CN113541245A - Charging method, charging system, readable storage medium and intelligent terminal device - Google Patents
Charging method, charging system, readable storage medium and intelligent terminal device Download PDFInfo
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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
- H02J7/0047—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries with monitoring or indicating devices or circuits
- H02J7/0048—Detection of remaining charge capacity or state of charge [SOC]
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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
- H02J7/0042—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries characterised by the mechanical construction
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
- H02J7/007—Regulation of charging or discharging current or voltage
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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- Y02B—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO BUILDINGS, e.g. HOUSING, HOUSE APPLIANCES OR RELATED END-USER APPLICATIONS
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Abstract
The invention provides a charging method, a charging system, a readable storage medium and intelligent terminal equipment, which are used for intelligent charging of an autonomous navigation robot, wherein the charging method comprises the following steps: when the electric quantity of the energy storage battery is smaller than a first preset threshold value and not smaller than a second preset threshold value, judging whether an unfinished task exists, and if so, returning to charge after the unfinished task is executed; in the process of executing the unfinished task, when the electric quantity of the energy storage battery is smaller than a second preset threshold value, judging whether the unfinished current task exists, and if so, returning to charge after the current task is executed; when the electric quantity of the energy storage battery is charged to a third preset threshold value, switching the charging state to a task execution state, and executing an unfinished task; the invention enables the autonomous navigation robot to perform autonomous switching between the task state and the charging state, so that the charging time is efficiently utilized, and the electric quantity efficiency utilization rate is improved under the same condition of battery capacity.
Description
Technical Field
The invention belongs to the technical field of charging of autonomous navigation robots, and particularly relates to a charging method, a charging system, a readable storage medium and intelligent terminal equipment.
Background
The application of the mobile robot solves the time-consuming problem of transportation between workpieces at all stations in a workshop of the manufacturing industry, and provides equipment support for truly realizing an intelligent factory. The autonomous navigation robot is a mobile robot based on a laser navigation technology, has more flexible maneuverability compared with the traditional magnetic navigation AGV platform and fixed conveyor belt transfer, and can completely depend on the autonomous navigation robot and realize quick transportation tasks of workpieces between different stations by means of scheduling software under the condition of not changing the field layout of a workshop.
In order to realize long-term unattended operation, namely the continuous work of the autonomous navigation robot without human intervention, the autonomous navigation robot needs to rely on an energy storage battery carried by the autonomous navigation robot so as to operate autonomously for a long time; however, the autonomous navigation robot still requires frequent return charging due to the capacity limitation of the energy storage battery. In order to really realize the long-term fully-autonomous independent operation of the mobile robot, the autonomous charging problem of the autonomous navigation robot must be solved. At present, autonomous charging of an autonomous navigation robot based on laser navigation has been studied for many years, most of the autonomous navigation robots adopt a scheme with simple charging logic, intelligent switching between task execution and automatic charging cannot be realized, the defects of low task execution efficiency, low electric quantity efficiency utilization rate and the like exist, and long-term autonomous independent operation of a mobile robot cannot be really realized.
Therefore, how to achieve high-efficiency task execution efficiency and electric quantity efficiency utilization rate on the basis of not increasing the capacity of the energy storage battery so that the autonomous navigation robot can operate independently for a long time is a research subject to be solved urgently.
Disclosure of Invention
In order to solve the technical problems, the invention provides a charging method, a charging system, a readable storage medium and an intelligent terminal device, which realize autonomous switching between a task execution state and a charging state, ensure efficient utilization of charging time, and realize efficient task execution efficiency and electric quantity efficiency utilization rate.
The embodiment of the invention provides a charging method, which has the following specific technical scheme:
a charging method for intelligent charging of an autonomous navigation robot, the charging method comprising:
when the electric quantity of the energy storage battery is smaller than a first preset threshold value and is larger than or equal to a second preset threshold value, judging whether an unfinished task exists in the task list; wherein the first preset threshold is larger than the second preset threshold;
if the task list has unfinished tasks, returning to charge after the unfinished tasks in the task list are executed;
in the process of executing the uncompleted tasks in the task list, when the electric quantity of the energy storage battery is smaller than a second preset threshold value, judging whether the uncompleted current tasks exist in the task list or not;
if the task list has the uncompleted current task, after the current task is executed, returning to charge, storing the uncompleted task in the task list, and when a new task is received, performing priority sequencing on the tasks in the task list;
when the electric quantity of the energy storage battery is charged to a third preset threshold value, wherein the third preset threshold value is larger than the first preset threshold value; and switching the charging state to a task execution state, and executing the unfinished tasks in the task list.
Compared with the prior art, the invention has the beneficial effects that: when the autonomous navigation robot is in a charging state, only new tasks are received and stored in a task list, and incomplete tasks and the new tasks in the task list are prioritized; meanwhile, when the task is executed, whether the task exists in the task list is judged according to different conditions that the electric quantity of the energy storage battery is consumed to the first preset threshold value and the second preset threshold value and when the electric quantity of the energy storage battery is increased to the third preset threshold value in the charging state, so that the autonomous navigation robot can autonomously and seamlessly switch between the task execution state and the charging state, the charging time of the autonomous navigation robot can be efficiently utilized, the efficient task execution efficiency is ensured, and the electric quantity efficiency utilization rate is improved.
Preferably, the charging method further comprises:
when the electric quantity of the energy storage battery is smaller than a third preset threshold value and is larger than or equal to the first preset threshold value, judging whether an unfinished task exists in the task list;
and when the task list does not have the unfinished task, executing an energy storage battery idle time charging program.
When the electric quantity of the energy storage battery is within a range which is smaller than a third preset threshold and not lower than the first preset threshold, according to the judgment of whether the task list has the uncompleted task or not, the uncompleted task exists or does not exist, so that the autonomous navigation robot can autonomously and seamlessly switch between the task execution state and the charging state, and the autonomous navigation robot can efficiently utilize the charging time.
Preferably, when the electric quantity of the energy storage battery is smaller than a third preset threshold and is greater than or equal to the first preset threshold, whether an unfinished task exists in the task list is judged; when there is no unexecuted task in the task list, after the step of executing the energy storage battery idle time charging program, the charging method further includes:
judging whether a received new issue task exists in the task list;
and if the received new sending task does not exist in the task list, returning to continue charging so as to fully charge the energy storage battery, and switching the charging state of the energy storage battery to the standby state after the energy storage battery is fully charged.
When the electric quantity of the energy storage battery is within a range which is smaller than a third preset threshold and not lower than the first preset threshold, no unexecuted task exists in the task list, and in the process of executing the idle-time charging program of the energy storage battery, according to whether a received new task exists in the task list, the received new task exists or the received new task does not exist, so that the autonomous navigation robot can be switched between the charging state and the standby state in an autonomous and seamless mode, the autonomous charging position and the standby position of the autonomous navigation robot are the same, and the efficient task execution efficiency can be realized.
Preferably, the judging task list is used for judging whether a received new issue task exists; if the received new sending task does not exist in the task list, returning to continue charging so as to fully charge the energy storage battery, wherein the charging method further comprises the following steps:
judging whether a received new issue task exists in the task list;
and if the received new sending task does not exist in the task list, continuing to maintain the standby state.
When the electric quantity of the energy storage battery is in a full-charge state, the received new tasks exist and do not exist in the task list according to the fact that whether the received new tasks exist or not, so that the autonomous navigation robot can be automatically and seamlessly switched between a standby state and a task execution state, and the charging time of the autonomous navigation robot is guaranteed to be efficiently utilized.
Preferably, the autonomous navigation robot includes a charging pad, the charging pad is charged in cooperation with the charging brush, wherein the step of switching the charging state of the energy storage battery to the standby state is: the high signal is input by the circuit arranged in the charging panel, so that the switch coil KM arranged in the charging panel is electrified to drive the normally closed switch KM to be disconnected, namely, the electric connection between the charging brush and the charging panel is disconnected, and the charging state is switched to a standby state.
When the energy storage battery is fully charged, the normally closed switch KM in the charging panel is automatically disconnected, so that the built-in charging panel and the external charging brush of the autonomous navigation robot are electrically connected and disconnected, and the charging state of the autonomous navigation robot is automatically switched to a standby state.
Another embodiment of the present invention provides a charging system for intelligent charging of an autonomous navigation robot, the charging method including:
the first judgment module is used for judging whether unfinished tasks exist in the task list or not when the electric quantity of the energy storage battery is smaller than a first preset threshold value and is larger than or equal to a second preset threshold value; wherein the first preset threshold is larger than the second preset threshold;
the first returning module is used for returning to charge after the unfinished tasks in the task list are executed if the unfinished tasks exist in the task list;
the second judgment module is used for judging whether the unfinished current task exists in the task list or not when the electric quantity of the energy storage battery is smaller than a second preset threshold value in the process of executing the unfinished task in the task list;
the second returning module is used for returning to charge after the current task is executed if the uncompleted current task exists in the task list, storing the uncompleted task in the task list, and performing priority sequencing on the tasks in the task list when a new task is received;
the first switching module is used for charging the electric quantity of the energy storage battery to a third preset threshold value, wherein the third preset threshold value is larger than the first preset threshold value; and switching the charging state to a task execution state, and executing the unfinished tasks in the task list.
When the autonomous navigation robot is in a charging state, only new tasks are received and stored in a task list, and incomplete tasks and the new tasks in the task list are subjected to priority sequencing; meanwhile, when a task is executed, according to the fact that the electric quantity of the energy storage battery is in different conditions that a first preset threshold value and a second preset threshold value are taken as boundary points and when the energy storage battery is in a charging state and according to the fact that the electric quantity of the energy storage battery reaches different conditions that a third preset threshold value is taken as a boundary point, the first judging module is used for judging whether a task exists in a task list or not, and the first returning module is used for enabling the autonomous navigation robot to conduct autonomous seamless switching between a task executing state and a charging state, so that the autonomous navigation robot can efficiently utilize charging time, efficient task executing efficiency is guaranteed, and electric quantity efficiency utilization rate is improved.
Preferably, the third determining module is configured to determine whether an uncompleted task exists in the task list when the electric quantity of the energy storage battery is less than a third preset threshold and is greater than or equal to the first preset threshold;
and the third returning module is used for executing the energy storage battery idle time charging program when the task list does not have the unfinished task.
When the electric quantity of the energy storage battery is smaller than a third preset threshold value and not lower than a first preset threshold value, the first judging module judges whether an uncompleted task exists in the task list, and has two conditions of the uncompleted task and the uncompleted task, and the first returning module enables the autonomous navigation robot to perform autonomous seamless switching in a task execution state or a charging state, so that the autonomous navigation robot can efficiently utilize charging time.
Preferably, the fourth judging module is configured to judge whether a received new issue task exists in the task list;
the fourth returning module is used for returning to continue charging if the received new sending task does not exist in the task list so as to fully charge the energy storage battery;
and the second switching module is used for switching the charging state of the energy storage battery to a standby state after the energy storage battery is fully charged.
When the electric quantity of the energy storage battery is within a range smaller than a third preset threshold value and not lower than a first preset threshold value, no unexecuted task exists in the task list, and in the process of executing the idle-time charging program of the energy storage battery, the first judging module judges whether a received new task exists in the task list or not, and has two conditions of the received new task and the non-received new task, and the first returning module enables the autonomous navigation robot to be in the charging state or the standby state to be in the autonomous seamless switching mode, so that the autonomous charging position and the standby position of the autonomous navigation robot are the same position, and the efficient task execution efficiency can be realized.
Preferably, the fifth judging module is configured to judge whether a received new issue task exists in the task list; and if the received new sending task does not exist in the task list, continuing to maintain the standby state.
Preferably, the autonomous navigation robot includes a charging pad, the charging pad is charged in cooperation with the charging brush, wherein the step of switching the charging state of the energy storage battery to the standby state is: the charging panel built-in circuit outputs a high-frequency signal so as to electrify a switch coil KM built in the charging panel and drive a normally closed switch KM to be disconnected, namely, the charging brush is electrically disconnected with the charging panel, so that the charging state is switched to a standby state.
Another embodiment of the present invention provides a readable storage medium, on which an application program is stored, which when executed by a processor implements the steps of the charging method as described in any one of the above.
Another embodiment of the present invention provides an intelligent terminal device, which includes a memory, a processor, and an application program stored in the memory and executable on the processor, wherein the processor executes the program to implement the steps of the method as described in any one of the above.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive exercise.
Fig. 1 is a flowchart of a charging method according to a first embodiment of the present invention;
fig. 2 is a block diagram of a charging system according to a first embodiment of the present invention;
fig. 3 is a flowchart of a charging method according to a second embodiment of the present invention;
fig. 4 is a block diagram of a charging system according to a second embodiment of the present invention;
fig. 5 is a flowchart of a charging method according to a third embodiment of the invention;
fig. 6 is a schematic circuit diagram of a state-of-charge switching standby state according to a third embodiment of the present invention;
fig. 7 is a block diagram of a charging system according to a third embodiment of the present invention.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are exemplary and intended to be illustrative of the embodiments of the present invention, and should not be construed as limiting the invention.
As shown in fig. 1, a flowchart of a charging method according to a first embodiment of the present invention is provided, where the charging method is used for intelligent charging of an autonomous navigation robot, and the charging method specifically includes steps S111 to S113:
step S111: when the electric quantity of the energy storage battery is smaller than a first preset threshold value and is larger than or equal to a second preset threshold value, judging whether an unfinished task exists in the task list; wherein the first preset threshold is larger than the second preset threshold;
in this embodiment, the first preset threshold is 50%, that is, the current electric quantity of the energy storage battery accounts for 50% of the full electric quantity of the energy storage battery; similarly, the second preset threshold is 20%, that is, the current electric quantity of the energy storage battery accounts for 20% of the full electric quantity of the energy storage battery; specifically, in the operation process of the autonomous navigation robot, when the electric quantity of the energy storage battery is within the range of less than 50% of the full electric quantity of the energy storage battery and not less than 20% of the full electric quantity of the energy storage battery, the autonomous navigation robot performs subsequent return charging or continues to execute task operation corresponding to the judgment result according to the judgment result of whether the task list has the uncompleted task.
Step S112: if the unfinished task exists in the task list, returning to charge after the unfinished task in the task list is executed;
in the embodiment, because the task list has the uncompleted tasks, the autonomous navigation robot still keeps the task execution state and continues to execute the uncompleted tasks in the task list; and when the unfinished tasks are completely executed, switching the task execution state to a charging state so as to charge the electric quantity of the energy storage battery. Specifically, in the charging state, the autonomous navigation robot returns to the charging point, i.e., the standby point, and the charging pad is automatically contacted with the charging brush for charging. Note that, after step S111, when it is determined that there is no unfinished task in the task list, the charging is returned directly.
Step S113: when the electric quantity of the energy storage battery is charged to a third preset threshold value, wherein the third preset threshold value is larger than the first preset threshold value; switching the charging state to a task execution state, and executing unfinished tasks in the task list;
in this embodiment, the third preset threshold is 70%, that is, the current electric quantity of the energy storage battery accounts for 70% of the full electric quantity of the energy storage battery; specifically, in the charging process of the autonomous navigation robot, if a received new issue exists, when the electric quantity of the energy storage battery is charged to a third preset threshold value, the charging plate and the charging brush can be automatically separated, and the charging operation is finished; and switching the charging state to a task execution state so that the autonomous navigation robot executes the uncompleted tasks in the task list.
As shown in fig. 2, a block diagram of a charging system corresponding to a charging method according to an embodiment of the present invention is provided, where the charging system is used for intelligent charging of an autonomous navigation robot, and the charging system includes:
the first judging module 111 is configured to judge whether an uncompleted task exists in the task list when the electric quantity of the energy storage battery is smaller than a first preset threshold and is greater than or equal to a second preset threshold; the first preset threshold is larger than the second preset threshold.
The first return module 112: when it is determined that there is an unfinished task in the task list, the first returning module 112 is configured to return to charge after the unfinished task in the task list is executed.
The first switching module 113: when the electric quantity of the energy storage battery is charged to a third preset threshold value, wherein the third preset threshold value is larger than the first preset threshold value; the first switching module 113 is configured to switch the charging state to a task execution state, and execute an unfinished task in the task list;
as shown in fig. 3, a flowchart of a charging method according to a second embodiment of the present invention is provided, where the charging method is used for intelligent charging of an autonomous navigation robot, and the charging method specifically includes steps S121 to S123:
step S121: in the process of executing the uncompleted tasks in the task list, when the electric quantity of the energy storage battery is smaller than a second preset threshold value, judging whether the uncompleted current tasks exist in the task list or not;
in this embodiment, the second preset threshold is 20%, that is, the current electric quantity of the energy storage battery accounts for 20% of the full electric quantity of the energy storage battery; specifically, in the running process of the autonomous navigation robot, when the electric quantity of the energy storage battery is less than 20% of the full electric quantity of the energy storage battery, the autonomous navigation robot performs subsequent return charging or continues to execute task operation corresponding to a judgment result according to the judgment result whether the uncompleted current task exists in the task list.
Step S122: if the task list has the uncompleted current task, after the current task is executed, returning to charge, storing the uncompleted task in the task list, and when a new task is received, performing priority sequencing on the tasks in the task list;
the autonomous navigation robot executes the current task and simultaneously stores the uncompleted task in the task list because the uncompleted current task exists in the task list; then, the task execution state is switched to a charging state, the autonomous navigation robot returns to a charging point, namely a standby point, and the charging plate automatically contacts with the charging brush to charge; and under the charging state of the energy storage battery, if a received new issue task exists, controlling the task list to perform priority ordering operation on the uncompleted task and the new issue task. Note that, after step S121, when it is determined that there is no unfinished task in the task list, the charging is returned directly.
Step S123: when the electric quantity of the energy storage battery is charged to a third preset threshold value, wherein the third preset threshold value is larger than the first preset threshold value; switching the charging state to a task execution state, and executing unfinished tasks in the task list;
in this embodiment, the third preset threshold is 70%, that is, the current electric quantity of the energy storage battery accounts for 70% of the full electric quantity of the energy storage battery; specifically, in the charging process of the autonomous navigation robot, when the electric quantity of the energy storage battery is charged to a third preset threshold value, the charging plate and the charging brush can be automatically separated, and the charging operation is finished; and switching the charging state to a task execution state so that the autonomous navigation robot executes the uncompleted tasks in the task list.
As shown in fig. 4, a block diagram of a charging system corresponding to the charging method according to the second embodiment of the present invention is a charging system for intelligently charging an autonomous navigation robot, and the charging system includes:
the second judging module 121, during the process of executing the uncompleted task in the task list, when the electric quantity of the energy storage battery is smaller than a second preset threshold, the second judging module 121 is configured to judge whether an uncompleted current task exists in the task list;
a second returning module 122, wherein when it is determined that the uncompleted current task exists in the task list, the second returning module 122 returns to charge after the current task is executed; meanwhile, incomplete tasks in the task list are stored, and when a new task is received, the tasks in the task list are subjected to priority sequencing;
the first switching module 113 is configured to, when the energy storage battery is charged to a third preset threshold, where the third preset threshold is greater than the first preset threshold; the first switching module 113 is configured to switch the charging state to a task execution state, and execute an uncompleted task in the task list.
As shown in fig. 5, a flowchart of a charging method according to a third embodiment of the present invention is provided, where the charging method is used for intelligent charging of an autonomous navigation robot, and the charging method specifically includes steps S131 to S134:
step S131: when the electric quantity of the energy storage battery is smaller than a third preset threshold value and is larger than or equal to the first preset threshold value, judging whether an unfinished task exists in the task list;
in this embodiment, the third preset threshold is 70%, that is, the current electric quantity of the energy storage battery accounts for 70% of the full electric quantity of the energy storage battery; similarly, the first preset threshold is 50%, namely the electric quantity of the current energy storage battery accounts for 50% of the full electric quantity of the energy storage battery; specifically, in the operation process of the autonomous navigation robot, when the electric quantity of the energy storage battery is within the range of less than 70% of the full electric quantity of the energy storage battery and not less than 50% of the full electric quantity of the energy storage battery, the autonomous navigation robot performs subsequent return charging or continues to execute task operation corresponding to the judgment result according to the judgment result of whether the task list has the uncompleted task.
Step S132: if the task list does not have unfinished tasks, executing an energy storage battery idle time charging program;
in this embodiment, since there is no unfinished task in the task list, the autonomous navigation robot performs no task, and then switches the task execution state to a charging state, and the autonomous navigation robot autonomously starts an idle time charging program of the energy storage battery under the task-free execution condition, so as to charge the electric quantity of the energy storage battery. After step S131, if it is determined that a task exists in the task list, the uncompleted task continues to be executed.
Step S133: if the received new issue task does not exist in the task list, returning to continue charging so as to fully charge the energy storage battery; after the energy storage battery is fully charged, the charging state of the energy storage battery is switched to a standby state;
in the process of the idle time charging program of the energy storage battery, no new received tasks exist in the task list, as shown in fig. 6, the autonomous navigation robot comprises a charging panel, the charging panel and a charging brush are charged in a matching manner, when the energy storage battery is fully charged, a high-frequency signal is input by a built-in circuit of the charging panel, so that a switch coil KM built in the charging panel is electrified, a normally closed switch KM is driven to be disconnected, that is, the charging brush and the charging panel are electrically disconnected, and the charging state is switched to a standby state; specifically, an optical coupling amplifying circuit is built in the charging pad, wherein R1 and R2 represent resistors with different resistance values, D1 is a photodiode, Q1 is a photosensitive receiving tube, and VCC represents a power supply voltage. In addition, it should be noted that after step S132, when it is determined that there is a received new issue task in the task list, the new issue task is executed.
Step S134: if judging that no received new tasks exist in the task list, continuing to maintain the standby state; when the energy storage battery is in a standby state, the task list does not have a new received task, and is not switched to a task execution state, and the standby state is continuously maintained to wait for receiving the new task. In addition, after step S133, when it is determined that there is a received new issue task in the task list, the new issue task is executed.
As shown in fig. 7, a structural block diagram of a charging system corresponding to the charging method provided in the third embodiment of the present invention is a charging system for intelligently charging an autonomous navigation robot, and the charging system includes:
when the electric quantity of the energy storage battery is smaller than a third preset threshold and is greater than or equal to the first preset threshold, the third judging module 131 is configured to judge whether an unfinished task exists in the task list;
a third returning module 132, wherein when it is determined that there is no unfinished task in the task list, the third returning module 132 executes an idle time charging procedure of the energy storage battery;
the fourth judging module 133 is configured to judge whether a received new issue task exists in the task list during the charging procedure of the energy storage battery at the idle time;
a fourth returning module 134, wherein when it is determined that there is no new received task in the task list, the fourth returning module 134 returns to continue charging, so as to fully charge the energy storage battery;
the second switching module 135 is configured to switch the charging state of the energy storage battery to a standby state after the energy storage battery is fully charged;
the fifth determining module 136 is configured to determine whether a received new issue task exists in the task list when the energy storage battery is in the standby state, and if the received new issue task does not exist, continue to maintain the standby state.
The embodiment of the invention also provides a readable storage medium, wherein an application program is stored on the readable storage medium, and when the application program is executed by a processor, the steps of the charging method in any one of the first, second and third embodiments are realized.
The embodiment of the invention also provides intelligent terminal equipment which comprises a memory, a processor and an application program which is stored on the memory and can be run on the processor, wherein the processor executes the program to realize the steps of any one of the charging methods in the first embodiment, the second embodiment and the third embodiment.
The logic and/or steps represented in the flowcharts or otherwise described herein, e.g., an ordered listing of executable instructions that can be considered to implement logical functions, can be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions. For the purposes of this description, a "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device.
More specific examples (a non-exhaustive list) of the computer-readable medium would include the following: an electrical connection (electronic device) having one or more wires, a portable computer diskette (magnetic device), a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). Additionally, the computer-readable medium could even be paper or another suitable medium upon which the program is printed, as the program can be electronically captured, via for instance optical scanning of the paper or other medium, then compiled, interpreted or otherwise processed in a suitable manner if necessary, and then stored in a computer memory.
It should be understood that portions of the present invention may be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, the various steps or methods may be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, any one or combination of the following techniques, which are known in the art, may be used: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application specific integrated circuit having an appropriate combinational logic gate circuit, a Programmable Gate Array (PGA), a Field Programmable Gate Array (FPGA), or the like.
The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the present invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (10)
1. A charging method for intelligent charging of an autonomous navigation robot, the charging method comprising:
when the electric quantity of the energy storage battery is smaller than a first preset threshold value and is larger than or equal to a second preset threshold value, judging whether an unfinished task exists in the task list; wherein the first preset threshold is larger than the second preset threshold;
if the task list has unfinished tasks, returning to charge after the unfinished tasks in the task list are executed;
in the process of executing the uncompleted tasks in the task list, when the electric quantity of the energy storage battery is smaller than a second preset threshold value, judging whether the uncompleted current tasks exist in the task list or not;
if the task list has the uncompleted current task, after the current task is executed, returning to charge, storing the uncompleted task in the task list, and when a new task is received, performing priority sequencing on the tasks in the task list;
when the electric quantity of the energy storage battery is charged to a third preset threshold value, wherein the third preset threshold value is larger than the first preset threshold value; and switching the charging state to a task execution state, and executing the unfinished tasks in the task list.
2. The charging method according to claim 1, further comprising:
when the electric quantity of the energy storage battery is smaller than a third preset threshold value and is larger than or equal to the first preset threshold value, judging whether an unfinished task exists in the task list;
and when the task list does not have the unfinished task, executing an energy storage battery idle time charging program.
3. The charging method according to claim 2, wherein when the electric quantity of the energy storage battery is less than a third preset threshold and is greater than or equal to a first preset threshold, it is determined whether an unfinished task exists in the task list; when there is no unexecuted task in the task list, after the step of executing the energy storage battery idle time charging program, the charging method further includes:
judging whether a received new issue task exists in the task list;
if the received new sending task does not exist in the task list, returning to continue charging so as to fully charge the energy storage battery; and after the energy storage battery is fully charged, the charging state of the energy storage battery is switched to a standby state.
4. The charging method according to claim 3, wherein the determining whether there is a new issue task received in a task list; if the received new sending task does not exist in the task list, returning to continue charging so as to fully charge the energy storage battery; after the step of switching the charging state of the energy storage battery to the standby state after the charging, the charging method further includes:
judging whether a received new issue task exists in the task list;
and if the received new sending task does not exist in the task list, continuing to maintain the standby state.
5. The charging method according to claim 3, wherein the autonomous navigation robot includes a charging pad that charges in cooperation with a charging brush, wherein the step of switching the charging state of the energy storage battery to the standby state is: the charging panel built-in circuit outputs a high-frequency signal so as to electrify a switch coil KM built in the charging panel and drive a normally closed switch KM to be disconnected, namely, the charging brush is electrically disconnected with the charging panel, so that the charging state is switched to a standby state.
6. A charging system for intelligent charging of an autonomous navigation robot, the charging system comprising:
the first judgment module is used for judging whether unfinished tasks exist in the task list or not when the electric quantity of the energy storage battery is smaller than a first preset threshold value and is larger than or equal to a second preset threshold value; wherein the first preset threshold is larger than the second preset threshold;
the first returning module is used for returning to charge after the unfinished tasks in the task list are executed if the unfinished tasks exist in the task list;
the second judgment module is used for judging whether the unfinished current task exists in the task list or not when the electric quantity of the energy storage battery is smaller than a second preset threshold value in the process of executing the unfinished task in the task list;
the second returning module is used for returning to charge after the current task is executed if the uncompleted current task exists in the task list, storing the uncompleted task in the task list, and performing priority sequencing on the tasks in the task list when a new task is received;
the first switching module is used for charging the electric quantity of the energy storage battery to a third preset threshold value, wherein the third preset threshold value is larger than the first preset threshold value; and switching the charging state to a task execution state, and executing the unfinished tasks in the task list.
7. The charging system of claim 6,
the third judging module is used for judging whether unfinished tasks exist in the task list or not when the electric quantity of the energy storage battery is smaller than a third preset threshold value and is larger than or equal to the first preset threshold value;
and the third returning module is used for executing the energy storage battery idle time charging program when the task list does not have the unfinished task.
8. The charging system according to claim 7,
the fourth judging module is used for judging whether the received new issue task exists in the task list;
the fourth returning module is used for returning to continue charging if the received new sending task does not exist in the task list so as to fully charge the energy storage battery;
and the second switching module is used for switching the charging state of the energy storage battery to a standby state.
9. A readable storage medium, on which an application program is stored, wherein the program, when executed by a processor, implements the steps of the charging method according to any one of claims 1 to 5.
10. An intelligent terminal device comprising a memory, a processor and an application program stored on the memory and operable on the processor, wherein the processor implements the steps of the charging method according to any one of claims 1 to 5 when executing the program.
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