CN113858190A

CN113858190A - Control method of reloading platform and related device

Info

Publication number: CN113858190A
Application number: CN202110881460.XA
Authority: CN
Inventors: 陈海波; 朱峰
Original assignee: Deep Blue Technology Shanghai Co Ltd
Current assignee: Shenlan Robot Industry Development Henan Co ltd
Priority date: 2021-08-02
Filing date: 2021-08-02
Publication date: 2021-12-31
Anticipated expiration: 2041-08-02
Also published as: CN113858190B

Abstract

The application provides a control method and a related device of a reloading platform, wherein the method is applied to the reloading platform, the reloading platform is provided with a plurality of reloading modules and at least one clamping mechanism, each reloading module is detachably connected with a robot chassis when executing tasks, and the method comprises the following steps: responding to a preset request sent by the robot chassis, and acquiring the loading module type of a target loading module currently connected with the robot chassis; acquiring a target clamping mechanism corresponding to the type of the upper installation module; and controlling the reloading platform to take the target loading module away by using the target clamping mechanism. On one hand, the upper mounting module is detachably connected with the robot chassis, so that the upper mounting module can be conveniently dismounted for the robot chassis by the reloading platform; on the other hand, the reloading platform can select clamping mechanisms of different types to take away the loading modules according to the loading modules of different types, the application range is wide, and the use cost is reduced.

Description

Control method of reloading platform and related device

Technical Field

The application relates to the technical field of robots, in particular to a control method and a related device for a reloading platform.

Background

With the development of science and technology, the application range of the robot is gradually expanded. A robot is a system that integrates computer, mechanical, sensing technology, information processing technology, image processing and recognition technology, language recognition and processing technology, control technology, and communication technology. However, the popularization of the desired robot in various industries is not well realized due to the restriction of factors such as versatility and cost.

The existing robots are basically developed according to specific tasks and have fixed structures and functions, and accordingly, the assembly platform of the robot also has fixed structures and functions, so that the use cost is increased invisibly, and the popularization of the robot in the application field is hindered.

Disclosure of Invention

The application aims to provide a control method and a related device of a reloading platform, the reloading platform can select clamping mechanisms of different types to take away a reloading module according to the reloading modules of different types, the application range is wide, and the use cost is reduced.

The purpose of the application is realized by adopting the following technical scheme:

in a first aspect, the present application provides a method for controlling a reloading platform, the method being applied to a reloading platform provided with a plurality of reloading modules and at least one clamping mechanism, each of the reloading modules being detachably connected to a robot chassis when performing a task, the method comprising: responding to a preset request sent by the robot chassis, and acquiring the loading module type of a target loading module currently connected with the robot chassis; acquiring a target clamping mechanism corresponding to the type of the upper installation module; and controlling the reloading platform to take the target loading module away by using the target clamping mechanism. The technical scheme has the beneficial effects that on one hand, the upper mounting module is detachably connected with the robot chassis, so that the upper mounting module is conveniently dismounted for the robot chassis by the replacing platform; on the other hand, the reloading platform can select clamping mechanisms of different types to take away the loading modules according to the loading modules of different types, the application range is wide, and the use cost is reduced.

In some optional embodiments, the preset request includes at least one of: reloading, ending tasks and suspending tasks. The technical scheme has the advantages that when the preset request is to finish the task or suspend the task, the reloading platform can select different types of clamping mechanisms to take away the reloading modules according to the different types of reloading modules; when the preset request is reloading, the reloading platform can select clamping mechanisms of different types to take away the reloading modules according to the reloading modules of different types, and the reloading platform can also mount other reloading modules for the robot chassis.

In some optional embodiments, the obtaining, in response to a preset request sent by the robot chassis, a loading module type of a target loading module currently connected to the robot chassis includes: responding to a preset request sent by the robot chassis, and acquiring the current task type of the robot chassis; and acquiring the uploading module type corresponding to the current task type as the uploading module type of the target uploading module. The technical scheme has the advantages that the corresponding type of the upper-mounted module can be selected as the type of the upper-mounted module of the target upper-mounted module according to the current task type of the robot chassis, so that the replacing platform selects the corresponding type of the clamping mechanism according to the type of the upper-mounted module to take away the target upper-mounted module.

In some alternative embodiments, the current task type is any one of: distribution, disinfection, inspection, security, guidance, cleaning and accompanying. The technical scheme has the beneficial effects that the current task type of the robot chassis can be any one of distribution, disinfection, inspection, security protection, guidance, cleaning and accompanying, the same robot chassis is matched with the loading modules corresponding to different task types for use, and the identity of the robot chassis can be freely switched among the distribution robot, the disinfection robot, the inspection robot, the security protection robot, the guidance robot, the cleaning robot and the accompanying robot.

In some optional embodiments, the reloading platform is further provided with a detection device, and the method further comprises: when the type of the loading module is a distribution loading module, controlling the detection equipment to detect whether articles are not distributed in the target loading module; when the goods are not delivered, prompt information is generated and sent to the cloud server and/or the user equipment. The technical scheme has the advantages that when the type of the loading module is the delivery loading module, whether articles are not delivered in the target loading module can be detected, if the articles are not delivered, prompt information can be sent to the cloud server and/or the user equipment, so that the articles which are not delivered are processed in time, and the intelligent degree is high.

In some optional embodiments, each of the top-loading modules is provided with a spare battery, and the reloading platform is further provided with at least one top-loading charging potential for charging the spare battery of the top-loading module; the method further comprises the following steps: and controlling the reloading platform to use one of the loading charging potentials to charge the standby battery of the target loading module. The beneficial effects of this technical scheme lie in, through setting up the facial make-up charge potential, the function of charging station can also be realized to the platform of reloading, and the platform of reloading can utilize facial make-up charge potential to charge for the stand-by battery of facial make-up module.

In some optional embodiments, the method further comprises: and controlling the reloading platform to charge the standby battery of the target loading module to a preset electric quantity interval. The technical scheme has the beneficial effects that the replacement platform charges the standby battery of the target loading module to a preset electric quantity interval, so that the electric quantity of the standby battery is in a certain interval, and the task failure caused by insufficient electric quantity of the standby battery during the task execution is avoided.

In some optional embodiments, the preset power interval is 80% to 100% of the capacity of the standby battery. The technical scheme has the advantages that when the electric quantity of the standby battery is within the preset electric quantity interval, the electric quantity is sufficient, and the task success rate is high.

In a second aspect, the present application provides a control device for a reloading platform, the device is applied to the reloading platform, the reloading platform is provided with a plurality of loading modules and at least one fixture, every be connected with robot chassis detachably during loading module execution task, the device includes: the type acquisition module is used for responding to a preset request sent by the robot chassis and acquiring the loading module type of a target loading module currently connected with the robot chassis; the mechanism acquisition module is used for acquiring a target clamping mechanism corresponding to the type of the loading module; and the mechanism control module is used for controlling the reloading platform to take away the target loading module by using the target clamping mechanism.

In some optional embodiments, the preset request includes at least one of: reloading, ending tasks and suspending tasks.

In some optional embodiments, the type obtaining module includes: the task type unit is used for responding to a preset request sent by the robot chassis and acquiring the current task type of the robot chassis; and the module type unit is used for acquiring the uploading module type corresponding to the current task type as the uploading module type of the target uploading module.

In some alternative embodiments, the current task type is any one of: distribution, disinfection, inspection, security, guidance, cleaning and accompanying.

In some optional embodiments, the reloading platform is further provided with a detection device, the reloading device further comprises a reloading detection module, and the reloading detection module comprises: the delivery detection unit is used for controlling the detection equipment to detect whether the target loading module has articles which are not delivered or not when the loading module is delivered; and the information sending unit is used for generating prompt information and sending the prompt information to the cloud server and/or the user equipment when the article is not delivered.

In some optional embodiments, each of the top-loading modules is provided with a spare battery, and the reloading platform is further provided with at least one top-loading charging potential for charging the spare battery of the top-loading module; the device further comprises: and the charging control module is used for controlling the reloading platform to charge the standby battery of the target reloading module by using one reloading potential.

In some optional embodiments, the charging control module is further configured to control the reloading platform to charge the backup battery of the target loading module to a preset electric quantity interval.

In some optional embodiments, the preset power interval is 80% to 100% of the capacity of the standby battery.

In a third aspect, the present application provides an electronic device comprising a memory and a processor, the memory storing a computer program, the processor implementing the steps of any of the above methods when executing the computer program.

In a fourth aspect, the present application provides a reloading platform comprising any one of the electronic devices described above, the reloading platform further being provided with a plurality of loading modules and at least one clamping mechanism, each of which is detachably connected to the robot chassis when the loading modules perform tasks. The technical scheme has the advantages that the electronic equipment can comprise the memory and the processor, and the electronic equipment is applied to the reloading platform, so that the intelligent level and the automatic level are improved.

In some optional embodiments, the reloading platform is further provided with a detection device. The technical scheme has the beneficial effects that when the type of the loading module is the distribution loading module, whether the object is not distributed in the target loading module can be detected through the detection equipment.

In some optional embodiments, the detection device comprises at least one of: camera, 3D contourgraph, CT scanner, laser radar, infrared check out test set, uwb positioning device, NFC equipment, gravity-feed tank and travel switch. The technical scheme has the beneficial effects that the detection equipment can be any one or more of a camera, a 3D (three-dimensional) contourgraph, a CT (computed tomography) scanner, a laser radar, infrared detection equipment, uwb (ultra wide band) positioning equipment, NFC (near field communication) equipment, a gravity induction sensor and a travel switch.

In some optional embodiments, each of the top-up modules is provided with a backup battery, and the reloading platform is further provided with at least one top-up charging station for charging the backup battery of the top-up module. The beneficial effects of this technical scheme lie in, through setting up the facial make-up charge potential, the function of charging station can also be realized to the platform of reloading, and the platform of reloading can utilize facial make-up charge potential to charge for the stand-by battery of facial make-up module.

In some alternative embodiments, the clamping mechanism is a robot having multiple degrees of freedom. The technical scheme has the advantages that the manipulator with multiple degrees of freedom can realize multiple actions, and the manipulator is flexible in movement and wide in application range.

In a fifth aspect, the present application provides a robotic reloading system comprising a robot chassis and a reloading platform as in any of the above.

In a sixth aspect, the present application provides a computer-readable storage medium storing a computer program which, when executed by a processor, implements the steps of any of the methods described above.

Drawings

The present application is further described below with reference to the drawings and examples.

Fig. 1 is a schematic flowchart of a method for controlling a reloading platform according to an embodiment of the present application;

fig. 2 is a schematic flowchart of obtaining a type of an upper-mounted module according to an embodiment of the present application;

fig. 3 is a schematic flowchart of a method for controlling a reloading platform according to an embodiment of the present application;

fig. 4 is a schematic flowchart of a method for controlling a reloading platform according to an embodiment of the present application;

fig. 5 is a schematic flowchart of a method for controlling a reloading platform according to an embodiment of the present application;

fig. 6 is a schematic structural diagram of a control device of a reloading platform according to an embodiment of the present application;

FIG. 7 is a schematic structural diagram of an acquisition module of the type provided in an embodiment of the present application;

FIG. 8 is a schematic structural diagram of a control device of a reloading platform according to an embodiment of the present application;

fig. 9 is a schematic structural diagram of an upper detection module according to an embodiment of the present application;

FIG. 10 is a schematic structural diagram of a control device of a reloading platform according to an embodiment of the present application;

fig. 11 is a block diagram of an electronic device according to an embodiment of the present disclosure;

FIG. 12 is a schematic structural diagram of a reloading platform provided in an embodiment of the application;

FIG. 13 is a schematic structural diagram of a robot reloading system according to an embodiment of the present disclosure;

fig. 14 is a schematic structural diagram of a program product for implementing a control method of a reloading platform according to an embodiment of the present application.

Detailed Description

The present application is further described with reference to the accompanying drawings and the detailed description, and it should be noted that, in the present application, the embodiments or technical features described below may be arbitrarily combined to form a new embodiment without conflict.

Referring to fig. 1, an embodiment of the present application provides a method for controlling a reloading platform, where the method is applied to a reloading platform, where the reloading platform is provided with a plurality of loading modules and at least one clamping mechanism, and each loading module is detachably connected to a robot chassis when performing a task. Specifically, the robot chassis may be an a GV cart and the gripper mechanism may be a robot arm. The method includes steps S101 to S103.

Step S101: and responding to a preset request sent by the robot chassis, and acquiring the loading module type of a target loading module currently connected with the robot chassis.

In a specific embodiment, the preset request includes at least one of the following: reloading, ending tasks and suspending tasks.

Therefore, when the preset request is to finish the task or suspend the task, the reloading platform can select different types of clamping mechanisms to take away the reloading modules according to the different types of reloading modules; when the preset request is reloading, the reloading platform can select clamping mechanisms of different types to take away the reloading modules according to the reloading modules of different types, and the reloading platform can also mount other reloading modules for the robot chassis.

Referring to fig. 2, in a specific embodiment, the step S101 may include steps S201 to S202.

Step S201: and responding to a preset request sent by the robot chassis, and acquiring the current task type of the robot chassis.

In a specific embodiment, the current task type is any one of: distribution, disinfection, inspection, security, guidance, cleaning and accompanying. When the task type is disinfection, the corresponding target-mounted module is, for example, a disinfectant liquid (disinfectant) spraying device; when the task type is security, the corresponding target uploading module is, for example, a camera, and specifically, may include an optical camera and/or an infrared camera; when the task type is delivery (express, take out), the corresponding target mounted module is, for example, a delivery box, and specifically, may be a delivery box with a display device.

Therefore, the current task type of the robot chassis can be any one of distribution, disinfection, inspection, security protection, guidance, cleaning and accompanying, the same robot chassis is matched with the upper assembling modules corresponding to different task types for use, and the identity of the robot chassis can be freely switched among the distribution robot, the disinfection robot, the inspection robot, the security protection robot, the guidance robot, the cleaning robot and the accompanying robot.

Step S202: and acquiring the uploading module type corresponding to the current task type as the uploading module type of the target uploading module.

Therefore, the corresponding type of the loading module can be selected as the type of the loading module of the target loading module according to the current task type of the robot chassis, and the reloading platform selects the corresponding type of clamping mechanism to take away the target loading module according to the type of the loading module.

Step S102: and acquiring a target clamping mechanism corresponding to the type of the upper installation module.

Step S103: and controlling the reloading platform to take the target loading module away by using the target clamping mechanism.

Therefore, on one hand, the upper mounting module is detachably connected with the robot chassis, so that the upper mounting module can be conveniently detached from the robot chassis by the replacing platform; on the other hand, the reloading platform can select clamping mechanisms of different types to take away the loading modules according to the loading modules of different types, the application range is wide, and the use cost is reduced.

Referring to fig. 3, in a specific embodiment, the reloading platform is further provided with a detection device, and the method may further include steps S104 to S105.

Step S104: and when the type of the loading module is a distribution loading module, controlling the detection equipment to detect whether the object exists in the target loading module and is not distributed.

Step S105: when the goods are not delivered, prompt information is generated and sent to the cloud server and/or the user equipment.

In a specific embodiment, the delivery loading module may be a delivery box, and may detect whether there is express and/or take-out in the delivery box, and if there is express and/or take-out, notify the corresponding user equipment that there is a case where the express and/or take-out is not delivered. The user equipment can be a mobile phone, a tablet, a computer, an intelligent wearable device and the like.

Therefore, when the type of the loading module is the distribution loading module, whether articles are not distributed in the target loading module can be detected, if the articles are not distributed, prompt information can be sent to the cloud server and/or the user equipment, the articles which are not distributed can be processed in time, and the intelligent degree is high.

Referring to fig. 4, in a specific embodiment, each of the top loading modules is provided with a spare battery, the reloading platform is further provided with at least one top loading charging station, and the top loading charging station is used for charging the spare battery of the top loading module, and the method further includes step S106.

Step S106: and controlling the reloading platform to use one of the loading charging potentials to charge the standby battery of the target loading module.

Therefore, the reloading platform can also realize the function of a charging station by setting the reloading potential, and the reloading platform can charge the spare battery of the reloading module by utilizing the reloading potential.

Referring to fig. 5, in a specific embodiment, the method may further include step S107.

Step S107: and controlling the reloading platform to charge the standby battery of the target loading module to a preset electric quantity interval.

Therefore, the replacement platform charges the standby battery of the target loading module to a preset electric quantity interval, so that the electric quantity of the standby battery is in a certain interval, and the task failure caused by insufficient electric quantity of the standby battery during task execution is avoided.

In a specific embodiment, the preset power interval is 80% to 100% of the capacity of the standby battery.

Therefore, when the electric quantity of the standby battery is within the preset electric quantity interval, the electric quantity is sufficient, and the task success rate is high.

Referring to fig. 6, an embodiment of the present application further provides a control device for a reloading platform, and a specific implementation manner of the control device is consistent with the implementation manner and the achieved technical effect described in the embodiment of the foregoing method, and details are not repeated. The device is applied to the reloading platform, the reloading platform is provided with a plurality of loading modules and at least one clamping mechanism, and each loading module is detachably connected with the robot chassis when executing tasks.

The device comprises: the type obtaining module 101 is configured to obtain, in response to a preset request sent by the robot chassis, a loading module type of a target loading module currently connected to the robot chassis; a mechanism obtaining module 102, configured to obtain a target clamping mechanism corresponding to the type of the upper-mounted module; and the mechanism control module 103 is used for controlling the reloading platform to take away the target loading module by using the target clamping mechanism.

In a specific embodiment, the preset request may include at least one of the following: reloading, ending tasks and suspending tasks.

Referring to fig. 7, in a specific embodiment, the type obtaining module 101 may include: a task type unit 1011, configured to obtain a current task type of the robot chassis in response to a preset request sent by the robot chassis; the module type unit 1012 may be configured to acquire a loading module type corresponding to the current task type as a loading module type of the target loading module.

In a specific embodiment, the current task type may be any one of the following: distribution, disinfection, inspection, security, guidance, cleaning and accompanying.

Referring to fig. 8-9, in a specific embodiment, the reloading platform may further be provided with a detection device, the reloading device may further include a reloading detection module 104, and the reloading detection module 104 may include: a delivery detection unit 1041, configured to, when the type of the top loading module is a delivery top loading module, control the detection device to detect whether there is an article undelivered in the target top loading module; the information sending unit 1042 may be configured to generate a prompt message and send the prompt message to the cloud server and/or the user equipment when there is an article that is not delivered.

Referring to fig. 10, in a specific embodiment, each of the retrofit modules may be provided with a backup battery, and the retrofit platform may be further provided with at least one retrofit charging potential, which may be used to charge the backup battery of the retrofit module; the apparatus may further include: a charging control module 105 operable to control the retrofit platform to charge a backup battery of the target retrofit module using one of the retrofit charging potentials.

In a specific embodiment, the charging control module may be further configured to control the reloading platform to charge the backup battery of the target loading module to a preset electric quantity interval.

In a specific embodiment, the preset power interval may be 80% to 100% of the capacity of the standby battery.

Referring to fig. 11, an embodiment of the present application further provides an electronic device 200, where the electronic device 200 includes at least one memory 210, at least one processor 220, and a bus 230 connecting different platform systems.

The memory 210 may include readable media in the form of volatile memory, such as random access memory (pram) 211 and/or cache memory 212, and may further include Read Only Memory (ROM) 213.

The memory 210 further stores a computer program, and the computer program can be executed by the processor 220, so that the processor 220 executes the steps of the method for controlling a reloading platform in this embodiment, and a specific implementation manner of the method is consistent with the implementation manner and the achieved technical effect described in the embodiments of the method, and details of some contents are not repeated.

Memory 210 may also include a program/utility 214 having a set (at least one) of program modules 215, including but not limited to: an operating system, one or more application programs, other program modules, and program data, each of which, or some combination thereof, may comprise an implementation of a network environment.

Accordingly, processor 220 may execute the computer programs described above, as well as may execute programs/utilities 214.

Bus 230 may be a local bus representing one or more of several types of bus structures, including a memory bus or memory controller, a peripheral bus, an accelerated graphics port, a processor, or any other type of bus structure.

The electronic device 200 may also communicate with one or more external devices 240, such as a keyboard, pointing device, Bluetooth device, etc., and may also communicate with one or more devices capable of interacting with the electronic device 200, and/or with any devices (e.g., routers, modems, etc.) that enable the electronic device 200 to communicate with one or more other computing devices. Such communication may occur via an input/output (I/O) interface 250. Also, the electronic device 200 may communicate with one or more networks (e.g., a Local Area Network (LAN), a Wide Area Network (WAN), and/or a public network such as the Internet) via the network adapter 260. The network adapter 260 may communicate with other modules of the electronic device 200 via the bus 230. It should be appreciated that although not shown in the figures, other hardware and/or software modules may be used in conjunction with the electronic device 200, including but not limited to: microcode, device drivers, redundant processors, external disk drive arrays, RAID systems, tape drives, and data backup storage platforms, to name a few.

Referring to fig. 12, an embodiment of the present application further provides a reloading platform 20, and a specific implementation manner of the reloading platform is consistent with the implementation manner and the achieved technical effect described in the embodiment of the foregoing method, and details are not repeated.

The reloading platform 20 comprises any one of the electronic devices 200, the reloading platform 20 is further provided with a plurality of loading modules 21 and at least one clamping mechanism 22, and each loading module 21 is detachably connected with the robot chassis when performing tasks.

Thus, the electronic device 200 may include a memory and a processor to facilitate the application of the electronic device 200 to the reloading platform 20, increasing the level of intelligence and automation.

In one embodiment, the gripper mechanism 22 may be a robotic arm having multiple degrees of freedom.

Therefore, the manipulator with multiple degrees of freedom can realize multiple actions, and has flexible movement and wide application range.

In one embodiment, each of the top-up modules 21 may be provided with a backup battery, and the reloading platform 20 may be further provided with at least one top-up charging potential 23, wherein the top-up charging potential 23 may be used for charging the backup battery of the top-up module 21.

Thus, by providing the upper charging potential 23, the reloading platform 20 can also function as a charging station, and the reloading platform 20 can charge the backup battery of the reloading module 21 using the upper charging potential 23.

In one embodiment, the reloading platform 20 may also be provided with a detection device 24.

Thus, when the type of target retrofit module is a distribution retrofit module, it is possible to detect whether there is an article undelivered in the target retrofit module by the detection device 24.

In a particular embodiment, the detection device 24 may include at least one of: camera, 3D contourgraph, CT scanner, laser radar, infrared check out test set, uwb positioning device, NFC equipment, gravity-feed tank and travel switch.

Thus, the detection device 24 may be any one or more of a camera, a 3D profiler, a CT scanner, a lidar, an infrared detection device, a uwb positioning device, an NFC device, a gravity sensor, and a travel switch.

Referring to fig. 13, an embodiment of the present application further provides a robot reloading system 40, and a specific implementation manner of the robot reloading system is consistent with the implementation manner and the achieved technical effect described in the embodiment of the foregoing method, and details are not repeated. The robotic reloading system 40 includes a robot chassis 30 and a reloading platform 20 as described in any of the above.

The embodiment of the present application further provides a computer-readable storage medium, where the computer-readable storage medium is used for storing a computer program, and when the computer program is executed, the steps of the method for controlling a reloading platform in the embodiment of the present application are implemented, and a specific implementation manner of the method is consistent with the implementation manner and the achieved technical effect described in the embodiment of the method, and some contents are not described again.

Fig. 14 shows a program product 300 provided by the present embodiment for implementing the method, which may employ a portable compact disc read only memory (CD-ROM) and include program codes, and may be run on a terminal device, such as a personal computer. However, the program product 300 of the present invention is not so limited, and in this document, a readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. Program product 300 may employ any combination of one or more readable media. The readable medium may be a readable signal medium or a readable storage medium. A readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing. More specific examples (a non-exhaustive list) of the readable storage medium include: an electrical connection having one or more wires, a portable disk, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

A computer readable storage medium may include a propagated data signal with readable program code embodied therein, for example, in baseband or as part of a carrier wave. Such a propagated data signal may take many forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A readable storage medium may also be any readable medium that is not a readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device. Program code embodied on a readable storage medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing. Program code for carrying out operations for aspects of the present invention may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, C + + or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computing device, partly on the user's device, as a stand-alone software package, partly on the user's computing device and partly on a remote computing device, or entirely on the remote computing device or server. In the case of a remote computing device, the remote computing device may be connected to the user computing device through any kind of network, including a Local Area Network (LAN) or a wide area network (wan), or may be connected to AN external computing device (e.g., through the internet using AN internet service provider).

The foregoing description and drawings are only for purposes of illustrating the preferred embodiments of the present application and are not intended to limit the present application, which is, therefore, to the contrary, the intention is to cover all modifications, equivalents, and alternatives falling within the spirit and scope of the present application.

Claims

1. A control method of a reloading platform is characterized by being applied to the reloading platform, the reloading platform is provided with a plurality of reloading modules and at least one clamping mechanism, and each reloading module is detachably connected with a robot chassis when executing tasks, and the method comprises the following steps:

responding to a preset request sent by the robot chassis, and acquiring the loading module type of a target loading module currently connected with the robot chassis;

acquiring a target clamping mechanism corresponding to the type of the upper installation module;

and controlling the reloading platform to take the target loading module away by using the target clamping mechanism.

2. The reloading platform control method of claim 1, wherein the predetermined request comprises at least one of: reloading, ending tasks and suspending tasks.

3. The method for controlling a reloading platform according to claim 1, wherein the obtaining of the type of the loading module of the target loading module currently connected to the robot chassis in response to a preset request sent by the robot chassis comprises:

responding to a preset request sent by the robot chassis, and acquiring the current task type of the robot chassis;

and acquiring the uploading module type corresponding to the current task type as the uploading module type of the target uploading module.

4. The reloading platform control method according to claim 3, wherein the current task type is any one of: distribution, disinfection, inspection, security, guidance, cleaning and accompanying.

5. The method of controlling a reloading platform according to claim 1, characterized in that said reloading platform is further provided with detection means, said method further comprising:

when the type of the loading module is a distribution loading module, controlling the detection equipment to detect whether articles are not distributed in the target loading module;

when the goods are not delivered, prompt information is generated and sent to the cloud server and/or the user equipment.

6. The reloading platform control method of claim 1, wherein each of said reloading modules is provided with a backup battery, said reloading platform being further provided with at least one reloading potential for charging said backup battery of said reloading module;

the method further comprises the following steps:

and controlling the reloading platform to use one of the loading charging potentials to charge the standby battery of the target loading module.

7. The method of claim 6, further comprising:

and controlling the reloading platform to charge the standby battery of the target loading module to a preset electric quantity interval.

8. The method of claim 7, wherein the predetermined power interval is 80% to 100% of the capacity of the backup battery.

9. The utility model provides a control device of reloading platform which characterized in that is applied to the reloading platform, the reloading platform is provided with a plurality of facial make-up modules and at least one fixture, every when facial make-up module carries out the task with robot chassis detachably is connected, the device includes:

the type acquisition module is used for responding to a preset request sent by the robot chassis and acquiring the loading module type of a target loading module currently connected with the robot chassis;

the mechanism acquisition module is used for acquiring a target clamping mechanism corresponding to the type of the loading module;

and the mechanism control module is used for controlling the reloading platform to take away the target loading module by using the target clamping mechanism.

10. The reloading platform control device of claim 9, wherein said preset request comprises at least one of: reloading, ending tasks and suspending tasks.

11. The reloading platform control device of claim 9, wherein said type obtaining module comprises:

the task type unit is used for responding to a preset request sent by the robot chassis and acquiring the current task type of the robot chassis;

and the module type unit is used for acquiring the uploading module type corresponding to the current task type as the uploading module type of the target uploading module.

12. The reloading platform control device of claim 11, wherein said current task type is any one of: distribution, disinfection, inspection, security, guidance, cleaning and accompanying.

13. A control device of a reloading platform according to claim 9, characterized in that said reloading platform is further provided with detection means, said device further comprising a reloading detection module comprising:

the delivery detection unit is used for controlling the detection equipment to detect whether the target loading module has articles which are not delivered or not when the loading module is delivered;

and the information sending unit is used for generating prompt information and sending the prompt information to the cloud server and/or the user equipment when the article is not delivered.

14. The reloading platform control device of claim 9, wherein each of said reloading modules is provided with a backup battery, said reloading platform being further provided with at least one reloading potential for charging said backup battery of said reloading module;

the device further comprises:

and the charging control module is used for controlling the reloading platform to charge the standby battery of the target reloading module by using one reloading potential.

15. The reloading platform control device of claim 14, wherein the charging control module is further configured to control the reloading platform to charge the backup battery of the target reloading module to a preset charge interval.

16. A reloading platform control device according to claim 15, characterized in that said predetermined power interval is 80% -100% of the capacity of the spare battery.

17. An electronic device, characterized in that the electronic device comprises a memory storing a computer program and a processor implementing the steps of the method according to any of claims 1-8 when the processor executes the computer program.

18. A reloading platform comprising an electronic device according to claim 17, said reloading platform further being provided with a plurality of reloading modules each detachably connected to the chassis of the robot for performing tasks, and at least one gripping mechanism.

19. A refill platform according to claim 18, wherein the refill platform is further provided with a detection device.

20. The reloading platform of claim 19, wherein said detecting means comprises at least one of: camera, 3D contourgraph, CT scanner, laser radar, infrared check out test set, uwb positioning device, NFC equipment, gravity-feed tank and travel switch.

21. The reloading platform of claim 18, wherein each of said reloading modules is provided with a backup battery, said reloading platform further being provided with at least one reloading station for charging said backup battery of said reloading module.

22. The reloading platform as recited in claim 18, wherein said gripping mechanism is a robot having multiple degrees of freedom.

23. A robotic reloading system characterised in that said system comprises a robot chassis and a reloading platform according to any of claims 18-22.

24. A computer-readable storage medium, in which a computer program is stored which, when being executed by a processor, carries out the steps of the method according to any one of claims 1 to 8.