CN108933306A - A kind of charging method, device and intelligent robot - Google Patents
A kind of charging method, device and intelligent robot Download PDFInfo
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- CN108933306A CN108933306A CN201710439698.0A CN201710439698A CN108933306A CN 108933306 A CN108933306 A CN 108933306A CN 201710439698 A CN201710439698 A CN 201710439698A CN 108933306 A CN108933306 A CN 108933306A
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- Prior art keywords
- charging
- charge mode
- itself
- charge
- intelligent robot
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01M—PROCESSES OR MEANS, e.g. BATTERIES, FOR THE DIRECT CONVERSION OF CHEMICAL ENERGY INTO ELECTRICAL ENERGY
- H01M10/00—Secondary cells; Manufacture thereof
- H01M10/42—Methods or arrangements for servicing or maintenance of secondary cells or secondary half-cells
- H01M10/44—Methods for charging or discharging
-
- 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
The embodiment of the invention provides a kind of charging method, device and intelligent robots.This method is applied to intelligent robot, and this method includes：Determine that itself is current whether in task idle state；If itself being currently at task idle state, determine whether current time is preset operating time point；If so, executing charging operations with first kind charge mode；If not, executing charging operations with the second class charge mode, wherein the charge power under the second class charge mode is less than the charge power under first kind charge mode.As it can be seen that this programme, which preferably avoids, just executes charging operations damage caused by the performance of the battery of intelligent robot when electricity exhausts in the prior art.
Description
Technical field
The present invention relates to robotic technology fields, more particularly to a kind of charging method, device and intelligent robot.
Background technique
In general, including multiple functional components in intelligent robot, in practical work process, these functional components need
The very more electricity of consumption.When electricity will exhaust, intelligent robot can execute charging operations, in this way can be to intelligent robot
The performance of battery cause very big influence.
Therefore, how avoiding electricity, just execution charging operations cause the performance of the battery of intelligent robot when will exhaust
Influence be a urgent problem to be solved to those skilled in the art.
Summary of the invention
The embodiment of the present invention is designed to provide a kind of charging method, device and intelligent robot, to be effectively prevented from
Charging operations influence caused by the performance of the battery of intelligent robot is just executed when electricity will exhaust.
The embodiment of the invention provides a kind of charging methods, are applied to intelligent robot, the method includes：
Determine that itself is current whether in task idle state；
If itself being currently at the task idle state, determine whether current time is preset operating time point；
If so, executing charging operations with first kind charge mode；
If not, executing charging operations with the second class charge mode, wherein the charging function under the second class charge mode
Rate is less than the charge power under the first kind charge mode.
In a kind of specific embodiment of the embodiment of the present invention, whether the determination itself is current is in task free time shape
State, including：
Judge that itself is not present and is currently running and waits whether the duration of the task of operation is greater than preset first duration threshold
Value；
If it is, showing itself to be currently at task idle state.
In a kind of specific embodiment of the embodiment of the present invention, the method also includes：
Before executing corresponding charging operations, judge current time and itself the last time receive phonetic order when
Whether the duration between quarter is greater than preset second duration threshold value；
If it is, executing corresponding charging operations.
In a kind of specific embodiment of the embodiment of the present invention, the method also includes：
Before executing corresponding charging operations, judge whether itself current remaining capacity is less than preset charge capacity
Threshold value；
If it is, executing corresponding charging operations.
In a kind of specific embodiment of the embodiment of the present invention, the method also includes：
In the case where determining current time not is preset operating time point, charge inquiry information is issued；
Response message is not received issuing in the preset time period after the charge inquiry information, alternatively, issuing institute
The feelings for carrying the charging instruction information of the second class charge mode are received in preset time period after stating charge inquiry information
Under condition, described the step of charging operations are executed with the second class charge mode is executed.
In a kind of specific embodiment of the embodiment of the present invention, the method also includes：
The first kind charge mode is carried issuing to receive in the preset time period after the charge inquiry information
In the case where charging instruction information, described the step of charging operations are executed with first kind charge mode is executed.
The embodiment of the invention also provides a kind of charging units, are applied to intelligent robot, and described device includes：
First determining module, for determining that itself is current whether in task idle state；
Second determining module, for the definitive result of first determining module be in the case where, when determining current
Whether carve is preset operating time point；If so, the first charging module of triggering, if not, the second charging module of triggering；
First charging module, for executing charging operations with first kind charge mode；
Second charging module, for executing charging operations with the second class charge mode, wherein the second class charge mode
Under charge power be less than the first kind charge mode under charge power.
In a kind of specific embodiment of the embodiment of the present invention, first determining module is specifically used for：
Judge that itself is not present and is currently running and waits whether the duration of the task of operation is greater than preset first duration threshold
Value；If it is, showing itself to be currently at task idle state.
In a kind of specific embodiment of the embodiment of the present invention, described device further includes：
First judgment module, for before executing corresponding charging operations, judging current time and itself the last time
Whether the duration between at the time of receiving phonetic order is greater than preset second duration threshold value；If it is, triggering is filled accordingly
Electric module.
In a kind of specific embodiment of the embodiment of the present invention, described device further includes：
Second judgment module, for whether judging itself current remaining capacity before executing corresponding charging operations
Less than preset charge capacity threshold value；If it is, triggering corresponding charging module.
In a kind of specific embodiment of the embodiment of the present invention, described device further includes：
Sending module, for issuing charge inquiry in the case where determining current time not is preset operating time point
Information；
First trigger module, for not receiving response letter in the preset time period after the sending charge inquiry information
Breath, alternatively, carrying the second class charge mode issuing to receive in the preset time period after the charge inquiry information
In the case where charging instruction information, second charging module is triggered.
In a kind of specific embodiment of the embodiment of the present invention, described device further includes：
Second trigger module, for being received described in carrying in the preset time period after the sending charge inquiry information
In the case where the charging instruction information of first kind charge mode, first charging module is triggered.
The embodiment of the invention also provides a kind of intelligent robots, including：
Processor, memory, communication interface and bus；
The processor, the memory are connected by the bus with the communication interface and complete mutual lead to
Letter；
The memory stores executable program code；
The processor is run by reading the executable program code stored in the memory can be performed with described
The corresponding program of program code, to be used for：
Determine that itself is current whether in task idle state；
If itself being currently at the task idle state, determine whether current time is preset operating time point；
If so, executing charging operations with first kind charge mode；
If not, executing charging operations with the second class charge mode, wherein the charging function under the second class charge mode
Rate is less than the charge power under the first kind charge mode.
In the present solution, when detecting that intelligent robot will go to determine current when itself being currently at task idle state
Whether the moment is preset operating time point.If it is determined that result be it is yes, this illustrate current time be preset intelligence machine
The working time of people, user may issue work order to intelligent robot at any time；Therefore, intelligent robot can be with quick
Charge mode executes charging operations, with relatively quickly that the battery of itself is fully charged, thus in the work of subsequently received user
It is preferably user service when instructing.If it is determined that result be it is no, it is preset intelligent machine that this, which illustrates current time not,
A possibility that working time of device people, user issues work order to intelligent robot in a short time, is very small；Therefore, intelligence
Robot can execute charging operations with slow charging mode, to charge for the battery of intelligent robot, also, avoid the battery
It is damaged, to extend the service life of the battery.
It can easily be seen that if intelligent robot carries out charging operations in the present solution, being in task idle state, and
And whether intelligent robot can be also that preset operating time point determines corresponding charge mode according to current time, and therefore, we
Case, which preferably avoids when electricity exhausts in the prior art, just to be executed charging operations and causes to the performance of the battery of intelligent robot
Damage.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention for those of ordinary skill in the art without creative efforts, can be with
It obtains other drawings based on these drawings.
Fig. 1 is a kind of flow chart of charging method provided by the embodiment of the present invention；
Fig. 2 is a kind of another flow chart of charging method provided by the embodiment of the present invention；
Fig. 3 is a kind of structural block diagram of charging unit provided by the embodiment of the present invention；
Fig. 4 is a kind of structural schematic diagram of intelligent robot provided by the embodiment of the present invention.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
Of the existing technology in order to solve the problems, such as, the embodiment of the invention provides a kind of charging method, device and intelligence
Robot.
A kind of charging method is provided for the embodiments of the invention first below to be illustrated.
It should be noted that a kind of charging method provided by the embodiment of the present invention is applied to intelligent robot.
Referring to Fig. 1, a kind of flow chart of charging method provided by the embodiment of the present invention is shown in figure.As shown in Figure 1,
This method may include steps of：
S101 determines that itself is current whether in task idle state；If so, executing S102.
It should be noted that intelligent robot determines itself current specific implementation form for whether being in task idle state
Multiplicity carries out citing introduction below.
In a kind of specific embodiment of the embodiment of the present invention, determine whether itself is currently in task idle state,
May include：
Judge that itself is not present and is currently running and waits whether the duration of the task of operation is greater than preset first duration threshold
Value；
If it is, showing itself to be currently at task idle state.
Wherein, the first duration threshold value can be 0 second, 30 seconds, 1 minute or 5 minutes, and certainly, the first duration threshold value takes
Value is not limited thereto, and can specifically be determined according to the actual situation, the present embodiment does not do any restriction to this.
It should be noted that the usage scenario of intelligent robot can there are many.Specifically, the use field of intelligent robot
Scape may include：It nurses and accompanies scene, article transmission and lead scene, window services scene etc..
In general, intelligent robot can obtain the phonetic order of user's sending.In this way, intelligent robot can be to obtaining
The phonetic order obtained carries out semantics recognition, to determine the corresponding control logic of semanteme identified, wherein different control logics
It can be predetermined for different usage scenarios.In this way, the corresponding control logic of semanteme for determining to identify it
Afterwards, the targeted usage scenario of the control logic determined can be determined as currently used scene by intelligent robot, then, when
Preceding usage scenario just is successfully determined out.
It is emphasized that intelligent robot can also using other do not depend on user sending phonetic order by the way of come
Determine that currently used scene, concrete mode can determine that this is no longer going to repeat them according to the actual situation.
Assuming that the currently used scene that intelligent robot is determined is that article transmits and lead scene.It is understood that
Intelligent robot mainly executes the transmission of article in the case where article transmits and lead scene and leads operation.In general, intelligent machine
Device people can detect designated position with the presence or absence of article to be transmitted by modes such as infrared detections.If detecting that designated position is deposited
In article to be transmitted, then, intelligent robot can create at itself and store the task queue for each article to be transmitted.It connects
Get off, intelligent robot can execute corresponding to be transmitted for each task queue according to the sequencing of creation task queue
The transmission of article and lead operation.Later, intelligent robot can detecte for the corresponding article to be transmitted of each task queue
Transmit and lead whether operation successfully completes.
If it is judged that be it is no, this illustrate intelligent robot there is currently be currently running or wait operation appoint
Business, then, intelligent robot can determine that itself is currently not in task idle state.Therefore, intelligent robot is without holding
The subsequent S102 of row.
On the contrary, if it is judged that be it is yes, this illustrates that intelligent robot is to be shipped there is currently no being currently running or waiting
Capable task.If the duration that being currently running and waiting operation of the task is not present in intelligent robot is greater than the first duration threshold
Value, then, intelligent robot, which can determine, itself is currently at task idle state.Therefore, intelligent robot will continue to execute
Subsequent S102.
S102 determines whether current time is preset operating time point；If so, S103 is executed, if not, executing
S104。
Wherein, preset operating time point is as preset, working time of intelligent robot.Since intelligent robot has
Therefore a variety of usage scenarios can set corresponding preset operating time point in advance for each usage scenario, and use field for each
Corresponding relationship between scape and corresponding preset operating time point is stored in intelligent robot.
In this way, intelligent robot can be according to itself storage after determining itself to be currently at task idle state
Above-mentioned corresponding relationship determines the corresponding preset operating time point of currently used scene, and judges whether current time is determining
Preset operating time point out.
It is pointed out that the corresponding preset operating time point of each usage scenario can be identical, such as is 9：00 to 17：
Any moment between 00, certainly, the corresponding preset operating time point of each usage scenario can not also be identical, this is all feasible
's.
S103 executes charging operations with first kind charge mode.
S104 executes charging operations with the second class charge mode, wherein the charge power under the second class charge mode is less than
Charge power under first kind charge mode.
It should be noted that intelligent robot can be with pre-set two classes charge mode, respectively first kind charging mould
Formula and the second class charge mode, wherein the charge power under the second class charge mode is less than the charging under first kind charge mode
Power.As it can be seen that in comparison, first kind charge mode may be considered fast charge mode, the second class charge mode can be with
It is considered slow charging mode.
It should be pointed out that the intelligence that the charging operations of intelligent robot can match by one with the intelligent robot
Charging equipment realizes that the intelligent charge equipment may be mounted at a specified region, also, can deposit in the intelligent charge equipment
Contain the corresponding charge power of fast charge mode and the corresponding charge power of slow charging mode.
If intelligent robot determines that current time is preset operating time point, at this moment, intelligent machine by executing S102
Device people can move to the specified region first to be electrically connected with intelligent charge equipment, and later, intelligent robot can be filled to intelligence
Electric equipment, which is sent, carries first kind charge mode, the i.e. charge request of fast charge mode.In this way, receiving the charge request
Afterwards, intelligent charge equipment can by itself being electrically connected between intelligent robot, and with itself storage, fast charge mode
Corresponding charge power is intelligent robot charging.It can easily be seen that intelligent robot is filled with fast charge mode execution
Electrically operated, therefore, the intelligent robot fully charged required time is relatively short.
On the contrary, if intelligent robot determines that current time is not preset operating time point by executing S102, this
When, intelligent robot can move to specified region first to be electrically connected with intelligent charge equipment, and later, intelligent robot can be to
Intelligent charge equipment, which is sent, carries the second class charge mode, the i.e. charge request of slow charging mode.In this way, being filled receiving this
After electricity request, intelligent robot can by itself being electrically connected intelligent robot between, and stored with itself, at a slow speed charge
The corresponding charge power of mode is intelligent robot charging.It can easily be seen that intelligent robot is held with slow charging mode
Row charging operations, therefore, the intelligent robot fully charged required time is relatively long, can preferably avoid intelligent machine in this way
Battery in device people is damaged, to extend the service life of the battery.
In the present solution, when detecting that intelligent robot will go to determine current when itself being currently at task idle state
Whether the moment is preset operating time point.If it is determined that result be it is yes, this illustrate current time be preset intelligence machine
The working time of people, user may issue work order to intelligent robot at any time；Therefore, intelligent robot can be with quick
Charge mode executes charging operations, with relatively quickly that the battery of itself is fully charged, thus in the work of subsequently received user
It is preferably user service when instructing.If it is determined that result be it is no, it is preset intelligent machine that this, which illustrates current time not,
A possibility that working time of device people, user issues work order to intelligent robot in a short time, is very small；Therefore, intelligence
Robot can execute charging operations with slow charging mode, to charge for the battery of intelligent robot, also, avoid the battery
It is damaged, to extend the service life of the battery.
It can easily be seen that if intelligent robot carries out charging operations in the present solution, being in task idle state, and
And whether intelligent robot can be also that preset operating time point determines corresponding charge mode according to current time, and therefore, we
Case, which preferably avoids when electricity exhausts in the prior art, just to be executed charging operations and causes to the performance of the battery of intelligent robot
Damage.
In a kind of specific embodiment of the embodiment of the present invention, this method can also include：
Before executing corresponding charging operations, judge current time and itself the last time receive phonetic order when
Whether the duration between quarter is greater than preset second duration threshold value；
If it is, executing corresponding charging operations.
Wherein, the second duration threshold value can be 0 second, 30 seconds, 1 minute or 5 minutes, and certainly, the second duration threshold value takes
Value is not limited thereto, and can specifically be determined according to the actual situation, the present embodiment does not do any restriction to this.In addition, first
Duration threshold value may be the same or different with the second duration threshold value.
It should be pointed out that in the present embodiment, intelligent robot is using the phonetic order for not depending on user's sending
Mode determines currently used scene.
It is understood that intelligent robot needs refer to the voice if having received phonetic order from the user
It enables and carries out semantics recognition, and execute corresponding response operation for semantics recognition result.As it can be seen that receiving language from the user
After sound instruction, there is the operations having to carry out for intelligent robot.
For intelligent robot, may determine that current time and itself the last time receive phonetic order when
Whether the duration between quarter is greater than the second duration threshold value.If it is judged that be it is yes, this illustrates intelligent robot there is no necessary
The state of the operation of execution has maintained a period of time, and what user issued work order to intelligent robot in a short time can
Energy property is very small.Therefore, intelligent robot can execute corresponding charging operations, to guarantee the work in subsequently received user
There is sufficient electricity to guarantee the normal operation of intelligent robot when instruction, in intelligent robot.
In a kind of specific embodiment of the embodiment of the present invention, this method can also include：
Before executing corresponding charging operations, judge whether itself current remaining capacity is less than preset charge capacity
Threshold value；
If it is, executing corresponding charging operations.
It should be noted that the current remaining capacity and charge capacity threshold value of intelligent robot can use the shape of percentage
Formula is characterized.Wherein, charge capacity threshold value can be 75%, 80%, 90% or 95%, certainly, charge capacity threshold value
Value be not limited thereto, can specifically determine according to the actual situation, the present embodiment does not do any restriction to this.
It is understood that the current remaining capacity of intelligent robot is substantially the residue in the battery of intelligent robot
Electricity.It can have battery module chip in intelligent robot, intelligent robot can be obtained from by the battery module chip
The remaining capacity information of the battery of body.
In the present embodiment, before executing corresponding charging operations, intelligent robot can pass through above-mentioned battery module core
Piece gets the remaining capacity of itself.Later, intelligent robot can will acquire remaining capacity and charge capacity threshold value into
Row compares.
If the remaining capacity got is not less than charge capacity threshold value, this illustrates the electricity in the battery of intelligent robot
Still more sufficient, it is sufficient to guarantee that intelligent robot works on long period of time.Therefore, intelligent robot can not be held
The corresponding charging operations of row, to guarantee relatively quickly to respond the work order in the work order of subsequently received user.
If the remaining capacity got is less than charge capacity threshold value, this illustrates the electricity in the battery of intelligent robot not
Enough abundances, may be unable to maintain that intelligent robot works on long period of time.Therefore, intelligent robot can be held
The corresponding charging operations of row, to charge for the battery of intelligent robot, to guarantee the work order in subsequently received user
When, there is in intelligent robot sufficient electricity to guarantee the normal operation of intelligent robot.
In a kind of specific embodiment of the embodiment of the present invention, this method can also include：
In the case where determining current time not is preset operating time point, charge inquiry information is issued.
Wherein, charge inquiry information can be voice inquiry message, can be used to inquire whether the user needs to execute and fill
It is electrically operated, and which kind of charge mode charging operations are executed with.
Response message is not received issuing in the preset time period after charge inquiry information, alternatively, asking issuing charging
In the case where receiving the charging instruction information for carrying the second class charge mode in preset time period after asking information, execute with the
Two class charge modes execute the step of charging operations.
In the present embodiment, if the preset time period (such as 5 seconds, 10 seconds or 15 seconds) after issuing charge inquiry information
Do not receive response message inside, intelligent robot can be defaulted with the second class charge mode, i.e. slow charging mode execution is filled
It is electrically operated, it is damaged to avoid the battery in intelligent robot, to extend the service life of the battery.If filled in sending
The charging instruction information for carrying the second class charge mode is received in preset time period after electric inquiry message, this illustrates that user is uncommon
It hopes and charging operations is executed with slow charging mode；Therefore, intelligent robot can be according to the instruction information, with the mould that charges at a slow speed
Formula executes charging operations, can also be damaged in this way to avoid the battery in intelligent robot, to extend the use of the battery
Service life.
In a kind of specific embodiment of the embodiment of the present invention, this method can also include：
The charging instruction for carrying first kind charge mode is received in the preset time period after charge inquiry information issuing
In the case where information, the step of charging operations are executed with first kind charge mode is executed.
In the present embodiment, if carrying first kind charging issuing to receive in the preset time period after charge inquiry information
The charging instruction information of mode, this illustrates that user wishes to execute charging operations with fast charge mode, and therefore, intelligent robot can
Charging operations are executed with fast charge mode, to better meet the demand of user according to the instruction information.
Below with reference to Fig. 2, the specific implementation process of the present embodiment is illustrated with a specific example.
For intelligent robot, after determining itself to be currently at task idle state, it can determine current
The corresponding preset operating time point of usage scenario, and when judging whether current time is the corresponding default work of currently used scene
Between point.If so, intelligent robot can execute charging operations with fast charge mode.If it is not, intelligent robot can
To initiate human-computer interaction, that is, inquiry message is issued the user with, to ask the user whether to charge, and with the progress of which kind of charge mode
Charging.If user can execute charging operations without response, intelligent robot with the slow charging mode of default；If user
There is response, and user is not intended to charge with fast charge mode, intelligent robot can execute charging behaviour with slow charging mode
Make；If user has response, and user wishes to charge with fast charge mode, and intelligent robot can be with quick charge module
Execute charging operations.
It can easily be seen that intelligent robot can be according to human-computer interaction as a result, being held with corresponding charging module in the present embodiment
Row charging operations have sufficient electricity to guarantee to guarantee in the work order of subsequently received user in intelligent robot
The normal operation of intelligent robot.
To sum up, the present embodiment, which preferably avoids, just executes charging operations to intelligence machine when electricity exhausts in the prior art
It is damaged caused by the performance of the battery of people.
A kind of charging unit is provided for the embodiments of the invention below to be illustrated.
It should be noted that a kind of charging unit provided by the embodiment of the present invention is applied to intelligent robot.
Referring to Fig. 3, a kind of structural block diagram of charging unit provided by the embodiment of the present invention is shown in figure.Such as Fig. 3 institute
Show, the apparatus may include：
First determining module 31, for determining that itself is current whether in task idle state；
Second determining module 32, for the definitive result of the first determining module 31 be in the case where, when determining current
Whether carve is preset operating time point；If so, the first charging module 33 of triggering, if not, the second charging module 34 of triggering；
First charging module 33, for executing charging operations with first kind charge mode；
Second charging module 34, for executing charging operations with the second class charge mode, wherein under the second class charge mode
Charge power be less than first kind charge mode under charge power.
In the present solution, when detecting that intelligent robot will go to determine current when itself being currently at task idle state
Whether the moment is preset operating time point.If it is determined that result be it is yes, this illustrate current time be preset intelligence machine
The working time of people, user may issue work order to intelligent robot at any time；Therefore, intelligent robot can be with quick
Charge mode executes charging operations, with relatively quickly that the battery of itself is fully charged, thus in the work of subsequently received user
It is preferably user service when instructing.If it is determined that result be it is no, it is preset intelligent machine that this, which illustrates current time not,
A possibility that working time of device people, user issues work order to intelligent robot in a short time, is very small；Therefore, intelligence
Robot can execute charging operations with slow charging mode, to charge for the battery of intelligent robot, also, avoid the battery
It is damaged, to extend the service life of the battery.
It can easily be seen that if intelligent robot carries out charging operations in the present solution, being in task idle state, and
And whether intelligent robot can be also that preset operating time point determines corresponding charge mode according to current time, and therefore, we
Case, which preferably avoids when electricity exhausts in the prior art, just to be executed charging operations and causes to the performance of the battery of intelligent robot
Damage.
In a kind of specific embodiment of the embodiment of the present invention, the first determining module is specifically used for：
Judge that itself is not present and is currently running and waits whether the duration of the task of operation is greater than preset first duration threshold
Value；If it is, showing itself to be currently at task idle state.
In a kind of specific embodiment of the embodiment of the present invention, which can also include：
First judgment module, for before executing corresponding charging operations, judging current time and itself the last time
Whether the duration between at the time of receiving phonetic order is greater than preset second duration threshold value；If it is, triggering is filled accordingly
Electric module.
In a kind of specific embodiment of the embodiment of the present invention, which can also include：
Second judgment module, for whether judging itself current remaining capacity before executing corresponding charging operations
Less than preset charge capacity threshold value；If it is, triggering corresponding charging module.
In a kind of specific embodiment of the embodiment of the present invention, which can also include：
Sending module, for issuing charge inquiry in the case where determining current time not is preset operating time point
Information；
First trigger module, for not receiving response message issuing in the preset time period after charge inquiry information,
Alternatively, receiving the charging instruction information for carrying the second class charge mode in the preset time period after charge inquiry information issuing
In the case where, trigger the second charging module.
In a kind of specific embodiment of the embodiment of the present invention, which can also include：
Second trigger module, for issue received in the preset time period after charge inquiry information carry the first kind fill
In the case where the charging instruction information of power mode, the first charging module is triggered.
To sum up, the present embodiment, which preferably avoids, just executes charging operations to intelligence machine when electricity exhausts in the prior art
It is damaged caused by the performance of the battery of people.
A kind of intelligent robot is provided for the embodiments of the invention below to be illustrated.
Referring to fig. 4, a kind of structural schematic diagram of intelligent robot provided by the embodiment of the present invention is shown in figure.Such as figure
Shown in 4, which may include：
Processor 41, memory 42, communication interface 43 and bus 44；
Processor 41, memory 42 and communication interface 43 connect by bus 44 and complete mutual communication；
Memory 42 stores executable program code；
Processor 41 is run by reading the executable program code stored in memory 42 and executable program code
Corresponding program, to be used for：
Determine that itself is current whether in task idle state；
If itself being currently at task idle state, determine whether current time is preset operating time point；
If so, executing charging operations with first kind charge mode；
If not, executing charging operations with the second class charge mode, wherein the charge power under the second class charge mode is small
Charge power under first kind charge mode.
In the present solution, when detecting that intelligent robot will go to determine current when itself being currently at task idle state
Whether the moment is preset operating time point.If it is determined that result be it is yes, this illustrate current time be preset intelligence machine
The working time of people, user may issue work order to intelligent robot at any time；Therefore, intelligent robot can be with quick
Charge mode executes charging operations, with relatively quickly that the battery of itself is fully charged, thus in the work of subsequently received user
It is preferably user service when instructing.If it is determined that result be it is no, it is preset intelligent machine that this, which illustrates current time not,
A possibility that working time of device people, user issues work order to intelligent robot in a short time, is very small；Therefore, intelligence
Robot can execute charging operations with slow charging mode, to charge for the battery of intelligent robot, also, avoid the battery
It is damaged, to extend the service life of the battery.
It can easily be seen that if intelligent robot carries out charging operations in the present solution, being in task idle state, and
And whether intelligent robot can be also that preset operating time point determines corresponding charge mode according to current time, and therefore, we
Case, which preferably avoids when electricity exhausts in the prior art, just to be executed charging operations and causes to the performance of the battery of intelligent robot
Damage.
It should be noted that, in this document, relational terms such as first and second and the like are used merely to a reality
Body or operation are distinguished with another entity or operation, are deposited without necessarily requiring or implying between these entities or operation
In any actual relationship or order or sequence.Moreover, the terms "include", "comprise" or its any other variant are intended to
Non-exclusive inclusion, so that the process, method, article or equipment including a series of elements is not only wanted including those
Element, but also including other elements that are not explicitly listed, or further include for this process, method, article or equipment
Intrinsic element.In the absence of more restrictions, the element limited by sentence "including a ...", it is not excluded that
There is also other identical elements in process, method, article or equipment including the element.
Each embodiment in this specification is all made of relevant mode and describes, same and similar portion between each embodiment
Dividing may refer to each other, and each embodiment focuses on the differences from other embodiments.Especially for device,
For intelligent robot embodiment, since it is substantially similar to the method embodiment, so being described relatively simple, related place ginseng
See the part explanation of embodiment of the method.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the scope of the present invention.It is all
Any modification, equivalent replacement, improvement and so within the spirit and principles in the present invention, are all contained in protection scope of the present invention
It is interior.
Claims (10)
1. a kind of charging method, which is characterized in that it is applied to intelligent robot, the method includes：
Determine that itself is current whether in task idle state；
If itself being currently at the task idle state, determine whether current time is preset operating time point；
If so, executing charging operations with first kind charge mode；
If not, executing charging operations with the second class charge mode, wherein the charge power under the second class charge mode is small
Charge power under the first kind charge mode.
2. the method according to claim 1, wherein whether the determination itself is current is in task free time shape
State, including：
Judge that itself is not present and is currently running and waits whether the duration of the task of operation is greater than preset first duration threshold value；
If it is, showing itself to be currently at task idle state.
3. the method according to claim 1, wherein the method also includes：
Before executing corresponding charging operations, it is judged at the time of current time and itself the last time receive phonetic order
Between duration whether be greater than preset second duration threshold value；
If it is, executing corresponding charging operations.
4. the method according to claim 1, wherein the method also includes：
Before executing corresponding charging operations, judge whether itself current remaining capacity is less than preset charge capacity threshold
Value；
If it is, executing corresponding charging operations.
5. the method according to claim 1, wherein the method also includes：
In the case where determining current time not is preset operating time point, charge inquiry information is issued；
Response message is not received issuing in the preset time period after the charge inquiry information, alternatively, filling described in the sending
In the case where receiving the charging instruction information for carrying the second class charge mode in preset time period after electric inquiry message,
Execute described the step of charging operations are executed with the second class charge mode.
6. according to the method described in claim 5, it is characterized in that, the method also includes：
The charging for carrying the first kind charge mode is received in the preset time period after the charge inquiry information issuing
In the case where indicating information, described the step of charging operations are executed with first kind charge mode is executed.
7. a kind of charging unit, which is characterized in that be applied to intelligent robot, described device includes：
First determining module, for determining that itself is current whether in task idle state；
Second determining module, for determining that current time is in the case where the definitive result of first determining module, which is, is
No is preset operating time point；If so, the first charging module of triggering, if not, the second charging module of triggering；
First charging module, for executing charging operations with first kind charge mode；
Second charging module, for executing charging operations with the second class charge mode, wherein under the second class charge mode
Charge power is less than the charge power under the first kind charge mode.
8. device according to claim 7, which is characterized in that first determining module is specifically used for：
Judge that itself is not present and is currently running and waits whether the duration of the task of operation is greater than preset first duration threshold value；If
Be it is yes, show itself to be currently at task idle state.
9. device according to claim 7, which is characterized in that described device further includes：
First judgment module, for before executing corresponding charging operations, judging current time and itself the last reception
Whether the duration between at the time of to phonetic order is greater than preset second duration threshold value；If it is, the corresponding charging mould of triggering
Block.
10. a kind of intelligent robot, which is characterized in that including：
Processor, memory, communication interface and bus；
The processor, the memory are connected by the bus with the communication interface and complete mutual communication；
The memory stores executable program code；
The processor is run and the executable program by reading the executable program code stored in the memory
The corresponding program of code, to be used for：
Determine that itself is current whether in task idle state；
If itself being currently at the task idle state, determine whether current time is preset operating time point；
If so, executing charging operations with first kind charge mode；
If not, executing charging operations with the second class charge mode, wherein the charge power under the second class charge mode is small
Charge power under the first kind charge mode.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201710439698.0A CN108933306A (en) | 2017-06-12 | 2017-06-12 | A kind of charging method, device and intelligent robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201710439698.0A CN108933306A (en) | 2017-06-12 | 2017-06-12 | A kind of charging method, device and intelligent robot |
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| CN201710439698.0A Pending CN108933306A (en) | 2017-06-12 | 2017-06-12 | A kind of charging method, device and intelligent robot |
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| CN109993326A (en) * | 2019-03-29 | 2019-07-09 | 北京猎户星空科技有限公司 | A kind of robot charging maintenance method, device and storage medium |
| CN110427036A (en) * | 2019-08-14 | 2019-11-08 | 成都普诺思博科技有限公司 | A kind of cloud management system of commercialization clean robot |
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