, the technical solution of the present invention may be embodied essentially or in a part contributing to the prior art in the form of a software product stored in a storage medium (e.g. ROM/RAM, magnetic disk, optical disk) comprising instructions for causing a terminal device (which may be a mobile phone, a computer, a server, an air conditioner, or a network device, etc.) to perform the method according to the embodiments of the present invention.
The foregoing description is only of the preferred embodiments of the present invention, and is not intended to limit the scope of the invention, but rather is intended to cover any equivalents of the structures or equivalent processes disclosed herein or in the alternative, which may be employed directly or indirectly in other related arts.
Claims (9)
1. The method for testing the electric quantity of the robot is characterized by being applied to a cloud management system, wherein the cloud management system is used for docking a plurality of robots, and the method comprises the following steps of:
receiving an electric quantity data sampling value sent by a robot based on a communication channel between a pre-configured robot and the cloud management system, wherein the robot samples a target electric quantity data item of the robot at a target sampling frequency to obtain the electric quantity data sampling value and uploads the electric quantity data sampling value to the cloud management system;
the electric quantity data sampling value is stored, and output display is carried out on the electric quantity data sampling value according to the data display instruction when the data display instruction is received;
the step of outputting and displaying the electric quantity data sampling value according to the data display instruction when the data display instruction is received comprises the following steps:
When a data display instruction triggered by inputting the serial number of the robot is received, acquiring screening conditions indicated by the data display instruction;
and screening the electric quantity data sampling values corresponding to the numbers of the robots according to the screening conditions to obtain target sampling values, and outputting and displaying the target sampling values, wherein the electric quantity data sampling values uploaded by each robot are respectively stored by taking the robot numbers as indexes.
2. The robotic power testing method of claim 1, wherein the target power data item comprises at least a battery power data item;
after the step of receiving the electric quantity data sampling value sent by the robot, the method further comprises the following steps:
extracting first battery electric quantity data at the starting time and second battery electric quantity data at the ending time of a preset period from the electric quantity data sampling value;
calculating test power consumption of the battery of the robot in the preset period according to the first battery power data and the second battery power data;
acquiring a working state of the robot in the preset period, and acquiring a discharging current of the robot battery corresponding to the working state;
Calculating to obtain the actual power consumption of the battery of the robot in the preset period according to the discharge current and the duration of the preset period;
and calculating an error of the test power consumption relative to the actual power consumption, so as to determine whether battery power data sampled by the robot are accurate according to the error.
3. The method for testing the electric quantity of the robot according to claim 1, wherein the step of outputting and displaying the electric quantity data sampling value according to the data display instruction when the data display instruction is received comprises the steps of:
when a data display instruction is received, outputting and displaying the electric quantity data sampling value in a curve graph mode by taking time and the target electric quantity data item as display dimensions;
detecting whether a mutation value exists in the electric quantity data sampling value according to a preset mutation threshold value;
and if the mutation value exists, carrying out preset highlighting marking on the mutation value in the graph displayed by output.
4. A method for testing the power of a robot according to any one of claims 1 to 3, wherein before the step of receiving the power data sample value transmitted by the robot, the method further comprises:
acquiring a test instruction for the robot configured based on a preset test configuration page, wherein the instruction content of the test instruction comprises a target working state, a target period, a target sampling frequency and a target electric quantity data item;
And sending the test instruction to the robot so that the robot samples the target electric quantity data item of the robot in the target time period according to the target sampling frequency in the target working state, and obtaining the electric quantity data sampling value and uploading the electric quantity data sampling value to the cloud management system.
5. A method for testing the electric quantity of a robot, which is applied to the robot, comprising the following steps:
sampling a target electric quantity data item of the robot at a target sampling frequency to obtain an electric quantity data sampling value;
uploading the electric quantity data sampling value to the cloud management system based on a pre-configured communication channel between the robot and the cloud management system, so that the cloud management system can store the electric quantity data sampling value, when a data display instruction triggered by inputting the serial number of the robot is received, acquiring a screening condition indicated by the data display instruction, screening the electric quantity data sampling value corresponding to the serial number of the robot according to the screening condition to obtain a target sampling value, and outputting and displaying the target sampling value, wherein the cloud management system is used for butting a plurality of robots, and the electric quantity data sampling values uploaded by the robots in the cloud management system are respectively stored by taking the serial number of the robot as an index.
6. The method for testing the electric quantity of the robot according to claim 5, wherein before the step of sampling the target electric quantity data item of the robot at the target sampling frequency to obtain the electric quantity data sampling value, the method further comprises:
receiving a test instruction sent by the cloud management system, wherein the cloud management system obtains the test instruction aiming at the robot and configured on the basis of a preset test configuration page, and sends the test instruction to the robot, and the indication content of the test instruction comprises a target working state, a target period, a target sampling frequency and a target electric quantity data item;
the step of sampling the target electric quantity data item of the robot at the target sampling frequency to obtain an electric quantity data sampling value comprises the following steps:
and sampling the target electric quantity data item of the robot according to the target sampling frequency in the target period to obtain an electric quantity data sampling value.
7. A robotic power testing device, the robotic power testing device comprising: a memory, a processor and a robot power test program stored on the memory and executable on the processor, which when executed by the processor, implements the steps of the robot power test method of any one of claims 1 to 4.
8. A robot, the robot comprising: a memory, a processor and a robot power test program stored on the memory and executable on the processor, which when executed by the processor, implements the steps of the robot power test method of any one of claims 5 to 6.
9. A computer readable storage medium, characterized in that a robot power test program is stored on the computer readable storage medium, which when executed by a processor, implements the steps of the robot power test method according to any one of claims 1 to 6.
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| CN107395750A (en) * | 2017-08-22 | 2017-11-24 | 广东美的制冷设备有限公司 | Electricity method for early warning, server, mobile terminal and storage medium |
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| CN109697168A (en) * | 2019-01-11 | 2019-04-30 | 网易（杭州）网络有限公司 | Power consumption weight testing method and device, electronic equipment, storage medium |
| CN112014749B (en) * | 2020-09-01 | 2023-06-27 | 极海微电子股份有限公司 | Method, device, chip and storage medium for determining battery display electric quantity |
| CN112731030A (en) * | 2020-12-23 | 2021-04-30 | 深圳市优必选科技股份有限公司 | Electronic component detection method and device, terminal equipment and storage medium |
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