WO2023040267A1

WO2023040267A1 - Charging device, charging method and apparatus therefor, and computer-readable storage medium

Info

Publication number: WO2023040267A1
Application number: PCT/CN2022/088820
Authority: WO
Inventors: 郝亮; 刘常峰; 郑晓岩
Original assignee: 珠海格力电器股份有限公司; 珠海联云科技有限公司
Priority date: 2021-09-15
Filing date: 2022-04-24
Publication date: 2023-03-23
Also published as: CN113852156B; CN113852156A

Abstract

Provided are a charging device, a charging method and an apparatus therefor, and a computer-readable storage medium. The method comprises: when a device to be charged is moving towards a charging device, acquiring an induction signal, the induction signal being a signal collected by an inductive module (15) of the charging device; and when the induction signal indicates that said device is in place, charging said device in response to the induction signal. The technical problem in the related technology that a charging device cannot be effectively charged due to internal structural defects is solved.

Description

Charging device, charging method and device thereof, computer-readable storage medium

This disclosure takes the patent document with the application number 202111083083.1 and titled "Charging Equipment, Charging Method and Device, and Computer-Readable Storage Medium" submitted on September 15, 2021 as the priority document, the entire contents of which are incorporated herein by reference. In this disclosure.

technical field

The present disclosure relates to the technical field of charging management, and in particular, to a charging device, a charging method and device thereof, and a computer-readable storage medium.

Background technique

With the rapid development of artificial intelligence, mobile robots have been widely used in customers, and the charging piles matching the robots are indispensable. Since the charging piles of mobile devices are required to have the advantages of fast charging speed, convenient charging, and low radiation, the charging piles of mobile robots are mostly charged by direct charging.

Due to the deployment of sensors and touch structures inside the charging structure, the charging touch strip is usually long in size, and one end is prone to retract while the other end is tilted, but the position of the middle stopper will not change. This phenomenon will As a result, the baffle cannot make the sensor give corresponding feedback, and the sensor cannot be effectively triggered. It is particularly important to design a synchronous expansion and contraction structure on the long strip charging touch strip.

For the above problems, no effective solution has been proposed yet.

Contents of the invention

Embodiments of the present disclosure provide a charging device, a charging method and device thereof, and a computer-readable storage medium, so as to at least solve the technical problem in the related art that charging cannot be effectively performed due to defects in the internal structure of the charging device.

According to an aspect of an embodiment of the present disclosure, there is provided a charging device, including: a first charging touch bar, used in conjunction with a device to be charged, and when in contact with a second charging touch bar of the device to be charged, Provide a charging channel for the device to be charged; a metal connecting rod, the middle part of which is fixed on the upper cover of the charging device, is configured to drive when the second charging touch bar is in contact with the first charging touch bar Both ends of the first charging touch bar move synchronously; the sensing module is configured to sense whether the device to be charged is in place, and generate a sensing signal when the device to be charged is in place, wherein the charging device is in place After receiving the induction signal, charge the device to be charged.

Optionally, the charging device further includes: a charging metal sheet connected to the first charging touch bar and configured to form the charging channel together with the first charging touch bar.

Optionally, the charging metal sheet is connected to the first charging contact strip through bolts.

Optionally, the charging device further includes: positive and negative electrode wires disposed on the charging metal sheet, forming the charging channel together with the first charging touch bar and the metal connecting rod.

Optionally, the charging device further includes: a spring, arranged on the guide post, configured to release elastic potential energy when the charging of the device to be charged meets a predetermined condition, so as to restore the first charging touch bar to its original state .

Optionally, the charging device further includes: a splint configured to fix the metal connecting rod.

Optionally, the first charging touch bar is arranged on the upper cover of the charging device, so that the metal connecting rod is locked in the slot of the splint.

Optionally, the sensing module is fixed on the upper cover of the charging device through a fixing bracket.

Optionally, the sensing module is a through-beam photoelectric sensor.

Optionally, the charging device further includes: a baffle, located on the first charging touch strip, during the contact process of the second charging touch strip and the first charging touch strip, along with the The first charging touch bar moves together.

According to another aspect of the embodiments of the present disclosure, there is also provided a charging method, which is applied to the charging device described in any one of the above, including: acquiring an induction signal during the movement of the device to be charged to the charging device, wherein, The induction signal is a signal collected by the induction module of the charging device; when the induction signal indicates that the device to be charged is in place, the device to be charged is charged in response to the induction signal.

Optionally, when the device to be charged moves towards the charging device, the second charging touch bar of the device to be charged is in contact with one end of the first charging touch bar of the charging device; When the charging device continues to move towards the charging device, when the first charging touch bar is displaced downward, a driving force is applied to the metal connecting rod of the charging device to drive the first charging touch bar The other end of the first charging touch strip generates a downward displacement synchronously with one end of the first charging touch bar.

Optionally, the charging method further includes: when it is detected that the charging of the device to be charged is completed, triggering the first charging touch bar to return to an initial state.

According to another aspect of the embodiments of the present disclosure, there is also provided a charging device implemented in any one of the charging methods described above, including: an acquisition module configured to, when the device to be charged moves to the charging device, Acquiring a sensing signal, wherein the sensing signal is a signal collected by the sensing module of the charging device; the response module is configured to respond to the sensing signal when the sensing signal indicates that the device to be charged is in place, as The device to be charged is charged.

Optionally, the charging device further includes: a trigger module configured to trigger the first charging touch bar to return to an initial state when it is detected that the charging of the device to be charged is completed.

According to another aspect of the embodiments of the present disclosure, there is also provided a computer-readable storage medium, the computer-readable storage medium includes a stored computer program, wherein when the computer program is executed by a processor, the computer is controlled The device where the readable storage medium is located executes any of the charging methods described above.

According to another aspect of the embodiments of the present disclosure, there is also provided a processor configured to run a computer program, wherein the computer program executes the charging method described in any one of the foregoing when running.

In the embodiment of the present disclosure, during the process of moving the charging device to the charging device, the sensing signal is obtained, wherein the sensing signal is a signal collected by the sensing module of the charging device; when the sensing signal indicates that the charging device is in place, respond to the sensing signal to charge the device to be charged. Through the charging method provided by the embodiment of the present disclosure, the purpose of obtaining the induction signal during the movement of the device to be charged to the charging device and charging the device to be charged based on the induction signal is achieved, thereby achieving the technical effect of improving the charging success rate of the device to be charged , thereby solving the technical problem in the related art that charging cannot be effectively performed due to internal structural defects of the charging device.

Description of drawings

The drawings described here are used to provide a further understanding of the present disclosure, and constitute a part of the present application. The schematic embodiments of the present disclosure and their descriptions are used to explain the present disclosure, and do not constitute improper limitations to the present disclosure. In the attached picture:

FIG. 1 is a schematic diagram of a charging device according to an embodiment of the present disclosure;

Figure 2(a) is a front view of a charging touch strip according to an embodiment of the present disclosure;

2(b) is a cross-sectional view of a charging touch strip according to an embodiment of the present disclosure;

3 is a flowchart of a charging method according to an embodiment of the present disclosure;

FIG. 4 is a schematic diagram of a charging device according to an embodiment of the present disclosure.

Detailed ways

In order to enable those skilled in the art to better understand the present disclosure, the technical solutions in the embodiments of the present disclosure will be clearly and completely described below in conjunction with the drawings in the embodiments of the present disclosure. Obviously, the described embodiments are only It is an embodiment of a part of the present disclosure, but not all of the embodiments. Based on the embodiments in the present disclosure, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts shall fall within the protection scope of the present disclosure.

It should be noted that the terms "first" and "second" in the specification and claims of the present disclosure and the above drawings are used to distinguish similar objects, but not necessarily used to describe a specific sequence or sequence. It is to be understood that the data so used are interchangeable under appropriate circumstances such that the embodiments of the disclosure described herein can be practiced in sequences other than those illustrated or described herein. Furthermore, the terms "comprising" and "having", as well as any variations thereof, are intended to cover a non-exclusive inclusion, for example, a process, method, system, product or device comprising a sequence of steps or elements is not necessarily limited to the expressly listed instead, may include other steps or elements not explicitly listed or inherent to the process, method, product or apparatus.

Example 1

According to an aspect of an embodiment of the present disclosure, a charging device is provided. FIG. 1 is a schematic diagram of a charging device according to an embodiment of the present disclosure. As shown in FIG. 1 , the charging device includes: a first charging touch bar 11, a metal The connecting rod 13 and the sensing module 15. The charging device will be described below.

The first charging touch bar 11 is used in conjunction with the device to be charged, and provides a charging channel for the device to be charged when it is in contact with the second charging touch bar of the device to be charged.

The metal connecting rod 13, the middle part of which is fixed on the upper cover of the charging device, is configured to drive both ends of the first charging touch bar to move synchronously when the second charging touch bar contacts the first charging touch bar.

The sensing module 15 is configured to sense whether the device to be charged is in place, and generate a sensing signal when the device to be charged is in place, wherein the charging device charges the device to be charged after receiving the sensing signal.

As can be seen from the above, in some implementations, the charging device provided in the embodiments of the present disclosure uses the first charging touch bar 11 to cooperate with the device to be charged, and is used in conjunction with the second charging touch bar of the device to be charged. When in contact, a charging channel is provided for the device to be charged; and when the second charging touch bar is in contact with the first charging touch bar, the metal connecting rod 13 is used to drive the two ends of the first charging touch bar to move synchronously, wherein the metal The middle part of the connecting rod 13 is fixed on the upper cover of the charging device; and the induction module 15 is used to sense whether the device to be charged is in place, and when the device to be charged is in place, an induction signal is generated, wherein the charging device, after receiving the induction signal, Charge the device to be charged. Through the charging device provided by the embodiment of the present disclosure, the purpose of obtaining the induction signal during the movement of the device to be charged to the charging device and charging the device to be charged based on the induction signal is achieved, thereby achieving the technical effect of improving the charging success rate of the device to be charged , thereby solving the technical problem in the related art that charging cannot be effectively performed due to internal structural defects of the charging device.

As an optional embodiment, the charging device further includes: a charging metal sheet connected to the first charging touch bar and configured to form a charging channel together with the first charging touch bar.

In this embodiment, using the good conductivity of metal, a charging metal sheet is provided to form a charging channel together with the first charging contact strip

Wherein, the charging metal sheet is connected with the first charging touch strip through bolts.

As an optional embodiment, the charging device further includes: positive and negative electrode wires disposed on the charging metal sheet, forming a charging channel together with the first charging contact bar and the metal connecting rod.

As an optional embodiment, the charging device further includes: a spring, arranged on the guide post, configured to release elastic potential energy when the charging of the device to be charged meets a predetermined condition, so that the first charging touch bar returns to its original state. state.

As an optional embodiment, the charging device further includes: a splint configured to fix the metal connecting rod.

Wherein, the first charging touch bar is arranged on the upper cover of the charging device, so that the metal connecting rod is stuck in the slot of the splint.

In the embodiment of the present disclosure, the sensing module is fixed on the upper cover of the charging device through a fixing bracket.

Wherein, the sensing module is a through-beam photoelectric sensor.

Fig. 2(a) is a front view of the charging touch strip according to an embodiment of the present disclosure. As shown in Fig. 2(a), the charging metal sheet (1) and the charging touch strip (2) are fixed together by screws, and The spring (3) and the metal connecting rod (4) are installed together on the top cover (5) of the charging pile. In addition, the top cover (5) of the charging pile is also equipped with a photoelectric sensor (6), a positive electrode wire (7) and the negative electrode wire (8).

As an optional embodiment, the charging device further includes: a baffle, located on the first charging touch bar, during the process of the second charging touch bar being in contact with the first charging touch bar , move together with the first charging touch bar.

Figure 2(b) is a cross-sectional view of the charging touch strip according to an embodiment of the present disclosure. As shown in Figure 2(b), the charging metal sheet (1) and the charging touch strip (2) are fixed together by screws, and the The spring (3) is installed on the guide post (10); put the metal connecting rod in the groove of the splint (9), and then put the charging bar as a whole on the charging pile cover (5), so that the metal connecting rod (4 ) is stuck on the card slot in the top cover (5) of the charging pile, and the charging touch strip is fixed on the top cover of the charging pile by means of screws and gaskets; the opposite photoelectric sensor device (6) is fixed through the fixing bracket Cover the charging pile; fix the positive electrode wire (7) and the negative electrode wire (8) on the charging metal sheet (1) respectively.

When the mobile robot is close to charging, the charging end of the mobile robot is in contact with one end of the charging touch strip mechanism (2), and as the mobile robot moves backward, one end of the charging touch strip mechanism (2) will also generate a downward force. Displacement, there will be a downward force exerted on one end (such as end A) of the metal connecting rod (4). There will be a rotation trend at the A end, which will drive the metal connecting rod (4) to the other end (such as the B end) to complete the rotation in the same direction, so that the metal connecting rod (4) will drive the charging touch bar (2) The other end moves downwards to complete the synchronous descent of the charging touch bar (2). When the baffle plate (11) moves down to the sensing area of the through-beam photoelectric sensor device (6), the through-beam photoelectric sensor device (6) will send out a signal, and when the upper and lower charging touch bars (2) The corresponding photoelectric sensing devices (6) start charging when they transmit signals outward. When the mobile robot is fully charged and leaves, the elastic potential energy of the spring needs to be released to make the charging touch bar bounce back to the initial state. It will be stuck on the inner side of the upper cover of the charging pile, so as to prevent the charging touch mechanism from detaching from the upper cover of the charging pile (5) due to excessive elastic force.

It can be seen from the above that, through the method of improving the charging stability of the robot in the embodiment of the present disclosure, the middle part of the metal connecting rod in the slot of the upper cover of the charging pile is fixed based on the principle of torque and force transmission. When a downward force is applied, this section of the connecting rod will generate a rotational force, and this rotational force will be transmitted to the other end through the middle section, so that the other end of the charging touch device will also be displaced downward to realize the charging touch The structure falls or rises synchronously to avoid invalid charging. In some embodiments, the position of the internal sensor is placed on the charging touch mechanism arbitrarily, so there is no need to worry about the situation that the sensor cannot be effectively triggered.

Example 2

According to another aspect of the embodiments of the present disclosure, a method embodiment of a charging method is also provided, which is applied to the charging device in the above-mentioned embodiment 1. It should be noted that the steps shown in the flow chart of the accompanying drawings can be and, although a logical order is shown in the flowcharts, in some cases the steps shown or described may be performed in an order different from that shown or described herein.

Fig. 3 is a flowchart of a charging method according to an embodiment of the present disclosure. As shown in Fig. 3, the charging method includes:

Step S302, during the movement of the device to be charged to the charging device, an induction signal is acquired, wherein the induction signal is a signal collected by an induction module of the charging device.

Optionally, in the above steps, the induction signal is acquired when the equipment to be charged is moving towards the charging equipment, for example, when the charging vehicle slowly drives towards the charging pile, the induction module of the charging pile acquires the induction signal sent by the charging vehicle.

Step S304, when the sensing signal indicates that the charging device is in place, charge the charging device in response to the sensing signal.

It can be seen from the above that in the embodiment of the present disclosure, firstly, the induction signal is obtained during the movement of the device to be charged to the charging device, wherein the induction signal is the signal collected by the induction module of the charging device; finally, the induction signal can represent the When in place, the device to be charged is charged in response to the sensing signal. Through the charging method provided by the embodiment of the present disclosure, the purpose of obtaining the induction signal during the movement of the device to be charged to the charging device and charging the device to be charged based on the induction signal is achieved, thereby achieving the technical effect of improving the charging success rate of the device to be charged , thereby solving the technical problem in the related art that charging cannot be effectively performed due to internal structural defects of the charging device.

As an optional embodiment, when the device to be charged moves to the charging device, the second charging touch bar of the device to be charged contacts with one end of the first charging touch bar of the charging device; During the movement of the device, when the first charging touch bar is displaced downward, a driving force is applied to the metal connecting rod of the charging device to drive the other end of the first charging touch bar to synchronize with one end of the first charging touch bar Produces a downward displacement.

In the above optional embodiment, when the device to be charged moves to the charging device, when the second charging touch bar of the charging device touches the first charging touch bar of the charging device, the first charging touch bar of the charging device The touch bar will be exerted a downward force, causing it to produce a downward displacement. When the first charging touch bar of the charging device is displaced downward, the metal connecting rod of the charging device will touch the first charging touch bar. Apply the same driving force to the other end of the first charging touch bar to drive the other end of the first charging touch bar to move synchronously with the end of the first charging touch bar that is forced by the second charging touch bar, so as to avoid the effect of invalid charging.

As an optional embodiment, the charging method further includes: when it is detected that the charging of the device to be charged is completed, triggering the first charging touch bar to return to the initial state. It can be seen from the above that, through the method of improving the charging stability of the robot in the embodiment of the present disclosure, the middle part of the metal connecting rod in the slot of the upper cover of the charging pile is fixed based on the principle of torque and force transmission. When a downward force is applied, this section of the connecting rod will generate a rotational force, and this rotational force will be transmitted to the other end through the middle section, so that the other end of the charging touch device will also be displaced downward to realize the charging touch The structure falls or rises synchronously to avoid invalid charging. In some embodiments, the position of the internal sensor is also placed arbitrarily on the charging touch mechanism, so there is no need to worry about the situation that the sensor cannot be effectively triggered.

Example 3

According to another aspect of the embodiment of the present disclosure, there is also provided a charging device, which uses the charging method in the above-mentioned embodiment 2. FIG. 4 is a schematic diagram of the charging device according to the embodiment of the present disclosure, as shown in FIG. 4 , the charging device includes: an acquisition module 41 and a response module 43 . The charging device will be described below.

The acquiring module 41 is configured to acquire a sensing signal when the device to be charged is moving towards the charging device, wherein the sensing signal is a signal collected by the sensing module of the charging device.

The response module 43 is configured to charge the device to be charged in response to the sensing signal when the sensing signal indicates that the device to be charged is in place.

It should be noted here that the above acquisition module 41 and response module 43 correspond to steps S302 to S304 in Embodiment 2, and the examples and application scenarios realized by the above modules and the corresponding steps are the same, but are not limited to those in Embodiment 2 above. public content. It should be noted that, in some implementations, the above-mentioned modules are executed in a computer system such as a set of computer-executable instructions as part of an apparatus.

As can be seen from the above, in the embodiment of the present disclosure, firstly, the acquisition module 41 is used to obtain the induction signal during the movement of the equipment to be charged to the charging equipment, wherein the induction signal is the signal collected by the induction module of the charging equipment; in some implementations , and finally use the response module 43 to charge the device to be charged in response to the sensing signal when the sensing signal indicates that the device to be charged is in place. Through the charging device provided by the embodiments of the present disclosure, the purpose of obtaining the induction signal during the movement of the equipment to be charged to the charging equipment and charging the equipment to be charged based on the induction signal is achieved, thereby achieving the technical effect of improving the charging success rate of the equipment to be charged , thereby solving the technical problem in the related art that charging cannot be effectively performed due to internal structural defects of the charging device.

Optionally, when the device to be charged moves toward the charging device, the second charging touch bar of the device to be charged contacts with one end of the first charging touch bar of the charging device; while the device to be charged continues to move towards the charging device When the first charging touch bar produces a downward displacement, a driving force is applied to the metal connecting rod of the charging device to drive the other end of the first charging touch bar to generate a downward displacement synchronously with one end of the first charging touch bar .

Optionally, the charging device further includes: a trigger module configured to trigger the first charging touch bar to return to the initial state when it is detected that the charging of the device to be charged is completed.

Example 4

Example 5

The serial numbers of the above-mentioned embodiments of the present disclosure are for description only, and do not represent the advantages and disadvantages of the embodiments.

In the above-mentioned embodiments of the present disclosure, the descriptions of each embodiment have their own emphases, and for the parts not described in detail in a certain embodiment, refer to the relevant descriptions of other embodiments.

In the several embodiments provided in this application, it should be understood that the disclosed technical content can be realized in other ways. Wherein, the device embodiments described above are only illustrative. For example, the division of the units may be a logical function division. In actual implementation, there may be other division methods. For example, multiple units or components may be combined or may be Integrate into another system, or some features may be ignored, or not implemented. In another point, the mutual coupling or direct coupling or communication connection shown or discussed may be through some interfaces, and the indirect coupling or communication connection of units or modules may be in electrical or other forms.

The units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or may be distributed to multiple units. Part or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

In addition, each functional unit in each embodiment of the present disclosure may be integrated into one processing unit, each unit may exist separately physically, or two or more units may be integrated into one unit. The above-mentioned integrated units can be implemented in the form of hardware or in the form of software functional units.

If the integrated unit is realized in the form of a software function unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present disclosure is essentially or part of the contribution to the prior art, or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium , including several instructions to make a computer device (which may be a personal computer, a server, or a network device, etc.) execute all or part of the steps of the methods described in various embodiments of the present disclosure. The aforementioned storage media include: U disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), mobile hard disk, magnetic disk or optical disc, etc., which can store program codes. .

The above descriptions are only preferred implementations of the present disclosure. It should be pointed out that those skilled in the art can make some improvements and modifications without departing from the principle of the present disclosure. These improvements and modifications are also It should be regarded as the protection scope of the present disclosure.

Claims

A charging device, including:

The first charging touch bar is used in conjunction with the device to be charged, and provides a charging channel for the device to be charged when it is in contact with the second charging touch bar of the device to be charged;

The metal connecting rod, the middle part of which is fixed on the upper cover of the charging device, is configured to drive the two sides of the first charging touch bar when the second charging touch bar is in contact with the first charging touch bar. terminal synchronous movement;

A sensing module configured to sense whether the device to be charged is in place, and generate a sensing signal when the device to be charged is in place, wherein the charging device, after receiving the sensing signal, Charge.
The charging device according to claim 1, further comprising:

The charging metal sheet is connected to the first charging touch strip and is configured to form the charging channel together with the first charging touch strip.
The charging device according to claim 2, wherein the charging metal sheet is connected to the first charging contact bar through bolts.
The charging device according to claim 2, further comprising:

The positive and negative electrode wires are arranged on the charging metal sheet, and form the charging channel together with the first charging touch bar and the metal connecting rod.
The charging device according to claim 1, further comprising:

The spring is arranged on the guide post, and is configured to release elastic potential energy to restore the first charging touch bar to an initial state when the charging of the device to be charged meets a predetermined condition.
The charging device according to claim 1, further comprising:

a splint configured to secure the metal link.
The charging device according to claim 6, wherein the first charging touch bar is arranged on the upper cover of the charging device, so that the metal connecting rod is locked in the slot of the splint.
The charging device according to claim 1, wherein the sensing module is fixed on the upper cover of the charging device through a fixing bracket.
The charging device according to claim 1, wherein the sensing module is a through-beam photoelectric sensor.
The charging device according to claim 1, further comprising:

The baffle plate is located on the first charging touch strip, and moves together with the first charging touch strip when the second charging touch strip is in contact with the first charging touch strip.
A charging method, which is applied to the charging device described in any one of claims 1 to 10 above, comprising:

During the movement of the device to be charged to the charging device, an induction signal is obtained, wherein the induction signal is a signal collected by an induction module of the charging device;

When the induction signal indicates that the equipment to be charged is in place, the equipment to be charged is charged in response to the induction signal.
The method according to claim 11, wherein when the device to be charged moves towards the charging device, the second charging touch bar of the device to be charged is connected to the first charging touch bar of the charging device One end is in contact; when the device to be charged continues to move towards the charging device, when the first charging touch bar is displaced downward, a driving force is applied to the metal connecting rod of the charging device to drive the charging device. The other end of the first charging touch bar is displaced downward synchronously with one end of the first charging touch bar.
The method according to claim 12, wherein said method further comprises:

When it is detected that the charging of the device to be charged is completed, the first charging touch bar is triggered to return to an initial state.
A charging device, which is used in the charging method according to any one of claims 11 to 13, comprising:

The acquiring module is configured to acquire a sensing signal when the device to be charged moves to the charging device, wherein the sensing signal is a signal collected by the sensing module of the charging device;

A response module configured to charge the device to be charged in response to the sensing signal when the sensing signal indicates that the device to be charged is in place.
A computer-readable storage medium, wherein the computer-readable storage medium includes a stored computer program, wherein when the computer program is executed by a processor, the device where the computer-readable storage medium is located is controlled to perform the above claim 11 The charging method described in any one of to 13.
A processor, wherein the processor is configured to run a computer program, wherein the computer program executes the charging method according to any one of claims 11 to 13 when running.