CN113799626A - Robot charging method, device and equipment - Google Patents

Robot charging method, device and equipment Download PDF

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Publication number
CN113799626A
CN113799626A CN202010555342.5A CN202010555342A CN113799626A CN 113799626 A CN113799626 A CN 113799626A CN 202010555342 A CN202010555342 A CN 202010555342A CN 113799626 A CN113799626 A CN 113799626A
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China
Prior art keywords
robot
charging
interface
target
robots
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CN202010555342.5A
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Chinese (zh)
Inventor
续立军
甘帅
李�根
李名杨
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Alibaba Group Holding Ltd
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Alibaba Group Holding Ltd
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Priority to CN202010555342.5A priority Critical patent/CN113799626A/en
Publication of CN113799626A publication Critical patent/CN113799626A/en
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L67/00—Network arrangements or protocols for supporting network services or applications
    • H04L67/01—Protocols
    • H04L67/12—Protocols specially adapted for proprietary or special-purpose networking environments, e.g. medical networks, sensor networks, networks in vehicles or remote metering networks
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/70—Energy storage systems for electromobility, e.g. batteries
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
    • Y02T90/10—Technologies relating to charging of electric vehicles
    • Y02T90/14—Plug-in electric vehicles

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  • Engineering & Computer Science (AREA)
  • Health & Medical Sciences (AREA)
  • Computing Systems (AREA)
  • General Health & Medical Sciences (AREA)
  • Medical Informatics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Signal Processing (AREA)
  • Power Engineering (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Charge And Discharge Circuits For Batteries Or The Like (AREA)

Abstract

The embodiment of the application provides a robot charging method, a device and equipment, wherein the method comprises the following steps: determining that a first robot of a plurality of robots in a target area needs to be charged during a task execution process of the robots in the target area; determining to charge the first robot through a second robot of the plurality of robots using a charge scheduling algorithm; and sending charging control information to the first robot and the second robot, wherein the charging control information is used for controlling the second robot to charge the first robot. The application reduces the limitation of charging to the robot.

Description

Robot charging method, device and equipment
Technical Field
The application relates to the technical field of artificial intelligence, in particular to a robot charging method, device and equipment.
Background
With the continuous development of artificial intelligence, mobile robots such as Automatic Guided Vehicles (AGVs), Rail shuttle vehicles (RGVs), and delivery robots are more and more widely used.
Due to the limitation of the capacity of the battery, the robot cannot run for a long time, and the robot must return to a charging pile for charging at regular time or when the insufficient electric quantity is detected. Specifically, the charging interface of the robot needs to be in butt joint with a charging pile so as to charge the robot through the charging pile.
However, the robot charging method has a problem that the robot is limited by charging.
Disclosure of Invention
The embodiment of the application provides a robot charging method, device and equipment, which are used for solving the problem that the robot charging mode in the prior art has great limitation on the robot.
In a first aspect, an embodiment of the present application provides a robot charging method, where the method includes:
determining that a first robot of a plurality of robots in a target area needs to be charged during a task execution process of the robots in the target area;
determining, using a charge scheduling algorithm, to charge the first robot through a second robot of the plurality of robots;
and sending charging control information to the first robot and the second robot, wherein the charging control information is used for controlling the second robot to charge the first robot.
In a second aspect, an embodiment of the present application provides a robot charging method, applied to a target robot, including:
receiving charging control information, wherein the charging control information is used for controlling the first robot to be charged through a second robot;
and executing corresponding control processing according to the charging control information so as to charge the first robot through the second robot.
In a third aspect, an embodiment of the present application provides a robot charging apparatus, which is applied to a scheduling device, and the apparatus includes:
the first determination module is used for determining that a first robot in the plurality of robots in the target area needs to be charged in the process that the robots in the target area execute tasks;
a second determining module for determining to charge the first robot through a second robot of the plurality of robots using a charge scheduling algorithm;
the system comprises a sending module and a charging control module, wherein the sending module is used for sending charging control information to the first robot and the second robot, and the charging control information is used for controlling the second robot to charge the first robot.
In a fourth aspect, an embodiment of the present application provides a robot charging device, which is applied to a target robot, and includes:
the receiving module is used for receiving charging control information, and the charging control information is used for controlling the second robot to charge the first robot;
and the execution module is used for executing corresponding control processing according to the charging control information so as to charge the first robot through the second robot.
In a fifth aspect, an embodiment of the present application provides a server, including: a memory, a processor; wherein the memory is configured to store one or more computer instructions, wherein the one or more computer instructions, when executed by the processor, implement the method of any of the first aspects.
In a sixth aspect, an embodiment of the present application provides a robot, including: a memory, a processor; wherein the memory is configured to store one or more computer instructions, wherein the one or more computer instructions, when executed by the processor, implement the method of any of the second aspects.
Embodiments of the present application also provide a computer-readable storage medium storing a computer program, the computer program comprising at least one code, which is executable by a computer to control the computer to perform the method according to any one of the first aspect.
Embodiments of the present application also provide a computer program, which is used to implement the method according to any one of the first aspect when the computer program is executed by a computer.
According to the robot charging method, device and equipment provided by the embodiment of the application, in the process that the robots in the target area execute tasks, it is determined that a first robot in the multiple robots needs to be charged, a charging scheduling algorithm is adopted, it is determined that a second robot in the multiple robots charges the first robot, and charging control information is sent to the first robot and the second robot, wherein the charging control information is used for controlling the second robot to charge the first robot, so that the charging mode that the server controls the second robot to be charged through the first robot by adopting the charging scheduling algorithm, namely the charging mode that the robots are in butt joint is realized, compared with the charging mode that the robots are required to be in butt joint with charging piles to charge the robots in the traditional technology, the limitation of the robot charging mode to the robots is reduced.
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 described below, and it is obvious that the drawings in the following description are some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative efforts.
Fig. 1 is a schematic view of an application scenario according to an embodiment of the present application;
fig. 2 is a schematic flowchart of a robot charging method according to an embodiment of the present disclosure;
FIG. 3 is a schematic diagram of a robot as a charging power source according to an embodiment of the present disclosure;
4A-4C are schematic diagrams of a robot determined to be a charging power source according to an embodiment of the present application;
FIG. 5 is a schematic diagram of an embodiment of the present application in which a robot is used as a charging relay;
fig. 6 is a schematic diagram of a robot determined to be a charging relay according to an embodiment of the present disclosure;
fig. 7 is a schematic flowchart of a robot charging method according to another embodiment of the present disclosure;
fig. 8 is a schematic flowchart of a robot charging method according to another embodiment of the present disclosure;
fig. 9 is a schematic structural diagram of a robot charging device according to an embodiment of the present disclosure;
fig. 10 is a schematic structural diagram of a scheduling apparatus according to an embodiment of the present application;
fig. 11 is a schematic structural diagram of a robot charging device according to another embodiment of the present disclosure;
fig. 12 is a schematic structural diagram of a robot according to an embodiment of the present application.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, 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 some embodiments of the present application, but not all 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 terminology used in the embodiments of the present application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. As used in the examples of this application and the appended claims, the singular forms "a", "an", and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise, and "a" and "an" typically include at least two, but do not exclude the presence of at least one.
It should be understood that the term "and/or" as used herein is merely one type of association that describes an associated object, meaning that three relationships may exist, e.g., a and/or B may mean: a exists alone, A and B exist simultaneously, and B exists alone. In addition, the character "/" herein generally indicates that the former and latter related objects are in an "or" relationship.
The words "if", as used herein, may be interpreted as "at … …" or "at … …" or "in response to a determination" or "in response to a detection", depending on the context. Similarly, the phrases "if determined" or "if detected (a stated condition or event)" may be interpreted as "when determined" or "in response to a determination" or "when detected (a stated condition or event)" or "in response to a detection (a stated condition or event)", depending on the context.
It is also noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a good or system that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such good or system. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a commodity or system that includes the element.
In addition, the sequence of steps in each method embodiment described below is only an example and is not strictly limited.
For the convenience of those skilled in the art to understand the technical solutions provided in the embodiments of the present application, a technical environment for implementing the technical solutions is described below.
In a robot charging method commonly used in the related art, a charging interface of a robot needs to be in butt joint with a charging pile to charge the robot through the charging pile, however, the robot charging method has a great limitation on the robot. Therefore, there is a need in the art for a robot charging method that can reduce the restriction on the robot due to charging.
Based on the practical technical requirements similar to those described above, the robot charging method provided by the application can reduce the limitation of charging on the robot by using a technical means.
The following describes a robot charging method provided in various embodiments of the present application in detail through an exemplary application scenario.
As shown in fig. 1, the application scenario may include a scheduling device 11 and a plurality of robots 12 in a target area. Wherein, the communication connection between the scheduling device 11 and the robot 12 may be a Wireless communication connection in one embodiment, and based on this, the scheduling device 11 and the robot 12 may include a Wireless communication module, for example, a Wireless Fidelity (WiFi) module. Of course, in other embodiments, the scheduling device 11 and the robot 12 may also be communicatively connected in other manners, which is not limited in this application. The Robot (Robot)12 may be, for example, a Robot device capable of automatically performing work, such as an automatic guided vehicle and a delivery Robot.
In one embodiment, the scheduling device 11 may specifically be a server for the target area, and the server may be any form of data processing server such as a cloud server, a distributed server, and the like.
In another embodiment, the scheduling device may specifically be a robot in the target area, and the robot in the target area may be understood as a master robot, and the other robots may be understood as slave robots.
The robot in the target area may perform tasks according to the scheduling of the server. For example, the server may issue the task to the robot in the target area according to the task requirement, so as to schedule the robot in the target area to execute the corresponding task. Of course, in other embodiments, other devices may also schedule the robot in the target area to perform the task, which is not limited in this application. The task executed by the robot 12 may be, for example, an express package delivery task, and of course, in other embodiments, the task may also be in other forms, which is not limited in this application. The battery inside the robot 12 can provide power for the robot so that the robot 12 can complete the task issued by the server 11.
In the process of the robots in the target area performing the task, in the case where the scheduling device 11 determines that the first robot 12A of the plurality of robots 12 needs to be charged, as shown in fig. 1, it may determine that the first robot 12A is charged by the second robot 12B of the plurality of robots 12 using a charge scheduling algorithm, and transmit charge control information for controlling the charging of the first robot 12A by the second robot 12B to the first robot 12A and the second robot 12B, as shown in fig. 1. It should be noted that the specific content of the charging control information sent by the scheduling device 11 to the first robot 12A and the second robot 12B may be different, for example, the charging control information sent by the scheduling device to the first robot 12A may control the first robot as a charged device, and the charging control device sent by the scheduling device to the second robot 12B may control the second robot as a charging power source.
After the first robot 12A and the second robot 12B receive the charging control information, corresponding control processing may be executed according to the charging control information, and after the first robot 12A and the second robot 12B execute corresponding control processing according to the charging control information, as shown in fig. 1, the charging interface of the first robot 12A may be docked with the discharging interface of the second robot 12B, so that the first robot 12A may be charged through the second robot 12B.
In the case where the scheduling device 11 is a robot in the target area, the robot schedules a first robot and a second robot other than the robot in fig. 1, and the first robot is charged by the second robot. It will be appreciated that in case the scheduling device 11 is a robot, the scheduling device 11 may also schedule itself as the first robot or the second robot. The main differences are: when the scheduling apparatus 11 is the first robot, the charging control information may be transmitted only to the second robot to control charging itself by the second robot; when the scheduling apparatus 11 is the second robot, the charging control information may be transmitted only to the first robot to control charging to the first robot by itself.
In fig. 1, the charging interface of the first robot 12A and the discharging interface of the second robot 12B are charged by a contactless charging method, for example.
It should be noted that the number of the second robots 12B in fig. 1 is 1, and the number of the robots 12 in the target area is 3, which are merely examples.
Some embodiments of the present application will be described in detail below with reference to the accompanying drawings. The embodiments described below and the features of the embodiments can be combined with each other without conflict.
Fig. 2 is a schematic flowchart of a robot charging method according to an embodiment of the present disclosure, and as shown in fig. 2, the method according to the embodiment may include:
step 201, in the process that the robots in the target area execute the tasks, the scheduling device determines that a first robot in the plurality of robots needs to be charged.
Step 202, the scheduling device determines to charge the first robot through a second robot of the plurality of robots by using a charge scheduling algorithm.
Step 203, the scheduling device sends charging control information to the first robot and the second robot, wherein the charging control information is used for controlling the second robot to charge the first robot.
And 204, executing corresponding control processing by the first robot according to the charging control information.
And step 205, the second robot executes corresponding control processing according to the charging control information.
For convenience of description, in the embodiment of the present application, a server is mainly taken as an example for illustration.
In one embodiment, the power of the robot may be monitored by a server. Based on this, for example, the determining that the first robot of the plurality of robots needs to be charged may specifically include: the server determines that a first robot of the plurality of robots needs to be charged based on the electric quantity information of the plurality of robots. For example, when it is determined from the power information of the plurality of robots that the remaining power of one of the plurality of robots is less than the power threshold, it may be determined that the robot is the first robot of the plurality of robots to be charged. The electric quantity information may be reported to the server by the robot at regular time, for example, and of course, in other embodiments, the server may also obtain the electric quantity information in other manners, which is not limited in this application.
In another embodiment, the robot may monitor its own power. Based on this, for example, the determining that the first robot of the plurality of robots needs to be charged may specifically include: upon receiving a charging request sent by a first robot of the plurality of robots, determining that the first robot needs to be charged. For example, when the remaining power of a robot in the plurality of robots is less than the power threshold, the robot may send a charging request to the server, and the server may determine that the robot needs to be charged after receiving the charging request sent by the robot.
After determining that a first robot of the plurality of robots requires charging, the server may employ a charging scheduling algorithm to determine that the first robot is charged by a second robot of the plurality of robots. It will be appreciated that the second robot and the first robot are different robots.
In the first mode, optionally, the second robot may serve as a charging power source, that is, after the first robot and the second robot are docked, the second robot may output the electric quantity of the battery of the second robot to the first robot so as to charge the first robot. Referring to fig. 3, the robot 1 may include a battery, a charging circuit, and a charging interface, and the robot 2 may include a battery, a discharging circuit, and a discharging interface. The discharging interface of the robot 2 is in butt joint with the charging interface of the robot 1, and the battery of the robot 2 can charge the battery of the robot 1 through the discharging circuit and the discharging interface of the robot 2 and the charging interface and the charging circuit of the robot 1. Thereby can realize charging each other between a plurality of robots, compare with the robot must be charged by filling electric pile, reduced the restriction to the robot that charges.
In fig. 3, a robot 1 is taken as a first robot, and a robot 2 is taken as a second robot. In view of the fact that the charging roles can be interchanged, fig. 3 illustrates an example in which each of the robot 1 and the robot 2 includes a charging interface, a charging circuit, a discharging interface, and a discharging circuit. In fig. 3, the robot and the server communicate with each other through the wireless communication module, and the sensor in fig. 3 may include a beidou satellite navigation system, for example, to locate the robot.
Based on this, the charge scheduling algorithm comprises a first charge scheduling algorithm; the determining, by using a charging scheduling algorithm, that the first robot is charged by a second robot of the plurality of robots may specifically include: and determining a second robot used as a charging power supply of the first robot in the plurality of robots by adopting a first charging scheduling algorithm based on the electric quantity information of the robots so as to output the electric quantity of the second robot to the first robot.
The first charging scheduling algorithm is a scheduling algorithm for selecting a robot as a charging power supply for the first robot, and can be flexibly implemented according to requirements. Since the selected robot needs to be used as a charging power source, the power amount of the selected robot needs to be considered when selecting the robot, and therefore, a second robot used as the charging power source of the first robot among the plurality of robots can be determined by using a first charging scheduling algorithm based on the power amount information of the robot.
When the second robot is used as a charging power source, the number of the second robots may be one or more. When the number of the second robots is plural, the plural second robots may charge the same first robot at different periods.
In one embodiment, the first charging scheduling algorithm may be to select one or more robots with an electric quantity greater than an electric quantity threshold value from the peripheral robots as the charging power source based on the current position of the first robot and the current positions and electric quantity conditions of the peripheral robots. It is understood that the peripheral robot is a robot having a distance less than a certain distance from the first robot among the plurality of robots.
For example, referring to fig. 4A, assuming that the tasks performed by the robots a and B are to transport goods from the position a to the position B, and the tasks performed by the robots C and d are to transport goods from the position C to the position B, during the task performed by the robot a, if the power amount is less than the power amount threshold when the robot a moves to the position a1, the server may determine that the robot a is the first robot that needs to be charged. Further, assuming that the robots b, c, and d are all peripheral robots of the robot a, and the electric quantity of the robot d in the robots b, c, and d is greater than the electric quantity threshold value, the server may select the robot d as a charging power source of the robot a, so that the robot d is a second robot for charging the robot a (i.e., the first robot) determined by using the first charging scheduling algorithm.
In another embodiment, the first charging scheduling algorithm may select, as the charging power source, a robot that is about to approach (e.g., within 30 seconds of the future) the current location of the first robot based on the route of the task performed by the robot and has a current charge greater than a charge threshold.
For example, referring to fig. 4B, assuming that the task performed by robot a and robot B is to transport goods from location a to location B, and the task performed by robot C and robot d is to transport goods from location C to location B, during the task performed by robot a, if the power amount is less than the power amount threshold when robot a moves to location a1, the server may determine that robot a is the first robot that needs to be charged, where robot B, robot C, and robot d are robots that will approach location a1 in the future. Further, assuming that the robots c and d are about to approach the robot a among the robots b, c, and d, and the electric quantity of the robot d is greater than the electric quantity threshold value, the server may select the robot d as the charging power source of the robot a, so that the robot d is the second robot for charging the robot a (i.e., the first robot) determined by the first charging scheduling algorithm.
In yet another embodiment, the first charge scheduling algorithm may select, as the charging power source for the first robot, a robot that is the same as the task performed by the first robot, is located behind the first robot, is at a distance less than a certain distance from the first robot, and has a current charge greater than a charge threshold value, from among the plurality of robots, based on the task performed by the second robot.
For example, referring to fig. 4C, assuming that the robots a, B, C, and d perform tasks starting from a location a and transporting goods to a location B, during the task performed by the robot a, if the power amount is less than the power amount threshold when the robot a moves to the location a1, the server may determine that the robot a is the first robot that needs to be charged, where the robots C and d are the same robots that perform the task and are located behind the first robot. Further, assuming that the electric quantity of the robot d is greater than the electric quantity threshold value, the server may select the robot d as the charging power source of the robot a, so that the robot d is the second robot determined by the first charging scheduling algorithm and charged for the robot a (i.e., the first robot).
Fig. 4A, 4B, and 4C are schematic views of the position of the robot at a certain time.
In a second mode, optionally, the second robot may serve as a charging relay, that is, after the first robot and the second robot are docked, the second robot may serve as a relay to output at least part of electric quantity output by the charging pile to the first robot, so as to charge the first robot. Referring to fig. 5, the robot 1 may include a battery, a charging circuit, and a charging interface, and the second robot may include a charging interface, a charging circuit, a battery, and a discharging interface. The charging interface of the robot 2 is in butt joint with a charging pile, and the charging pile charges the battery of the robot 2 through the charging interface and the charging circuit of the robot 2. In addition, the discharging interface of the robot 2 is in butt joint with the charging interface of the robot 1, and the charging pile can charge the battery of the robot 1 through the discharging interface of the robot 2, the charging interface of the robot 1 and the charging circuit. Thereby can realize that a plurality of robots share same electric pile of filling and charge, can only charge simultaneously for a robot with single electric pile of filling and compare, reduce the restriction of charging to the robot.
In fig. 5, the robot 1 is taken as a first robot, and the robot 2 is taken as a second robot. In view of the fact that the charging roles can be interchanged, fig. 5 illustrates an example in which each of the robot 1 and the robot 2 includes a charging interface, a charging circuit, a discharging interface, and a discharging circuit. In fig. 5, the robot and the server communicate with each other through the wireless communication module, and the sensor in fig. 5 may include a beidou satellite navigation system, for example, to locate the robot.
Based on this, the charge scheduling algorithm comprises a second charge scheduling algorithm; the determining, by using a charging scheduling algorithm, that the first robot is charged by a second robot of the plurality of robots may specifically include: and determining a second robot used as a charging relay of the first robot in the plurality of robots by adopting a second charging scheduling algorithm based on the occupation information of the charging pile so as to output the electric quantity of the charging pile to the first robot through the second robot.
The second charging scheduling algorithm is a scheduling algorithm for selecting the robot as the charging relay for the first robot, and can be flexibly implemented according to requirements. The selected robot needs to be used as a charging relay, so that the occupation condition of the charging pile needs to be considered when the robot is selected, and therefore, a charging pile serving as a charging power source for charging the first robot can be determined based on the occupation information of the charging pile by adopting a second charging scheduling algorithm, and the final-stage robot connected with the charging pile serving as the charging power source is the second robot for the charging relay of the first robot.
In one embodiment, a charging pile with the minimum number of robots connected within a certain range around the charging pile can be used as a charging pile for charging the first robot, and the final robot connected with the charging pile is a charging relay of the first robot.
For example, referring to fig. 6, assuming that three charging piles 1, 2, and 3 are arranged in a certain range around a robot a to charge the robot, and the charging pile 1 is simultaneously charging the robot b and the robot c, the charging pile 2 is simultaneously charging the robot d and the robot e, and the charging pile 3 is charging the robot f, as shown in fig. 6, the server may select the charging pile 3 as a charging source of the robot a, so that the charging pile f is a charging source determined by a second charging scheduling algorithm for charging the robot a (i.e., the first robot). Further, since the last-stage robot to which the charging pile is connected is the robot f, the robot f is a charging relay of the robot a.
It should be noted that, the single charging pile in fig. 6 can simultaneously charge 2 robots for example only. It can be understood that, in the case that a charging pile X not occupied by other robots is further disposed around the robot a, the server may select the charging pile X as a charging power source of the robot a, so that the charging pile X is the charging power source determined by the second charging scheduling algorithm for charging the robot a (i.e., the first robot).
Optionally, in order to improve flexibility of selecting a charging mode, the charging scheduling algorithm may include a first charging scheduling algorithm and a second charging scheduling algorithm; the determining, by using a charging scheduling algorithm, that the first robot is charged by a second robot of the plurality of robots may specifically include:
determining candidate robots used as charging power sources of the first robot in the plurality of robots by adopting a first charging scheduling algorithm based on the electric quantity information of the robots so as to obtain first candidate charging modes; determining candidate charging piles used as a charging power supply of the first robot in the plurality of charging piles by adopting a second charging scheduling algorithm based on the occupation information of the charging piles so as to obtain a second candidate charging mode; and determining a final charging mode for the first robot according to the first candidate charging mode and the second candidate charging mode so as to determine a second robot corresponding to the final charging mode in the plurality of robots.
It should be noted that the main differences between the third and first modes are: in the first mode, the robot determined by the first charging scheduling algorithm as the charging power supply is directly used as the second robot, whereas in the third mode, the robot determined by the first charging scheduling algorithm as the charging power supply is used as the candidate robot to obtain the first candidate charging mode, and further judgment is needed to determine whether the first candidate charging mode can be used as the final charging mode. In the third mode, a specific mode of determining the candidate robot as the charging power supply by using the first charging scheduling algorithm is similar to the specific mode of determining the candidate robot as the charging power supply by using the first charging scheduling algorithm in the first mode, and details are not repeated here.
The main differences between the third and second modes are: in the second mode, the charging pile determined by the second charging scheduling algorithm as the charging power supply is directly used as the charging power supply, and the final-stage robot is directly used as the second robot, however, in the third mode, the charging pile determined by the second charging scheduling algorithm as the charging power supply is used as a candidate charging pile to obtain a second candidate charging mode, and whether the second candidate charging mode can be used as a final charging mode needs to be further judged. In the third mode, a specific mode for determining the candidate charging pile serving as the charging power supply by using the second charging scheduling algorithm is similar to the specific mode for determining the charging pile serving as the charging power supply by using the second charging scheduling algorithm in the second mode, and details are not repeated here.
After the first candidate charging manner and the second candidate charging manner are obtained, an individual scheduling optimization strategy or a global scheduling optimization strategy may be adopted to determine a final charging manner for the first robot. The individual scheduling optimization strategy aims at a single robot, is small in calculation amount and strong in real-time performance, and is not a global optimization method. The individual scheduling optimization strategy can obtain optimization selection aiming at a single robot through a certain set rule. The global scheduling optimization strategy can optimize the individual scheduling schemes by adopting a large-scale optimization algorithm, has large calculation amount and weak real-time performance, and is a global optimization method. The global scheduling optimization strategy can perform global optimization solution on the basis of optimization selection of a plurality of robots obtained by considering the individual scheduling optimization strategy, so as to obtain a final optimization result meeting global optimization.
For example, for an individual scheduling optimization strategy, the determining a final charging mode for the first robot according to the first candidate charging mode and the second candidate charging mode may specifically include: selecting a candidate charging mode with low charging cost as a final charging mode from the first candidate charging mode and the second candidate charging mode; under the condition that the charging cost of the first candidate charging mode is lower than that of the second candidate charging mode, the candidate robot is the second robot; and under the condition that the charging cost of the first candidate charging mode is higher than that of the second candidate charging mode, the final-stage robot electrically connected with the candidate charging pile is the second robot.
It should be noted that, in practical applications, the candidate charging pile determined by using the second charging scheduling algorithm may be in an occupied state or may also be in an idle state. If the candidate charging pile is in an occupied state and the second candidate charging mode is used as a final charging mode, the candidate charging pile determined by the second charging scheduling algorithm is a charging power supply of the first robot, the final-stage robot of the charging pile used as the charging power supply is a second robot used as a charging relay of the first robot, and the first robot can be directly in butt joint with the second robot used as the charging relay. And if the candidate charging pile is in an idle state and the second candidate charging mode is used as a final charging mode, the candidate charging pile determined by adopting the second charging scheduling algorithm is the charging power supply of the first robot, and the first robot can be directly butted with the charging pile used as the charging power supply.
For example, for a global scheduling optimization strategy, the determining a final charging mode for the first robot according to the first candidate charging mode and the second candidate charging mode may specifically include: and optimizing the charging mode with the lowest total charging cost as an optimization target based on a first candidate charging mode and a second candidate charging mode respectively determined for the first robot and other robots within a period of time to obtain an optimization result, wherein the optimization result comprises a final charging mode for the first robot.
The optimization selection of the first robot and other robots obtained by the individual scheduling optimization strategy can be used as an initial value of the global scheduling optimization strategy. It is understood that the final charging pattern of the robot may be different from the first and second candidate charging patterns of the robot. The global optimization algorithm for optimizing the charging mode may be, for example, a genetic algorithm, a simulated degradation algorithm, a deep learning algorithm, or the like, and in other embodiments, the global optimization algorithm for optimizing the charging mode may also be in other forms, which is not limited in this application.
It should be noted that the final charging mode of the first robot obtained by using the global optimization strategy may be a charging mode in which one or more robots are used as a charging power supply (charging mode 1 for short), where the one or more robots are the second robot used as the charging power supply of the first robot; or, the final charging mode of the first robot obtained by using the global optimization strategy may be a charging mode (charging mode 2 for short) in which a certain charging pile serves as a charging power supply and a certain robot serves as a charging relay, and the robot is a second robot serving as the charging relay of the first robot. The final charging mode of the other robots obtained by the global optimization strategy may be a charging mode (charging mode 3 for short) in which a certain charging pile is used as a charging power supply and no charging relay exists.
The total charging cost may be calculated, for example, as follows:
assuming that N robots to be charged exist in a certain area within a period of time, where the number of robots using the charging method 1 is Np, the number of robots using the charging method 2+ the charging method 3 is Nc, the average power consumption of each robot to complete a task is predicted to be Qr, the average charging power when a single charging pile is used as a charging power supply is Qc, and the average charging power when a single robot is used as a charging power supply is Qp, the following constraint of equation 1 needs to be satisfied:
NcQc+NpQp≥NQrequation 1
Since the cost of the battery in the robot is high and the service life is limited, compared with the charging of the charging pile as the charging power supply, the cost of the battery loss is generated each time the robot is charged as the charging power supply, and the extra loss of the battery is expressed as the following formula 2, wherein Cp is the total cost of the robot as the charging power supply, cpThe cost per unit of the robot as a charging power source is Np, and Np is the number of robots using the charging method 1.
Cp＝NpQpcpEquation 2
Because the robot returns to fill the electric pile and carry out chargingThe loss of electricity, which will lose its own battery power and cost in spending additional time can be expressed as the following equation 3, where C iscTotal cost of charging as a charging source for the charging pile, ccNc is the number of robots that use charging method 2+ charging method 3, as the unit cost of charging the electric pile as the charging power source.
Cc＝NcQcccEquation 3
The total cost of the entire system is CtotalAs shown in equation 4:
Ctotal＝Cp+Ccequation 4
In the process of considering individual scheduling optimization, the final charging mode of each robot in the N robots to be charged under the constraint conditions that the value of the formula 4 is the lowest and the formula 1 is satisfied is obtained through calculation of an optimization algorithm.
Optionally, the method provided in the embodiment of the present application may further include: and acquiring modification operation aiming at the charging scheduling algorithm, and updating the charging scheduling algorithm according to the modification operation. The modification operation may be, for example, a modification operation of the foregoing electric quantity threshold value for the charging scheduling algorithm, and the like, and of course, in other embodiments, the modification operation may also be other types of modifications for the charging scheduling algorithm, which is not limited in this application. The charging scheduling algorithm is updated according to the modification operation aiming at the charging scheduling algorithm, so that an interactive interface for modifying the charging scheduling algorithm is provided, the charging scheduling algorithm can be flexibly modified according to the requirement, and the charging scheduling algorithm used by the scheduling equipment for controlling the robot charging is more in line with the actual requirement.
After determining the first and second robots, charging control information for the determined first and second robots may be generated for controlling charging of the second robot by the first robot. It should be noted that the specific content of the charging control information sent by the server to the first robot and the second robot may be different. The specific contents of the charging control information sent by the server to the plurality of first robots may be different.
Optionally, in order to facilitate the robot to know the respective roles, and simplify the implementation of the robot, the charging role may be explicitly indicated to the robot in the charging control information. In this way, in the charging method 1, the charging control information may include charging role information, the charging role information of the first robot is a device to be charged, and the charging role information of the second robot is a charging power source. For the charging mode 2, the charging control information may include charging role information; the charging role information of the first robot is a charged device, and the charging role information of the second robot is a charging relay.
Alternatively, the charging control information may include charging location information, and the charging location information may be used to indicate a charging location at which the first robot is charged by the second robot. The charging control information includes charging position information, so that the server can flexibly control a position where the first robot is charged through the second robot. The charging position indicated by the charging position information may be, for example, a position where the first robot or the second robot is located, and of course, in other embodiments, the charging position may also be other positions, which is not limited in this application.
Optionally, the charging control information may include charging capacity information, and the charging capacity information may be used to indicate a charging capacity to charge the first robot through the second robot. Through the control information that charges includes the electric quantity information of charging for the electric quantity that the server can nimble control charges to first robot through the second robot.
Optionally, in the case that the charging role of the second robot is a charging power source, the charging control information may further include motion state information. The motion state information may specifically be information that can control a motion state of the robot under a situation that the first robot and the second robot are docked, so that the motion states of the first robot and the second robot are synchronized, so as to enable charging in motion. Through the control information that charges includes motion state information for can realize charging to first robot through the second robot in the robot motion process, be favorable to improving the efficiency that the robot executed the task.
After the server transmits the charging control information to the first robot and the second robot, the first robot and the second robot may perform corresponding control processing according to the charging control information to implement charging to the first robot through the second robot.
For the first robot, the executing, according to the charging control information, corresponding control processing may specifically include: and controlling and conducting the electric connection between the charging interface in the first robot and the battery in the first robot so as to charge the battery with the electric energy input by the charging interface. Referring to fig. 3 and 5, in the case of electrical connection between the charging interface in the robot 1 as the first robot and the battery in the robot 1, the electric energy input from the charging interface may be charged to the battery in the robot 1 through the charging circuit.
The charging interface in the first robot is controlled to be connected with the electric connection between the batteries in the first robot, so that the electric connection relation of the internal circuit can be adjusted when the first robot is used as charged equipment. The present application is not limited to this specific configuration of the charging circuit.
In an embodiment, when the charging control information includes charging role information, the controlling to conduct an electrical connection between a charging interface in the first robot and a battery in the first robot may specifically include: and controlling to conduct the electric connection between the charging interface in the first robot and the battery in the first robot under the condition that the charging information comprises charging role information and the charging role information is a charged device.
For the second robot, the executing corresponding control processing according to the charging control information may specifically include: and controlling to conduct the electric connection between the battery in the second robot and the discharging interface in the second robot so as to output the electric energy of the battery through the discharging interface. Referring to fig. 3, in the case of electrical connection between the discharging interface in the robot 2 as the second robot and the battery in the robot 2, the electric energy of the battery in the robot 2 may be finally output from the discharging interface of the robot 2 via the discharging circuit of the robot 2.
By controlling and conducting the electric connection between the discharging interface in the second robot and the battery in the second robot, the adjustment of the electric connection relation of the internal circuit when the second robot is used as a charging power supply can be realized. The present application is not limited to the specific configuration of the discharge circuit.
In one embodiment, in a case where the charging control information includes charging role information, the controlling to conduct an electrical connection between a battery in the second robot and a discharging interface in the second robot includes: and controlling to conduct the electrical connection between the battery in the second robot and the discharging interface in the second robot when the charging control information includes charging role information and the charging role information is a charging power supply.
Or, for the second robot, executing corresponding control processing according to the charging control information may specifically include: and controlling and conducting the electric connection between the charging interface in the second robot and the discharging interface in the second robot so as to output the electric energy provided by the charging pile electrically connected with the second robot through the discharging interface. Referring to fig. 5, in a case where the charging interface in the robot 2 as the second robot is electrically connected to the discharging interface in the robot 2, the electric energy provided by the charging pile may be finally output from the discharging interface of the robot 2 after passing through the charging interface of the robot 2.
The electric connection between the discharging interface in the second robot and the charging interface in the second robot is conducted through control, so that the electric connection relation of an internal circuit can be adjusted when the second robot is used as a charging relay. It should be noted that, when the first robot is used as a charging relay, the first robot may be charged through the charging circuit of the second robot, or the first robot may not be charged through the charging circuit of the second robot, which may be implemented flexibly.
In an embodiment, when the charging control information includes charging role information, the controlling to turn on an electrical connection between a charging interface in the second robot and a discharging interface in the second robot may specifically include: and controlling to conduct the electric connection between the charging interface in the second robot and the discharging interface in the second robot when the charging control information comprises charging role information and the charging role information is a charging relay.
It is understood that the discharging interface of the second robot matches the charging interface of the first robot, which may be a plug-in interface or may also be a contactless interface. For example, the charging interface of the second robot may be a socket, and the charging interface of the first robot may be a plug. Of course, in other embodiments, the discharge interface of the second robot and the charging interface of the first robot may also be in other forms, which is not limited in this application.
Optionally, in a case that the charging control information further includes charging electric quantity information, the executing corresponding control processing according to the charging control information may further include: determining that charging is completed based on the charging amount indicated by the charging amount information and the charged amount for the first robot; in a case where it is determined that charging has been completed, control is performed to break the electrical connection. By controlling the disconnection of the electrical connection in the case where it is determined that charging has been completed, it is possible to stop charging when the amount of charging power reaches the amount of power controlled by the server.
Optionally, in a case that the charging control information received by the first robot further includes charging location information, the first robot executes corresponding control processing according to the charging control information, and may further include: and controlling the first robot to move to the charging position indicated by the charging position information based on the charging position information. Similarly, in a case where the charging control information received by the second robot further includes charging position information, the second robot executes corresponding control processing according to the charging control information, and may further include: and controlling the second robot to move to the charging position indicated by the charging position information based on the charging position information. It is understood that the charging control information received by the first robot and/or the second robot may include charging position information.
Optionally, when the charging control information received by the first robot further includes motion state information, the first robot executes corresponding control processing according to the charging control information, and may further include: and under the condition that the first robot and the second robot are in butt joint, controlling the motion state of the first robot based on the motion state information so as to control the motion state of the first robot and the motion state of the second robot to be synchronous, so that the second robot in motion charges the first robot in motion. Similarly, in a case where the charging control information received by the second robot further includes motion state information, the second robot executes corresponding control processing according to the charging control information, and may further include: and under the condition that the first robot and the second robot are in butt joint, controlling the motion state of the second robot based on the motion state information. The motion state may specifically include a motion speed, a motion posture and a motion position.
In order to allow the robot to automatically complete the docking, in one embodiment, the first robot may actively complete the docking with the second robot. Based on this, the first robot executes corresponding control processing according to the charging control information, and may further include: and adjusting the position and the posture of the first robot based on sensor data acquired by a sensor arranged on the first robot so that the first interface of the first robot is right opposite to the second interface of the robot to be butted. The first robot can be understood as a target robot, the robot to be docked of the target robot is a second robot, the first interface is a charging interface, and the second interface is a discharging interface.
In another embodiment, the second robot may actively complete the docking with the first robot. Based on this, the second robot executes corresponding control processing according to the charging control information, and may further include: and adjusting the position and the posture of the second robot based on sensor data acquired by a sensor arranged on the second robot so that the first interface of the second robot is just opposite to the second interface of the robot to be butted. The second robot can be understood as a target robot, the robot to be docked of the target robot is the first robot, the first interface is a discharging interface, and the second interface is a charging interface.
The sensor may be, for example, a camera, a laser radar, a two-dimensional code, a visible light device, or the like. Of course, in other embodiments, the sensor may also be in other forms, which is not limited in this application.
It should be noted that, for simplicity of implementation, the position and the posture of the first robot or the second robot may be adjusted by one of the first robot and the second robot so that the interfaces can be aligned.
For example, taking the first robot to adjust its position and posture and the sensor including the camera and the visible light device as an example, first, the first robot may first rotate around the second robot based on the environment image acquired by the camera until the environment image including the discharge interface of the second robot is acquired. Then, under the condition that the environment image including the discharge interface of the second robot is acquired, the first robot can rotate in place for a certain angle, so that the charging interface of the first robot faces the discharge interface of the second robot. Finally, the first robot can determine the relative position between the charging interface of the first robot and the discharging interface of the second robot based on the infrared light received by the infrared receiver, and adjust the posture of the first robot according to the relative position, so that the charging interface of the first robot can be right opposite to the discharging interface of the second robot. Of course, in other embodiments, the interfaces may be adjusted in other manners to be aligned with each other, which is not limited in this application.
It should be noted that there may be no restriction on the order between the position and posture of the adjustment robot and the electrical connection relationship of the circuit inside the adjustment robot.
In the case where the charging interface of the first robot is directly facing the discharging interface of the second robot by adjusting the position and posture of the robot, the condition for charging the first robot through the second robot may still not be satisfied. Based on this, the executing the corresponding control processing according to the charging control information may further include: and under the condition that the first interface of the target robot is just opposite to the second interface of the robot to be butted, controlling the robot to move towards the robot to be butted so as to butt the first interface of the target robot and the second interface of the robot to be butted. For example, assuming that the discharging interface of the first robot is a discharging socket and the charging interface of the second robot is a charging plug, the first robot may also move toward the second robot to insert the discharging socket of the first robot into the charging plug of the second robot under the condition that the discharging interface of the first robot is directly opposite to the charging interface of the second robot.
In consideration of the fact that the robots cannot automatically complete docking possibly due to reasons such as shielding and sensor failure among the robots, in order to improve the success rate of the charging mode of the docking among the robots, the method provided by the embodiment of the application may further include: the server receives a control instruction sent by a control terminal, wherein the control instruction is generated by the control terminal according to the acquired control operation and is used for controlling the first robot to be in butt joint with the second robot; and the server forwards the control command to the first robot or the second robot, and the first robot or the second robot executes corresponding control processing according to the control command so as to butt the charging interface of the first robot with the charging interface of the power-off robot.
The control terminal may specifically be any type of terminal that can be used to control the robot, such as a remote control, a smartphone, or the like. The control terminal may include a screen for displaying an image of the robot's environment to a remote operator so that the remote operator can remotely manually control the robot docking. The control command may be, for example, a rotation command, a forward command, a backward command, or the like, and of course, in other embodiments, the control command may also be other types of commands, which is not limited in this application.
In the robot charging method provided by this embodiment, in the process of executing a task by a robot in a target area, it is determined that a first robot of a plurality of robots in the target area needs to be charged, a charging scheduling algorithm is used to determine that the first robot is charged by a second robot of the plurality of robots, and charging control information is sent to the first robot and the second robot, where the charging control information is used to control the first robot to be charged by the second robot, so that a charging manner in which a server controls the second robot to be charged by the first robot by using the charging scheduling algorithm, that is, a charging manner in which the robots are docked is implemented, and compared with a charging manner in which the robots are docked with charging piles to be able to charge the robots in a conventional technology, the limitation of the robot charging manner to the robots is reduced. In addition, by reducing the limitation on the robot charging, the influence of the robot charging on the task execution can be reduced, which is beneficial to improving the efficiency of the robot in the target area to execute the task.
Fig. 7 is a schematic flowchart of a robot charging method according to another embodiment of the present application, where the present embodiment may be applied to the scheduling device in fig. 1. As shown in fig. 7, the method of this embodiment may include:
step 701, in a process that a robot in a target area executes a task, determining that a first robot in a plurality of robots in the target area needs to be charged;
step 702, determining to charge the first robot through a second robot of the plurality of robots by using a charge scheduling algorithm;
step 703 of transmitting charging control information to the first robot and the second robot, wherein the charging control information is used to control charging of the first robot by the second robot.
It should be noted that specific contents of this embodiment may refer to related contents of the scheduling device side in the embodiment shown in fig. 2, and are not described herein again.
In the robot charging method provided by this embodiment, the charging scheduling algorithm is adopted, it is determined that the first robot is charged by the second robot among the multiple robots, and the charging control information is sent to the first robot and the second robot, so that the scheduling device adopts the charging scheduling algorithm to control the charging mode in which the first robot charges the second robot, that is, the charging mode in which the robots are docked, and the limitation of the robot charging mode on the robots is reduced.
Fig. 8 is a schematic flowchart of a robot charging method according to another embodiment of the present disclosure, where the present embodiment may be applied to the first robot 12A and the second robot 12B in fig. 2. As shown in fig. 8, the method of this embodiment may include:
step 801, receiving charging control information, wherein the charging control information is used for controlling the second robot to charge the first robot;
and 802, executing corresponding control processing according to the charging control information so as to charge the first robot through the second robot.
It should be noted that specific contents of this embodiment may refer to related contents of the robot side in the embodiment shown in fig. 2, and are not described herein again.
According to the robot charging method provided by the embodiment, the charging control information is received and used for controlling the second robot to charge the first robot, and corresponding control processing is executed according to the charging control information, so that the robot can complete charging to the first robot through the second robot according to the control of the server, and the limitation of the robot charging mode to the robot is reduced.
Fig. 9 is a schematic structural diagram of a robot charging device according to an embodiment of the present disclosure; referring to fig. 9, the present embodiment provides a robot charging apparatus, which may perform the method of scheduling the device side in the robot charging method described above, and specifically, the robot charging apparatus may include:
the first determining module 91 is configured to determine that a first robot of the multiple robots in the target area needs to be charged during a task performed by the robots in the target area;
a second determining module 92, configured to determine to charge the first robot through a second robot of the plurality of robots, by using a charge scheduling algorithm;
a sending module 93, configured to send charging control information to the first robot and the second robot, where the charging control information is used to control charging of the first robot by the second robot.
Optionally, the charge scheduling algorithm includes a first charge scheduling algorithm;
the second determining module 92 is specifically configured to: and determining a second robot used as a charging power supply of the first robot in the plurality of robots by adopting a first charging scheduling algorithm based on the electric quantity information of the robots so as to output the electric quantity of the second robot to the first robot.
Optionally, the charge scheduling algorithm includes a second charge scheduling algorithm;
the second determining module 92 is specifically configured to: and determining a second robot used as a charging relay of the first robot in the plurality of robots by adopting a second charging scheduling algorithm based on the occupation information of the charging pile so as to output the electric quantity of the charging pile to the first robot through the second robot.
Optionally, the charging scheduling algorithm includes a first charging scheduling algorithm and a second charging scheduling algorithm;
the second determining module 92 is specifically configured to: determining candidate robots used as charging power sources of the first robot in the plurality of robots by adopting a first charging scheduling algorithm based on the electric quantity information of the robots so as to obtain first candidate charging modes; determining candidate charging piles used as a charging power supply of the first robot in the plurality of charging piles by adopting a second charging scheduling algorithm based on the occupation information of the charging piles so as to obtain a second candidate charging mode; and determining a final charging mode for the first robot according to the first candidate charging mode and the second candidate charging mode so as to determine a second robot corresponding to the final charging mode in the plurality of robots.
Optionally, the second determining module 92 is configured to determine a final charging manner for the first robot according to the first candidate charging manner and the second candidate charging manner, and specifically includes:
selecting a candidate charging mode with low charging cost as a final charging mode from the first candidate charging mode and the second candidate charging mode;
under the condition that the charging cost of the first candidate charging mode is lower than that of the second candidate charging mode, the candidate robot is the second robot;
and under the condition that the charging cost of the first candidate charging mode is higher than that of the second candidate charging mode, the final-stage robot electrically connected with the candidate charging pile is the second robot.
Optionally, the second determining module 92 is configured to determine a final charging manner for the first robot according to the first candidate charging manner and the second candidate charging manner, and specifically includes:
and optimizing the charging mode with the lowest total charging cost as an optimization target based on a first candidate charging mode and a second candidate charging mode respectively determined for the first robot and other robots within a period of time to obtain an optimization result, wherein the optimization result comprises a final charging mode for the first robot.
Optionally, the charging control information includes charging role information; the charging role information of the first robot is charged equipment, and the charging role information of the second robot is a charging power supply.
Optionally, the charging control information includes charging role information; the charging role information of the first robot is a charged device, and the charging role information of the second robot is a charging relay.
Optionally, the charging control information further includes any one or more of the following: charging position information, charging electric quantity information or motion state information.
Optionally, the second determining module 91 is specifically configured to: determining that a first robot of the plurality of robots needs to be charged based on the power information of the plurality of robots.
Optionally, the second determining module 91 is specifically configured to: upon receiving a charging request sent by a first robot of the plurality of robots, determining that the first robot needs to be charged.
Optionally, the device further includes a receiving module, configured to receive a control instruction sent by a control terminal, where the control instruction is generated by the control terminal according to the obtained control operation, and is used to control the first robot to be docked with the second robot;
the sending module 93 is further configured to forward the control instruction to the first robot or the second robot.
Optionally, the apparatus further comprises: and the interaction module is used for acquiring modification operation aiming at the charging scheduling algorithm and updating the charging scheduling algorithm according to the modification operation.
Optionally, the scheduling device includes a server for the target area or a robot in the target area.
The apparatus shown in fig. 9 can execute the method on the server side in the embodiments shown in fig. 2 and fig. 7, and reference may be made to the related description of the embodiments shown in fig. 2 and fig. 7 for a part not described in detail in this embodiment. The implementation process and technical effect of the technical solution refer to the descriptions in the embodiments shown in fig. 2 and fig. 7, and are not described herein again.
In one possible implementation, the structure of the charge control apparatus shown in fig. 9 may be implemented as a scheduling device. As shown in fig. 10, the scheduling apparatus may include: a processor 101 and a memory 102. The memory 102 is used to store a program that supports the scheduling device to execute the scheduling device side of the charging control method provided in the embodiments shown in fig. 2 and fig. 7, and the processor 101 is configured to execute the program stored in the memory 102.
The program comprises one or more computer instructions, wherein the one or more computer instructions, when executed by the processor 101, are capable of performing the steps of:
determining that a first robot of a plurality of robots in a target area needs to be charged during a task execution process of the robots in the target area;
determining, using a charge scheduling algorithm, to charge the first robot through a second robot of the plurality of robots;
and sending charging control information to the first robot and the second robot, wherein the charging control information is used for controlling the second robot to charge the first robot.
Optionally, the processor 101 is further configured to perform all or part of the steps of the scheduling device side in the foregoing embodiments shown in fig. 2 and fig. 7.
The scheduling device may further include a communication interface 103 configured to communicate with other devices or a communication network.
Fig. 11 is a schematic structural diagram of a robot charging device according to another embodiment of the present disclosure; referring to fig. 11, the present embodiment provides a robot charging apparatus, which may perform a robot-side method in the robot charging method described above, and specifically, the robot charging apparatus may include:
a receiving module 111, configured to receive charging control information, where the charging control information is used to control charging of the first robot through the second robot;
and an executing module 112, configured to execute corresponding control processing according to the charging control information, so as to charge the first robot through the second robot.
Optionally, the target robot is a first robot; the execution module 112 is specifically configured to: and controlling and conducting the electric connection between the charging interface in the target robot and the battery in the target robot so as to charge the battery with the electric energy input by the charging interface.
Optionally, the executing module 112 is configured to control to conduct an electrical connection between a charging interface in the target robot and a battery in the target robot, and specifically includes:
and under the condition that the charging control information comprises charging role information and the charging role information is a charged device, controlling to conduct the electric connection between a charging interface in the target robot and a battery in the target robot.
Optionally, the target robot is a second robot; the execution module 112 is specifically configured to: and controlling and conducting the electric connection between the charging interface in the target robot and the discharging interface in the target robot so as to output the electric energy provided by the charging pile electrically connected with the target robot through the discharging interface.
Optionally, the executing module 112 is configured to control to conduct an electrical connection between a charging interface in the target robot and a discharging interface in the target robot, and specifically includes:
and controlling to conduct the electric connection between the charging interface in the target robot and the discharging interface in the target robot under the condition that the charging control information comprises charging role information and the charging role information is a charging relay.
Optionally, the target robot is a second robot; the execution module 112 is specifically configured to: and controlling to conduct the electric connection between the battery in the target robot and the discharging interface in the target robot so as to output the electric energy of the battery through the discharging interface.
Optionally, the executing module 112 is configured to control to conduct an electrical connection between a battery in the target robot and a discharging interface in the target robot, and specifically includes:
and controlling to conduct the electric connection between the battery in the target robot and the discharging interface in the target robot under the condition that the charging control information comprises charging role information and the charging role information is a charging power supply.
Optionally, the charging control information further includes: charging capacity information; the execution module 112 is further configured to: determining that charging is completed based on the amount of charging power indicated by the charging power information and the amount of charged power for the second robot; and controlling to disconnect the electrical connection in a case where it is determined that the charging has been completed.
Optionally, the charging control information further includes: charging position information; the execution module 112 is further configured to: and controlling the robot to move to the charging position indicated by the charging position information based on the charging position information.
Optionally, the charging control information further includes: motion state information; the execution module 112 is further configured to: controlling the motion state of the target robot based on the motion state information to control the motion state of the first robot and the motion state of the second robot to be synchronized so as to charge the first robot in motion through the second robot in motion.
Optionally, the executing module 112 is further configured to: based on sensor data acquired by a sensor arranged on the target robot, adjusting the position and the posture of the target robot so that the first interface of the target robot is opposite to the second interface of the robot to be butted; and controlling the target robot to move towards the robot to be docked under the condition that the first interface of the target robot is opposite to the second interface of the robot to be docked so as to dock the first interface of the robot with the second interface of the robot to be docked;
wherein the target robot is a first robot, the robot to be docked is a second robot, the first interface is a charging interface, and the second interface is a discharging interface; or, the target robot is a second robot, the robot to be docked is a first robot, the first interface is a discharging interface, and the second interface is a charging interface.
Optionally, the receiving module 111 is further configured to: receiving a control instruction sent by a server, wherein the control instruction is generated by a control terminal according to the acquired control operation and is used for controlling the target robot to be in butt joint with the robot to be butted;
the execution module 112 is further configured to: executing corresponding control processing according to the control instruction so as to enable the first interface of the target robot to be in butt joint with the second interface of the robot to be in butt joint;
wherein the target robot is a first robot, the robot to be docked is a second robot, the first interface is a charging interface, and the second interface is a discharging interface; or, the target robot is a second robot, the robot to be docked is a first robot, the first interface is a discharging interface, and the second interface is a charging interface.
The device shown in fig. 11 can execute the method on the robot side in the embodiment shown in fig. 2 and 8, and the related description of the embodiment shown in fig. 2 and 8 can be referred to for the part not described in detail in this embodiment. The implementation process and technical effect of the technical solution refer to the descriptions in the embodiments shown in fig. 2 and fig. 8, and are not described herein again.
In one possible implementation, the structure of the charge control device shown in fig. 11 may be implemented as a robot. As shown in fig. 12, the robot may include: a processor 121 and a memory 122. The memory 122 is used for storing a program for supporting the robot to execute the robot side of the charging control method provided in the embodiments shown in fig. 2 and 8, and the processor 121 is configured to execute the program stored in the memory 122.
The program comprises one or more computer instructions which, when executed by the processor 121, are capable of performing the steps of:
receiving charging control information, wherein the charging control information is used for controlling the first robot to be charged through a second robot;
and executing corresponding control processing according to the charging control information so as to charge the first robot through the second robot.
Optionally, the processor 121 is further configured to perform all or part of the steps of the robot side in the embodiments shown in fig. 2 and 8.
The structure of the robot may further include a communication interface 123 for the robot to communicate with other devices or a communication network.
In addition, the present embodiment provides a computer storage medium for storing computer software instructions for a server, which includes a program for executing the charging control method in the method embodiments shown in fig. 2 and 7.
The embodiment of the present application provides a computer storage medium for storing computer software instructions for a robot, which includes a program for executing the robot side of the charging control method in the method embodiments shown in fig. 2 and 8.
The above-described embodiments of the apparatus are merely illustrative, and the units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment. One of ordinary skill in the art can understand and implement it without inventive effort.
Through the above description of the embodiments, those skilled in the art will clearly understand that each embodiment can be implemented by adding a necessary general hardware platform, and of course, can also be implemented by a combination of hardware and software. With this understanding in mind, the above-described technical solutions and/or portions thereof that contribute to the prior art may be embodied in the form of a computer program product, which may be embodied on one or more computer-usable storage media having computer-usable program code embodied therein (including but not limited to disk storage, CD-ROM, optical storage, etc.).
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
In a typical configuration, a computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.
The memory may include forms of volatile memory in a computer readable medium, Random Access Memory (RAM) and/or non-volatile memory, such as Read Only Memory (ROM) or flash memory (flash RAM). Memory is an example of a computer-readable medium.
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.
Finally, it should be noted that: the above embodiments are only used for illustrating the technical solutions of the present application, and not for limiting the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present application.

Claims (30)

1. A robot charging method is applied to scheduling equipment, and is characterized by comprising the following steps:
determining that a first robot of the plurality of robots needs to be charged during a task performed by the robots in the target area;
determining, using a charge scheduling algorithm, to charge the first robot through a second robot of the plurality of robots;
and sending charging control information to the first robot and the second robot, wherein the charging control information is used for controlling the second robot to charge the first robot.
2. The method of claim 1, wherein the charge scheduling algorithm comprises a first charge scheduling algorithm; the determining, using a charge scheduling algorithm, that the first robot is charged by a second robot of the plurality of robots includes:
and determining a second robot used as a charging power supply of the first robot in the plurality of robots by adopting a first charging scheduling algorithm based on the electric quantity information of the robots so as to output the electric quantity of the second robot to the first robot.
3. The method of claim 1, wherein the charge scheduling algorithm comprises a second charge scheduling algorithm; the determining, using a charge scheduling algorithm, that the first robot is charged by a second robot of the plurality of robots includes:
and determining a second robot used as a charging relay of the first robot in the plurality of robots by adopting a second charging scheduling algorithm based on the occupation information of the charging pile so as to output the electric quantity of the charging pile to the first robot through the second robot.
4. The method of claim 1, wherein the charge scheduling algorithm comprises a first charge scheduling algorithm and a second charge scheduling algorithm; the determining, using a charge scheduling algorithm, that the first robot is charged by a second robot of the plurality of robots includes:
determining candidate robots used as charging power sources of the first robot in the plurality of robots by adopting a first charging scheduling algorithm based on the electric quantity information of the robots so as to obtain first candidate charging modes;
determining candidate charging piles used as a charging power supply of the first robot in the plurality of charging piles by adopting a second charging scheduling algorithm based on the occupation information of the charging piles so as to obtain a second candidate charging mode;
and determining a final charging mode for the first robot according to the first candidate charging mode and the second candidate charging mode so as to determine a second robot corresponding to the final charging mode in the plurality of robots.
5. The method of claim 4, wherein determining a final charging modality for the first robot based on the first candidate charging modality and the second candidate charging modality comprises:
selecting a candidate charging mode with low charging cost as a final charging mode from the first candidate charging mode and the second candidate charging mode;
under the condition that the charging cost of the first candidate charging mode is lower than that of the second candidate charging mode, the candidate robot is the second robot;
and under the condition that the charging cost of the first candidate charging mode is higher than that of the second candidate charging mode, the final-stage robot electrically connected with the candidate charging pile is the second robot.
6. The method of claim 4, wherein determining a final charging modality for the first robot based on the first candidate charging modality and the second candidate charging modality comprises:
and optimizing the charging mode with the lowest total charging cost as an optimization target based on a first candidate charging mode and a second candidate charging mode respectively determined for the first robot and other robots within a period of time to obtain an optimization result, wherein the optimization result comprises a final charging mode for the first robot.
7. The method of claim 1, wherein the charging control information comprises charging role information; the charging role information of the first robot is charged equipment, and the charging role information of the second robot is a charging power supply.
8. The method of claim 1, wherein the charging control information comprises charging role information; the charging role information of the first robot is a charged device, and the charging role information of the second robot is a charging relay.
9. The method of claim 7 or 8, wherein the charging control information further comprises one or more of:
charging position information, charging electric quantity information or motion state information.
10. The method of any of claims 1-8, wherein the determining that a first robot of the plurality of robots requires charging comprises:
determining that a first robot of the plurality of robots needs to be charged based on the power information of the plurality of robots.
11. The method of any of claims 1-8, wherein the determining that a first robot of the plurality of robots requires charging comprises:
upon receiving a charging request sent by a first robot of the plurality of robots, determining that the first robot needs to be charged.
12. The method according to any one of claims 1-8, further comprising:
receiving a control instruction sent by a control terminal, wherein the control instruction is generated by control operation acquired by the control terminal and is used for controlling the first robot to be in butt joint with the second robot;
forwarding the control instruction to the first robot or the second robot.
13. The method according to any one of claims 1-8, further comprising:
and acquiring modification operation aiming at the charging scheduling algorithm, and updating the charging scheduling algorithm according to the modification operation.
14. The method of any of claims 1-8, wherein the scheduling device comprises a server for the target area or a robot in the target area.
15. A robot charging method is applied to a target robot, and is characterized by comprising the following steps:
receiving charging control information, wherein the charging control information is used for controlling the first robot to be charged through a second robot;
and executing corresponding control processing according to the charging control information so as to charge the first robot through the second robot.
16. The method according to claim 15, wherein the target robot is a first robot, and the performing of the corresponding control process according to the charging control information includes:
and controlling and conducting the electric connection between the charging interface in the target robot and the battery in the target robot so as to charge the battery with the electric energy input by the charging interface.
17. The method of claim 16, wherein the controlling turning on an electrical connection between a charging interface in the target robot and a battery in the target robot comprises:
and under the condition that the charging control information comprises charging role information and the charging role information is a charged device, controlling to conduct the electric connection between a charging interface in the target robot and a battery in the target robot.
18. The method according to claim 15, wherein the target robot is a second robot, and the performing of the corresponding control process according to the charging control information includes:
and controlling and conducting the electric connection between the charging interface in the target robot and the discharging interface in the target robot so as to output the electric energy provided by the charging pile electrically connected with the target robot through the discharging interface.
19. The method of claim 18, wherein the controlling turning on an electrical connection between a charging interface in the target robot and a discharging interface in the target robot comprises:
and controlling to conduct the electric connection between the charging interface in the target robot and the discharging interface in the target robot under the condition that the charging control information comprises charging role information and the charging role information is a charging relay.
20. The method according to claim 5, wherein the target robot is a second robot, and the performing of the corresponding control process according to the charging control information includes:
and controlling to conduct the electric connection between the battery in the target robot and the discharging interface in the target robot so as to output the electric energy of the battery through the discharging interface.
21. The method of claim 20, wherein the controlling conducting an electrical connection between a battery in the target robot and a discharge interface in the target robot comprises:
and controlling to conduct the electric connection between the battery in the target robot and the discharging interface in the target robot under the condition that the charging control information comprises charging role information and the charging role information is a charging power supply.
22. The method of claim 17, 19 or 21, wherein the charging control information further comprises: charging capacity information; the executing corresponding control processing according to the charging control information further includes:
determining that charging is completed based on the amount of charging power indicated by the charging power information and the amount of charged power for the second robot;
in a case where it is determined that charging has been completed, control is performed to break the electrical connection.
23. The method of claim 17, 19 or 21, wherein the charging control information further comprises: charging position information; the executing corresponding control processing according to the charging control information further includes:
and controlling the target robot to move to the charging position indicated by the charging position information based on the charging position information.
24. The method of claim 17 or 21, wherein the charging control information further comprises: motion state information; the executing corresponding control processing according to the charging control information further includes:
and under the condition that the first robot and the second robot are in butt joint, controlling the motion state of the target robot based on the motion state information so as to control the motion attitude of the first robot and the motion state of the second robot to be synchronous, so that the first robot in motion is charged by the second robot in motion.
25. The method according to any one of claims 16 to 21, wherein the executing the corresponding control processing according to the charging control information further comprises:
based on sensor data acquired by a sensor arranged on the target robot, adjusting the position and the posture of the target robot so that the first interface of the target robot is opposite to the second interface of the robot to be butted;
controlling the target robot to move towards the robot to be butted under the condition that the first interface of the target robot is opposite to the second interface of the robot to be butted so as to butt the first interface of the target robot and the second interface of the robot to be butted;
wherein the target robot is a first robot, the robot to be docked is a second robot, the first interface is a charging interface, and the second interface is a discharging interface; or, the target robot is a second robot, the robot to be docked is a first robot, the first interface is a discharging interface, and the second interface is a charging interface.
26. The method according to any one of claims 16-21, further comprising:
receiving a control instruction sent by a server, wherein the control instruction is generated by a control terminal according to the acquired control operation and is used for controlling the target robot to be in butt joint with the robot to be butted;
executing corresponding control processing according to the control instruction so as to enable the first interface of the target robot to be in butt joint with the second interface of the robot to be in butt joint;
wherein the target robot is a first robot, the robot to be docked is a second robot, the first interface is a charging interface, and the second interface is a discharging interface; or, the target robot is a second robot, the robot to be docked is a first robot, the first interface is a discharging interface, and the second interface is a charging interface.
27. A robot charging device is applied to scheduling equipment, and the scheduling equipment is used for scheduling a robot in a target area to charge in the process of executing tasks by the robot in the target area, and the device is characterized by comprising:
a first determination module to determine that a first robot of the plurality of robots in the target area needs to be charged;
a second determining module for determining to charge the first robot through a second robot of the plurality of robots using a charge scheduling algorithm;
the system comprises a sending module and a charging control module, wherein the sending module is used for sending charging control information to the first robot and the second robot, and the charging control information is used for controlling the second robot to charge the first robot.
28. A robot charging device is applied to a target robot, and is characterized by comprising:
the receiving module is used for receiving charging control information, and the charging control information is used for controlling the second robot to charge the first robot;
and the execution module is used for executing corresponding control processing according to the charging control information so as to charge the first robot through the second robot.
29. A scheduling apparatus, comprising: a memory, a processor; wherein the memory is to store one or more computer instructions, wherein the one or more computer instructions, when executed by the processor, implement the method of any of claims 1 to 14.
30. A robot, comprising: a memory, a processor; wherein the memory is to store one or more computer instructions, wherein the one or more computer instructions, when executed by the processor, implement the method of any of claims 15 to 26.
CN202010555342.5A 2020-06-17 2020-06-17 Robot charging method, device and equipment Pending CN113799626A (en)

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