CN109617160A - A kind of wireless charging method, robot and computer readable storage medium - Google Patents

A kind of wireless charging method, robot and computer readable storage medium Download PDF

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Publication number
CN109617160A
CN109617160A CN201811518905.2A CN201811518905A CN109617160A CN 109617160 A CN109617160 A CN 109617160A CN 201811518905 A CN201811518905 A CN 201811518905A CN 109617160 A CN109617160 A CN 109617160A
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China
Prior art keywords
equipment
charging
target position
current location
charged
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CN201811518905.2A
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Chinese (zh)
Inventor
谢丽娟
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Fuzhou Beauty Network Technology Co Ltd
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Fuzhou Beauty Network Technology Co Ltd
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Priority to CN201811518905.2A priority Critical patent/CN109617160A/en
Publication of CN109617160A publication Critical patent/CN109617160A/en
Withdrawn legal-status Critical Current

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    • H02J7/0077

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  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Charge And Discharge Circuits For Batteries Or The Like (AREA)

Abstract

The present invention relates to charging technique fields, more particularly to a kind of wireless charging method, robot and computer readable storage medium, the wireless charging method includes: the charge request for receiving charging equipment, and the charge request includes the remaining capacity information and target position identification information of charging equipment;The charging equipment is added in inventory to be charged;When being in non-charged state and self residual electricity is higher than first threshold, the first equipment that charging priority is first in charging equipment is determined according to the remaining capacity information of the charging equipment in presently described inventory to be charged;The first track route of current location to target position corresponding with first equipment is determined according to the corresponding target position identification information of first equipment;According to and first track route from current location be moved to corresponding target position to first equipment carry out wireless power.The intelligent charge to the charging equipment may be implemented in above-mentioned wireless charging method.

Description

A kind of wireless charging method, robot and computer readable storage medium
Technical field
The present invention relates to charging technique field more particularly to a kind of wireless charging method, robot and computer-readable deposit Storage media.
Background technique
With the development of charging technique, it is convenient to charge for raising to user terminal (such as mobile phone, tablet computer) Property, wireless charging technology is come into being.In existing wireless charging technology, wireless charging device can emit radio to surrounding Magnetic wave energy.User terminal within the scope of radio magnetic wave passes through reception radio magnetic wave and is converted to electric energy to be filled Electricity.In the prior art, when electrical equipment is out of power, user is needed to charge manually, intelligence degree is low, while charging and inserting The excessive setting of seat and various routes will affect the beauty of building, it is also possible to bring security risk.
Summary of the invention
The embodiment of the invention provides a kind of wireless charging method, robot and computer readable storage medium, Ke Yijin Row realizes intelligent charge.
In a first aspect, the present invention provides a kind of wireless charging methods, comprising:
The charge request of charging equipment is received, the charge request includes the remaining capacity information and mesh of charging equipment Cursor position identification information;
The charging equipment is added in inventory to be charged;
Determine current power supply state and self residual electricity;
When being in non-charged state and self residual electricity is higher than first threshold, according in presently described inventory to be charged The remaining capacity information of charging equipment determine that charging priority in charging equipment is first the first equipment;
According to the corresponding target position identification information of first equipment determine current location to the first equipment phase First track route of corresponding target position;
Target position corresponding with first equipment is moved to from current location according to first track route Wireless power is carried out to first equipment.
Second aspect, the present invention provides a kind of robot, including processor, input equipment, output equipment and memory, The processor, input equipment, output equipment and memory are connected with each other, wherein the memory is for storing computer journey Sequence, the computer program include program instruction, and the processor is configured for calling described program instruction, execute such as first Method described in aspect.
The third aspect, a kind of computer readable storage medium, which is characterized in that the computer storage medium is stored with meter Calculation machine program, the computer program include program instruction, and described program instruction makes the processor when being executed by a processor Execute method as described in relation to the first aspect.
It is appreciated that communication of the present invention by realization robot and charging equipment, robot is to positioned at destination address Charging equipment carry out wireless charging, intelligence degree is high, and it is convenient to bring for people's lives, while can also reduce charging and insert The setting of seat and electric wire, and then reduce the generation of Electrical Safety accident.
Detailed description of the invention
In order to illustrate the technical solution of the embodiments of the present invention more clearly, below to needed in embodiment description Attached drawing is briefly described, it should be apparent that, drawings in the following description are some embodiments of the invention, general for this field For logical technical staff, without creative efforts, it is also possible to obtain other drawings based on these drawings.
It constitutes a part of attached drawing of the invention to be used to provide further understanding of the present invention, schematic implementation of the invention Example and its specification are used to explain the present invention, and do not constitute the improper restriction to not allowing you to invent.
Fig. 1 is a kind of flow diagram of wireless charging method provided in an embodiment of the present invention;
Fig. 2 be another embodiment of the present invention provides a kind of wireless charging method flow diagram;
Fig. 3 is a kind of flow diagram for wireless charging method that further embodiment of this invention provides;
Fig. 4 is a kind of schematic block diagram for robot that one embodiment of the invention provides;
Fig. 5 is a kind of schematic block diagram for robot that further embodiment of this invention provides;
Specific embodiment
It is clear in order to be more clear the purpose of the present invention, technical solution and advantageous effects, below in conjunction with this hair Attached drawing in bright embodiment, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described Embodiment is only a part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, this field Those of ordinary skill's every other embodiment obtained without making creative work, belongs to protection of the present invention Range.
It should be appreciated that ought use in this specification and in the appended claims, term " includes " and "comprising" instruction Described feature, entirety, step, operation, the presence of element and/or component, but one or more of the other feature, whole is not precluded Body, step, operation, the presence or addition of element, component and/or its set.
It is also understood that mesh of the term used in this description of the invention merely for the sake of description specific embodiment And be not intended to limit the present invention.As description of the invention and it is used in the attached claims, unless on Other situations are hereafter clearly indicated, otherwise " one " of singular, "one" and "the" are intended to include plural form.
It is also understood that the functional units in various embodiments of the present invention may be integrated into one processing unit, It is also possible to each unit to physically exist alone, is also possible to two or more units and is integrated in one unit.It is above-mentioned Integrated unit both can take the form of hardware realization, can also realize in the form of software functional units.
If the integrated unit is realized in the form of SFU software functional unit and sells or use as independent product When, it can store in a computer readable storage medium.Based on this understanding, technical solution of the present invention is substantially The all or part of the part that contributes to existing technology or the technical solution can be in the form of software products in other words It embodies, which is stored in a storage medium, including some instructions are used so that a computer Equipment (can be personal computer, service equipment or the network equipment etc.) executes each embodiment the method for the present invention All or part of the steps.And storage medium above-mentioned includes: USB flash disk, mobile hard disk, read-only memory, random access memory, magnetic The various media that can store program code such as dish or CD.
Attached drawing 1 is please referred to, Fig. 1 is that the embodiment of the invention provides a kind of signals of the process of the wireless charging method of robot Figure, the wireless charging method include:
Step S01: receiving the charge request of charging equipment, and the charge request includes the remaining capacity of charging equipment Information and target position identification information;
Step S02: the charging equipment is added in inventory to be charged;
Step S03: current power supply state and self residual electricity are determined;
Step S04: when being in non-charged state and self residual electricity is higher than first threshold, according to presently described wait fill The remaining capacity information of charging equipment in electric inventory determines the first equipment that charging priority is first in charging equipment;
Step S05: determine current location to described the according to the corresponding target position identification information of first equipment First track route of the corresponding target position of one equipment;
Step S06: the corresponding mesh with first equipment is moved to from current location according to first track route Cursor position carries out wireless power to first equipment.
It is appreciated that communication of the present invention by realization robot and charging equipment, robot is to positioned at destination address Charging equipment carry out wireless charging, intelligence degree is high, and it is convenient to bring for people's lives, while can also reduce charging and insert The setting of seat and electric wire, and then reduce the generation of Electrical Safety accident.
It is detailed to a kind of specific technical solution progress of the wireless charging method of robot provided in this embodiment below Explanation.
A kind of wireless charging method provided in this embodiment includes:
Step S01, robot receive the charge request of charging equipment, and the charge request includes the surplus of charging equipment Remaining information about power and target position identification information;
The charging equipment can be a charging equipment, be also possible to multiple charging equipments, can be same Kind charging equipment, is also possible to a variety of different types of charging equipments;The charging equipment includes but is not limited to such as Mobile phone, laptop computer or plate meter with touch sensitive surface (for example, touch-screen display and/or touch tablet) The portable device of calculation machine etc can also include other electric appliances with communication function and energy storage function, as long as can apply It shall fall within the protection scope of the present invention to the present invention and in accordance with all electrical equipments the present invention relates to logic.
The robot and charging equipment wireless communication connect, in embodiments of the present invention, described wait fill Electric equipment can detecte itself electric energy, send charge request from robot described in trend when electric energy is lower than a setting value, can also To send charge request to the robot according to the instruction of operator;The remaining capacity information is the charging equipment Specific residual electric quantity be also possible to residual electric quantity percentage or other information relevant to information about power.The target Station location marker information means to show the identification information of target position described in charging equipment, when the robot receives the target After station location marker information, so that it may according to the target position identification information determine it is described with charging equipment corresponding to target position It sets, wireless charging can be carried out to the charging equipment after the robot reaches the target position.
Further, in certain embodiments of the present invention, described before the charge request for receiving charging equipment Method further include: receive and save presupposed information, the presupposed information include but is not limited to cartographic information, target position mark with Between the correspondence relationship information of the target position, target position location information on the map, target position and mesh Track route set information between cursor position and the chargeable position.The map can be home area map and work Home area can be divided into multiple subregions, the division of multiple subregions by taking home area map as an example by area map etc. Mode can be according to regional scopes in places such as the chargeable range of robot and/or each room, balcony etc. because usually carrying out It divides, the range size of each sub-regions can be equal or differs, and each subregion can correspond to one or more targets Position can be any within the scope of the corresponding subregion in the target position when the robot reaches the target position Charging equipment carries out wireless charging;The chargeable position is the position that the robot itself charges, and can be institute A region in subregion is stated, can also be is other regions, and when the not enough power supply of the robot, returning to described can fill Electric position charges;The presupposed information further includes that track route between each target position and each target position are arrived The track route of the chargeable position, the robot can determine corresponding walking road according to the target position identification information Line.
Step S02: the charging equipment is added in inventory to be charged.
After the robot often receives the charge request of a charging equipment, the charging equipment is added Enter in the inventory to be charged;Further, in a kind of optional embodiment, the presupposed information further includes default equipment Information, before the charging equipment is added in inventory to be charged, the method also includes: judge described to be charged set Whether standby be that the charging equipment is added to described to be charged by default equipment if the charging equipment is default equipment In inventory;If the charging equipment is not default equipment, the charge request is not responding to.
Step S03: current power supply state and self residual electricity are determined.
The current power supply state includes power supply state and non-powered state, and the power supply state refers to the robot It is being the charging equipment wireless power, the non-powered state is the robot not by described to be charged Equipment carries out wireless power.The self residual electricity is the remaining capacity of the robot.The current power supply state and from The determination of body remaining capacity can be while being also possible to first determine the current power supply state, then determine self residual electricity Amount is also possible to first determine that the remaining capacity of itself determines that charged state, the present invention compare without limitation again.
It is appreciated that wireless charging method of the invention in the robot to the charging equipment by carrying out wirelessly The case where first judging whether itself electricity is sufficient before power supply, avoid the not enough power supply in power supply process generation.
Step S04: when being in non-charged state and self residual electricity is higher than first threshold, according to presently described wait fill The remaining capacity information of charging equipment in electric inventory determines the first equipment that charging priority is first in charging equipment.
When the robot determines that itself is in non-charged state and when self residual electricity is higher than first threshold, root Determine that charging priority is in charging equipment according to the remaining capacity information of the charging equipment in presently described inventory to be charged First the first equipment, it will be understood that information is known that the electricity consumption of the charging equipment is urgent according to the residual electric quantity Degree determines to the sequence to charge with charging equipment according to the electricity consumption urgency level of the charging equipment, works as institute The urgency level for stating charging equipment is higher, and charging priority ranking is more forward, and then it is excellent to charge in determining charging equipment The first equipment that first grade is first;It should be noted that in first equipment " first " be termed to it is other to Charging equipment distinguishes, and with more convenient description, should not cause other explanations and ambiguity.
The first threshold can be according to the maximum electric quantity consumption of the charging equipment and in itself moving process The consumption of electricity determines.
Step S05: determine current location to described the according to the corresponding target position identification information of first equipment First track route of the corresponding target position of one equipment;
After the robot determines the first equipment that current priority ranking is first, sent out according to first equipment The target position identification information carried in the charge request sent transfers corresponding track route information, and then determines current location extremely First track route of target position corresponding with first equipment;It should be noted that first track route It is termed to track route corresponding with other charging equipments to distinguish, with more convenient description, should not cause it His explanation and ambiguity.It is also to be noted that when the robot starts to move and be charged to the charging equipment, Also it is considered as the power supply state of entrance in the process of moving.
Further, in an embodiment of the present invention, non-charged state and self residual are in when the robot determines Electricity is higher than after first threshold or is determining the first of current location to target position corresponding with first equipment After track route, before the robot starts movement, the method also includes: by first equipment from described wait fill It is removed in electric inventory.It is appreciated that by the robot start it is mobile before, by first equipment from described to be charged It is removed in inventory, and then priority conveniently is re-started to other untreated charge requests and the charge request being successfully received Ranking.
Step S06: corresponding with first equipment according to being moved to first track route from current location Target position carries out wireless power to first equipment.Each corresponding sub-regions of first equipment, each subregion Corresponding one or more target position, when the robot reaches the target position, the robot gives the target position Charging equipment in corresponding subregion carries out wireless charging, during wireless charging, the robot and it is described to Charging equipment communication connection, the charging equipment send charging status information to the robot in real time.
Please refer to attached drawing 2, Fig. 2 be another embodiment of the present invention provides a kind of wireless charging method flow diagram, Further, in a kind of optional embodiment, in step S03: after determining current power supply state and self residual electricity, The method can also include:
Step S11: when being in power supply state and self residual electricity is higher than first threshold, charging complete is waited;
Step S12: when second equipment charge is completed, stop as second equipment power supply;
Step S13: self residual electricity is determined;
Step S14: when self residual electricity is higher than the first threshold, according in presently described inventory to be charged to The remaining capacity information of charging equipment determines the third equipment that charging priority is first in charging equipment;
Step S15: determine current location to described the according to the corresponding target position identification information of the third equipment The third track route of the corresponding target position of three equipment.
Step S16: according to the third track route from current location be moved to target position to the third equipment into Row wireless power.
Further, determine current location to described the according to the corresponding target position identification information of the third equipment After the third track route of the corresponding target position of three equipment, the method also includes: by the third equipment from it is described to It is removed in charging inventory.
Wherein, the name of " second " " third " is used for the purpose of in description and different in the second equipment and the third equipment It is distinguished under scene, second equipment means to be under power supply state when the determining robot while self residual electricity The charging equipment powered by the robot when higher than first threshold, the third equipment mean that the second equipment is waited to fill The charging equipment that priority rank when electric is first.Under different scenes, first equipment and the second equipment and the Three equipment can be the same charging equipment, may not be the same charging equipment.Similarly, the third track route Mean therefore the track route that the corresponding target position of the third equipment is moved to from current location equally should not cause more Remaining explanation.
Attached drawing 3 is please referred to, Fig. 3 is a kind of flow diagram for wireless charging method that further embodiment of this invention provides, Further, in a kind of optional embodiment, in step S03: after determining self residual electricity, the method can be with Include:
Step S21: when self residual electricity is less than or equal to the first threshold, judging whether current location is located at can Charge position;
Step S22: if it is not, determining the second track route of current location to the chargeable position;
Step S23: the chargeable position is moved to from current location according to second track route and is charged;
Step S24: charging complete is confirmed when self residual electricity reaches the second threshold, the second threshold is greater than Or it is equal to first threshold;
Step S25: it is determined according to the remaining capacity information of the charging equipment in presently described inventory to be charged to be charged The 4th equipment that charging priority is first in equipment;
Step S26: determine current location to described the according to the corresponding target position identification information of the 4th equipment The fourth line of the corresponding target position of four equipment walks route;
Step S27: according to the fourth line walk route from current location be moved to target position to the 4th equipment into Row wireless power.
In a preferred embodiment, when determining that self residual electricity is less than the first threshold, the machine People judges that self electric quantity is insufficient, judges whether itself is in chargeable region at this time, and chargeable region is returned to if not and is Itself charging.The chargeable region is the region of a setting, and the chargeable region can be one in the subregion Or it is multiple, it can also other regions other than the subregion.Further, in a preferred embodiment of the invention, Being moved to the process that the chargeable position is charged from current location according to second track route includes: by solar energy It is converted into electric energy and stores.It is appreciated that the robot can convert solar energy into electrical energy simultaneously in the chargeable region It stores and is powered for the charging equipment, e.g., the more sufficient region of the sunlight in home area can be set It for the chargeable region, and then may be implemented to make full use of solar energy, reduce the waste of electric energy.Certainly, described to fill Electric region may be that the robot carries out other regions wirelessly or non-wirelessly charged.It should be noted that second row Walk route mean current location to the track route between the chargeable position, the 4th equipment be when the robot from When body electricity is less than or equal to the first threshold, the robot is moved to after the chargeable region progress charging complete To the charging equipment that under the scene of charging equipment progress charging priority sequence, charging priority is first.It is described Fourth line is walked route and is meant from the current location to the track route the 4th equipment.
Attached drawing 4 is please referred to, Fig. 4 is a kind of schematic block diagram for robot that one embodiment of the invention provides;
Another embodiment of the present invention provides a kind of robot, the robot includes:
Default unit, for receiving presupposed information, the presupposed information includes cartographic information, target position mark and target Between the correspondence relationship information of position, target position location information on the map, target position and target position with Track route set information between chargeable position.
Storage unit is electrically connected, for storing the presupposed information with the default unit;The storage unit can be Hard disk or RAM card, such as intelligent memory card, safe digital card, flash card etc..
Charhing unit, for charging;The charhing unit for realizing the robot wired or wireless charging. In a preferred embodiment, the charhing unit include solar power generation unit and and energy-storage battery, the sun Energy generator unit is stored in the energy-storage battery for converting solar energy into electrical energy.
Power supply unit matches with the electric energy receiving unit of the charging equipment, for the charging equipment into Row wireless power;Further, said supply unit is electrically connected with the energy-storage battery and the controller, said supply unit Including radio energy transmitting terminal, when the electric discharge for receiving the controller instructs, the radio energy transmitting terminal to it is described to Charging equipment carries out wireless power.
Positioning unit, for obtaining the current location information of the robot;Further, the positioning unit includes GPS (Global Positioning System, global positioning system) sensor, UWB (Ultra Wide Band, ultra wide band) Positioning chip etc..
Control unit is communicated to connect with the storage unit, the positioning unit and charging equipment, for receiving wait fill The charge request of electric equipment, and control is generated according to the charge request, the presupposed information and the current location information and is referred to It enables;
Communication unit, for realizing between component units in the robot and the robot with it is described to be charged Connection communication between equipment.
Mobile unit, for receiving the control instruction, for mobile with certain speed according to the control instruction.It is described Mobile unit includes driver and wheel, the corresponding driver of each wheel;The driver is used for single according to the control Wheel described in the order-driven of member, and drive the robot mobile, the quantity of the wheel can be two, three, four A or even can be more, the driver can be permanent magnet synchronous motor driver, alternating current asynchronous induction motor drive, direct current One or more kinds of combinations of brushless motor driver etc..
Be appreciated that robot provided in an embodiment of the present invention, robot to be located at the charging equipment of destination address into Row wireless charging, intelligence degree are high, and it is convenient to bring for people's lives, while can also reduce setting for charging socket and electric wire It sets, and then reduces the generation of Electrical Safety accident.
Attached drawing 5 is please referred to, Fig. 5 is a kind of schematic block diagram for robot that further embodiment of this invention provides;The present invention Another embodiment provides a kind of robot, including the input of one or more processors processor, one or more processors is set Standby, one or more processors output equipment and one or more processors memory, one or more of processors, one Or multiple input equipments, one or more output equipment one or more memories are connected with each other communication, wherein the memory For storing computer program, the computer program includes program instruction, and the processor is used to execute memory storage Program instruction.Wherein, the processor is configured for that described program instruction execution or less is called to operate:
The charge request of charging equipment is received, the charge request includes the remaining capacity information and mesh of charging equipment Cursor position identification information;
The charging equipment is added in inventory to be charged;
Determine current power supply state and self residual electricity;
When being in non-charged state and self residual electricity is higher than first threshold, according in presently described inventory to be charged The remaining capacity information of charging equipment determine that charging priority in charging equipment is first the first equipment;
According to the corresponding target position identification information of first equipment determine current location to the first equipment phase First track route of corresponding target position;
Target position corresponding with first equipment is moved to from current location according to first track route Wireless power is carried out to first equipment.
Further, determine current location to described the according to the corresponding target position identification information of first equipment After first track route of the corresponding target position of one equipment, the method also includes:
First equipment is removed from the inventory to be charged.
Further, the method also includes:
When being in power supply state and self residual electricity is higher than first threshold, second equipment charge is waited to complete;
When second equipment charge is completed, stop as second equipment power supply;
Determine self residual electricity;
When self residual electricity is higher than the first threshold, according to the charging equipment in presently described inventory to be charged Remaining capacity information determine that charging priority in charging equipment is first third equipment;
According to the corresponding target position identification information of the third equipment determine current location to the third equipment phase The third track route of corresponding target position;
Target position is moved to from current location according to the third track route wirelessly to be supplied to the third equipment Electricity.
Further, determine current location to described the according to the corresponding target position identification information of the third equipment After the third track route of the corresponding target position of three equipment, the method also includes:
The third equipment is removed from the inventory to be charged.
Further, the method also includes:
When self residual electricity is less than or equal to the first threshold, judge whether current location is located at chargeable position It sets;
If it is not, determining the second track route of current location to the chargeable position;
The chargeable position is moved to from current location according to second track route to charge;
When self residual electricity reach the second threshold when confirm charging complete, wherein the second threshold be greater than or Equal to first threshold;
It is determined in charging equipment and is filled according to the remaining capacity information of the charging equipment in presently described inventory to be charged The 4th equipment that electric priority is first;
According to the corresponding target position identification information of the 4th equipment determine current location to the 4th equipment phase The fourth line of corresponding target position walks route;
Route is walked according to the fourth line be moved to target position from current location wirelessly supplied to the 4th equipment Electricity.
Further, before the charge request for receiving charging equipment, the method also includes:
Presupposed information is received and saved, the presupposed information includes cartographic information, target position mark and the target position Between the correspondence relationship information set, target position location information on the map, target position and target position and institute State the track route set information between chargeable position.
Further, before the charging equipment is added in inventory to be charged, the method also includes: judgement Whether the charging equipment is that default equipment adds the charging equipment if the charging equipment is default equipment To in the inventory to be charged.
It is appreciated that in embodiments of the present invention, the processor can be central processing unit, which can be with Be other general processors, digital signal processor, specific integrated circuit, ready-made programmable array or other can logic device Part, component door or transistor logic, discrete hardware components etc..General processor can be microprocessor or changed handling Device is also possible to any conventional processor etc..
The input equipment can be Trackpad, fingerprint collecting sensor (for acquiring the finger print information and fingerprint of user Directional information), microphone etc., output equipment may include display screen, loudspeaker etc..
The memory may include read-only memory and random access memory, and to processor provide instruction and data, The a part of of memory can also include nonvolatile RAM.For example, memory can be with storage device type Information.
In the specific implementation, processor described in the embodiment of the present invention, input equipment, output equipment can be performed this hair and buy Implementation described in all embodiments for the wireless charging method that embodiment provides also can be performed the present invention and implement The implementation of robot described in example, no longer describes herein.
Another embodiment of the present invention provides a kind of computer readable storage medium, the computer storage medium is stored with Computer program, the computer program include program instruction, and described program instruction makes the processing when being executed by a processor Device is executed in each method of the artificial executing subject of the machine.
The described method includes: receiving the charge request of charging equipment, the charge request includes the surplus of charging equipment Remaining information about power and target position identification information;
The charging equipment is added in inventory to be charged;
Determine current power supply state and self residual electricity;
When being in non-charged state and self residual electricity is higher than first threshold, according in presently described inventory to be charged The remaining capacity information of charging equipment determine that charging priority in charging equipment is first the first equipment;
According to the corresponding target position identification information of first equipment determine current location to the first equipment phase First track route of corresponding target position;
Target position corresponding with first equipment is moved to from current location according to first track route Wireless power is carried out to first equipment.
Further, determine current location to described the according to the corresponding target position identification information of first equipment After first track route of the corresponding target position of one equipment, the method also includes:
First equipment is removed from the inventory to be charged.
Further, the method also includes:
When being in power supply state and self residual electricity is higher than first threshold, second equipment charge is waited to complete;
When second equipment charge is completed, stop as second equipment power supply;
Determine self residual electricity;
When self residual electricity is higher than the first threshold, according to the charging equipment in presently described inventory to be charged Remaining capacity information determine that charging priority in charging equipment is first third equipment;
According to the corresponding target position identification information of the third equipment determine current location to the third equipment phase The third track route of corresponding target position;
Target position is moved to from current location according to the third track route wirelessly to be supplied to the third equipment Electricity.
Further, determine current location to described the according to the corresponding target position identification information of the third equipment After the third track route of the corresponding target position of three equipment, the method also includes:
The third equipment is removed from the inventory to be charged.
Further, the method also includes:
When self residual electricity is less than or equal to the first threshold, judge whether current location is located at chargeable position It sets;
If it is not, determining the second track route of current location to the chargeable position;
The chargeable position is moved to from current location according to second track route to charge;
When self residual electricity reach the second threshold when confirm charging complete, wherein the second threshold be greater than or Equal to first threshold;
It is determined in charging equipment and is filled according to the remaining capacity information of the charging equipment in presently described inventory to be charged The 4th equipment that electric priority is first;
According to the corresponding target position identification information of the 4th equipment determine current location to the 4th equipment phase The fourth line of corresponding target position walks route;
Route is walked according to the fourth line be moved to target position from current location wirelessly supplied to the 4th equipment Electricity.
Further, before the charge request for receiving charging equipment, the method also includes:
Presupposed information is received and saved, the presupposed information includes cartographic information, target position mark and the target position Between the correspondence relationship information set, target position location information on the map, target position and target position and institute State the track route set information between chargeable position.
Further, before the charging equipment is added in inventory to be charged, the method also includes: judgement Whether the charging equipment is that default equipment adds the charging equipment if the charging equipment is default equipment To in the inventory to be charged.
The computer readable storage medium can be the internal storage unit of robot described in aforementioned any embodiment, Such as the hard disk or memory of terminal.The computer readable storage medium is also possible to the External memory equipment of the terminal, example Such as the plug-in type hard disk being equipped in the terminal, intelligent storage, safe digital card, flash card etc..Further, the computer Readable storage medium storing program for executing can also both including the terminal internal storage unit and also including External memory equipment.The computer can Storage medium is read for other programs and data needed for storing the computer program and the terminal.It is described computer-readable Storage medium can be also used for temporarily storing the data that has exported or will export.
Those of ordinary skill in the art may be aware that list described in conjunction with the examples disclosed in the embodiments of the present disclosure Member and algorithm steps, can be realized with electronic hardware, computer software, or a combination of the two, in order to clearly demonstrate hardware With the interchangeability of software, each exemplary composition and step are generally described according to function in the above description.This A little functions are implemented in hardware or software actually, the specific application and design constraint depending on technical solution.Specially Industry technical staff can use different methods to achieve the described function each specific application, but this realization is not It is considered as beyond the scope of this invention.
It is apparent to those skilled in the art that for convenience of description and succinctly, the machine of foregoing description The specific work process of device people and/or unit and/or module, can refer to corresponding processes in the foregoing method embodiment, herein It repeats no more.
In each embodiment provided herein, it should be understood that disclosed robot, wireless charging method can To realize by another way.For example, the apparatus embodiments described above are merely exemplary, for example, the unit Division, only a kind of logical function partition, there may be another division manner in actual implementation, such as multiple units or group Part can be combined or can be integrated into another system, or some features can be ignored or not executed.In addition, it is shown or The mutual coupling, direct-coupling or communication connection discussed can be through some interfaces, the indirect coupling of device or unit It closes or communicates to connect, be also possible to electricity, mechanical or other forms connections.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all in essence of the invention Within mind and principle, any modification, equivalent substitution, improvement and etc. done be should be included within the scope of the present invention.
Obviously, various changes and modifications can be made to the invention without departing from essence of the invention by those skilled in the art Mind and range.In this way, if these modifications and changes of the present invention belongs to the range of the claims in the present invention and its equivalent technologies Within, then the present invention is also intended to include these modifications and variations.

Claims (10)

1. a kind of wireless charging method characterized by comprising
The charge request of charging equipment is received, the charge request includes remaining capacity information and the target position of charging equipment Set identification information;
The charging equipment is added in inventory to be charged;
Determine current power supply state and self residual electricity;
When in non-charged state and when self residual electricity is higher than first threshold, according in presently described inventory to be charged to The remaining capacity information of charging equipment determines the first equipment that charging priority is first in charging equipment;
Determine that current location is extremely corresponding with first equipment according to the corresponding target position identification information of first equipment Target position the first track route;
Target position corresponding with first equipment is moved to institute from current location according to first track route It states the first equipment and carries out wireless power.
2. wireless charging method as described in claim 1, which is characterized in that according to the corresponding target position of first equipment After identification information determines current location to the first track route of target position corresponding with first equipment, the method Further include:
First equipment is removed from the inventory to be charged.
3. wireless charging method as described in claim 1, which is characterized in that the method also includes:
When being in power supply state and self residual electricity is higher than first threshold, second equipment charge is waited to complete;
When second equipment charge is completed, stop as second equipment power supply;
Determine self residual electricity;
When self residual electricity is higher than the first threshold, according to the surplus of the charging equipment in presently described inventory to be charged Remaining information about power determines the third equipment that charging priority is first in charging equipment;
Determine that current location is extremely corresponding with the third equipment according to the corresponding target position identification information of the third equipment Target position third track route;
Target position, which is moved to, from current location according to the third track route carries out wireless power to the third equipment.
4. wireless charging method as claimed in claim 3, which is characterized in that according to the corresponding target position of the third equipment After identification information determines current location to the third track route of target position corresponding with the third equipment, the method Further include:
The third equipment is removed from the inventory to be charged.
5. wireless charging method as claimed in claim 1 or 3, which is characterized in that the method also includes:
When self residual electricity is less than or equal to the first threshold, judge whether current location is located at chargeable position;
If it is not, determining the second track route of current location to the chargeable position;
The chargeable position is moved to from current location according to second track route to charge;
Charging complete is confirmed when self residual electricity reaches the second threshold, wherein the second threshold is greater than or equal to First threshold;
Determined according to the remaining capacity information of the charging equipment in presently described inventory to be charged charge in charging equipment it is excellent The 4th equipment that first grade is first;
Determine that current location is extremely corresponding with the 4th equipment according to the corresponding target position identification information of the 4th equipment The fourth line of target position walk route;
According to the fourth line walk route from current location be moved to target position to the 4th equipment carry out wireless power.
6. wireless charging method as claimed in claim 5, which is characterized in that receive charging equipment charge request it Before, the method also includes:
Presupposed information is received and saved, the presupposed information includes cartographic information, target position mark and the target position Between correspondence relationship information, target position location information on the map, target position and target position and it is described can Track route set information between charge position.
7. wireless charging method as claimed in claim 5, which is characterized in that according to second track route from current location Being moved to the process that the chargeable position is charged includes: to convert solar energy into electrical energy and store.
8. wireless charging method as described in claim 1, which is characterized in that be charged the charging equipment to be added to Before in inventory, the method also includes: judge whether the charging equipment is default equipment, if the charging equipment is The charging equipment, then be added in the inventory to be charged by default equipment.
9. a kind of robot, which is characterized in that including processor, input equipment, output equipment and memory, the processor, Input equipment, output equipment and memory are connected with each other, wherein the memory is for storing computer program, the calculating Machine program includes program instruction, and the processor is configured for calling described program instruction, is executed as claim 1-8 is any Method described in.
10. a kind of computer readable storage medium, which is characterized in that the computer storage medium is stored with computer program, The computer program includes program instruction, and described program instruction makes the processor execute such as right when being executed by a processor The described in any item methods of 1-8.
CN201811518905.2A 2018-12-12 2018-12-12 A kind of wireless charging method, robot and computer readable storage medium Withdrawn CN109617160A (en)

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CN116300923A (en) * 2023-03-14 2023-06-23 北京三快在线科技有限公司 Charging method and device for dispensing robot, electronic equipment and storage medium

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Application publication date: 20190412