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 PDFInfo
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- 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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- 230000005611 electricity Effects 0.000 claims abstract description 52
- 230000015654 memory Effects 0.000 claims description 17
- 238000004590 computer program Methods 0.000 claims description 10
- 230000008569 process Effects 0.000 claims description 8
- 238000004891 communication Methods 0.000 description 9
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- 238000004364 calculation method Methods 0.000 description 2
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- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (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
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.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201811518905.2A CN109617160A (en) | 2018-12-12 | 2018-12-12 | A kind of wireless charging method, robot and computer readable storage medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811518905.2A CN109617160A (en) | 2018-12-12 | 2018-12-12 | A kind of wireless charging method, robot and computer readable storage medium |
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| Publication Number | Publication Date |
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| CN109617160A true CN109617160A (en) | 2019-04-12 |
Family
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| CN201811518905.2A Withdrawn CN109617160A (en) | 2018-12-12 | 2018-12-12 | A kind of wireless charging method, robot and computer readable storage medium |
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| CN111314593A (en) * | 2020-03-18 | 2020-06-19 | Oppo广东移动通信有限公司 | Terminal device, image shooting method and device and storage medium |
| CN112054521A (en) * | 2020-09-11 | 2020-12-08 | 灵动科技（北京）有限公司 | Robot, scheduling device, robot charging system and method, and storage medium |
| CN112531830A (en) * | 2020-11-26 | 2021-03-19 | 深圳优地科技有限公司 | Robot charging method, device and storage medium |
| CN112821495A (en) * | 2021-01-20 | 2021-05-18 | 中科长城海洋信息系统有限公司 | Underwater wireless charging method, device, system, device and storage medium |
| CN113258961A (en) * | 2021-05-12 | 2021-08-13 | 北京布莱迪测控仪表有限公司 | Wireless charging method, receiver and transmitter |
| CN113452119A (en) * | 2021-07-08 | 2021-09-28 | 北京京东乾石科技有限公司 | Charging equipment allocation method, device and system |
| CN113675960A (en) * | 2021-07-23 | 2021-11-19 | 上海闻泰电子科技有限公司 | Wireless charging method, wireless charging device, electronic equipment and medium |
| CN113799626A (en) * | 2020-06-17 | 2021-12-17 | 阿里巴巴集团控股有限公司 | Robot charging method, device and equipment |
| TWI754491B (en) * | 2019-12-31 | 2022-02-01 | 新加坡商台達電子國際（新加坡）私人有限公司 | Method for optimizing placement of otg wireless charging units |
| CN115133661A (en) * | 2021-03-24 | 2022-09-30 | 云米互联科技(广东)有限公司 | Wireless charging method, mobile power supply device, household appliance, system and medium |
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Application publication date: 20190412 |