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Robot power supply current threshold value acquisition and exception handling method

A robot power supply and exception handling technology, which is applied in the field of intelligent robots, can solve problems such as rough threshold, troubleshooting of unfavorable problems, loss of abnormal information and other key information, and achieve the effect of convenient troubleshooting and reducing mistakes or misjudgments

Active Publication Date: 2021-01-01
广州高新兴机器人有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The disadvantage of the existing technology is that the threshold value used by the robot to judge whether the device is over-current or power-off is obtained after manually testing the power consumption of the channel, and then the obtained value is fixed in the program as a constant, or through the distribution of configuration To configure the threshold, the operation of obtaining the threshold in these ways is relatively cumbersome and the threshold is relatively rough
[0003] In addition, due to local log storage, if the upper computer equipment fails or the communication is abnormal, the abnormal information and other key information captured at this time will be lost, which is not conducive to troubleshooting

Method used

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  • Robot power supply current threshold value acquisition and exception handling method
  • Robot power supply current threshold value acquisition and exception handling method
  • Robot power supply current threshold value acquisition and exception handling method

Examples

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Embodiment 1

[0039] A robot power supply current threshold acquisition and abnormal processing method in the present invention is applied to a system composed of a power management module, a backup battery, a storage module and upper computer software.

[0040] In order to obtain a general and suitable threshold, first close the threshold judgment program, and then send a threshold calculation command to the main control module through the host computer during the normal operation of the robot. After receiving the command, the main control module will cycle within the time required by the command. Perform the following operation procedure, see figure 1 :

[0041] A. Collect the channel current information I connected to the electrical equipment x ;

[0042] B. Compare Ix with the current maximum value I Max compare, if greater than I Max , will I x assigned to I Max ;

[0043] C. Compare Ix with the current minimum value I Min compare, if less than I Min , will I x assigned to I ...

Embodiment 2

[0053] This embodiment relates to the specific steps of judging and processing of overcurrent and power failure, such as figure 2 shown, including:

[0054] A. Overcurrent: If I over greater than 0 and the time exceeds T x, then it is judged as overcurrent. When the overcurrent occurs, the corresponding power supply channel will be closed, and then the current information and time stamp information before and after the overcurrent will be reported to the host computer. If the communication with the host computer fails, the information will be saved to the storage module. until the next communication succeeds.

[0055] B. Power down: if I under If it is less than 0, it is judged as a power failure. When a power failure occurs, the current information and time stamp information before and after the power failure are reported to the host computer. If the communication with the host computer fails, the information is saved to the storage module until the next communication is ...

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Abstract

The invention belongs to the field of intelligent robots, and particularly relates to a robot power supply current threshold value acquisition and exception handling method. In a normal operation process of a robot, a threshold value calculation command is sent to a main control module through an upper computer; a current maximum value I<Max>, a current minimum value I<Min> and an average value I<Agv> of the power supply current is circularly calculated within preset time required by the command; when the operation time reaches the preset time, the I<Max>, the I<Min> and the I<Agv> are output;based on output I<Max>, I<Min> and I<Agv>data, an overcurrent current I<over>, a power-down current I and overcurrent time T<x> are calculated; and whether the robot power supply current is abnormalor not is judged based on the overcurrent current I<over> and the power-down current I, and exception handling is carried out.

Description

technical field [0001] The invention belongs to the field of intelligent robots, and in particular relates to a method for obtaining a threshold value of a robot power supply current and handling abnormalities. Background technique [0002] The main control collects the current information of the battery or channel, and the power management system judges whether there is an abnormality such as overcurrent in the power channel by judging the artificially preset threshold. If an overcurrent abnormality occurs, the power supply of the corresponding channel is turned off and reported to the host computer. The disadvantage of the existing technology is that the threshold value used by the robot to judge whether the device is over-current or power-off is obtained after manually testing the power consumption of the channel, and then the obtained value is fixed in the program as a constant, or through the distribution of configuration To configure the threshold, the operation of obt...

Claims

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Application Information

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IPC IPC(8): B25J9/16
CPCB25J9/16B25J9/1679
Inventor 李柏文柏林刘彪舒海燕宿凯沈创芸祝涛剑雷宜辉
Owner 广州高新兴机器人有限公司
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