Collaborative robot power panel current voltage stabilizing system based on complex environment

Abstract

The invention discloses a collaborative robot power panel current voltage stabilization system based on a complex environment, relates to the technical field of current voltage stabilization, and determines a plurality of pieces of working environment information, and formulates a plurality of corresponding power panel current voltage stabilization spaces based on the plurality of pieces of working environment information. Voltage stabilization shadows corresponding to the multiple target robots are arranged in the multiple power panel current voltage stabilization spaces; working environment information of the multiple target robots is determined, working information of power panels of the multiple target robots is collected based on the monitoring points, and the working information is transmitted to the corresponding power panel current voltage stabilization spaces according to the working environment information of the target robots; and virtual shadows are controlled in the voltage stabilization shadows, linear adjustment is carried out on the corresponding target robots through the voltage stabilization shadows and puppet lines, and the current voltage stabilization task of the power panel is completed. The load condition of the power panel can be rapidly adjusted, the efficient response capacity is achieved, and the safe operation efficiency of the target robot is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of current stabilization, and in particular to a current stabilization system for a power supply board of a collaborative robot in a complex environment. Background Art

[0002] In collaborative robots in complex environments, the power board current and voltage stabilization system is a key part to ensure the stable operation of the robot. Collaborative robots need to maintain the stability of current and voltage under changing environmental conditions (such as temperature, humidity, different air particle densities, etc.). In order to ensure the normal operation of the robot power board, the working status of the power board must be determined first. In the actual power board current and voltage stabilization system, if the robot needs to enter and exit a variety of different environments in a short period of time, it is difficult to quickly adjust the power board load. There is no efficient reaction and adaptability, and the safe operation of the target robot cannot be improved. Summary of the invention

[0003] The purpose of the present invention is to provide a current stabilization system for a power supply board of a collaborative robot in a complex environment to solve the deficiencies in the background technology.

[0004] In order to achieve the above object, the present invention provides the following technical solution: a current stabilizing system for a power supply board of a collaborative robot in a complex environment, comprising: An information setting module, used to determine a plurality of working environment information, formulate a plurality of corresponding power board current and voltage stabilization spaces based on the plurality of working environment information, and set voltage stabilization shadows corresponding to a plurality of target robots in the plurality of power board current and voltage stabilization spaces; A collection module, connected to the information setting module, for respectively determining the working environment information of the plurality of target robots, collecting the working information of the power boards of the plurality of target robots based on the monitoring points, and transmitting the working information to the corresponding current stabilization space of the power board according to the working environment information of the target robots; The voltage stabilization control module is connected to the acquisition module and is used to control the virtual shadow in the voltage stabilization shadow. The corresponding target robot is linearly adjusted through the voltage stabilization shadow and the puppet line to complete the current stabilization task of the power board.

[0005] In a preferred embodiment, the information setting module includes: An information acquisition unit, used to acquire a plurality of working environment information, wherein the working environment information includes the ambient temperature, ambient humidity and particle density of the target robot; A setting unit is used to formulate corresponding power board current stabilization spaces corresponding to multiple working environment information. Multiple voltage stabilization shadows are set in each power board current stabilization space, wherein the number of voltage stabilization shadows is the same as the number of target robots, and the multiple voltage stabilization shadows in each power board current stabilization space are isolated from each other.

[0006] In a preferred embodiment, the setting unit includes: A binding unit, used to configure corresponding cloud servers for binding corresponding to multiple working environment information, so as to obtain a current stabilization space of a power board; The first construction unit is used to divide the space in the cloud server to obtain multiple subspaces, correspond the target robot to the subspaces one by one and bind them, set a power board model corresponding to the target robot in the subspace, set multiple adjustment intervals corresponding to the power board model, set corresponding adjustment points in the multiple adjustment intervals, connect puppet lines to the adjustment points in the multiple adjustment intervals respectively, and use the power board model, the adjustment intervals, the adjustment points and the puppet lines as voltage stabilization shadows; The second construction unit is used to set corresponding mapping membranes in the subspace corresponding to the multiple pressure-stabilizing shadows, wherein the mapping membrane is composed of a plurality of unit storage spaces having the same number as the target robot, and connects the pressure-stabilizing shadows with the corresponding unit storage spaces.

[0007] In a preferred embodiment, the first building block comprises: A marking unit, used to set a plurality of adjustment intervals corresponding to the power board model, set corresponding adjustment types for the plurality of adjustment intervals, and perform parameter marking on the adjustment intervals according to the adjustment types; The connection unit is used to set a single adjustment point in a single adjustment interval, and the adjustment point is used to move in the adjustment interval. A connected puppet line is set corresponding to the adjustment point, wherein the puppet line is composed of a fixed number of multiple puppet points connected in sequence, and the positional relationship between the multiple puppet points is fixed.

[0008] In a preferred embodiment, the acquisition module includes: A data acquisition unit is used to set a plurality of monitoring points on the power board of the target robot, and collect temperature data, current data and voltage data of the power board of the target robot as working information through the monitoring points; A transmission unit, used to determine the actual working environment information of the target robot, and upload the working information to the current stabilization space of the power board of the cloud server corresponding to the working environment information; The adjustment determination unit is used to obtain the control amount that needs to be adjusted for the target robot under the working environment information.

[0009] In a preferred embodiment, the voltage stabilization control module includes: An information determination unit is used to determine the adjustment type according to the control amount that needs to be adjusted of the target robot, control the adjustment point in the voltage stabilization shadow according to the adjustment type and the control amount that needs to be adjusted, and obtain the virtual movement process of the adjustment point in the adjustment interval; A replication unit, used for replicating the virtual movement process of the adjustment point on the mapping film, and performing a comprehensive analysis on the virtual movement processes in all the mapping films in a single cloud server to obtain a target movement process; The regulating unit is used to establish a communication connection between the regulating point and the target robot through a puppet line, and to linearly regulate the load of the target robot according to the target movement process of the regulating point.

[0010] In a preferred embodiment, the replication unit comprises: The computing unit is used to enable comprehensive analysis actions for each newly copied virtual move process in all mapping membranes of a single cloud server, specifically: ,in, The control quantity that needs to be adjusted is the adjustment point. is the number of times the virtual movement process is replicated in all mapping membranes in a single cloud server, The control amount that needs to be adjusted for the virtual movement process replication in the t-th mapping membrane, is the weight coefficient; The movement determination unit is used to control the movement of the corresponding adjustment point according to the control amount that needs to be adjusted at the adjustment point to obtain a target movement process.

[0011] In a preferred embodiment, the adjustment unit comprises: A mobile adjustment unit is used to drive the puppet line to move during the movement of the adjustment point. There are multiple control data planes at one end where the puppet line is connected to the target robot. The control data planes are provided with parameter marks that are the same as the adjustment interval. The load adjustment unit is used to adjust the power board of the target robot according to the movement of one end of the puppet line on the data plane when the puppet line moves, so that the end of the puppet line connected to the target robot will change its position on the data plane.

[0012] In the above technical solution, the technical effects and advantages provided by the present invention are: The present invention adjusts the power board of the target robot according to the movement process of one end of the puppet line on the data plane, can quickly adjust the load of the power board, has efficient response capability, and improves the safe operation of the target robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in the present invention. For ordinary technicians in this field, other drawings can also be obtained based on these drawings.

[0014] Figure 1 It is a system block diagram of the present invention. DETAILED DESCRIPTION

[0015] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0016] Example 1, please refer to Figure 1 As shown, the current voltage stabilization system of the power board of the collaborative robot in a complex environment described in this embodiment includes: An information setting module, used to determine a plurality of working environment information, formulate a plurality of corresponding power board current and voltage stabilization spaces based on the plurality of working environment information, and set voltage stabilization shadows corresponding to a plurality of target robots in the plurality of power board current and voltage stabilization spaces; A collection module, connected to the information setting module, for respectively determining the working environment information of the plurality of target robots, collecting the working information of the power boards of the plurality of target robots based on the monitoring points, and transmitting the working information to the corresponding current stabilization space of the power board according to the working environment information of the target robots; The voltage stabilization control module is connected to the acquisition module and is used to control the virtual shadow in the voltage stabilization shadow. The corresponding target robot is linearly adjusted through the voltage stabilization shadow and the puppet line (linear adjustment means gradual adjustment according to the movement process of the puppet line on the control data plane. The end of the puppet line connected to the control data plane has a moving process. During the movement, different parameters will be gradually adjusted to the target value, so this process is regarded as linear adjustment) to complete the current stabilization task of the power board; The power board current stabilization space can determine the load adjustment of the target robot power board according to the working environment information. In each power board current stabilization space, a voltage stabilization shadow corresponding to the number of target robots is set. The voltage stabilization shadow is an analysis of the environment and power load adjustment of the corresponding target robot. The target robot can be subsequently loaded with high precision through the voltage stabilization shadow, and has efficient response capability. The power board of the target robot is adjusted according to the movement process of one end of the puppet line on the data plane, which can realize rapid adjustment of the power board load, has efficient response capability, and improves the safe operation of the target robot.

[0017] In one embodiment, the information setting module includes: An information acquisition unit, used to acquire a plurality of working environment information, wherein the working environment information includes the ambient temperature, ambient humidity and particle density of the target robot; A setting unit is used to formulate corresponding power board current and voltage stabilization spaces corresponding to multiple working environment information, and multiple voltage stabilization shadows are set in each power board current and voltage stabilization space, wherein the number of the voltage stabilization shadows is the same as the number of target robots, and the multiple voltage stabilization shadows in each power board current and voltage stabilization space are isolated from each other; It should be noted that multiple ambient temperatures, multiple ambient humidity and particle densities in multiple environments where multiple target robots are located are obtained. For example, the target robot will move the work location, and different work locations have different work environment information. When there are two work locations, the temperature at one of the work locations is 40 degrees Celsius, the ambient humidity in the air is: relative humidity is 60%, and the particle density in the environment is 200 µg / m³; the other work location has other work environment information. Since the working environment will affect the current and voltage of the robot's power board, it is necessary to adjust the load of the robot power board according to the working environment, which can ensure the normal operation of the robot and avoid damage to the robot power board. Then, corresponding power board current stabilization spaces are configured corresponding to the multiple work environment information. Here, the power board current stabilization space can determine the load adjustment of the target robot power board according to the work environment information. In each power board current stabilization space, a voltage stabilization shadow corresponding to the number of target robots is set. The voltage stabilization shadow is an analysis of the environment and power load adjustment of the corresponding target robot, and can subsequently perform high-precision load adjustment on the target robot through the voltage stabilization shadow, with efficient response capability.

[0018] In one embodiment, the setting unit includes: A binding unit, used to configure corresponding cloud servers for binding corresponding to multiple working environment information, so as to obtain a current stabilization space of a power board; The first construction unit is used to divide the space in the cloud server to obtain multiple subspaces, correspond the target robot to the subspaces one by one and bind them, set a power board model corresponding to the target robot in the subspace, set multiple adjustment intervals corresponding to the power board model, set corresponding adjustment points in the multiple adjustment intervals, connect puppet lines to the adjustment points in the multiple adjustment intervals respectively, and use the power board model, the adjustment intervals, the adjustment points and the puppet lines as voltage stabilization shadows; A second construction unit is used to respectively set corresponding mapping membranes corresponding to the plurality of pressure stabilizing shadows in the subspace, wherein the mapping membrane is composed of a plurality of unit storage spaces having the same number as the target robot, and connects the pressure stabilizing shadows with the corresponding unit storage spaces; It should be noted that there are multiple types of working environment information, so the target robot needs to have different load adjustment response strategies when entering different working environment information. Therefore, in order to make adaptive adjustments to the working environment information, it is necessary to configure the corresponding cloud server corresponding to the working environment information. The cloud server and the corresponding working environment information are in an information binding relationship. After that, the power board current voltage stabilization space corresponding to the working environment information is obtained, and the voltage stabilization intelligent adjustment of the target robot can be completed in this space, which can ensure the stability and safety of the subsequent work of the target robot. The specific setting is: in the cloud server, multiple subspaces are obtained by dividing according to the number of target robots, Each cloud server needs to correspond to all target robots. The subspace here can carry all the control behaviors of the corresponding target robot. Therefore, the target robot and the subspace are matched and bound one by one. The subspace runs and processes data related to the corresponding target robot. Then, the power board model of the target robot is constructed, and the power board model corresponding to the target robot is stored in the corresponding subspace. The power board model exists as a carrier. Multiple adjustment intervals are set in the subspace corresponding to the power board model. Each of the multiple adjustment intervals represents a different parameter type, such as the adjustment of the current or voltage of the power board. Different parameters in each adjustment interval The position represents different parameter values. Therefore, for subsequent adjustments, corresponding adjustment points are set for each adjustment interval. Each adjustment interval has an adjustment point, and then puppet lines are set corresponding to multiple adjustment points. It can be used to adjust the power board load of the actual corresponding target robot through the adjustment points and puppet lines, so as to stabilize the current of the power board of the target robot. In order to better adjust multiple target robots more accurately, it is necessary to integrate the load adjustment information of all target robots under a single working environment information and then analyze it, so that the adjustment parameters of all target robots can be adaptively integrated and reversely used for all target robots. The robot continues to adjust as a decision, and the specific settings are: corresponding mapping membranes are set in the subspace corresponding to multiple voltage stabilization shadows, and multiple unit storage spaces are combined to form a mapping membrane. The number of unit storage spaces is the same as the number of voltage stabilization shadows. The mapping membrane and the voltage stabilization shadow correspond to each other and are connected one by one. After that, the voltage stabilization shadow can copy the movement process of its own adjustment point to the mapping membrane. In the subsequent process, the movement process of the adjustment point can be comprehensively analyzed between the mapping membranes corresponding to the single working environment information, and then the reverse feedback is realized to the actual adjustment process of the adjustment point. The movement process of the adjustment point represents the load adjustment process of the target robot power board. The decision is completed through PID algorithm control, specifically: ,in, is the proportionality coefficient, is the integration coefficient, is the differential coefficient, is the control amount that needs to be adjusted, is the error between the current and the target current, is the error change rate between the current and target current, As the error time increment, the control quantity that needs to be adjusted can be obtained, including duty cycle or reference voltage, and then according to The output data is loaded on the adjustment point, and the corresponding value is found in the adjustment range according to the adjustment point, and then the load of the actual target robot is efficiently adjusted through the puppet line, so that the power board of the target robot can quickly adapt to the environment.

[0019] In one embodiment, the first building block comprises: A marking unit, used to set a plurality of adjustment intervals corresponding to the power board model, set corresponding adjustment types for the plurality of adjustment intervals, and perform parameter marking on the adjustment intervals according to the adjustment types; A connection unit is used to set a single adjustment point in a single adjustment interval, the adjustment point is used to move in the adjustment interval, and a connected puppet line is set corresponding to the adjustment point, wherein the puppet line is composed of a fixed number of multiple puppet points connected in sequence, and the positional relationship between the multiple puppet points is fixed; It should be noted that a plurality of adjustment intervals are set corresponding to the power board model, wherein the plurality of adjustment intervals are all data bearing areas, which can record the marked parameters and specific values ​​in the data bearing area, and can satisfy the movement of the adjustment point in the data bearing area. The adjustment point is a movable port, which can move in the data bearing area and be connected to the target robot through a puppet line, and can be quickly adjusted. The puppet line is fixed by the puppet point, so that the target robot can be quickly adjusted and controlled, thereby improving the target robot's ability to adapt to the environment.

[0020] In one embodiment, the acquisition module includes: A data acquisition unit is used to set a plurality of monitoring points on the power board of the target robot, and collect temperature data, current data and voltage data of the power board of the target robot as working information through the monitoring points; A transmission unit, used to determine the actual working environment information of the target robot, and upload the working information to the current stabilization space of the power board of the cloud server corresponding to the working environment information; An adjustment determination unit, used for obtaining a control amount that needs to be adjusted for the target robot under working environment information; It should be noted that multiple detection points are set on the power board of the target robot, which can be used to monitor the temperature data, current data and voltage data of the power board as working information. The monitoring points are various sensors corresponding to the working information. The collected working information is then transmitted to the current and voltage stabilization space of the power board of the cloud server corresponding to the working environment information of the target robot through the monitoring points, and then the control amount that needs to be adjusted for the target robot is obtained under the working environment information. , can quickly calculate the parameters that need to be adjusted.

[0021] In one embodiment, the voltage stabilization control module includes: An information determination unit is used to determine the adjustment type according to the control amount that needs to be adjusted of the target robot, control the adjustment point in the voltage stabilization shadow according to the adjustment type and the control amount that needs to be adjusted, and obtain the virtual movement process of the adjustment point in the adjustment interval; A replication unit, used for replicating the virtual movement process of the adjustment point on the mapping film, and performing a comprehensive analysis on the virtual movement processes in all the mapping films in a single cloud server to obtain a target movement process; An adjustment unit, used for the adjustment point to communicate with the target robot through a puppet line, and to linearly adjust the load of the target robot according to the target movement process of the adjustment point; In one embodiment, the replication unit comprises: The computing unit is used to enable comprehensive analysis actions for each newly copied virtual move process in all mapping membranes of a single cloud server, specifically: ,in, The control quantity that needs to be adjusted is the adjustment point. is the number of times the virtual movement process is replicated in all mapping membranes in a single cloud server, The control amount that needs to be adjusted for the virtual movement process replication in the t-th mapping membrane, is the weight coefficient; A movement determination unit, used for controlling and moving the corresponding adjustment point according to the control amount that needs to be adjusted at the adjustment point to obtain a target movement process; In one embodiment, the adjusting unit comprises: A mobile adjustment unit is used to drive the puppet line to move during the movement of the adjustment point. There are multiple control data planes at one end where the puppet line is connected to the target robot. The control data planes are provided with parameter marks that are the same as the adjustment interval. A load regulating unit, which is used to adjust the power board of the target robot according to the movement of one end of the puppet line on the data plane when the puppet line moves, so that the end of the puppet line connected to the target robot will change its position on the data plane; It should be noted that, by determining the adjustment type according to the control amount that needs to be adjusted for the target robot, the adjustment range of the corresponding adjustment type can be obtained. The adjustment point in the voltage stabilization shadow is controlled according to the adjustment type and the control amount that needs to be adjusted, and the virtual movement process of the adjustment point in the adjustment range is obtained. The virtual movement process is the process in which the adjustment point is temporarily disconnected from the puppet point and moves on its own. Disconnection from the puppet line means that the puppet line will not be affected. The movement process is then mapped (copied) on the mapping membrane, and the mapping membranes corresponding to all target robots in a single cloud server are comprehensively analyzed to obtain the target movement process. Multiple mapping membranes can communicate with each other. After that, for each newly copied movement process added to all mapping membranes of a single cloud server, a comprehensive analysis action is enabled. Since it is under the same working environment information, the degree of adjustment can be balanced. Finally, the corresponding adjustment point is controlled to move according to the control amount that needs to be adjusted for the adjustment point, and the target movement process is obtained. The target movement process is based on After adjustment; then the adjustment point is actually moved according to the target movement process, and the puppet line can be driven to move during the movement of the adjustment point. There are multiple control data surfaces at the end where the puppet line is connected to the target robot (the control data surface is the construction of the receiving end of the target robot), and the control data surface is provided with a parameter mark that is the same as the adjustment interval. Then, when the puppet line moves, the end where the puppet line is connected to the target robot will change its position on the data surface. The power board of the target robot is adjusted according to the movement process of one end of the puppet line on the data surface, which can realize the rapid adjustment of the power board load, has efficient response capability, and improves the safe operation of the target robot.

[0022] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art who is familiar with the present technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

Claims

1. Based on the complex environment collaborative robot power board current stabilization system, it is characterized by: include: An information setting module, used to determine a plurality of working environment information, formulate a plurality of corresponding power board current and voltage stabilization spaces based on the plurality of working environment information, and set voltage stabilization shadows corresponding to a plurality of target robots in the plurality of power board current and voltage stabilization spaces; A collection module, connected to the information setting module, for respectively determining the working environment information of the plurality of target robots, collecting the working information of the power boards of the plurality of target robots based on the monitoring points, and transmitting the working information to the corresponding current stabilization space of the power board according to the working environment information of the target robots; The voltage stabilization control module is connected to the acquisition module and is used to control the virtual shadow in the voltage stabilization shadow. The corresponding target robot is linearly adjusted through the voltage stabilization shadow and the puppet line to complete the current stabilization task of the power board.

2. The current stabilizing system for power supply board of collaborative robot in complex environment according to claim 1 is characterized by: The information setting module includes: An information acquisition unit, used to acquire a plurality of working environment information, wherein the working environment information includes the ambient temperature, ambient humidity and particle density of the target robot; A setting unit is used to formulate corresponding power board current stabilization spaces corresponding to multiple working environment information. Multiple voltage stabilization shadows are set in each power board current stabilization space, wherein the number of voltage stabilization shadows is the same as the number of target robots, and the multiple voltage stabilization shadows in each power board current stabilization space are isolated from each other.

3. The current stabilizing system for power supply board of collaborative robot in complex environment according to claim 1 is characterized by: The setting unit comprises: A binding unit, used to configure corresponding cloud servers for binding corresponding to multiple working environment information, so as to obtain a current stabilization space of a power board; The first construction unit is used to divide the space in the cloud server to obtain multiple subspaces, correspond the target robot to the subspaces one by one and bind them, set a power board model corresponding to the target robot in the subspace, set multiple adjustment intervals corresponding to the power board model, set corresponding adjustment points in the multiple adjustment intervals, connect puppet lines to the adjustment points in the multiple adjustment intervals respectively, and use the power board model, the adjustment intervals, the adjustment points and the puppet lines as voltage stabilization shadows; The second construction unit is used to set corresponding mapping membranes in the subspace corresponding to the multiple pressure-stabilizing shadows, wherein the mapping membrane is composed of a plurality of unit storage spaces having the same number as the target robot, and connects the pressure-stabilizing shadows with the corresponding unit storage spaces.

4. The current stabilizing system for power supply board of collaborative robot in complex environment according to claim 3 is characterized by: The first building block comprises: A marking unit, used to set a plurality of adjustment intervals corresponding to the power board model, set corresponding adjustment types for the plurality of adjustment intervals, and perform parameter marking on the adjustment intervals according to the adjustment types; The connection unit is used to set a single adjustment point in a single adjustment interval, and the adjustment point is used to move in the adjustment interval. A connected puppet line is set corresponding to the adjustment point, wherein the puppet line is composed of a fixed number of multiple puppet points connected in sequence, and the positional relationship between the multiple puppet points is fixed.

5. The current stabilizing system for power supply board of collaborative robot in complex environment according to claim 1 is characterized by: The acquisition module comprises: A data acquisition unit is used to set a plurality of monitoring points on the power board of the target robot, and collect temperature data, current data and voltage data of the power board of the target robot as working information through the monitoring points; A transmission unit, used to determine the actual working environment information of the target robot, and upload the working information to the current stabilization space of the power board of the cloud server corresponding to the working environment information; The adjustment determination unit is used to obtain the control amount that needs to be adjusted for the target robot under the working environment information.

6. The current stabilizing system for power supply board of collaborative robot in complex environment according to claim 1 is characterized by: The voltage stabilization control module comprises: An information determination unit is used to determine the adjustment type according to the control amount that needs to be adjusted of the target robot, control the adjustment point in the voltage stabilization shadow according to the adjustment type and the control amount that needs to be adjusted, and obtain the virtual movement process of the adjustment point in the adjustment interval; A replication unit, used for replicating the virtual movement process of the adjustment point on the mapping film, and performing a comprehensive analysis on the virtual movement processes in all the mapping films in a single cloud server to obtain a target movement process; The regulating unit is used to establish a communication connection between the regulating point and the target robot through a puppet line, and to linearly regulate the load of the target robot according to the target movement process of the regulating point.

7. The current stabilizing system for power supply board of a collaborative robot in a complex environment according to claim 6 is characterized by: The replication unit comprises: The computing unit is used to enable comprehensive analysis actions for each newly copied virtual move process in all mapping membranes of a single cloud server, specifically: ,in, The control quantity that needs to be adjusted is the adjustment point. is the number of times the virtual movement process is replicated in all mapping membranes in a single cloud server, The control amount that needs to be adjusted for the virtual movement process replication in the t-th mapping membrane, is the weight coefficient; The movement determination unit is used to control the movement of the corresponding adjustment point according to the control amount that needs to be adjusted at the adjustment point to obtain a target movement process.

8. The current stabilizing system for power supply board of collaborative robot in complex environment according to claim 1 is characterized by: The adjustment unit comprises: A mobile adjustment unit is used to drive the puppet line to move during the movement of the adjustment point. There are multiple control data planes at one end where the puppet line is connected to the target robot. The control data planes are provided with parameter marks that are the same as the adjustment interval. The load adjustment unit is used to adjust the power board of the target robot according to the movement of one end of the puppet line on the data plane when the puppet line moves, so that the end of the puppet line connected to the target robot will change its position on the data plane.

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