CN115635483B - Robot energy-saving method and energy-saving robot - Google Patents
Robot energy-saving method and energy-saving robot Download PDFInfo
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Abstract
The invention discloses a robot energy-saving method and an energy-saving robot. The energy-saving method comprises the steps of dividing a plurality of functional modules in the robot and setting energy-saving levels of the functional modules; setting an intelligent standby energy-saving strategy in the robot, wherein the intelligent standby energy-saving strategy comprises setting an energy-saving period corresponding to each energy-saving grade and a hierarchical energy-saving execution scheme corresponding to the energy-saving grade; when the time period of the robot in standby is a preset energy-saving time period, matching a hierarchical energy-saving execution scheme corresponding to each functional module according to the energy-saving level corresponding to each functional module; and executing energy-saving operation on each functional module according to the hierarchical energy-saving execution scheme corresponding to each functional module. The robot energy-saving method provided by the invention can reduce the power consumption of the robot and prolong the standby time.
Description
Technical Field
The invention relates to the technical field of mobile robots, in particular to an energy-saving method for a robot and the energy-saving robot.
Background
Along with the superposition of various functions of the mobile robot, the battery capacity is limited to develop due to the restriction of factors such as limitation, and the cruising ability of the robot is limited to a certain extent. The cruising waiting capacity is an important parameter of the robot, and most of mobile robots on the market currently consider how to realize the capacity increase and the rapid charging of the battery, and the method for waiting for energy conservation is less researched.
The standby energy-saving method adopted by the current robot in the market is single, or only a part of motor driving power supply is stopped, or all power consumption components are directly stopped. The former is along with the increase and abundant of robot operation module and function, except driving motor, still there is a large amount of non-motor group to consume a large amount of energy on the robot, and the latter module is under the circumstances of stopping entirely, and the response is slower when needing to wake up, influences user's use experience.
In addition, some robots adopt a method for controlling the robots to work in a set working time period according to a set working time table, and controlling the robots to enter a standby state in a non-working time period to achieve the purpose of energy saving, for example, an energy saving regulation method of an intelligent home-dress inspection robot introduced in a patent CN 108762176B intelligent home-dress inspection robot and a system. According to the technical scheme, whether the robot enters a standby state or not is not controlled according to the set working schedule, because the working time of some robots with other function types is not fixed, the robots can be possibly awakened at any time according to the needs of users, the functions of some robots are completed by matching a plurality of functional modules, and the service time of a certain functional module cannot be determined. Therefore, the above-mentioned technical solution cannot be used commonly for all types of robots and achieve a better energy-saving effect, and the use scenario is relatively single, and the above-mentioned solution focuses on whether the robot needs to enter a control method and a strategy of standby, and does not improve the energy-saving method during standby.
In summary, aiming at the technical problems of single method, inability to meet complex use scenes, poor energy-saving effect, slow awakening, poor use experience and the like in the prior art, it is necessary to improve the energy-saving technical scheme of the robot entering the standby state so as to overcome the technical problems in the prior art.
Disclosure of Invention
In view of the above problems, an object of the present invention is to provide a robot energy saving method and an energy saving robot, which can reduce power consumption of the robot and prolong standby time.
The invention provides a robot energy-saving method, which comprises the following steps: dividing a plurality of functional modules in the robot, and setting energy-saving levels of the functional modules; setting an intelligent standby energy-saving strategy in the robot, wherein the intelligent standby energy-saving strategy comprises setting an energy-saving period corresponding to each energy-saving level and a hierarchical energy-saving execution scheme corresponding to the energy-saving level; when the time period of the robot in standby is a preset energy-saving time period, matching a hierarchical energy-saving execution scheme corresponding to each functional module according to the energy-saving level corresponding to each functional module; and executing energy-saving operation on each functional module according to the hierarchical energy-saving execution scheme corresponding to each functional module.
Further, the dividing the plurality of functional modules in the robot and setting the energy saving level of the plurality of functional modules includes: dividing a plurality of functional modules in the robot according to the electric system composition of the robot, and setting the energy saving level of each functional module according to the energy consumption duty ratio and the importance of each divided functional module.
Further, the setting the energy saving period corresponding to each of the energy saving levels includes: and setting energy-saving time periods corresponding to each energy-saving level according to the use scene and the use frequency of the robot or the continuous standby time length of the robot, wherein the energy-saving time periods comprise a time reproduction time period, a general time period and a idle time period.
Further, when the period of time in which the robot is standby is a preset energy-saving period, the frequency of use in the energy-saving period also needs to satisfy a preset frequency of use threshold.
Further, the hierarchical energy-saving execution scheme includes: and stopping supplying power to the functional modules when the functional modules belonging to each energy-saving level stand by in the energy-saving period corresponding to the energy-saving level.
Further, the energy conservation level comprises a first stage, a second stage and a third stage; when the functional module belonging to each energy saving level stands by in an energy saving period corresponding to the energy saving level, stopping power supply to the functional module comprises: when the functional module belonging to the first stage is standby in any one of the time reproduction period, the general period and the idle period, the power supply of the functional module is stopped; when the functional module belonging to the second stage is standby in any one of the general period and the idle period, the power supply of the functional module is stopped; and stopping power supply of the functional module belonging to the third stage when the functional module is standby in the idle time period.
Further, the intelligent standby energy saving strategy further comprises: setting a use frequency threshold value of the robot in the time reproduction period, the general period and the idle period; when the use frequency of the robot in the idle time period exceeds the use frequency threshold value set in the idle time period, directly ending the idle time period and entering the general period; and when the use frequency of the robot in the general period exceeds the use frequency threshold value set in the general period, directly ending the general period and entering the time reproduction period.
The invention also provides an energy-saving robot which comprises a plurality of functional modules and an energy-saving control device; the energy-saving control device is used for setting energy-saving levels of the plurality of functional modules and setting an intelligent standby energy-saving strategy, and comprises an energy-saving period corresponding to each energy-saving level and a hierarchical energy-saving execution scheme corresponding to the energy-saving level; when the time period of the robot in standby is a preset energy-saving time period, matching a hierarchical energy-saving execution scheme corresponding to each functional module according to the energy-saving level corresponding to each functional module; and executing energy-saving operation on each functional module according to the hierarchical energy-saving execution scheme corresponding to each functional module.
Further, the energy-saving control device is further used for setting a use frequency threshold value of each energy-saving period by a user according to the use scene and the use frequency of the robot or the continuous standby time of the robot.
Further, the functional modules comprise a motor driving module, a light source lighting module, a man-machine interaction module, a camera module, a cradle head control module, a navigation system module, a high-speed real-time communication module, a non-main control controller module, a low-speed data communication module, and a laser or infrared or ultrasonic module.
According to the robot energy-saving method and the energy-saving robot, based on the use scene and the use frequency of the robot, the intelligent adjustment is realized through the time-sharing multistage intelligent standby energy-saving strategy, the purpose of saving energy is realized to the greatest extent under the condition that the user experience is not affected, the electric energy consumption of the robot is reduced, and the standby time is prolonged.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are needed in the embodiments will be briefly described below, it being understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and other related drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a flow chart of a robot energy saving method according to an embodiment of the invention;
FIG. 2 is a schematic diagram of an intelligent standby power saving strategy according to an embodiment of the present invention;
fig. 3 is a schematic structural diagram of an energy-saving robot according to an embodiment of the invention.
Detailed Description
The foregoing and other features, aspects, and advantages of the present invention will become more apparent from the following detailed description of the preferred embodiments, which proceeds with reference to the accompanying drawings. While the invention may be susceptible to further details of technical means and effects for achieving the desired purpose, there is shown in the drawings a form a further part hereof, and in which is shown by way of illustration and not by way of limitation, certain well-known elements of the invention. Like elements are denoted by like reference numerals throughout the various figures. For clarity, the various features of the drawings are not drawn to scale.
In one embodiment of the present invention, a method for saving energy of a robot is provided, specifically as shown in a flowchart in fig. 1, the method includes the following steps:
step S01: dividing a plurality of functional modules in the robot, and setting energy-saving levels of the functional modules;
Specifically, as shown in the schematic diagram of the intelligent standby energy-saving strategy in the embodiment of the invention in fig. 2, according to the electrical system composition of the robot, the intelligent standby energy-saving strategy can be divided into a plurality of functional modules in the robot, such as a motor driving module, a light source lighting module, a man-machine interaction module, a camera module, a pan-tilt control module, a navigation system module, a high-speed real-time communication module, a non-master controller module, a low-speed data communication module, and a laser or infrared or ultrasonic module in fig. 2. The energy-saving level of each functional module is set according to the energy consumption ratio and importance of each divided functional module, as shown in fig. 2, the motor driving module and the light source lighting module are set as a first level, the man-machine interaction module, the camera module, the pan-tilt control module, the navigation system module and the high-speed real-time communication module are set as a second level, and the non-main control controller module, the low-speed data communication module, the laser or infrared or ultrasonic peripheral sensor module and the like are set as a third level. It should be noted that, different kinds of robots have different functional modules, and the energy consumption ratio of each functional module is also different in different use environments of the same robot, so in the embodiment of the invention, the functional modules divided by the robot and the set energy-saving level are not limited, and the energy consumption classification and the energy-saving level division of each functional module can be set by a user according to specific use scenarios and use frequencies.
Step S02: setting an intelligent standby energy-saving strategy in the robot, wherein the intelligent standby energy-saving strategy comprises setting an energy-saving period corresponding to each energy-saving level and a hierarchical energy-saving execution scheme corresponding to the energy-saving level;
Specifically, when the period of time in which the robot is standby is a preset energy-saving period, the frequency of use of the robot in the energy-saving period should also satisfy a preset frequency of use threshold. The hierarchical energy-saving execution scheme comprises the following steps: and stopping supplying power to the functional modules when the functional modules belonging to each energy-saving level stand by in the energy-saving period corresponding to the energy-saving level.
Step S03: when the time period of the robot in standby is a preset energy-saving time period, matching a hierarchical energy-saving execution scheme corresponding to each functional module according to the energy-saving level corresponding to each functional module;
Step S04: and executing energy-saving operation on each functional module according to the hierarchical energy-saving execution scheme corresponding to each functional module.
Specifically, the user may set the energy saving period corresponding to each energy saving level according to the use scenario and use frequency of the robot, or the continuous standby time length of the robot, as shown in fig. 2, including a time reproduction period, a general period, and a time leisure period. When the functional module belonging to the first stage is standby in any one of a time reproduction period, a general period and a idle period, the power supply of the functional module is stopped; when the functional module belonging to the second stage is standby in any one of the normal time period and the idle time period, the power supply of the functional module is stopped; and when the functional module belonging to the third stage is standby only in the idle time period, the power supply to the functional module is stopped.
Specifically, an electronic switch is designed on a power supply loop of each functional module of the robot, and each functional module can control power supply through an electronic relay. Whether each relay controls each functional module to supply power is determined according to whether the current working state of the robot enters a standby state or not and the grading energy-saving execution scheme executed during standby. Each functional module supplies power during operation and stops supplying power during non-operation.
In an embodiment, the intelligent standby power saving strategy further comprises: setting a using frequency threshold value of the robot in a time reproduction period, a general period and a idle period; when the use frequency of the robot in the idle time period exceeds the use frequency threshold value set in the idle time period, directly ending the idle time period and entering a general period; when the use frequency of the robot in the general period exceeds the use frequency threshold value set in the general period, the general period is directly ended and the time reproduction period is entered. For example, if the time reproduction period set by the user is ten to twelve, but the use frequency of the robot is higher than the preset use frequency threshold at nine points, the robot enters the time reproduction period in advance, and when the robot enters the standby state again, the intelligent standby energy saving strategy during time reproduction is executed. Therefore, the robot can intelligently adapt to enter or exit the set energy-saving period in advance according to the awakening frequency, enter the deep sleep standby mode in the idle period, improve energy saving, enter the shallow standby mode in the time-multiplication period and improve response.
In summary, the robot energy-saving method provided by the invention realizes intelligent adjustment through a time-sharing multistage intelligent standby energy-saving strategy based on the use scene and the use frequency of the robot, and realizes a higher energy-saving purpose to the maximum extent under the condition of not affecting user experience, thereby reducing the energy consumption of the robot and prolonging the standby time.
An energy-saving robot according to an embodiment of the present invention includes a plurality of functional modules and an energy-saving control device 100 as shown in fig. 3.
An energy-saving control device 100, configured to set energy-saving levels of a plurality of functional modules and set an intelligent standby energy-saving policy, including setting an energy-saving period corresponding to each energy-saving level and a hierarchical energy-saving execution scheme corresponding to the energy-saving level; when the time period of the robot in standby is a preset energy-saving time period, matching the hierarchical energy-saving execution scheme corresponding to each functional module according to the energy-saving level corresponding to each functional module; and executing energy-saving operation on each functional module according to the hierarchical energy-saving execution scheme corresponding to each functional module. The energy saving control device 100 is further configured to set, by a user, a usage frequency threshold value of each energy saving period according to a usage scenario and a usage frequency of the robot, or a continuous standby period of the robot.
The plurality of functional modules include a motor driving module 201, a light source lighting module 201, a man-machine interaction module 203, a camera module 204, a cradle head control module 205, a navigation system module 206, a high-speed real-time communication module 207, a non-master controller module 208, a low-speed data communication module 209, and a laser or infrared or ultrasonic module 210.
Specifically, the user can set the energy-saving level of each functional module through the human-computer interaction modules such as a mouse, a keyboard or a touch screen, and the energy-saving period corresponding to each energy-saving level and the using frequency threshold value of each energy-saving period, so that different types of robots or robots of the same type but in different using environments can be enabled, the standby energy-saving strategies of each robot are independent, the standby energy-saving strategies of the robots are enabled to be more flexible, and the user experience is improved.
In the description of the present invention, unless explicitly stated and limited otherwise, the terms "first," "second," "third," and the like are merely used to distinguish between similar elements or modules and do not indicate or imply relative importance or a particular order. The terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a list of elements does not include only those elements but may include other elements not expressly listed.
The foregoing is merely illustrative of the present invention, and the present invention is not limited thereto, and any changes or substitutions easily contemplated by those skilled in the art within the scope of the present invention should be included in the present invention. Accordingly, the scope of the invention should be assessed as that of the appended claims.
Claims (8)
1. A method of conserving power in a robot, the method comprising:
Dividing a plurality of functional modules in the robot, and setting energy-saving levels of the functional modules;
Setting an intelligent standby energy-saving strategy in the robot, wherein the intelligent standby energy-saving strategy comprises setting an energy-saving period corresponding to each energy-saving level and a hierarchical energy-saving execution scheme corresponding to the energy-saving level;
when the time period of the robot in standby is a preset energy-saving time period and the use frequency in the energy-saving time period meets a preset use frequency threshold, matching a hierarchical energy-saving execution scheme corresponding to each functional module according to the energy-saving level corresponding to each functional module;
Respectively executing energy-saving operation on each functional module according to a hierarchical energy-saving execution scheme corresponding to each functional module;
wherein, the intelligent standby energy saving strategy further comprises:
setting a use frequency threshold value of the robot in each energy-saving period, wherein the energy-saving period comprises a time reproduction period, a general period and a idle period;
When the use frequency of the robot in the idle time period exceeds the use frequency threshold value set in the idle time period, directly ending the idle time period and entering the general period;
And when the use frequency of the robot in the general period exceeds the use frequency threshold value set in the general period, directly ending the general period and entering the time reproduction period.
2. The robot energy saving method of claim 1, wherein the dividing a plurality of functional modules in the robot and setting energy saving levels of the plurality of functional modules comprises: dividing a plurality of functional modules in the robot according to the electric system composition of the robot, and setting the energy saving level of each functional module according to the energy consumption duty ratio and the importance of each divided functional module.
3. The robot energy saving method according to claim 1, wherein the setting of the energy saving period corresponding to each of the energy saving levels includes: and setting an energy-saving period corresponding to each energy-saving level according to the use scene and the use frequency of the robot or the continuous standby time of the robot.
4. The robot energy saving method of claim 1, wherein the hierarchical energy saving execution scheme comprises:
and stopping supplying power to the functional modules when the functional modules belonging to each energy-saving level stand by in the energy-saving period corresponding to the energy-saving level.
5. The robotic energy saving method of claim 4, wherein the energy saving levels comprise a first level, a second level, and a third level; when the functional module belonging to each energy saving level stands by in an energy saving period corresponding to the energy saving level, stopping power supply to the functional module comprises:
When the functional module belonging to the first stage is standby in any one of the time reproduction period, the general period and the idle period, the power supply of the functional module is stopped;
When the functional module belonging to the second stage is standby in any one of the general period and the idle period, the power supply of the functional module is stopped;
and stopping power supply of the functional module belonging to the third stage when the functional module is standby in the idle time period.
6. An energy-saving robot is characterized by comprising a plurality of functional modules and an energy-saving control device; the energy-saving control device is used for setting energy-saving levels of the plurality of functional modules and setting an intelligent standby energy-saving strategy, and comprises an energy-saving period corresponding to each energy-saving level and a hierarchical energy-saving execution scheme corresponding to the energy-saving level; when the period of the robot in standby is a preset energy-saving period and the frequency of use in the energy-saving period meets a preset frequency of use threshold, matching a hierarchical energy-saving execution scheme corresponding to each functional module according to the energy-saving level corresponding to each functional module; respectively executing energy-saving operation on each functional module according to a hierarchical energy-saving execution scheme corresponding to each functional module;
wherein, the setting the intelligent standby energy saving strategy further comprises: setting a use frequency threshold value of the robot in each energy-saving period, wherein the energy-saving period comprises a time reproduction period, a general period and a idle period; when the use frequency of the robot in the idle time period exceeds the use frequency threshold value set in the idle time period, directly ending the idle time period and entering the general period; and when the use frequency of the robot in the general period exceeds the use frequency threshold value set in the general period, directly ending the general period and entering the time reproduction period.
7. The energy-saving robot of claim 6, wherein the energy-saving control means is further configured to set, by a user, a usage frequency threshold value for each of the energy-saving periods according to a usage scenario and a usage frequency of the robot, or a continuous standby period of the robot.
8. The energy efficient robot of claim 6, wherein the plurality of functional modules include a motor drive module, a light source illumination module, a human-machine interaction module, a camera module, a pan-tilt control module, a navigation system module, a high-speed real-time communication module, a non-master controller module, a low-speed data communication module, a laser or infrared or ultrasound module.
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| US7454634B1 (en) * | 2003-08-28 | 2008-11-18 | Marvell International Ltd. | Power savings apparatus and method for wireless network devices |
| JP6410634B2 (en) * | 2015-02-20 | 2018-10-24 | シャープ株式会社 | Electronic equipment with power saving function |
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| CN108931932A (en) * | 2017-06-12 | 2018-12-04 | 北京猎户星空科技有限公司 | A kind of method for managing power supply and intelligent robot |
| CN108762176B (en) * | 2018-06-11 | 2020-06-19 | 深圳市百创网络科技有限公司 | Energy-saving regulation and control method and system for intelligent home inspection robot |
| CN110572868B (en) * | 2019-09-09 | 2023-01-24 | 紫光展锐(重庆)科技有限公司 | Method and device for reducing power consumption of electronic device |
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| CN102547936A (en) * | 2011-12-23 | 2012-07-04 | 华为终端有限公司 | Energy-saving method, energy-saving device and communication terminal |
| CN108021055A (en) * | 2016-10-28 | 2018-05-11 | 中国科学院沈阳自动化研究所 | Based on reconfigurable tactful small-sized AUV low power consumption controls device and control method |
| CN112764343A (en) * | 2021-01-20 | 2021-05-07 | 深圳市沃特沃德信息有限公司 | Control method and device of smart watch, smart watch and storage medium |
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