CN112104017A - Robot charging method and device - Google Patents
Robot charging method and device Download PDFInfo
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- CN112104017A CN112104017A CN202010842785.2A CN202010842785A CN112104017A CN 112104017 A CN112104017 A CN 112104017A CN 202010842785 A CN202010842785 A CN 202010842785A CN 112104017 A CN112104017 A CN 112104017A
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
- H02J7/0069—Charging or discharging for charge maintenance, battery initiation or rejuvenation
Abstract
The application discloses a robot charging method and device, the method comprises the following steps: the method comprises the steps that a robot management system obtains the electric quantity level of a robot and the task state of the robot; the robot management system determines whether the robot needs to be charged or not according to the electric quantity level and the task state; if so, the robot management system sends a charging instruction to the robot; and the robot carries out charging according to the charging instruction. The robot management system can flexibly determine whether to charge the robot or not on the premise of considering both the electric quantity of the robot and the execution condition of the task and send a charging instruction to the robot for charging on the premise of determining that the robot needs to be charged, so that the condition that the robot cannot execute the task due to too low electric quantity can be avoided, and the working efficiency is improved.
Description
Technical Field
The application relates to the field of robots, in particular to a robot charging method and device.
Background
With the development of science and technology, robots are used to replace human beings in various fields, for example, the robots can be applied to the fields of hospitals, banks, shops, families and the like, and particularly, the fields of warehousing industry are taken as an example, the robots can replace human beings to pick goods according to order tasks, generally, before a user gives the robots to work, the robots can be charged firstly, the robots can continuously consume electric energy in the working process, and particularly, the electric energy can be converted into energy such as kinetic energy or potential energy to finish the work given to the robots by the user.
However, in practical applications, the work given to the robot is more, the working time of the robot is longer, and there is a high possibility that the robot cannot run due to the completion of the power consumption when the work given to the robot by the user is not completed, so that the robot cannot complete the work on time, and the working efficiency is reduced.
Disclosure of Invention
The embodiment of the application provides a robot charging method and device, and is used for solving the problems that a robot cannot run due to the fact that electric quantity is consumed completely, so that the robot cannot complete work on time, and the work efficiency is reduced.
In order to solve the above technical problem, the embodiment of the present application is implemented as follows:
in a first aspect, a robot charging method is provided, including:
the method comprises the steps that a robot management system obtains the electric quantity level of a robot and the task state of the robot;
the robot management system determines whether the robot needs to be charged or not according to the electric quantity level and the task state;
if so, the robot management system sends a charging instruction to the robot;
and the robot carries out charging according to the charging instruction.
In a second aspect, a robot charging device is provided, which is applied to a robot management system, and includes:
the acquisition module acquires the electric quantity level of the robot and the task state of the robot;
the determining module is used for determining whether the robot needs to be charged or not according to the electric quantity level and the task state;
and the sending module is used for sending a charging instruction to the robot under the condition that the determining module determines that the robot needs to be charged, so that the robot can be charged according to the charging instruction.
In a third aspect, an electronic device is provided, which is applied to a robot management system, and includes:
a processor; and
a memory arranged to store computer executable instructions that, when executed, cause the processor to:
acquiring the electric quantity level of a robot and the task state of the robot;
determining whether the robot needs to be charged or not according to the electric quantity level and the task state;
and if so, sending a charging instruction to the robot so that the robot can be charged according to the charging instruction.
In a fourth aspect, a computer-readable storage medium is provided for a robot management system, the computer-readable storage medium storing one or more programs that, when executed by an electronic device including a plurality of application programs, cause the electronic device to perform the following method:
acquiring the electric quantity level of a robot and the task state of the robot;
determining whether the robot needs to be charged or not according to the electric quantity level and the task state;
and if so, sending a charging instruction to the robot so that the robot can be charged according to the charging instruction.
The embodiment of the application adopts at least one technical scheme which can achieve the following beneficial effects:
according to the technical scheme, the robot management system can monitor the electric quantity level of the robot and the task state of the robot in real time, determine whether the robot needs to be charged according to the electric quantity level and the task state, and send a charging instruction to the robot if the robot needs to be charged so that the robot can be charged according to the charging instruction. In this way, when the robot management system determines whether the robot needs to be charged, the task state of the robot is considered in addition to the power level of the robot, so that whether the robot needs to be charged can be flexibly determined on the premise of considering both the power level of the robot and the execution condition of the task, and a charging instruction is sent to the robot for charging when the robot needs to be charged, so that the condition that the robot cannot execute the task due to too low power can be avoided, and the working efficiency is improved.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below, it is obvious that the drawings in the following description are only some embodiments described in the present application, and for those skilled in the art, other drawings can be obtained according to the drawings without any creative effort.
Fig. 1 is a schematic flow diagram of a robot charging method according to an embodiment of the present application;
FIG. 2 is a schematic view of a charging area of a robot charging method according to an embodiment of the present application;
FIG. 3 is a schematic flow diagram of a robot charging method according to an embodiment of the present application;
FIG. 4 is a schematic structural diagram of an electronic device according to an embodiment of the present application;
fig. 5 is a schematic structural diagram of a robot charging device according to an embodiment of the present application;
fig. 6 is a schematic structural diagram of a robot charging device according to an embodiment of the present application.
Detailed Description
In order to make those skilled in the art better understand the technical solutions in the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
The technical solutions provided by the embodiments of the present application are described in detail below with reference to the accompanying drawings.
Fig. 1 is a schematic flowchart of a robot charging method according to an embodiment of the present application. The method is as follows.
S102: the robot management system acquires the electric quantity level of the robot and the task state of the robot.
In S102, a robot management System (RCS, robot Control System) may monitor the robot in real time, and in the monitoring process, the power level of the robot and the task state of the robot may be obtained, so as to determine whether the robot needs to be charged.
In this embodiment, the robot management system may monitor a plurality of robots at the same time, and obtain the power levels and task states of the plurality of robots.
The power level may be understood as a level corresponding to the power of the robot, in this embodiment, the power of different robots may be divided into different power levels in advance, and optionally, the power level of the robot may be divided into a low level, a middle level, and a high level, and the power corresponding to each level may be determined according to actual conditions, for example, when the power of the robot is 0-30%, the corresponding power level may be a low level, when the power of the robot is 31% -60%, the corresponding power may be a middle level, and when the power of the robot is 61% -100%, the corresponding power may be a high level.
Of course, the power level of the robot may also be divided into more levels according to actual situations, for example, a lowest level, a low level, a middle level, a high level, and a highest level, which are not illustrated one by one, and the embodiment may be illustrated by taking the low level, the middle level, and the high level as examples.
The task state of the robot may be understood as an execution state of the robot on the task, specifically, a state of executing the task, or an idle state, for example, taking the robot picking the order according to the order task as an example, a state that the robot is executing the task may be understood as a state that the robot is picking the order according to the order task, and a state that the robot is idle may be understood as a state that the robot is not allocating the order task to the robot and waits to allocate the order task.
S104: and the robot management system determines whether the robot needs to be charged or not according to the electric quantity level and the task state.
In S104, the robot management system may determine that the robot needs to be charged in either of the following two cases.
In the first case: when the task state of the robot is a state in which a task is being performed and the power level is a low level, the robot management system may determine that the robot needs to be charged.
Considering that the robot may still be maintained to perform a task when the power level is a middle level while the robot is performing the task, but may not be able to continue to perform subsequent tasks when the power level is a low level, it may be determined that the robot needs to be charged when the task state of the robot is a state in which the task is being performed and the power level is a low level.
In the second case: when the task state of the robot is an idle state and the electric quantity level is not greater than the middle level, the robot management system can also determine that the robot needs to be charged.
In consideration of the fact that the robot consumes the electric quantity when the robot is kept in a standby state in an idle state, in order to prevent the robot from being incapable of continuously executing tasks after the electric quantity of the robot is consumed when the robot is required to execute the tasks, when the task state of the robot is in the idle state and the electric quantity level is not greater than the middle level, the fact that the robot needs to be charged can be determined, and therefore the robot can be guaranteed to have sufficient electric quantity to complete the subsequent tasks.
In addition to the above two cases, in other cases, the robot management system may consider that the robot does not need to be charged. For example, the robot management system may determine that the robot does not need to be charged when the task state of the robot is performing a task and the power level is a high level, or may determine that the robot does not need to be charged when the task state of the robot is an idle state and the power level is a high level.
Optionally, the robot management system may perform S104 in a loop when determining that the robot does not need to be charged, so as to monitor whether the robot needs to be charged in real time. The robot management system may perform S106 when it is determined that the robot needs to be charged.
S106: and the robot management system sends a charging instruction to the robot.
In S106, when the robot management system determines that the robot needs to be charged based on the two cases described in S104, a charging command may be transmitted to the robot so that the robot can be charged according to the charging command.
In the first case described in S104, that is, in a case where the task state of the robot is the state in which the task is being executed and the power level is the low level, in order to avoid a problem that the robot interrupts the task being executed due to charging, the robot management system may transmit a charging instruction to the robot when the task state of the robot changes from the state in which the task is being executed to the idle state; in the second case described in S104, that is, when the task state of the robot is the idle state and the power level is not higher than the middle level (that is, the low level or the middle level), since the robot does not have any task to be executed, whether to charge the robot does not affect the robot, the robot management system can directly transmit the charging instruction to the robot.
In this embodiment, in order to avoid the problem that the robot is damaged due to continuous charging of the robot when the robot is fully charged, and to avoid the problem that the robot is fully charged and cannot execute the task in time to cause overstock of the task when the current task is more and the time is more urgent, the robot management system may also send an instruction to stop charging to the robot at an appropriate time.
Specifically, the robot management system may acquire a task list of the robot and determine whether an uncompleted task is included in the task list of the robot, and the robot management system may determine a timing to transmit a stop charging instruction to the robot based on whether the uncompleted task is included in the task list of the robot. Specifically, the following two cases can be classified:
in the first case: if the task list of the robot includes an incomplete task, the robot management system may transmit a stop charging instruction to the robot when the power level of the robot is changed from a low level to a middle level.
Specifically, for the first case in S104, when the task state of the robot is the state of executing the task and the power level is the low level, a charging instruction may be sent to the robot, and the robot may perform charging, but since the task list of the robot includes the uncompleted tasks, the robot management system may send a stop charging instruction to the robot when the power level of the robot changes from the low level to the medium level, so that since the power level of the medium level may already satisfy the condition that the robot continues to execute the task, the stop charging instruction may be sent to the robot at this time, and the robot may exit charging and continue to execute other uncompleted tasks, so as to ensure the work efficiency.
In the second case: if the task list of the robot does not include the uncompleted tasks, the robot management system may transmit a stop charging instruction to the robot when the power level of the robot changes from the low level to the high level or from the middle level to the high level.
Specifically, in the first case in S104, when the task state of the robot is the state in which the task is being executed and the power level is the low level, the robot sends the charging instruction to the robot, and when the task list of the robot does not include an unfinished task after the robot is charged (that is, the task currently being executed by the robot is the last task and the power level of the robot at this time is the low level), the robot management system may send the charging stop instruction to the robot when the power level of the robot changes from the low level to the high level. Therefore, the electric quantity can be charged to a high level under the condition that the robot has no task, and the electric quantity can be sufficiently charged when the robot executes the task subsequently.
For the second case in S104, when the task state of the robot is an idle state and the power level is not greater than the middle level (i.e., the low level or the middle level), a charging instruction is sent to the robot, and after the robot is charged, when the task list of the robot does not include an unfinished task (i.e., the robot is currently in the idle state and is still in the idle state thereafter), the robot management system may send a stop charging instruction to the robot when the power level of the robot changes from the low level to the high level or from the middle level to the high level. Because the robot is in the idle state at present and is still in the idle state subsequently, therefore, the electric quantity of the robot can be preferentially charged to a high level, and thus, the robot can be ensured to have sufficient electric quantity to complete subsequent tasks when the robot is required to execute the tasks subsequently.
S108: and the robot carries out charging according to the charging instruction.
In S108, the robot may perform charging according to the charging command after receiving the charging command from the robot management system.
Specifically, the robot may move to a target charging point in a charging area according to the charging instruction, where the charging area may include a plurality of charging points and a plurality of charging piles corresponding to the plurality of charging points, and each charging point may include an identifier uniquely corresponding to the charging point, such as a number, a name, and coordinates.
In this embodiment, the robot management system may preset a charging area in a map of the robot management system, and store an identifier of each charging point in the map, and the robot management system may further obtain a state of each charging point, so that when the robot needs to be charged, the robot management system may allocate an idle target charging point to the robot from the plurality of charging points.
Specifically, referring to fig. 2, fig. 2 is a schematic view of a charging area of a robot charging method according to an embodiment of the present disclosure.
In fig. 2, 6 charging piles may be arranged near the wall, and 6 charging points corresponding to the charging piles are arranged, each charging point has a corresponding number, 1, 2, 3, 4, 5, and 6, when the robot needs to be charged, the robot management system may allocate an idle charging point for the robot from the 6 charging points, and the robot may reach the charging point for charging, for example, the robot management system determines that the charging point 1 is in an idle state, and the robot may reach the charging point 1 for charging.
The robot can be through the target charging stake that laser identification corresponds with the target point of charging after arriving the target point of charging, specifically, after the robot arrived the target point of charging, the robot can launch laser, constantly scans based on the laser that launches, confirms the position that the target was filled the stake based on the laser data that feeds back.
After the position of the target charging pile is determined, the robot can be in butt joint with the target charging pile through an internal charging port so as to charge. Optionally, after the position of the target charging pile is determined, if the charging port in the robot is not aligned to the target charging pile, the robot may adjust the posture based on the laser data fed back to ensure that the charging port of the robot is aligned to the target charging pile.
In this embodiment, after the target charging pile is identified, the robot may move to the target charging pile at a first speed, when a distance between a charging port of the robot and the target charging pile is less than or equal to the first distance, the robot may move to the target charging pile at a second speed, and when the distance between the robot and the target charging pile is less than or equal to the second distance, the robot may dock the charging port inside with the target charging pile, wherein the first speed is greater than the second speed, so that the robot docks with the target charging pile at the second speed when approaching the target charging pile, and the accuracy of docking may be improved.
For example, after the target charging pile is identified, the robot can move towards the target charging pile at a speed of 2m/min, when the distance between a charging port of the robot and the target charging pile is less than or equal to 0.25m, the robot can move towards the target charging pile at a speed of 1m/min, and when the distance between the robot and the target charging pile is less than or equal to 0.1m, the robot can butt the internal charging port with the target charging pile.
It should be noted that, a micro switch may be included in the charging port inside the robot, and in the process that the robot docks the charging port inside the robot with the target charging pile, the robot may acquire the state of the micro switch, and if the micro switch is not turned on within a preset time period, it may be determined that the robot is unsuccessfully docked with the target charging pile.
Under the condition that the robot and the target charging pile are in butt joint failure, the robot can send prompt information to a manager to prompt the manager that the butt joint failure occurs, so that the manager can adjust the robot or the target charging pile which is in butt joint failure. In addition, after the robot reaches the target charging point, in the process that the robot identifies the target charging pile corresponding to the target charging point through laser, if the robot does not identify the target charging pile within a certain identification number, prompt information can be sent to a manager to prompt a system error, so that the manager can adjust the robot or the target charging pile.
Optionally, the robot management system may further monitor the plurality of charging piles, and when it is determined that one or more of the plurality of charging piles has a fault, the robot management system may set a charging point corresponding to the faulty charging pile to an unavailable state.
Optionally, in the process of charging the robot, if the environment where the robot is located meets a preset condition, the robot management system may control the robot to stop charging. The preset conditions include fire, flood and other conditions requiring timely power failure to ensure environmental safety.
For facilitating understanding of the technical solutions provided by the embodiments of the present invention, refer to fig. 3. Fig. 3 is a schematic flowchart of a robot charging process according to an embodiment of the present invention, and in this embodiment, the example that the robot management system determines that the robot needs to be charged is described, which may specifically include the following steps:
s301: the robot management system specifies the power level of the robot in advance and sets a charging area in advance.
The robot management system can also preset a charging area in a map of the robot management system, the charging area can comprise a plurality of charging points and a plurality of charging piles corresponding to the charging points, the positions of the charging area can be prestored in the map of the robot management system, each charging point can comprise an identifier uniquely corresponding to the charging point, such as a serial number, a name, a coordinate and the like, and the identifier of each charging point is stored in the map.
S302: the robot management system acquires the electric quantity level of the robot and the task state of the robot.
Wherein, the power level of the robot can at least comprise a low level, a middle level and a high level, and the task state of the robot can comprise a state of executing a task or an idle state.
S303: and the robot management system determines that the robot needs to be charged according to the electric quantity level and the task state.
Specifically, the robot management system may determine that the robot needs to be charged in either of the following two cases.
In the first case: when the task state of the robot is a state in which a task is being performed and the power level is a low level, the robot management system may determine that the robot needs to be charged.
In the second case: when the task state of the robot is an idle state and the electric quantity level is not greater than the middle level, the robot management system can also determine that the robot needs to be charged.
If the robot needs to be charged, S304 may be performed; if the robot does not need to be charged, S303 may be executed in a loop.
S304: the robot management system transmits a charging instruction to the robot.
When the robot management system determines that the robot needs to be charged based on the two cases described in S303, a charging instruction may be transmitted to the robot so that the robot can be charged according to the charging instruction.
S305: the robot moves to a target charging point in the charging area according to the charging instruction.
It should be noted that the robot management system may further obtain the state of each charging point, allocate an idle target charging point to the robot from the plurality of charging points, and move the robot to the idle target charging point according to the charging instruction.
S306: the robot identifies the target charging pile corresponding to the target charging point through laser.
Specifically, after the robot reaches the target charging point, the robot can emit laser, and the position of the target charging pile is determined based on the laser data fed back based on continuous scanning of the emitted laser.
S307: the robot docks with the target charging stake through the inside mouth that charges in order to charge.
Specifically, the robot can move to the target charging pile at a first speed, when the distance between a charging port of the robot and the target charging pile is smaller than or equal to the first distance, the robot can move to the target charging pile at a second speed, when the distance between the robot and the target charging pile is smaller than or equal to the second distance, the robot can dock the charging port inside with the target charging pile, wherein the first speed is larger than the second speed, and therefore the robot docks with the target charging pile at the second speed when approaching the target charging pile, and the accuracy of the docking can be improved.
It should be noted that, a micro switch may be included in a charging port inside the robot, and in the process of docking the robot with the target charging pile, the robot may acquire the state of the micro switch, and if the micro switch is not turned on within a preset time period, it may be determined that the docking of the robot with the target charging pile fails.
S308: the robot management system transmits a charging stop instruction to the robot.
Wherein, if the task list of the robot includes an incomplete task, the robot management system may send a stop charging instruction to the robot when the power level of the robot changes from a low level to a middle level. If the task list of the robot does not include the uncompleted tasks, the robot management system may transmit a stop charging instruction to the robot when the power level of the robot changes from the low level to the high level or from the middle level to the high level.
According to the technical scheme, the robot management system can acquire the electric quantity level of the robot and the task state of the robot, the robot management system can determine whether the robot needs to be charged according to the electric quantity level and the task state, if the robot needs to be charged, a charging instruction can be sent to the robot, and the robot can be charged according to the charging instruction. In this way, when the robot management system determines whether the robot needs to be charged, the task state of the robot is considered in addition to the power level of the robot, so that whether the robot needs to be charged can be flexibly determined on the premise of considering both the power level of the robot and the execution condition of the task, and a charging instruction is sent to the robot for charging when the robot needs to be charged, so that the condition that the robot cannot execute the task due to too low power can be avoided, and the working efficiency is improved.
The foregoing description of specific embodiments of the present application has been presented. Other embodiments are within the scope of the following claims. In some cases, the actions or steps recited in the claims may be performed in a different order than in the embodiments and still achieve desirable results. In addition, the processes depicted in the accompanying figures do not necessarily require the particular order shown, or sequential order, to achieve desirable results. In some embodiments, multitasking and parallel processing may also be possible or may be advantageous.
Fig. 4 is a schematic structural diagram of an electronic device according to an embodiment of the present application. Referring to fig. 4, at a hardware level, the electronic device includes a processor, and optionally further includes an internal bus, a network interface, and a memory. The Memory may include a Memory, such as a Random-Access Memory (RAM), and may further include a non-volatile Memory, such as at least 1 disk Memory. Of course, the electronic device may also include hardware required for other services.
The processor, the network interface, and the memory may be connected to each other via an internal bus, which may be an ISA (Industry Standard Architecture) bus, a PCI (Peripheral Component Interconnect) bus, an EISA (Extended Industry Standard Architecture) bus, or the like. The bus may be divided into an address bus, a data bus, a control bus, etc. For ease of illustration, only one double-headed arrow is shown in FIG. 4, but that does not indicate only one bus or one type of bus.
And the memory is used for storing programs. In particular, the program may include program code comprising computer operating instructions. The memory may include both memory and non-volatile storage and provides instructions and data to the processor.
The processor reads a corresponding computer program from the nonvolatile memory into the memory and then runs the computer program to form the robot charging device on a logic level. The processor is used for executing the program stored in the memory and is specifically used for executing the following operations:
acquiring the electric quantity level of a robot and the task state of the robot;
determining whether the robot needs to be charged or not according to the electric quantity level and the task state;
and if so, sending a charging instruction to the robot so that the robot can be charged according to the charging instruction.
The method performed by the robot charging device according to the embodiment shown in fig. 4 of the present application may be applied to or implemented by a processor. The processor may be an integrated circuit chip having signal processing capabilities. In implementation, the steps of the above method may be performed by integrated logic circuits of hardware in a processor or instructions in the form of software. The Processor may be a general-purpose Processor, including a Central Processing Unit (CPU), a Network Processor (NP), and the like; but also Digital Signal Processors (DSPs), Application Specific Integrated Circuits (ASICs), Field Programmable Gate Arrays (FPGAs) or other Programmable logic devices, discrete Gate or transistor logic devices, discrete hardware components. The various methods, steps, and logic blocks disclosed in the embodiments of the present application may be implemented or performed. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like. The steps of the method disclosed in connection with the embodiments of the present application may be directly implemented by a hardware decoding processor, or implemented by a combination of hardware and software modules in the decoding processor. The software module may be located in ram, flash memory, rom, prom, or eprom, registers, etc. storage media as is well known in the art. The storage medium is located in a memory, and a processor reads information in the memory and completes the steps of the method in combination with hardware of the processor.
The electronic device may also execute the method shown in fig. 1 and fig. 3, and implement the functions of the robot charging device in the embodiment shown in fig. 1 and fig. 3, which are not described herein again in this embodiment of the present application.
Of course, besides the software implementation, the electronic device of the present application does not exclude other implementations, such as a logic device or a combination of software and hardware, and the like, that is, the execution subject of the following processing flow is not limited to each logic unit, and may also be hardware or a logic device.
Embodiments of the present application also provide a computer-readable storage medium storing one or more programs, where the one or more programs include instructions, which when executed by a portable electronic device including a plurality of application programs, enable the portable electronic device to perform the method of the embodiment shown in fig. 1, and are specifically configured to:
acquiring the electric quantity level of a robot and the task state of the robot;
determining whether the robot needs to be charged or not according to the electric quantity level and the task state;
and if so, sending a charging instruction to the robot so that the robot can be charged according to the charging instruction.
Fig. 5 is a schematic structural diagram of a robot charging device 50 according to an embodiment of the present application, which is applied to a robot management system. Referring to fig. 5, in a software implementation, the robot charging device 50 may include: an obtaining module 51, a determining module 52 and a sending module 53, wherein:
the acquisition module 51 is used for acquiring the electric quantity level of the robot and the task state of the robot;
the determining module 52 is used for determining whether the robot needs to be charged according to the electric quantity level and the task state;
and a transmitting module 53, configured to transmit a charging instruction to the robot when the determining module determines that the robot needs to be charged.
Optionally, the power level includes at least a low level, a medium level and a high level, and the task state includes a state in which a task is being executed or an idle state;
the determining module 52 determines whether the robot needs to be charged according to the electric quantity level and the task state, including:
if the task state is a state of executing a task and the electric quantity level is the low level, determining that the robot needs to be charged;
and if the task state is an idle state and the electric quantity level is not greater than the middle level, determining that the robot needs to be charged.
Optionally, the sending module 53, when the task state is a state in which a task is being executed and the power level is the low level, sends the charging instruction to the robot, including:
and when the task state is changed from the task-executing state to the idle state, sending the charging instruction to the robot.
Optionally, the determining module 52 further includes:
determining whether an incomplete task is included in a task list of the robot;
if so, sending a charging stopping instruction to the robot when the electric quantity level of the robot is changed from the low level to the medium level;
if not, when the power level of the robot is changed from the low level to the high level or from the medium level to the high level, a charging stopping instruction is sent to the robot.
Optionally, the robot charging device 50 further includes: a setup module 54, wherein:
monitoring the plurality of charging piles;
and when one or more of the plurality of charging piles are determined to have faults, setting the charging points corresponding to the charging piles with the faults as unavailable states.
The robot charging device 50 provided in this embodiment of the application may also execute the method executed by the robot management system in fig. 1 and fig. 3, and implement the functions of the robot charging device in the embodiment shown in fig. 1 and fig. 3, which are not described herein again.
Fig. 6 is a schematic structural diagram of a robot charging device 60 according to an embodiment of the present application, which is applied to a robot. Referring to fig. 6, in a software implementation, the robot charging device 60 may include: a charging module 61, wherein:
and the charging module 61 is used for charging according to the charging instruction.
Optionally, the charging module 61, performing charging according to the charging instruction, includes:
moving to a target charging point in a charging area according to the charging instruction, wherein the charging area comprises a plurality of charging points and a plurality of charging piles corresponding to the plurality of charging points;
after the target charging point is reached, identifying a target charging pile corresponding to the target charging point through laser;
and charging after the internal charging port is in butt joint with the target charging pile.
Optionally, the robot charging device 60 further includes: a docking module 62, wherein:
moving to the target charging pile at a first speed;
when the distance between the target charging pile and the target charging pile is smaller than or equal to a first distance, moving the target charging pile at a second speed, wherein the first speed is greater than the second speed;
wherein, the docking module 62 docks the charging port inside with the target charging pile, and includes:
when the distance between the robot and the target charging pile is smaller than or equal to a second distance, the robot enables an internal charging port to be in butt joint with the target charging pile, and the second distance is smaller than the first distance
The robot charging device 60 provided in the embodiment of the present application may also execute the method executed by the robot in fig. 1 and fig. 3, and implement the functions of the robot charging device in the embodiment shown in fig. 1 and fig. 3, which are not described herein again in the embodiment of the present application.
In short, the above description is only a preferred embodiment of the present application, and is not intended to limit the scope of the present application. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.
The systems, devices, modules or units illustrated in the above embodiments may be implemented by a computer chip or an entity, or by a product with certain functions. One typical implementation device is a computer. In particular, the computer may be, for example, a personal computer, a laptop computer, a cellular telephone, a camera phone, a smartphone, a personal digital assistant, a media player, a navigation device, an email device, a game console, a tablet computer, a wearable device, or a combination of any of these devices.
Computer-readable media, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), Static Random Access Memory (SRAM), Dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), Read Only Memory (ROM), Electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), Digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information that can be accessed by a computing device. As defined herein, a computer readable medium does not include a transitory computer readable medium such as a modulated data signal and a carrier wave.
It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
The embodiments in the present application are described in a progressive manner, and the same and similar parts among the embodiments can be referred to each other, and each embodiment focuses on the differences from the other embodiments. In particular, for the system embodiment, since it is substantially similar to the method embodiment, the description is simple, and for the relevant points, reference may be made to the partial description of the method embodiment.
Claims (10)
1. A robot charging method, comprising:
the method comprises the steps that a robot management system obtains the electric quantity level of a robot and the task state of the robot;
the robot management system determines whether the robot needs to be charged or not according to the electric quantity level and the task state;
if so, the robot management system sends a charging instruction to the robot;
and the robot carries out charging according to the charging instruction.
2. The method of claim 1, wherein the power level comprises at least a low level, a medium level, and a high level, and the task state comprises a state in which a task is being performed or an idle state;
wherein, the robot management system determines whether the robot needs to be charged according to the electric quantity level and the task state, and the method comprises the following steps:
if the task state is a state of executing a task and the electric quantity level is the low level, determining that the robot needs to be charged;
and if the task state is an idle state and the electric quantity level is not greater than the middle level, determining that the robot needs to be charged.
3. The method of claim 2, wherein in a case where the task state is a state in which a task is being performed and the power level is the low level, transmitting the charging instruction to the robot comprises:
and when the task state is changed from the task-executing state to the idle state, sending the charging instruction to the robot.
4. The method of claim 2, wherein after the robot is charged according to the charging instructions, the method further comprises:
the robot management system determining whether an uncompleted task is included in a task list of the robot;
if so, sending a charging stopping instruction to the robot when the electric quantity level of the robot is changed from the low level to the medium level;
if not, when the power level of the robot is changed from the low level to the high level or from the medium level to the high level, a charging stopping instruction is sent to the robot.
5. The method of claim 1, wherein the robot is charged according to the charging instructions, comprising:
the robot moves to a target charging point in a charging area according to the charging instruction, wherein the charging area comprises a plurality of charging points and a plurality of charging piles corresponding to the plurality of charging points;
after the robot reaches the target charging point, identifying a target charging pile corresponding to the target charging point through laser;
the robot charges after docking the charging port inside with the target charging pile.
6. The method of claim 4, wherein upon identifying the target charging post, the method further comprises:
the robot moves to the target charging pile at a first speed;
when the distance between the robot and the target charging pile is smaller than or equal to a first distance, the robot moves to the target charging pile at a second speed, and the first speed is greater than the second speed;
wherein, the robot with inside mouthful with the butt joint of target charging stake, include:
when the distance between the robot and the target charging pile is smaller than or equal to a second distance, the robot enables an internal charging port to be in butt joint with the target charging pile, and the second distance is smaller than the first distance.
7. The method of claim 4, further comprising:
the robot management system monitors the plurality of charging piles;
and when the robot management system determines that one or more of the plurality of charging piles are in fault, setting the charging point corresponding to the faulty charging pile as an unavailable state.
8. A robot charging device is applied to a robot management system, and comprises:
the acquisition module acquires the electric quantity level of the robot and the task state of the robot;
the determining module is used for determining whether the robot needs to be charged or not according to the electric quantity level and the task state;
and the sending module is used for sending a charging instruction to the robot under the condition that the determining module determines that the robot needs to be charged, so that the robot can be charged according to the charging instruction.
9. An electronic device applied to a robot management system comprises:
a processor; and
a memory arranged to store computer executable instructions that, when executed, cause the processor to:
acquiring the electric quantity level of a robot and the task state of the robot;
determining whether the robot needs to be charged or not according to the electric quantity level and the task state;
and if so, sending a charging instruction to the robot so that the robot can be charged according to the charging instruction.
10. A computer-readable storage medium applied to a robot management system, the computer-readable storage medium storing one or more programs that, when executed by an electronic device including a plurality of application programs, cause the electronic device to perform a method of:
acquiring the electric quantity level of a robot and the task state of the robot;
determining whether the robot needs to be charged or not according to the electric quantity level and the task state;
and if so, sending a charging instruction to the robot so that the robot can be charged according to the charging instruction.
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| CN202010842785.2A CN112104017B (en) | 2020-08-20 | 2020-08-20 | Robot charging method and device |
| JP2020193478A JP6890862B1 (en) | 2020-08-20 | 2020-11-20 | Robot charging method, robot charging device, electronic device and storage medium |
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| CN202010842785.2A CN112104017B (en) | 2020-08-20 | 2020-08-20 | Robot charging method and device |
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| CN113031613A (en) * | 2021-03-11 | 2021-06-25 | 上海有个机器人有限公司 | Automatic charging method of robot, robot and waybill scheduling system |
| CN113282080A (en) * | 2021-04-27 | 2021-08-20 | 浙江柯工智能系统有限公司 | Mobile robot management system and method thereof |
| CN113282432A (en) * | 2021-05-21 | 2021-08-20 | 深圳优地科技有限公司 | Task management method, device, storage medium and program product |
| CN114069791A (en) * | 2021-11-23 | 2022-02-18 | 上海智蕙林医疗科技有限公司 | Intelligent robot charging control method and system |
| CN114265396A (en) * | 2021-11-11 | 2022-04-01 | 河南卫特机器人有限公司 | Intelligent wheel type chassis with autonomous navigation function and use method thereof |
| CN113282432B (en) * | 2021-05-21 | 2024-05-14 | 深圳优地科技有限公司 | Task management method, device, storage medium, and program product |
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| CN114228515A (en) * | 2021-12-22 | 2022-03-25 | 江苏智库智能科技有限公司 | Charging method, system and control device of four-way shuttle |
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Also Published As
| Publication number | Publication date |
|---|---|
| JP2022035926A (en) | 2022-03-04 |
| CN112104017B (en) | 2023-01-17 |
| JP6890862B1 (en) | 2021-06-18 |
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