CN110880798A - Robot charging method, robot charging device, robot and system - Google Patents
Robot charging method, robot charging device, robot and system Download PDFInfo
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- CN110880798A CN110880798A CN201911171904.XA CN201911171904A CN110880798A CN 110880798 A CN110880798 A CN 110880798A CN 201911171904 A CN201911171904 A CN 201911171904A CN 110880798 A CN110880798 A CN 110880798A
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Abstract
The application relates to a robot charging method, a robot charging device, a robot and a system. The method comprises the following steps: after the charging function is started, the charging piles in an idle state are obtained from the server, the target charging pile is selected from the charging piles in the idle state, the identification information which is sent by the server and is associated with the target charging pile is received, the target charging pile is moved to the position where the target charging pile is located, at least one piece of scene information of the position where the target charging pile is located is obtained, connection is established with the target charging pile according to the at least one piece of scene information and the identification information which is associated with the target charging pile, after the robot is successfully connected with the target charging pile, the robot is charged through the target charging pile, the robot is prevented from being connected with other charging piles, and.
Description
Technical Field
The present disclosure relates to the field of robots, and in particular, to a robot charging method, a robot charging device, a robot, and a system.
Background
In the field of service robots, autonomous navigation endows the robots with the capability of autonomous movement, so that the robots can direct paths, guide paths and the like for users like field workers. Wherein, the robot need independently look for and fill electric pile and charge when the electric quantity is not enough, and after the completion of charging, get back to the work post automatically again and go.
In practical application, a plurality of robots are required to work simultaneously on the spot, so that a plurality of charging piles are required on the spot, and the problems of connection conflict between the robots and the charging piles and inaccurate and inefficient connection are increased under the conditions of a plurality of robots and a plurality of charging piles.
Disclosure of Invention
In view of the above, it is desirable to provide a robot charging method, a robot charging device, a robot charging system, and a computer-readable storage medium, which can reduce the connection conflict between the robot and the charging pile and can efficiently and accurately connect the robot and the charging pile.
A robot charging method, the method comprising:
after a charging function is started, acquiring a charging pile in an idle state from a server;
selecting a target charging pile from the charging piles in an idle state, and receiving identification information which is sent by the server and is associated with the target charging pile;
moving to the position of the target charging pile, and acquiring at least one piece of scene information of the position of the target charging pile;
establishing connection with the target charging pile according to the at least one piece of scene information and the identification information associated with the target charging pile;
and after the robot is successfully connected with the target charging pile, charging the robot through the target charging pile.
In one embodiment, the method further comprises: acquiring the position of a charging pile in an idle state;
the electric pile is filled to the target of choosing in the electric pile that fills of following idle state includes:
scene information within a preset range from the robot is obtained, and the robot is roughly positioned according to the scene information to obtain a first positioning result;
radar positioning is carried out on the robot, and a second positioning result is obtained;
determining the position of the robot according to the first positioning result and the second positioning result;
and selecting the target charging pile according to the position of the robot and the position of the idle charging pile in the state.
In one embodiment, the establishing a connection with the target charging pile according to the at least one piece of scene information and the identification information associated with the target charging pile includes:
matching the identification information associated with the target charging pile with the at least one piece of scene information; wherein, one scene information corresponds to one charging pile;
determining the charging pile corresponding to the matched scene information as the target charging pile;
and establishing connection with the target charging pile.
In one embodiment, the method further comprises:
and if the connection with the target charging pile fails, returning to execute the step of acquiring the idle charging pile from the server.
In one embodiment, the method further comprises:
and removing the target charging pile from the charging pile in an idle state.
In one embodiment, after the connection with the target charging pile is successful, the method further includes:
and sending a connection success instruction to the server, so that the server updates the state of the target charging pile into an occupied state according to the connection success instruction.
A robotic charging device, the device comprising:
the acquisition module is used for acquiring the charging pile in an idle state from the server after the charging function is started;
the receiving module is used for selecting a target charging pile from the charging piles in an idle state and receiving the identification information which is sent by the server and is associated with the target charging pile;
the mobile module is used for moving to the position of the target charging pile and acquiring at least one piece of scene information of the position of the target charging pile;
the connection module is used for establishing connection with the target charging pile according to the at least one piece of scene information and the identification information associated with the target charging pile;
and the charging module is used for charging the robot through the target charging pile after the target charging pile is successfully connected.
A robot comprising a robot charging device as in the previous embodiments.
A robot charging system comprises a robot, a server and a charging pile;
after the robot starts a charging function, acquiring a charging pile in an idle state from a server;
the robot selects a target charging pile from the charging piles in an idle state, and receives identification information which is sent by the server and is associated with the target charging pile;
the robot moves to the position of the target charging pile, and at least one piece of scene information of the position of the target charging pile is obtained;
the robot establishes connection with the target charging pile according to the at least one piece of scene information and the identification information associated with the target charging pile;
and after the robot is successfully connected with the target charging pile, the target charging pile charges the robot.
A computer-readable storage medium, on which a computer program is stored which, when executed by a processor, carries out the steps of:
after a charging function is started, acquiring a charging pile in an idle state from a server;
selecting a target charging pile from the charging piles in an idle state, and receiving identification information which is sent by the server and is associated with the target charging pile;
moving to the position of the target charging pile, and acquiring at least one piece of scene information of the position of the target charging pile;
establishing connection with the target charging pile according to the at least one piece of scene information and the identification information associated with the target charging pile;
and after the robot is successfully connected with the target charging pile, charging the robot through the target charging pile.
According to the robot charging method, the robot charging device, the robot and the system, after the charging function is started, the charging piles in an idle state are obtained from the server, the target charging pile is selected from the charging piles in the idle state, the identification information which is sent by the server and is associated with the target charging pile is received, the target charging pile is moved to the position where the target charging pile is located, at least one piece of scene information of the position where the target charging pile is located is obtained, connection is established with the target charging pile according to the at least one piece of scene information and the identification information which is associated with the target charging pile, and after the robot is successfully connected with the target charging pile, the robot is charged through. The robot charging pile system comprises a server, a plurality of charging piles and a plurality of charging piles, wherein the charging piles in idle states are acquired from the server, the robot is prevented from being connected with the charging piles in occupied states, and the accuracy of connection is improved.
Drawings
FIG. 1 is a schematic flow chart diagram of a method for charging a robot in one embodiment;
fig. 2 is a schematic flow chart illustrating a detailed step of selecting a target charging pile from the idle charging piles in step S12 according to an embodiment;
FIG. 3 is a schematic flow chart illustrating the step of refining step S14 in one embodiment;
fig. 4 is a block diagram of the robot charging device according to an embodiment.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.
In one embodiment, as shown in fig. 1, there is provided a robot charging method, the execution subject of the method being a robot charging device, the method comprising the steps of:
step S11, after the charging function is started, acquiring the charging pile in an idle state from the server;
in the embodiment of the present invention, the robot detects its own power, and starts the charging function when the power is lower than a preset threshold (for example, the power is lower than 10%). The server records the states of the charging piles, including idle states and occupied states. After the robot starts the charging function, the robot acquires the charging pile state from the server and determines the idle charging pile according to the charging pile state.
Step S12, selecting a target charging pile from the idle charging piles, and receiving identification information which is sent by the server and is associated with the target charging pile;
in the embodiment of the invention, in a specific charging pile in the target charging pile finger-shaped idle charging piles, in the server, each charging pile stores corresponding identification information, and the identification information is used for uniquely identifying the charging pile and playing a role of identity identification, wherein the identification information can be an ID of the charging pile, a two-dimensional code containing the ID, ORB data of the charging pile, and the like.
In the embodiment of the invention, after the robot selects the target charging pile A from the idle charging piles, the robot receives the identification information which is sent by the server and is associated with the target charging pile A.
Step S13, moving to the position of the target charging pile, and acquiring at least one piece of scene information of the position of the target charging pile;
in the embodiment of the present invention, the location refers to a vicinity of the target charging pile, and for example, the location of the target charging pile can be within 1 meter of the target charging pile.
In the embodiment of the invention, when the robot moves to the position of the target charging pile, the robot or the robot detects the number of the charging piles at the position through the server, if only one charging pile is located, the scene information of the charging pile is acquired, and if a plurality of charging piles are included, the scene information corresponding to each charging pile is acquired. The scene information comprises a two-dimensional code containing an ID and/or ORB data of the charging pile.
Step S14, establishing connection with the target charging pile according to the at least one piece of scene information and the identification information associated with the target charging pile;
in the embodiment of the invention, if the robot moves to the position of the target charging pile and finds that a plurality of charging piles exist, the robot does not know that the robot should be connected with the charging pile, the robot receives the identification information which is sent by the server and is associated with the target charging pile in step S12, and acquires at least one piece of scene information of the position of the target charging pile in step S13, and the robot matches each piece of scene information with the identification information associated with the target charging pile, so that the target charging pile matched with the target charging pile can be determined and is connected with the target charging pile.
And step S15, after the robot is successfully connected with the target charging pile, the robot is charged through the target charging pile.
In the embodiment of the invention, after the robot is successfully connected with the target charging pile, the robot is shut down, and the target charging pile charges the robot.
According to the robot charging method, after a charging function is started, the charging piles in an idle state are obtained from the server, the target charging pile is selected from the charging piles in the idle state, the identification information which is sent by the server and is associated with the target charging pile is received, the target charging pile is moved to the position where the target charging pile is located, at least one piece of scene information of the position where the target charging pile is located is obtained, connection with the target charging pile is established according to the at least one piece of scene information and the identification information which is associated with the target charging pile, and after the robot is successfully connected with the target charging pile, the robot is charged through the. The robot charging pile system comprises a server, a plurality of charging piles and a plurality of charging piles, wherein the charging piles in idle states are acquired from the server, the robot is prevented from being connected with the charging piles in occupied states, and the accuracy of connection is improved.
In an embodiment, as shown in fig. 2, a flowchart of a detailed step of selecting a target charging pile from the state-idle charging piles in step S12 specifically includes:
step S121, scene information within a preset range from the robot is obtained, and the robot is roughly positioned according to the scene information to obtain a first positioning result;
in the embodiment of the invention, after the robot acquires the charging pile in an idle state from the server, scene information within a preset range from the robot is acquired, the scene information comprises a two-dimensional code containing an ID and/or ORB data of the charging pile, and the robot is coarsely positioned according to the scene information to obtain a first positioning result.
Step S122, radar positioning is carried out on the robot to obtain a second positioning result;
in the embodiments of the present invention, radar positioning belongs to the prior art, and is not described herein.
Step S123, determining the position of the robot according to the first positioning result and the second positioning result;
in the prior art, radar positioning is usually performed in robot positioning, but errors often occur only by using radar positioning, so that coarse positioning is performed through scene information to obtain a first positioning result, then radar positioning is performed to obtain a fine second positioning result, then the first positioning result and the second positioning result are analyzed, if the first positioning result contains the second positioning result, the second positioning result is accurate, the second positioning result is determined as the position of the robot, and if the first positioning result does not contain the second positioning result, the second positioning result is inaccurate, repositioning is required, and the position of the robot is determined.
And step S124, selecting the target charging pile according to the position of the robot and the position of the idle charging pile in the state.
In the embodiment of the invention, when the robot acquires the state-free charging piles from the server, the position of the state-free charging piles can be acquired, after the robot acquires the position of the robot, the distance from the robot to each state-free charging pile is calculated according to the position of the robot and the position of the state-free charging pile, and the charging pile with the shortest distance is taken as a target charging pile, so that the robot can select the charging pile closest to the robot and can move to the charging pile more quickly for charging.
In an embodiment, as shown in fig. 3, a flowchart of a step of refining the connection established between the step S14 and the target charging pile according to the at least one piece of scenario information and the identification information associated with the target charging pile specifically includes:
step S141, matching the identification information associated with the target charging pile with the at least one piece of scene information; wherein, one scene information corresponds to one charging pile;
step S142, determining the charging pile corresponding to the matched scene information as the target charging pile;
and step S143, establishing connection with the target charging pile.
In the embodiment of the invention, if the robot moves to the position of the target charging pile and finds that a plurality of charging piles exist, the robot does not know that the robot should be connected with the charging pile, and after receiving the identification information which is sent by the server and is associated with the target charging pile and acquiring at least one piece of scene information of the position of the target charging pile, the robot matches each piece of scene information with the identification information associated with the target charging pile, so that the target charging pile matched with the target charging pile can be determined and connected with the target charging pile. For example, the identification information associated with the target charging pile is ID-a, the scene information includes charging pile a scene information (the charging pile a scene information may be a two-dimensional code including ID-a) and charging pile B scene information (the charging pile B scene information may be a two-dimensional code including ID-B), the robot analyzes the scene information to obtain the identification information of the charging pile corresponding to each scene information, matches the identification information associated with the target charging pile with the identification information of the charging pile corresponding to each obtained scene information to obtain the scene information matched with the identification information associated with the target charging pile, and determines the charging pile corresponding to the matched scene information as the target charging pile to be connected with the target charging pile.
In one embodiment, the method further comprises:
and if the connection with the target charging pile fails, returning to execute the step of acquiring the idle charging pile from the server.
In the embodiment of the invention, if the connection with the target charging pile A fails, the target charging pile A cannot charge the robot, and the charging pile in an idle state needs to be acquired from the server again. It should be noted that, before the state-idle charging pile is acquired from the server again, the target charging pile a needs to be removed from the state-idle charging pile, so that the target charging pile a is prevented from being selected again.
In one embodiment, after the connection with the target charging pile is successful, the method further includes:
and sending a connection success instruction to the server, so that the server updates the state of the target charging pile into an occupied state according to the connection success instruction.
In the embodiment of the invention, after the robot is successfully connected with the target charging pile A, the connection success instruction is sent to the server, so that the server updates the state of the target charging pile A to the occupied state according to the connection success instruction, and other robots are prevented from selecting the target charging pile A in the charging process.
In one embodiment, there is provided a robot positioning method, the execution subject of the method being a robot positioning device, the method comprising the steps of:
a, after a robot is started, acquiring scene information within a preset range from the robot;
in the embodiment of the invention, the robot detects the starting instruction to start, and after the robot is started, the scene information within a preset range from the robot is acquired, wherein the scene information comprises the two-dimensional code containing the ID and/or the ORB data of the charging pile.
Step B, receiving radar radiation signals;
in the embodiment of the present invention, the content of receiving the radar radiation signal is consistent with the prior art, and will not be described herein again.
And step C, performing fusion positioning on the robot according to the scene information and the radar radiation signal, and determining the position of the robot.
In the embodiment of the invention, the fusion positioning is to perform positioning in different modes according to different information, and in the embodiment of the invention, scene positioning is performed according to scene information, and radar positioning is performed according to radar radiation signals.
According to the robot positioning method, after the robot is started, scene information within a preset range from the robot is obtained, radar radiation signals are received, the robot is subjected to fusion positioning according to the scene information and the radar radiation signals, and the position of the robot is determined. The robot is subjected to fusion positioning in two modes according to the scene information and the radar radiation signal within the preset range, the position of the robot can be determined more accurately, and positioning errors or failures are avoided.
In one embodiment, step C specifically includes:
step C1, performing coarse positioning on the robot according to the scene information to obtain a first positioning result;
step C2, performing radar positioning on the robot according to the radar radiation signal to obtain a second positioning result;
in the embodiments of the present invention, radar positioning belongs to the prior art, and is not described herein.
And step C3, determining the position of the robot according to the first positioning result and the second positioning result.
In the prior art, radar positioning is usually performed in robot positioning, but errors often occur only by using radar positioning, so that coarse positioning is performed through scene information to obtain a first positioning result, then radar positioning is performed to obtain a fine second positioning result, then the first positioning result and the second positioning result are analyzed, if the first positioning result contains the second positioning result, the second positioning result is accurate, the second positioning result is determined as the position of the robot, and if the first positioning result does not contain the second positioning result, the second positioning result is inaccurate, repositioning is required, and the position of the robot is determined.
In one embodiment, after the robot is started in the step a, acquiring scene information within a preset range from the robot specifically includes:
after the robot is started, judging whether the robot is on a charging pile or not; if the robot is on the charging pile, the pile is removed, and scene information within a preset range from the robot is acquired; and if the robot is not on the charging pile, acquiring scene information within a preset range from the robot.
In the embodiment of the invention, after the robot is started, whether the robot is on the charging pile or not is judged, if the robot is on the charging pile, the pile is removed, and the scene information within the preset range from the robot is obtained, and if the robot is not on the charging pile, the scene information within the preset range from the robot is obtained. And carrying out coarse positioning through the scene information to obtain a first positioning result, then carrying out radar positioning to obtain a fine second positioning result, and determining the position of the robot according to the first positioning result and the second positioning result. In the prior art, when the robot is powered off, the position of the robot is recorded, and when the robot is powered on, the position of the robot stored before is directly called, but the method may not be accurate. Because the robot is powered off when charging, the robot may be manually pushed when powering off, and the position stored before powering off is changed, but the robot cannot know the position change when powering off, so that the robot needs to be repositioned according to the method after the robot is powered on, and the position of the robot can be known more accurately.
In one embodiment, the determining the position of the robot further comprises:
judging whether the robot has a locking relation with a charging pile or not;
and if the locking relation exists, sending a state updating instruction to the server, so that the server updates the state of the charging pile locked with the robot into an idle state according to the state updating instruction.
In the embodiment of the invention, after the robot is charged, for example, the charging pile a charges the robot a, the server stores the state of the charging pile a as an occupied state, a locking relationship exists between the charging pile a and the robot a, the server and/or the robot stores the locking relationship, if the robot a finishes charging on the charging pile a and does not need to charge the robot a any more, the server updates the state of the charging pile a to be an idle state, if the robot a is pushed down by a person in the charging process (incomplete charging), the charging pile a is still in a locking state, therefore, after the robot a is started, after the position of the robot a is determined, the robot a judges whether the robot a still has the locking relationship with the charging pile a, and if the locking relationship exists, a state updating instruction is sent to the server, so that the server updates the instruction according to the state, and updating the state of the charging pile locked with the robot into an idle state.
In one embodiment, a method for controlling the operation of a robot on duty is provided, the method is executed by controlling a device for controlling the operation of the robot on duty, and the method comprises the following steps:
d, after the robot is started, acquiring scene information within a preset range from the robot;
step E, receiving radar radiation signals;
step F, performing fusion positioning on the robot according to the scene information and the radar radiation signal, and determining the position of the robot;
in the embodiment of the present invention, the content described in the steps D-F is the same as the content described in the steps a-C, and will not be described again here.
And G, controlling the robot to move to a specified position for operation according to the position of the robot and a preset operation position.
In the embodiment of the invention, each robot is preset with a position which the robot should work, and the robot is controlled to move to the specified position to work according to the position of the robot and the preset work position.
According to the method for controlling the robot to work on duty, after the robot is started, scene information within a preset range from the robot is obtained, radar radiation signals are received, the robot is fused and positioned according to the scene information and the radar radiation signals, the position of the robot is determined, and the robot is controlled to move to an appointed position to work according to the position of the robot and the preset working position. The robot is subjected to fusion positioning in two modes according to the scene information and the radar radiation signal within the preset range, the position of the robot can be determined more accurately, and positioning errors or failures are avoided. Further, the robot can be guided to a designated working position.
It should be understood that although the various steps in the flow charts of fig. 1-3 are shown in order as indicated by the arrows, the steps are not necessarily performed in order as indicated by the arrows. The steps are not performed in the exact order shown and described, and may be performed in other orders, unless explicitly stated otherwise. Moreover, at least some of the steps in fig. 1-3 may include multiple sub-steps or multiple stages that are not necessarily performed at the same time, but may be performed at different times, and the order of performance of the sub-steps or stages is not necessarily sequential, but may be performed in turn or alternating with other steps or at least some of the sub-steps or stages of other steps.
In one embodiment, as shown in fig. 4, there is provided a robot charging device, the device comprising:
the acquiring module 41 is configured to acquire an idle charging pile from the server after the charging function is started;
a receiving module 42, configured to select a target charging pile from charging piles in an idle state, and receive identification information associated with the target charging pile, where the identification information is sent by the server;
the moving module 43 is configured to move to a position where the target charging pile is located, and acquire at least one piece of scene information of the position where the target charging pile is located;
the connection module 44 is configured to establish a connection with the target charging pile according to the at least one piece of scene information and the identification information associated with the target charging pile;
and the charging module 45 is used for charging the robot through the target charging pile after the target charging pile is successfully connected.
In one embodiment, the receiving module 42 is configured to:
scene information within a preset range from the robot is obtained, and the robot is roughly positioned according to the scene information to obtain a first positioning result;
radar positioning is carried out on the robot, and a second positioning result is obtained;
determining the position of the robot according to the first positioning result and the second positioning result;
and selecting the target charging pile according to the position of the robot and the position of the idle charging pile in the state.
In one embodiment, the connection module 44 is configured to:
matching the identification information associated with the target charging pile with the at least one piece of scene information; wherein, one scene information corresponds to one charging pile;
determining the charging pile corresponding to the matched scene information as the target charging pile;
and establishing connection with the target charging pile.
In one embodiment, the connection module 44 is further configured to:
and if the connection with the target charging pile fails, returning to execute the step of acquiring the idle charging pile from the server.
In one embodiment, the connection module 44 is further configured to:
and removing the target charging pile from the charging pile in an idle state.
In one embodiment, the device further includes a sending module, configured to send a connection success instruction to the server, so that the server updates the state of the target charging pile to an occupied state according to the connection success instruction.
In one embodiment, a robot is provided, and the robot comprises the robot charging device of the above embodiments.
In one embodiment, a robot charging system is provided, the system comprising a robot, a server, a charging pile;
after the robot starts a charging function, acquiring a charging pile in an idle state from a server;
the robot selects a target charging pile from the charging piles in an idle state, and receives identification information which is sent by the server and is associated with the target charging pile;
the robot moves to the position of the target charging pile, and at least one piece of scene information of the position of the target charging pile is obtained;
the robot establishes connection with the target charging pile according to the at least one piece of scene information and the identification information associated with the target charging pile;
and after the robot is successfully connected with the target charging pile, the target charging pile charges the robot.
In one embodiment, the robot is further configured to:
scene information within a preset range from the robot is obtained, and the robot is roughly positioned according to the scene information to obtain a first positioning result;
radar positioning is carried out on the robot, and a second positioning result is obtained;
determining the position of the robot according to the first positioning result and the second positioning result;
and selecting the target charging pile according to the position of the robot and the position of the idle charging pile in the state.
In one embodiment, the robot is further configured to:
matching the identification information associated with the target charging pile with the at least one piece of scene information; wherein, one scene information corresponds to one charging pile;
determining the charging pile corresponding to the matched scene information as the target charging pile;
and establishing connection with the target charging pile.
In one embodiment, the robot is further configured to:
and if the connection with the target charging pile fails, returning to execute the step of acquiring the idle charging pile from the server.
In one embodiment, the robot is further configured to:
and removing the target charging pile from the charging pile in an idle state.
In one embodiment, the robot is further configured to:
and sending a connection success instruction to the server, so that the server updates the state of the target charging pile into an occupied state according to the connection success instruction.
For specific limitations of the robot charging device, the robot, and the robot charging system, reference may be made to the above limitations of the robot charging method, and details thereof are not repeated here. The modules in the robot charging device, the robot and the robot charging system can be wholly or partially realized by software, hardware and a combination thereof. The modules can be embedded in a hardware form or independent from a processor in the computer device, and can also be stored in a memory in the computer device in a software form, so that the processor can call and execute operations corresponding to the modules.
In one embodiment, a computer-readable storage medium is provided, having a computer program stored thereon, which when executed by a processor, performs the steps of:
after a charging function is started, acquiring a charging pile in an idle state from a server;
selecting a target charging pile from the charging piles in an idle state, and receiving identification information which is sent by the server and is associated with the target charging pile;
moving to the position of the target charging pile, and acquiring at least one piece of scene information of the position of the target charging pile;
establishing connection with the target charging pile according to the at least one piece of scene information and the identification information associated with the target charging pile;
and after the robot is successfully connected with the target charging pile, charging the robot through the target charging pile.
In one embodiment, the computer program when executed by the processor further performs the steps of:
scene information within a preset range from the robot is obtained, and the robot is roughly positioned according to the scene information to obtain a first positioning result;
radar positioning is carried out on the robot, and a second positioning result is obtained;
determining the position of the robot according to the first positioning result and the second positioning result;
and selecting the target charging pile according to the position of the robot and the position of the idle charging pile in the state.
In one embodiment, the computer program when executed by the processor further performs the steps of:
matching the identification information associated with the target charging pile with the at least one piece of scene information; wherein, one scene information corresponds to one charging pile;
determining the charging pile corresponding to the matched scene information as the target charging pile;
and establishing connection with the target charging pile.
In one embodiment, the computer program when executed by the processor further performs the steps of:
and if the connection with the target charging pile fails, returning to execute the step of acquiring the idle charging pile from the server.
In one embodiment, the computer program when executed by the processor further performs the steps of:
and removing the target charging pile from the charging pile in an idle state.
In one embodiment, the computer program when executed by the processor further performs the steps of:
and sending a connection success instruction to the server, so that the server updates the state of the target charging pile into an occupied state according to the connection success instruction.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by hardware instructions of a computer program, which can be stored in a non-volatile computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. Any reference to memory, storage, database, or other medium used in the embodiments provided herein may include non-volatile and/or volatile memory, among others. Non-volatile memory can include read-only memory (ROM), Programmable ROM (PROM), Electrically Programmable ROM (EPROM), Electrically Erasable Programmable ROM (EEPROM), or flash memory. Volatile memory can include Random Access Memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms such as Static RAM (SRAM), Dynamic RAM (DRAM), Synchronous DRAM (SDRAM), Double Data Rate SDRAM (DDRSDRAM), Enhanced SDRAM (ESDRAM), Synchronous Link DRAM (SLDRAM), Rambus Direct RAM (RDRAM), direct bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).
The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (10)
1. A method of charging a robot, the method comprising:
after a charging function is started, acquiring a charging pile in an idle state from a server;
selecting a target charging pile from the charging piles in an idle state, and receiving identification information which is sent by the server and is associated with the target charging pile;
moving to the position of the target charging pile, and acquiring at least one piece of scene information of the position of the target charging pile;
establishing connection with the target charging pile according to the at least one piece of scene information and the identification information associated with the target charging pile;
and after the robot is successfully connected with the target charging pile, charging the robot through the target charging pile.
2. The method of claim 1, further comprising: acquiring the position of a charging pile in an idle state;
the electric pile is filled to the target of choosing in the electric pile that fills of following idle state includes:
scene information within a preset range from the robot is obtained, and the robot is roughly positioned according to the scene information to obtain a first positioning result;
radar positioning is carried out on the robot, and a second positioning result is obtained;
determining the position of the robot according to the first positioning result and the second positioning result;
and selecting the target charging pile according to the position of the robot and the position of the idle charging pile in the state.
3. The method of claim 1, wherein the establishing a connection with the target charging pile according to the at least one piece of scenario information and the identification information associated with the target charging pile comprises:
matching the identification information associated with the target charging pile with the at least one piece of scene information; wherein, one scene information corresponds to one charging pile;
determining the charging pile corresponding to the matched scene information as the target charging pile;
and establishing connection with the target charging pile.
4. The method of claim 1, further comprising:
and if the connection with the target charging pile fails, returning to execute the step of acquiring the idle charging pile from the server.
5. The method of claim 4, further comprising:
and removing the target charging pile from the charging pile in an idle state.
6. The method of claim 1, wherein after the connection with the target charging post is successful, the method further comprises:
and sending a connection success instruction to the server, so that the server updates the state of the target charging pile into an occupied state according to the connection success instruction.
7. A robotic charging device, the device comprising:
the acquisition module is used for acquiring the charging pile in an idle state from the server after the charging function is started;
the receiving module is used for selecting a target charging pile from the charging piles in an idle state and receiving the identification information which is sent by the server and is associated with the target charging pile;
the mobile module is used for moving to the position of the target charging pile and acquiring at least one piece of scene information of the position of the target charging pile;
the connection module is used for establishing connection with the target charging pile according to the at least one piece of scene information and the identification information associated with the target charging pile;
and the charging module is used for charging the robot through the target charging pile after the target charging pile is successfully connected.
8. A robot, characterized in that the robot comprises a robot charging device according to claim 7.
9. A robot charging system is characterized by comprising a robot, a server and a charging pile;
after the robot starts a charging function, acquiring a charging pile in an idle state from a server;
the robot selects a target charging pile from the charging piles in an idle state, and receives identification information which is sent by the server and is associated with the target charging pile;
the robot moves to the position of the target charging pile, and at least one piece of scene information of the position of the target charging pile is obtained;
the robot establishes connection with the target charging pile according to the at least one piece of scene information and the identification information associated with the target charging pile;
and after the robot is successfully connected with the target charging pile, the target charging pile charges the robot.
10. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the steps of the method of any one of claims 1 to 6.
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| CN201911171904.XA CN110880798A (en) | 2019-11-26 | 2019-11-26 | Robot charging method, robot charging device, robot and system |
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Application publication date: 20200313 |