CN108521157A - Robot and its charge control method and device, computer readable storage medium - Google Patents
Robot and its charge control method and device, computer readable storage medium Download PDFInfo
- Publication number
- CN108521157A CN108521157A CN201810438791.4A CN201810438791A CN108521157A CN 108521157 A CN108521157 A CN 108521157A CN 201810438791 A CN201810438791 A CN 201810438791A CN 108521157 A CN108521157 A CN 108521157A
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- Prior art keywords
- charge
- robot
- preset
- battery
- illumination
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Classifications
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
- H02J7/007—Regulation of charging or discharging current or voltage
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E60/00—Enabling technologies; Technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02E60/10—Energy storage using batteries
Abstract
This application discloses a kind of robots and its charge control method and device, computer readable storage medium, the robot charge control method to include：Detect whether preset charge condition meets；If preset charge condition meets, controls the robot and be moved to preset charge position, to be charged to the battery of the robot using solar energy.Robot and its charge control method provided by the present application and device, computer readable storage medium, are charged by making robot be moved to preset charge position, improve solar collection rate, and then improve the charge efficiency of robot.
Description
Technical field
The present invention relates to robotic technology field more particularly to a kind of robots and its charge control method and device, meter
Calculation machine readable storage medium storing program for executing.
Background technology
Robot (Robot) is the automatic installations for executing work.It can not only receive mankind commander, but also can run
The program of advance layout, can also be according to principle program action formulated with artificial intelligence technology.Its task is to assist or take
For the work of the mankind, such as production industry, construction industry, or dangerous work.
Currently, the robot using solar recharging is increasingly extensive, for example, sweeping robot can be with automatic storage on daytime too
Positive energy, is worked using energy storage at night.But the indoor lighting condition usually having many consumers is poor, leads to robot
Rechargeable solar battery is less efficient.
Invention content
In order to solve the above technical problem, the present invention provides a kind of robot and its charge control methods and device, meter
Calculation machine readable storage medium storing program for executing, can improve the charge efficiency of robot.
In order to reach the object of the invention, what the technical solution of the embodiment of the present invention was realized in：
An embodiment of the present invention provides a kind of robot charge control methods, including：
Detect whether preset charge condition meets；
If preset charge condition meets, control the robot and be moved to preset charge position, with using too
Sun can charge to the battery of the robot.
The embodiment of the present invention additionally provides a kind of computer readable storage medium, is deposited on the computer readable storage medium
One or more program is contained, one or more of programs can be executed by one or more processor, to realize such as
The step of above-described robot charge control method.
The embodiment of the present invention additionally provides a kind of robot battery charge controller, including processor and memory；
The processor is for executing the robot charging procedure stored in memory, to realize machine as described above
The step of people's charge control method.
The embodiment of the present invention additionally provides a kind of robot battery charge controller, including detection module and processing module,
In：
Detection module, for detecting whether preset charge condition meets, if preset charge condition meets, at notice
Manage module；
Processing module, the notice for receiving detection module control the robot and are moved to preset charge position,
To be charged to the battery of the robot using solar energy.
The embodiment of the present invention additionally provides a kind of robot, and the robot is using robot as described above charging control
Method processed charges.
Technical scheme of the present invention has the advantages that：
Robot and its charge control method provided by the invention and device, computer readable storage medium, by making machine
Device people is moved to preset charge position and charges, and improves solar collection rate, and then improves the charging effect of robot
Rate.
Description of the drawings
Attached drawing described herein is used to provide further understanding of the present invention, and is constituted part of this application, this hair
Bright illustrative embodiments and their description are not constituted improper limitations of the present invention for explaining the present invention.In the accompanying drawings：
Fig. 1 is a kind of flow diagram of robot charge control method of the embodiment of the present invention；
Fig. 2 is a kind of structural schematic diagram of robot battery charge controller of the embodiment of the present invention；
Fig. 3 is a kind of robot body surface texture schematic diagram of the embodiment of the present invention；
Wherein：300：Robot body；301：Solar film battery.
Specific implementation mode
To make the objectives, technical solutions, and advantages of the present invention clearer, below in conjunction with attached drawing to the present invention
Embodiment be described in detail.It should be noted that in the absence of conflict, in the embodiment and embodiment in the application
Feature mutually can arbitrarily combine.
One robot charge control method of embodiment
As shown in Figure 1, a machine according to the present invention people's charge control method, includes the following steps：
Step 101：Detect whether preset charge condition meets；
In the present embodiment, the preset charge condition includes at least one of：
Whether current time belongs to charge period；
Whether remaining capacity is less than preset low battery threshold value；
It is not currently in working condition, or is currently at working condition but remaining capacity cannot complete unfinished work
Make；
Current weather condition is preset chargeable weather.
Optionally, the preset chargeable weather is fine.
Optionally, the preset chargeable weather is warm and fine cloudy.
In the present embodiment, the method further includes：
Interface obtains the weather conditions on mobile terminal or server by radio communication.
In the present embodiment, the method further includes：
If there is unfinished work, low battery threshold value described in the electricity size adjust automatically needed for unfinished work.
Step 102：If preset charge condition meets, controls the robot and is moved to preset charge position,
To be charged to the battery of the robot using solar energy.
Step 103：If preset charge condition is unsatisfactory for, do not charge to the battery of robot.
It should be noted that since the intensity of illumination that different location obtains among one day may change over time larger area
Not, therefore, the present invention controls the robot and is moved to preset charge position, to select suitable charge position to robot
It charges, can preferably be charged to robot using solar energy.
In the present embodiment, the method further includes：
Before controlling the step of robot is moved to preset charge position, according to the charge period of setting and fill
The corresponding charge position of charge period corresponding to current time is determined as the preset charging by the correspondence of electric position
Position.
In the present embodiment, the charge period of the setting and the correspondence of charge position are established by the following method：
Charged area to be selected is divided into multiple charge positions, detects the illumination parameter and/or electricity of each charge position respectively
Pond charge parameter establishes the charging according to the illumination parameter value of each charge position detected and/or battery charging parameter value
The correspondence of period and the charge position.
Illustratively, a charge position can be the grid divided to charged area to be selected.
It should be noted that the correspondence of the present invention for establishing charge period and charge position, can detect
It before whether preset charge condition meets, i.e., is pre-established before charging process, detection process at this time is preferably selected
The weather such as fine, cloudy execute；Alternatively, can also filled before controlling the robot and being moved to preset charge position
It is established in electric process, current time illumination parameter and/or the optimal charge position of battery charging parameter should be selected to be filled at this time
Electricity.
In the present embodiment, the illumination parameter includes at least one of：Intensity of illumination, illumination initial time, illumination knot
The beam time.
In the present embodiment, the battery charging parameter includes at least one of：Charging current, charging rate.
For example, charged area to be selected is divided into 1st area of balcony, 2nd area of balcony, 3rd area of balcony, 1st area of master bedroom, 2nd area of master bedroom, master bedroom
3rd area, 1st area of secondary room, 2nd area of secondary room, 9,3rd area of secondary room grid, charge period is divided into 7 up to 8 when, 8 when 9,9 when 10,
10 when 11,11 when 12,12 when 13,13 when 14,14 when 15,15 when 16,16 when 17,
17 when 18 11 charge periods, the illumination parameter value detected in different charge periods according to each grid and/or battery
Charging parameter value, the charge period of foundation and the correspondence of charge position are as shown in table 1：
Table 1
In the present embodiment, the correspondence of the charge period and the charge position can automatically be learnt by robot
Obtain, in the automatic learning process of the robot, the robot current weather condition be preset chargeable weather and
When current time belongs to charge period, it is moved to the multiple charge position, detects and record the illumination parameter of each charge position
Value and/or battery charging parameter value, when establishing charging according to the illumination parameter value of each charge position and/or battery charging parameter value
The correspondence of section and charge position.
Optionally, to a certain charge period, the time interval packet for selecting illumination initial time and illumination end time to define
The charge period is included, and the maximum charge position of intensity of illumination is as the corresponding charge position of the charge period.
Optionally, to a certain charge period, select the time interval that current time and illumination end time define longest
Charge position is as the corresponding charge position of the charge period.
In other embodiments, above-mentioned correspondence can not also be set, and only a specified big region is as pre-
If charge position, such as balcony before window, searched out illumination place in the region by robot and charged.
In the present embodiment, the method further includes：
The long-range control instruction of interface starts to charge up or stops charging by radio communication.
It should be noted that shown long-range control instruction can come from the mobile terminals such as mobile phone, tablet computer or remote control
Device.
Two computer readable storage medium of embodiment
The embodiment of the present invention additionally provides a kind of computer readable storage medium, is deposited on the computer readable storage medium
One or more program is contained, one or more of programs can be executed by one or more processor, to realize such as
The step of robot charge control method described in any one of embodiment one.
Three robot battery charge controller of embodiment
The embodiment of the present invention additionally provides a kind of robot battery charge controller, including processor and memory, wherein：
The processor is for executing the robot charging procedure stored in memory, to realize as any in embodiment one
Described in robot charge control method the step of.
It should be noted that the robot battery charge controller can be arranged in robot interior, can also be arranged
Outside robot and network is interacted with robot by radio communication.
Example IV robot battery charge controller
As shown in Fig. 2, a machine according to the present invention people's battery charge controller, including detection module 201 and processing mould
Block 202, wherein：
Detection module 201, if preset charge condition meets, leads to for detecting whether preset charge condition meets
Know processing module 202；
Processing module 202, the notice for receiving detection module 201 control the robot and are moved to preset fill
Electric position, to be charged to the battery of the robot using solar energy.
In the present embodiment, before controlling the step of robot is moved to preset charge position, the processing mould
Block 202 is additionally operable to, according to the correspondence of the charge period of setting and charge position, by the charge period corresponding to current time
Corresponding charge position is determined as the preset charge position.
In the present embodiment, the correspondence of charge period and charge position that the processing module 202 is set, by following
Method is established：
Charged area to be selected is divided into multiple charge positions, detects the illumination parameter and/or electricity of each charge position respectively
Pond charge parameter establishes the charging according to the illumination parameter value of each charge position detected and/or battery charging parameter value
The correspondence of period and the charge position.
Specifically, a charge position can be the grid divided to charged area to be selected.
It, can be with it should be noted that the correspondence for establishing charge period and charge position of processing module 202 of the present invention
Before detecting preset charge condition and whether meeting, i.e., pre-established before charging process, detection process at this time is best
Selection is executed in the weather such as fine, cloudy；Alternatively, can also before controlling the robot and being moved to preset charge position,
It is established in charging process, current time illumination parameter and/or the optimal charge position of battery charging parameter should be selected at this time
It charges.
Further, the illumination parameter includes at least one of：Intensity of illumination, illumination initial time, illumination terminate
Time.
Further, the battery charging parameter includes at least one of：Charging current, charging rate.
For example, charged area to be selected is divided into 1st area of balcony, 2nd area of balcony, 3rd area of balcony, 1st area of master bedroom, 2nd area of master bedroom, master bedroom
3rd area, 1st area of secondary room, 2nd area of secondary room, 9,3rd area of secondary room grid, charge period is divided into 7 up to 8 when, 8 when 9,9 when 10,
10 when 11,11 when 12,12 when 13,13 when 14,14 when 15,15 when 16,16 when 17,
17 when 18 11 charge periods, the illumination parameter value detected in different charge periods according to each grid and/or battery
Charging parameter value, the charge period of foundation and the correspondence of charge position are as shown in table 1.
In the present embodiment, the correspondence of the charge period and the charge position can automatically be learnt by robot
Obtain, in the automatic learning process of the robot, the robot current weather condition be preset chargeable weather and
When current time belongs to charge period, it is moved to the multiple charge position, detects and record the illumination parameter of each charge position
Value and/or battery charging parameter value, when establishing charging according to the illumination parameter value of each charge position and/or battery charging parameter value
The correspondence of section and charge position.
Optionally, to a certain charge period, the time interval packet for selecting illumination initial time and illumination end time to define
The charge period is included, and the maximum charge position of intensity of illumination is as the corresponding charge position of the charge period.
Optionally, to a certain charge period, select the time interval that current time and illumination end time define longest
Charge position is as the corresponding charge position of the charge period.
In other embodiments, above-mentioned correspondence can not also be set, and only a specified big region is as pre-
If charge position, such as balcony, before window.Illumination place is searched out by robot in the region to charge.
In the present embodiment, the preset charge condition includes at least one of：
Whether current time belongs to charge period；
Whether remaining capacity is less than preset low battery threshold value；
It is not currently in working condition, or is currently at working condition but remaining capacity cannot complete unfinished work
Make；
Current weather condition is preset chargeable weather.
Optionally, the preset chargeable weather is fine.
In the present embodiment, the detection module 201 is additionally operable to, and interface obtains mobile terminal or server by radio communication
On weather conditions.
In the present embodiment, the detection module 201 is additionally operable to, if there is unfinished work, needed for unfinished work
Electricity size adjust automatically described in low battery threshold value.
Further, the processing module 202 is additionally operable to, and the long-range control instruction of interface starts by radio communication
Charging stops charging.
It should be noted that the long-range control instruction can come from the mobile terminals such as mobile phone, tablet computer or remote control
Device.
Five robot of embodiment
The embodiment of the present invention additionally provides a kind of robot, and the robot is used as described in any one of embodiment one
Robot charge control method charges.
Further, as shown in figure 3, solar film battery 301 is arranged in 300 surface of ontology of the robot.
Optionally, the solar film battery 301 is mixed on 300 surface of the robot body.For example, of the invention
To mix can be to be adhesive in solar film battery 301 on 300 surface of robot body or other arbitrary combination sides
Formula.
One of ordinary skill in the art will appreciate that all or part of step in the above method can be instructed by program
Related hardware is completed, and described program can be stored in computer readable storage medium, such as read-only memory, disk or CD
Deng.Optionally, all or part of step of above-described embodiment can also be realized using one or more integrated circuits, accordingly
Ground, the form that hardware may be used in each module/unit in above-described embodiment are realized, the shape of software function module can also be used
Formula is realized.The present invention is not limited to the combinations of the hardware and software of any particular form.
The foregoing is only a preferred embodiment of the present invention, is not intended to restrict the invention, for the skill of this field
For art personnel, the invention may be variously modified and varied.All within the spirits and principles of the present invention, any made by repair
Change, equivalent replacement, improvement etc., should all be included in the protection scope of the present invention.
Claims (14)
1. a kind of robot charge control method, which is characterized in that including：
Detect whether preset charge condition meets；
If preset charge condition meets, controls the robot and be moved to preset charge position, to utilize solar energy
It charges to the battery of the robot.
2. according to the method described in claim 1, it is characterized in that：
Before controlling the step of robot is moved to preset charge position, the method further includes, according to setting
The corresponding charge position of charge period corresponding to current time is determined as institute by the correspondence of charge period and charge position
State preset charge position.
3. according to the method described in claim 2, it is characterized in that, the charge period of the setting and the corresponding of charge position are closed
System, establishes by the following method：
Charged area to be selected is divided into multiple charge positions, detects the illumination parameter of each charge position respectively
And/or battery charging parameter, institute is established according to the illumination parameter value of each charge position detected and/or battery charging parameter value
State the correspondence of charge period and the charge position.
4. according to the method described in claim 3, it is characterized in that, the illumination parameter includes at least one of：Illumination is strong
Degree, illumination initial time, illumination end time.
5. according to the method described in claim 3, it is characterized in that, the battery charging parameter includes at least one of：It fills
Electric size of current, charging rate.
6. according to the method described in claim 2, it is characterized in that, the charge period of the setting and the corresponding of charge position are closed
System is automatically learned by robot, and in the automatic learning process of the robot, the robot is in current weather condition
When belonging to charge period for preset chargeable weather and current time, multiple charge positions are moved to, detects and records
The illumination parameter value and/or battery charging parameter value of each charge position are joined according to the illumination of each charge position
Numerical value and/or battery charging parameter value establish the correspondence of the charge period and charge position.
7. according to the method described in claim 1, it is characterized in that, the preset charge condition includes at least one of：
Whether current time belongs to charge period；
Whether remaining capacity is less than preset low battery threshold value；
It is not currently in working condition, or is currently at working condition but remaining capacity cannot complete unfinished work；
Current weather condition is preset chargeable weather.
8. the method according to the description of claim 7 is characterized in that the method further includes：Interface obtains by radio communication
Weather conditions on mobile terminal or server.
9. the method according to the description of claim 7 is characterized in that the method further includes：If there is unfinished work, according to
Low battery threshold value described in electricity adjust automatically needed for unfinished work.
10. a kind of computer readable storage medium, which is characterized in that on the computer readable storage medium storage there are one or
The multiple programs of person, one or more of programs can be executed by one or more processor, with realize as claim 1 to
The step of robot charge control method described in any one of 9.
11. a kind of robot battery charge controller, which is characterized in that including processor and memory；
The processor is for executing the robot charging procedure stored in memory, to realize as any in claim 1 to 9
Described in robot charge control method the step of.
12. a kind of robot, which is characterized in that using charge control side of robot as claimed in any one of claims 1-9 wherein
Method charges.
13. robot according to claim 12, which is characterized in that the body surface setting solar energy of the robot is thin
Film battery.
14. a kind of robot battery charge controller, which is characterized in that including detection module and processing module, wherein：
Detection module, for detecting whether preset charge condition meets, if preset charge condition meets, notifier processes mould
Block；
Processing module, the notice for receiving detection module control the robot and are moved to preset charge position, with profit
It is charged to the battery of the robot with solar energy.
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| CN201810438791.4A CN108521157A (en) | 2018-05-09 | 2018-05-09 | Robot and its charge control method and device, computer readable storage medium |
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Family
ID=63430193
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| SE2251085A1 (en) * | 2022-09-19 | 2024-02-13 | Husqvarna Ab | Method and system for operating a solar robot |
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Application publication date: 20180911 |