Humanoid robot wireless charging system and charging method thereof

Abstract

The present invention provides a humanoid robot wireless charging system and a charging method thereof, wherein the charging system comprises a wireless charging blanket composed of a base blanket, a ferrite, a wireless electromagnetic flux transmitting coil, a pressure sensor, a photoelectric sensor and a visual beacon, and a visual camera and a wireless electromagnetic flux receiving converter arranged on the humanoid robot, and further comprises a wireless communication server and a processor. When the humanoid robot is on the wireless charging blanket, the pressure sensor, the photoelectric sensor and the visual camera respectively obtain the instantaneous pressure, position and posture of the humanoid robot on the wireless charging blanket and the information of the charging battery of the humanoid robot. After processing the information, the processor performs electromagnetic flux transmitting switch, intensity and direction control on the wireless electromagnetic flux transmitting unit composed of at least one wireless electromagnetic flux transmitting coil and ferrite near the wireless electromagnetic flux receiving converter, and implements dynamic wireless charging under all working conditions for the humanoid robot in standing or moving operation.

Description

Technical Field

[0001] The present invention relates to a wireless charging system and a charging method thereof, and in particular to a wireless charging system and a charging method thereof for a humanoid robot, and belongs to the technical field of manufacturing a wireless charging system for a humanoid robot and a charging method thereof. Background Art

[0002] A humanoid robot, also known as an anthropomorphic robot, now usually refers to an intelligent robot with a humanoid shape. Its movable joints are equipped with servos, which can swing its arms freely, walk autonomously, and complete a variety of tasks autonomously.

[0003] With the development of technology, humanoid robot technology has achieved breakthrough improvements, and humanoid robots in the future will play an increasingly important role in human production and life.

[0004] However, up to now, humanoid robots have limited size and the energy they can carry is limited. Therefore, they have to stop working regularly to replenish energy, which affects their work efficiency.

[0005] In the prior art, electric humanoid robots are the main form of humanoid robots, and their energy supply mainly depends on the batteries they carry. Among them, providing electricity through rechargeable batteries, such as rechargeable lithium batteries, is a mainstream form of power supply for existing electric humanoid robots. However, since rechargeable batteries, including lithium batteries, have low energy density, low endurance, and long charging time, humanoid robots driven by rechargeable batteries need to be charged frequently in a short period of time, which seriously affects the operating efficiency of humanoid robots.

[0006] In order to solve this technical problem, one method is to increase the number or capacity of batteries carried by the humanoid robot in order to improve its endurance and reduce the frequency of charging. However, this method will increase the cost of the humanoid robot and reduce its flexibility. At the same time, due to the increase in weight, it will also reduce the efficiency of energy utilization. The number or capacity of batteries carried by the humanoid robot obviously cannot be increased indefinitely. Therefore, this method has certain limitations in improving endurance.

[0007] Fast charging is a technology that can effectively shorten the charging time of humanoid robots and is worth considering. However, this technology also has problems such as high cost, insufficient safety, high requirements for charging line capacity, and affecting battery life. Although fast charging technology can help reduce the charging time of humanoid robots and solve the problem of battery life, it cannot completely solve the problem of battery life and will sharply increase its production cost.

[0008] Using a charging cable to connect a humanoid robot for charging can effectively solve its endurance problem. Such a humanoid robot does not need to stop working to charge, which can improve its work efficiency. However, the problem brought about by this is that the charging cable will reduce the flexibility of the humanoid robot, and it is easy for the cable to be entangled during work and affect its working process.

[0009] Wireless charging technology is expected to solve this problem.

[0010] However, simply using existing wireless charging technology still faces great technical challenges, because:

[0011] First, humanoid robots usually move constantly in a certain area when working, which brings great difficulties to the existing wireless charging system. Therefore, how to achieve efficient wireless charging of humanoid robots in operation becomes a very challenging technical problem. The solution to this technical problem is somewhat similar to the difficulty of refueling an airplane in the air.

[0012] Secondly, when providing dynamic and efficient wireless charging services for humanoid robots in operation, it is not only necessary to consider not affecting the working process of the humanoid robots, but also to ensure the efficiency of charging. At the same time, it is also necessary to consider the development and manufacturing costs of system equipment, etc., and the existing wireless charging technology cannot perfectly solve these problems;

[0013] Thirdly, there is a technical difficulty in the dynamic wireless charging of humanoid robots in all working conditions: when the humanoid robot walks, the distance between the wireless charging receiving unit and the transmitting unit is constantly changing. When the receiving unit quickly approaches the wireless charging transmitting unit, the energy density it receives will increase rapidly according to the electromagnetic law. It is difficult for the wireless charging transmitting unit to lower the transmission power in time. At this time, the receiving power of the wireless charging receiving end will increase rapidly, which can easily cause damage to the wireless charging receiving end equipment. Summary of the invention

[0014] In order to overcome the shortcomings of the prior art, the present invention specifically provides a humanoid robot wireless charging system and a charging method thereof, so as to implement dynamic and efficient wireless charging services under all working conditions for a humanoid robot in standing or moving operation, thereby improving the endurance and work efficiency of the humanoid robot and allowing it to play a greater role.

[0015] To this end, the present invention first provides a humanoid robot wireless charging system, which specifically includes the following technical solutions:

[0016] A humanoid robot wireless charging system is used for wireless charging of a humanoid robot whose power source is a rechargeable battery when the robot is standing or moving, and the humanoid robot has a charging interface for charging its rechargeable battery. The system comprises:

[0017] Base blanket, ferrite, wireless magnetic flux transmitting coil, pressure sensor, photoelectric sensor, visual beacon, visual camera, wireless magnetic flux receiving converter, wireless communication server and processor with built-in artificial intelligence learning processing system, wherein:

[0018] The base blanket, ferrite, wireless magnetic flux transmitting coil, pressure sensor, photoelectric sensor and visual beacon constitute an integrated wireless charging blanket, wherein the base blanket is used to be laid on the area where the humanoid robot stands or moves, the ferrite is laid on the base blanket, a plurality of wireless magnetic flux transmitting coils are respectively embedded in the base blanket, and each wireless magnetic flux transmitting coil also constitutes a wireless magnetic flux transmitting unit with the corresponding ferrite, a plurality of pressure sensors are respectively arranged around or above the wireless magnetic flux transmitting coil, a plurality of photoelectric sensors and a plurality of visual beacons with different numbers or shapes are respectively arranged on the base blanket, and the visual beacons with different numbers or shapes are used to mark different areas of the wireless charging blanket and different environments in which they are located;

[0019] The visual camera and the wireless magnetic flux receiving converter are respectively arranged on the humanoid robot, wherein the visual camera is a binocular wide-angle wearable stereo camera with a built-in rotating mechanism that can automatically adjust the shooting direction, and the wireless magnetic flux receiving converter is provided with a charging plug that can cooperate with the charging interface of the humanoid robot, and the visual camera, the wireless magnetic flux receiving converter and the wireless charging blanket are also respectively provided with communication function modules and together form a wireless charging local area network with the wireless communication server, and the wireless charging local area network is connected to and regulated by the processor, and the pressure sensor and the photoelectric sensor are also respectively connected to the processor information;

[0020] When the humanoid robot walks onto the wireless charging blanket, the pressure sensor, the photoelectric sensor and the visual camera respectively obtain the real-time pressure information, photoelectric sensing information, position and posture, and surrounding environment image information of the humanoid robot on the wireless charging blanket, and the above information and the characteristic information of the rechargeable battery of the humanoid robot are also sent to the processor through the wireless charging local area network. After processing this information, the processor or the processor with the artificial intelligence learning processing system turned on performs electromagnetic beam emission switch, intensity and direction control operations on at least one of the nearby wireless electromagnetic beam transmitting units of the wireless electromagnetic beam receiving converter placed on the humanoid robot. The wireless electromagnetic beam receiving converter on the humanoid robot charges the rechargeable battery of the humanoid robot by receiving the electromagnetic beam emitted by the wireless electromagnetic beam transmitting unit and converting it into current.

[0021] Preferred:

[0022] The base blanket is made of a polymer flexible flame-retardant material, the ferrite is a flexible ferrite sheet, and the wireless electromagnetic flux receiving converter is a removable shoe / boot-shaped wireless electromagnetic flux receiving converter, which is worn / covered on the sole of the humanoid robot;

[0023] The shoe / boot shaped wireless electromagnetic flux receiving converter has a shoe / boot sole plate comprising a flexible polymer base, a flexible ferrite sheet fixed in the base, an electromagnetic flux receiving coil, a wireless communication device and a microcontroller, wherein the flexible ferrite sheet and the electromagnetic flux receiving coil together constitute a wireless electromagnetic flux receiving unit, the wireless communication device is used for wireless communication of the shoe / boot shaped wireless electromagnetic flux receiving converter, and the microcontroller is used for overall operation regulation of the shoe / boot shaped wireless electromagnetic flux receiving converter.

[0024] Further:

[0025] The plurality of pressure sensors arranged around or above each of the wireless magnetic flux transmitting coils are orderly distributed in a point-like form, thereby forming respective pressure sensing matrices corresponding to each of the wireless magnetic flux transmitting coils, and the pressure sensing matrices are used to obtain the pressure generated by the soles of the humanoid robot on the wireless charging blanket and the pressure distribution information thereof and send them to the processor;

[0026] The plurality of photoelectric sensors disposed on the base blanket are orderly distributed in a point-like form, thereby forming one or more photoelectric sensing matrices located on the base blanket, the photoelectric sensing matrix being used to obtain spatial position information of the soles of the humanoid robot on the wireless charging blanket, including the height difference between the soles of the feet and the wireless charging blanket and the projection position information of the soles of the feet on the wireless charging blanket, and send the information to the processor;

[0027] The visual camera is worn on the head, neck or torso of the humanoid robot, and is used to obtain image information of the soles of the feet, legs, arms, torso, visual beacons and working environment of the humanoid robot and send it to the processor;

[0028] The processor or the processor with the artificial intelligence learning processing system turned on determines the instantaneous foot position and overall posture of the humanoid robot relative to the wireless charging blanket and predicts its foot position and overall posture at the next moment based on the information obtained by the pressure sensor / pressure sensing matrix, the photoelectric sensor / photoelectric sensing matrix and / or the visual camera, so as to determine the instantaneous and next moment position and posture of the wireless electromagnetic flux receiving converter, thereby controlling the emission switch, intensity and direction of the electromagnetic flux for at least one of the wireless electromagnetic flux transmitting units near the instantaneous position of the wireless electromagnetic flux receiving converter of the humanoid robot, and preparing the emission switch, intensity and direction control of the electromagnetic flux for at least one of the wireless electromagnetic flux transmitting units corresponding to the wireless electromagnetic flux receiving converter at the next moment.

[0029] Further:

[0030] The method for the processor to determine the instantaneous sole position and overall posture of the humanoid robot relative to the wireless charging blanket and predict the sole position and overall posture of the humanoid robot at the next moment based on the information obtained by the pressure sensor / pressure sensing matrix specifically includes:

[0031] When the pressure sensor / pressure sensing matrix measures the pressure of the two soles of the humanoid robot and the pressure distribution information is consistent, the processor determines that the humanoid robot is in a standing state at this moment, and then combines the position of the pressure sensor that detects the pressure and the weight, stride distance, work requirements and walking habits of the humanoid robot to determine the immediate sole position and overall posture of the humanoid robot and predict its sole position and overall posture at the next moment;

[0032] When the pressure sensor / pressure sensing matrix detects only the pressure of one sole of the humanoid robot or the instantaneous pressure of both soles of the humanoid robot and its pressure distribution information, the processor first determines that the humanoid robot is moving, and then the processor determines the position of the sole of the humanoid robot according to the position of the pressure sensor that detects the pressure, and determines its moving direction according to the pressure distribution information of the sole, and then, based on the weight, stride distance, and walking habits of the humanoid robot, combined with the above-determined sole position and moving direction, determines the immediate overall posture of the humanoid robot and predicts its sole position and overall posture at the next moment, wherein:

[0033] When the pressure sensor / pressure sensing matrix detects the instantaneous pressure of the soles of the humanoid robot and the pressure distribution information of each of the soles, the processor first determines the lifted foot and the supporting foot of the humanoid robot at this moment, that is, the sole in the area where the pressure is increasing is the supporting foot of the humanoid robot, and the sole in the area where the pressure is decreasing is the lifted foot of the humanoid robot;

[0034] Then, the processor determines the overall posture of the humanoid robot based on the weight, stride distance, and walking habits of the humanoid robot and predicts the position of its feet and overall posture at the next moment.

[0035] Further:

[0036] The method for the processor to determine the instantaneous sole position and overall posture of the humanoid robot relative to the wireless charging blanket and predict the sole position and overall posture of the humanoid robot at the next moment based on the information obtained by the photoelectric sensor / photoelectric sensing matrix specifically includes:

[0037] The processor determines the distance between the sole of the humanoid robot and the wireless charging blanket according to the time when the light feedback signal emitted by the photoelectric sensor / photoelectric sensing matrix is ​​received;

[0038] The processor determines the projection position of the sole of the humanoid robot on the plane of the wireless charging blanket according to the feedback signal of light emitted by the photoelectric sensors at different positions in the photoelectric sensor / photoelectric sensing matrix;

[0039] Based on the distance between the sole of the humanoid robot's foot and the wireless charging blanket and the projection position on the plane of the wireless charging blanket, the instantaneous spatial position of the sole of the foot is obtained, and then combined with the humanoid robot's own size parameters and walking habits, the processor determines the instantaneous sole position and overall posture of the humanoid robot and predicts its sole position and overall posture at the next moment.

[0040] Further:

[0041] The method for the processor to determine the instantaneous sole position and overall posture of the humanoid robot relative to the wireless charging blanket and predict the sole position and overall posture of the humanoid robot at the next moment based on the information acquired by the visual camera specifically includes:

[0042] First, the processor determines the instantaneous spatial distance and position between the soles of the humanoid robot and the surface of the wireless charging blanket and the overall posture of the humanoid robot based on the three-dimensional image information of the soles of the humanoid robot, legs, arms, torso, visual beacons and working environment taken by the visual camera and the image relationship between the soles of the humanoid robot and the surface of the wireless charging blanket;

[0043] Then, the processor combines the size, walking gait and walking habit parameters of the humanoid robot to predict the position of its feet and overall posture at the next moment.

[0044] Further:

[0045] The specific method for the processor to determine the instantaneous sole position and overall posture of the humanoid robot relative to the wireless charging blanket and predict the sole position and overall posture of the humanoid robot at the next moment based on the information obtained by the pressure sensor / pressure sensing matrix, the photoelectric sensor / photoelectric sensing matrix and the visual camera respectively includes:

[0046] First, the position of the sole of the humanoid robot and the overall posture of the humanoid robot are determined through the information obtained by the pressure sensor / pressure sensing matrix, and a trust score is given. The distance between the sole of the humanoid robot and the surface of the wireless charging blanket, the projection position of the sole of the humanoid robot on the surface of the wireless charging blanket, and the overall posture of the humanoid robot are determined through the information obtained by the photoelectric sensor / photoelectric sensing matrix, and a trust score is given. The overall posture of the humanoid robot and the spatial position of its sole are determined through the information obtained by the visual camera, and a trust score is given, wherein:

[0047] The result of the pressure sensor / pressure sensing matrix determining the position of the sole of the humanoid robot as a reliable level according to the trust score, and the result of the pressure sensor / pressure sensing matrix determining the overall posture of the humanoid robot as a credibility level according to the trust score;

[0048] The determination result of the distance between the sole of the humanoid robot's foot and the surface of the wireless charging blanket by the photoelectric sensor / photoelectric sensing matrix is ​​determined as a reliable level according to the trust score, the determination result of the projection position of the sole of the humanoid robot's foot on the surface of the wireless charging blanket is determined as a reliable level according to the trust score, and the determination result of the overall posture of the humanoid robot is determined as a credible level according to the trust score;

[0049] Determine the result of the visual camera's determination of the overall posture of the humanoid robot as a reliable level according to the trust score, and determine the result of the visual camera's determination of the spatial position of the sole of the humanoid robot as a sub-reliable level according to the trust score;

[0050] Then, based on the above trust rating level, the reliable level information is taken as the determination result, and the sub-reliable level and credible level information are used as auxiliary references to give the evaluation results of the immediate foot position and overall posture of the humanoid robot and the predicted results of its foot position and overall posture at the next moment.

[0051] Further:

[0052] The specific method for the processor of the artificial intelligence learning processing system to determine the instantaneous foot position and overall posture of the humanoid robot relative to the wireless charging blanket and predict the foot position and overall posture of the humanoid robot at the next moment based on the information obtained by the pressure sensor / pressure sensing matrix, the photoelectric sensor / photoelectric sensing matrix and the visual camera respectively includes:

[0053] First, the processor that has activated the artificial intelligence learning processing system establishes and continuously improves its intelligent positioning model for determining and predicting the immediate and next moment position and posture of the humanoid robot and its wireless electromagnetic flux receiving converter relative to the wireless charging blanket by processing, learning, and autonomously relearning the information obtained by the pressure sensor / pressure sensing matrix, the photoelectric sensor / photoelectric sensing matrix, and / or the visual camera, as well as the weight, size, walking gait, and walking habit parameters of the humanoid robot itself;

[0054] Then, the artificial intelligence learning processing system formulates in real time, based on the intelligent positioning model, a control rule for the processor to control the electromagnetic beam emission switch, intensity and direction of at least one of the wireless magnetic beam transmitting units near the instantaneous position of the wireless magnetic beam receiving converter of the humanoid robot, and at the same time, plans a preparatory rule for at least one of the wireless magnetic beam transmitting units corresponding to the wireless magnetic beam receiving converter to prepare for the electromagnetic beam emission switch, intensity and direction control in the next moment;

[0055] Finally, the processor regulates the charging operation of the rechargeable battery of the humanoid robot in the current state based on the control rules and the preparatory rules formulated and planned by its artificial intelligence learning processing system, combined with the real-time characteristic information of the rechargeable battery fed back by the wireless electromagnetic flux receiving converter and the real-time working information of the wireless electromagnetic flux receiving converter, and prepares for the charging of the rechargeable battery of the humanoid robot in the next state.

[0056] Based on any one of the above-mentioned humanoid robot wireless charging systems, the present invention further provides a humanoid robot wireless charging method based on any one of the above-mentioned humanoid robot wireless charging systems, which is used for dynamic wireless charging of a humanoid robot whose power source is a rechargeable battery and has a charging interface when the humanoid robot is standing or moving, and the method comprises the following steps:

[0057] In the area where the humanoid robot stands or moves, a wireless charging blanket in any one of the above-mentioned humanoid robot wireless charging systems is laid, and a visual camera and a wireless electromagnetic flux receiving converter in the humanoid robot wireless charging system are placed on the humanoid robot, and the charging plug of the wireless electromagnetic flux receiving converter is connected to the charging interface of the humanoid robot, or further a plurality of pressure sensors orderly distributed in a point-like manner around or above each wireless electromagnetic flux transmitting coil are respectively grouped to form a pressure sensing matrix, and a plurality of photoelectric sensors orderly distributed in a point-like manner on the base blanket are grouped to form at least one photoelectric sensing matrix;

[0058] When the humanoid robot walks onto the wireless charging blanket, the processor in the wireless charging system of the humanoid robot determines the instantaneous foot position and overall posture of the humanoid robot relative to the wireless charging blanket based on the information obtained by the pressure sensor / pressure sensing matrix, the photoelectric sensor / photoelectric sensing matrix and / or the visual camera, and predicts the foot position and overall posture of the humanoid robot at the next moment;

[0059] According to the determined instant foot position and overall posture of the humanoid robot relative to the wireless charging blanket and the predicted foot position and overall posture of the humanoid robot at the next moment, the processor controls at least one of the wireless electromagnetic flux transmitting units to perform emission switch, intensity and direction control of the electromagnetic flux by starting directional emission nearby, starting directional emission in advance, intelligent emission of the artificial intelligence learning processing system and / or loss-proof variable power emission, and makes at least one of the wireless electromagnetic flux transmitting units corresponding to the wireless electromagnetic flux receiving converter at the next moment prepare for the emission switch, intensity and direction control of the electromagnetic flux, so as to transmit an electromagnetic flux with controlled intensity and direction to the wireless electromagnetic flux receiving converter placed on the humanoid robot;

[0060] The wireless electromagnetic flux receiving converter installed on the humanoid robot receives the electromagnetic flux and converts it into electric current to charge the rechargeable battery. At the same time, the wireless electromagnetic flux receiving converter sends its real-time working information and the real-time characteristic information of the rechargeable battery to the processor through the wireless charging local area network, and the processor adjusts and controls the emission switch, intensity and direction of the electromagnetic flux of the wireless electromagnetic flux transmitting unit, thereby realizing dynamic wireless charging of the humanoid robot in its standing or walking condition, wherein the real-time working information of the wireless electromagnetic flux receiving converter includes its current and voltage information, and the real-time characteristic information of the rechargeable battery includes the power information of the rechargeable battery.

[0061] Further:

[0062] The specific method for the processor to control at least one of the wireless electromagnetic flux transmitting units to perform electromagnetic flux transmitting switch, intensity and direction control through the nearby start-up directional transmission mode is:

[0063] The processor controls one of the wireless magnetic flux transmitting units on the wireless charging blanket or a wireless magnetic flux transmitting array composed of a plurality of the wireless magnetic flux transmitting units to transmit the electromagnetic flux to the wireless magnetic flux receiving converter, including controlling the emission switch, intensity and direction of the electromagnetic flux, based on the position of the wireless magnetic flux receiving converter determined by the instant foot position and overall posture of the humanoid robot, as well as the instant working information fed back by the electromagnetic flux receiving converter and the instant characteristic information of the rechargeable battery, while keeping the remaining wireless magnetic flux transmitting units or the wireless magnetic flux transmitting array in a standby state of suspended operation.

[0064] Further:

[0065] The specific method of the processor controlling at least one of the wireless electromagnetic flux transmitting units to control the emission switch, intensity and direction of the electromagnetic flux through the pre-started directional transmission mode is:

[0066] The processor pre-starts and regulates one of the wireless magnetic flux receiving converters or a phased array wireless magnetic flux transmitting array composed of a plurality of wireless magnetic flux transmitting units at a position near the wireless magnetic flux receiving converter, based on the predicted position of the humanoid robot's feet at the next moment and the overall posture, the position of the wireless magnetic flux receiving converter determined by the overall posture, the instantaneous working information fed back by the wireless magnetic flux receiving converter, and the instantaneous characteristic information of the rechargeable battery, and transmits the electromagnetic flux to the wireless magnetic flux receiving converter that has just entered its electromagnetic flux transmitting range, regulates the transmitting switch, intensity and direction of the electromagnetic flux, and continuously adjusts the transmitting direction and transmitting intensity of the electromagnetic flux according to the moving trajectory of the wireless magnetic flux receiving converter and the instantaneous working information of the wireless magnetic flux receiving converter, while keeping the remaining wireless magnetic flux transmitting units or the wireless magnetic flux transmitting array in a standby state of suspended operation.

[0067] Further:

[0068] The specific method in which the processor controls at least one of the wireless electromagnetic flux transmitting units to perform electromagnetic flux transmitting switch, intensity and direction control through the intelligent transmitting mode of the artificial intelligence learning processing system is:

[0069] Turning on the artificial intelligence learning processing system built into the processor, so that the processor is in an intelligent processing mode under the intelligent control of the artificial intelligence learning processing system;

[0070] The intelligent processor, through the autonomous learning, autonomous correction and re-learning functions of its artificial intelligence learning processing system, processes and learns the information obtained by the pressure sensor / pressure sensing matrix, the photoelectric sensor / photoelectric sensing matrix and / or the visual camera of the humanoid robot walking on the wireless charging blanket, and combines the processing and learning of the weight, size, walking gait and walking habit parameters of the humanoid robot to establish and continuously improve the intelligent positioning model for determining the instantaneous foot position and overall posture of the humanoid robot relative to the wireless charging blanket and predicting the foot position and overall posture of the humanoid robot at the next moment, thereby determining the instantaneous position and posture of the wireless electromagnetic flux receiving converter and predicting its position and posture at the next moment;

[0071] After the intelligent positioning model has learned the working actions of the humanoid robot, it accurately predicts the immediate foot position and overall posture of the humanoid robot in the next moment of the repetitive work relative to the wireless charging blanket, identifies the motion data features from the sensor, and then infers the action at the next moment;

[0072] When the humanoid robot walks onto the wireless charging blanket, the intelligent processor processes the relevant information obtained by the pressure sensor / pressure sensing matrix, the photoelectric sensor / photoelectric sensing matrix and / or the visual camera, and combines the weight, size, walking gait and walking habit parameters of the humanoid robot to determine the instantaneous position and posture of the wireless electromagnetic flux receiving converter according to its intelligent positioning model and predict its position and posture at the next moment, and accordingly formulates a control rule for switching on and off the electromagnetic flux emission, intensity and direction control of at least one wireless electromagnetic flux transmitting unit near the instantaneous position of the wireless electromagnetic flux receiving converter of the humanoid robot, and plans a preparatory rule for preparing at least one wireless electromagnetic flux transmitting unit corresponding to the wireless electromagnetic flux receiving converter to be ready for the emission, intensity and direction control of the electromagnetic flux;

[0073] The intelligent processor controls the electromagnetic beam emission switch, intensity and direction of at least one of the wireless magnetic beam transmitting units or the wireless magnetic beam transmitting array near the instant position of the wireless magnetic beam receiving converter of the humanoid robot according to the control rules and the preparation rules, as well as the instant working information fed back by the wireless magnetic beam receiving converter and the instant characteristic information of the rechargeable battery, and prepares at least one of the wireless magnetic beam transmitting units corresponding to the wireless magnetic beam receiving converter to control the electromagnetic beam emission switch, intensity and direction at the next moment, thereby realizing intelligent charging control of the rechargeable battery of the humanoid robot.

[0074] Further:

[0075] The specific method for the processor to control at least one of the wireless electromagnetic flux beam transmitting units to perform electromagnetic flux beam transmitting switch, intensity and direction control through the loss-proof variable power transmission mode is:

[0076] When the processor cannot accurately predict the movement trajectory of the foot of the humanoid robot, the wireless electromagnetic flux receiving converter receives energy at a power lower than the rated power, that is:

[0077] When the sole of the humanoid robot is far away from the wireless charging blanket, the processor controls the wireless charging transmitting unit or the wireless electromagnetic flux transmitting array to transmit the electromagnetic flux, so that the receiving power of the wireless electromagnetic flux receiving converter is slightly lower than its rated value, so as to avoid the increase of the density of the electromagnetic flux when the sole moves downward quickly, resulting in the wireless charging transmitting unit or the wireless electromagnetic flux transmitting array not adjusting and responding in time, thereby causing overload damage to the wireless electromagnetic flux receiving converter;

[0078] When the processor detects that the sole of the humanoid robot approaches the wireless charging blanket from far to near, the processor controls the wireless charging transmitting unit or the wireless electromagnetic flux transmitting array to gradually adjust the transmission power of the electromagnetic flux from far to near, so that the energy power received by the wireless electromagnetic flux receiving converter gradually approaches its rated value from small to large;

[0079] When the processor detects that the sole of the humanoid robot is close to the surface area of ​​the wireless charging blanket, the processor controls the wireless charging transmitting unit or the wireless electromagnetic flux transmitting array to transmit an electromagnetic flux, so that the wireless electromagnetic flux receiving converter can receive full-load energy for wireless charging;

[0080] When the processor is able to accurately and stably predict the motion trajectory of the foot of the humanoid robot, the processor pre-starts and regulates one of the wireless electromagnetic beam transmitting units or a wireless electromagnetic beam transmitting array composed of a plurality of wireless electromagnetic beam transmitting units corresponding to the vicinity of the next moment position of the wireless electromagnetic beam receiving converter, according to the predicted motion trajectory of the wireless electromagnetic beam receiving converter determined by the foot position and overall posture of the humanoid robot at the next moment, as well as the instant working information fed back by the wireless electromagnetic beam receiving converter and the instant characteristic information of the rechargeable battery, and prepares for the emission switch, intensity and direction control of the electromagnetic beam, wherein:

[0081] When the wireless magnetic flux receiving converter installed on the humanoid robot approaches the wireless magnetic flux transmitting unit or the wireless magnetic flux transmitting array from far to near, the processor timely adjusts the transmitting rule of the wireless magnetic flux transmitting unit or the wireless magnetic flux transmitting array according to the predicted motion trajectory of the wireless magnetic flux receiving converter, so as to ensure that the receiving power of the wireless magnetic flux receiving converter is always close to the rated power;

[0082] When the wireless magnetic flux receiving converter installed on the humanoid robot moves away from the wireless magnetic flux transmitting unit or the wireless magnetic flux transmitting array from near to far, the processor timely adjusts the transmitting law of the wireless magnetic flux transmitting unit or the wireless magnetic flux transmitting array according to the predicted motion trajectory of the wireless magnetic flux receiving converter, so as to ensure that the receiving power of the wireless magnetic flux receiving converter is always close to the rated power.

[0083] Compared with the prior art, the present invention has outstanding beneficial effects and significant improvements in that:

[0084] 1) The wireless charging blanket of the humanoid robot wireless charging system provided by the present invention is an integrated component that integrates a base blanket, ferrite, wireless magnetic flux transmitting coil, pressure sensor, photoelectric sensor and visual beacon. It has a compact structure, reasonable layout, and is easy to use and transfer. It can be laid in the area where the existing humanoid robot stands or moves to provide dynamic and efficient wireless charging services under all working conditions without affecting the original working mode of the humanoid robot, thereby greatly improving the endurance and working efficiency of the humanoid robot, and enabling the humanoid robot to continue to exert its unique effectiveness;

[0085] When the wireless charging blanket is further optimized, that is, the base blanket is made of a polymer flexible flame-retardant material and a flexible ferrite is used, the obtained optimized wireless charging blanket can be bent and folded, so that it can be further convenient to use, move and deploy, and store;

[0086] 2) In the humanoid robot wireless charging system provided by the present invention, the wireless electromagnetic flux receiving converter is placed on the humanoid robot and can move with the humanoid robot without affecting the operation of the humanoid robot, thereby facilitating dynamic and efficient wireless charging of the humanoid robot;

[0087] When the wireless electromagnetic flux receiving converter is further optimized, that is, the wireless electromagnetic flux receiving converter is designed into a wearable shoe / boot shape, the wireless electromagnetic flux receiving converter with a shoe / boot shape can be easily worn / put on the sole of the humanoid robot. In this way, it will not affect the movement and operation of the existing humanoid robot, and the wireless charging blanket can more conveniently transmit dynamic electromagnetic flux under all working conditions, thereby realizing dynamic, efficient and wireless charging of the humanoid robot under all working conditions.

[0088] 3) Since the humanoid robot wireless charging system provided by the present invention includes a visual camera that can be worn on the humanoid robot, the visual camera can well observe and record the real-time posture and movement of the humanoid robot, and has a good observation angle and extremely high credibility. Therefore, the real-time position and posture of the humanoid robot can be accurately judged by visual observation, and its position and posture at the next moment can be estimated, and the position of the wireless electromagnetic flux receiving converter placed on the humanoid robot at the moment and the next moment can be determined, so that the wireless electromagnetic flux transmitting unit can transmit the electromagnetic flux more efficiently and accurately, thereby improving the charging efficiency of the humanoid robot;

[0089] 4) Since the humanoid robot wireless charging system provided by the present invention not only includes a visual camera that can be worn on the humanoid robot, but also includes a plurality of pressure sensors and photoelectric sensors respectively arranged around or above the wireless magnetic flux transmitting coil, and further, the plurality of pressure sensors and photoelectric sensors can also form a pressure sensing matrix and a photoelectric sensing matrix around or above the corresponding wireless magnetic flux transmitting coil, thereby forming an observation and measurement system for the instant position and posture of the humanoid robot on the wireless charging blanket, which works alone or in combination, and provides a basis for the processor to determine and predict the instant and next moment position and posture of the wireless magnetic flux receiving converter, thereby ensuring efficient and accurate completion of charging;

[0090] 5) In the humanoid robot wireless charging system provided by the present invention, a wireless charging local area network connected to the processor is formed by a visual camera, a wireless magnetic flux transmitting coil, a wireless magnetic flux receiving converter and a wireless communication server, and a pressure sensor and a photoelectric sensor or a pressure sensing matrix and a photoelectric sensing matrix are connected to the processor, thereby forming an information transmission and processing system that can efficiently and timely obtain the real-time posture and position information of the humanoid robot on the wireless charging blanket and the charging information of the humanoid robot, and can implement efficient, accurate and dynamic wireless charging of the rechargeable battery of the humanoid robot, thereby improving the endurance and work efficiency of the humanoid robot, allowing it to play a greater role;

[0091] 6) In the humanoid robot wireless charging system provided by the present invention, its processor also has a built-in artificial intelligence learning processing system. Therefore, the present invention can also make full use of the powerful autonomous learning ability and modeling processing ability of the artificial intelligence learning processing system, and obtain the real-time posture and position information of the humanoid robot on the wireless charging blanket and the charging information of the humanoid robot through the wireless charging local area network, and combine the humanoid robot's own weight, size, walking gait and walking habits and other parameters to establish a positioning model for determining and predicting the real-time and next-moment position and posture of the humanoid robot and its wireless electromagnetic flux receiving converter relative to the wireless charging blanket, and plan in real time the control rules for the electromagnetic flux emission switch and intensity and direction control of the wireless electromagnetic flux receiving converter of the humanoid robot, so as to intelligently, efficiently and accurately perform the charging control of the rechargeable battery of the humanoid robot;

[0092] Since the artificial intelligence learning and processing system has powerful autonomous learning and modeling processing capabilities, it can establish a method to determine the instantaneous sole position and overall posture of the humanoid robot relative to the wireless charging blanket and predict its sole position and overall posture at the next moment through learning relevant historical data such as the overall posture and sole trajectory changes of the humanoid robot, including learning the detection data from the pressure sensor / pressure sensing matrix, the photoelectric sensor / photoelectric sensing matrix and / or the image data from the visual camera, and combining the processing and learning of the humanoid robot's own weight, size, walking gait and walking habit parameters and autonomous re-learning. An intelligent positioning model that receives the instant position and posture of the magnetic flux receiver and predicts its position and posture at the next moment. This model is an intelligent model that combines rules and data learning. This model can be used to extract motion data related to humanoid robots. Since the tasks performed by humanoid robots are usually fixed, this model can make sufficiently accurate judgments and predictions on the posture and trajectory of humanoid robots after a period of learning. This is like an intelligent agent that has learned the entire set of movements of a humanoid robot and can infer subsequent postures and trajectories based on current and previous motion characteristics, thereby providing a guarantee for intelligent wireless charging of humanoid robots.

[0093] 7) The present invention makes full use of the above-mentioned humanoid robot wireless charging system, and through the nearby start of directional transmission, pre-start of directional transmission, intelligent control transmission of artificial intelligence learning processing system and / or loss-proof variable power transmission method, or the combination of these methods in various forms as needed, the transmission switch, intensity and direction of the electromagnetic flux are controlled for the wireless electromagnetic flux receiving converter in the immediate state, and at least one wireless electromagnetic flux transmitting unit corresponding to the wireless electromagnetic flux receiving converter at the next moment is prepared for the emission and intensity and direction control of the electromagnetic flux. It can provide a dynamic and efficient wireless charging method under all working conditions for humanoid robots in standing or moving operations, thereby contributing to improving the endurance and work efficiency of humanoid robots and allowing them to play a greater role, ensuring the safety of humanoid robots and their wireless charging system equipment, and effectively preventing equipment from being overloaded and damaged, providing a new technical solution for dynamic charging of humanoid robots under all working conditions, and achieving technical effects that cannot be achieved by existing technologies, with outstanding substantial characteristics and significant progress, and great promotion and application value. BRIEF DESCRIPTION OF THE DRAWINGS

[0094] In order to more clearly illustrate the technical solution of the present invention, the following briefly introduces the drawings required for use in the embodiments of the present invention.

[0095] Obviously, the drawings described below are only drawings of some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work, but these other drawings also belong to the drawings required for use in the embodiments of the present invention.

[0096] Figure 1 A schematic diagram of the structure of a wireless charging system for a humanoid robot provided by an embodiment of the present invention;

[0097] Figure 2 A schematic diagram of the pressure sensing matrix structure of a humanoid robot wireless charging system provided by an embodiment of the present invention;

[0098] Figure 3 A schematic diagram of the photoelectric sensing matrix structure of a humanoid robot wireless charging system provided by an embodiment of the present invention;

[0099] Figure 4 A schematic structural diagram of a shoe / boot sole plate of a shoe / boot-shaped wireless electromagnetic flux receiving converter of a humanoid robot wireless charging system provided by an embodiment of the present invention.

[0100] In the figure:

[0101] 10- Humanoid robot;

[0102] 100-wireless charging blanket, 110-base blanket, 120-ferrite, 130-wireless magnetic flux transmitting coil, 141-pressure sensor, 140-pressure sensing matrix, 151-photoelectric sensor, 150-photoelectric sensing matrix, 160-visual beacon;

[0103] 210- visual camera, 220- wireless electromagnetic flux receiving converter, 221- base, 222- ferrite sheet, 223- electromagnetic flux receiving coil, 224- wireless communication device, 225- microcontroller, 230- wireless communication server;

[0104] 300-processor. DETAILED DESCRIPTION

[0105] In order to make the purpose, technical solution, beneficial effects and significant progress of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in combination with the drawings provided for the embodiments of the present invention. Obviously, all the described embodiments are only partial embodiments of the present invention, rather than all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0106] It should be noted that the term "comprising" and any variations thereof in the specification and claims of the present invention are intended to cover non-exclusive inclusions, for example, not only including a series of listed technical features and structural components, but also optionally including unlisted technical features and structural components, or optionally including the connection relationship between these technical features and structural components.

[0107] It should be understood that, in the description of the embodiments of the present invention, terms such as "upper" and "lower" that indicate orientation or position are only based on the orientation or position relationship shown in the drawings of the embodiments of the present invention. They are for the convenience of describing the embodiments of the present invention and simplifying the description, rather than indicating or implying a specific orientation, specific orientation structure and operation that the device or element described must have. Therefore, they cannot be understood as limiting the present invention.

[0108] In the present invention, unless otherwise clearly stipulated and limited, the terms such as "installation" and "setting" should be understood in a broad sense. For example, it can be a fixed installation or setting, or a detachable installation or setting or a movable installation or setting, or a connection relationship that becomes an integral part, a direct connection, or an indirect connection through an intermediate medium, or the internal connection between two structural elements or the interaction relationship between two elements. Unless otherwise clearly defined, for ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to the specific circumstances.

[0109] It should also be noted that the following specific embodiments may be combined with each other, and the same or similar concepts or processes therein may not be described in detail in some embodiments.

[0110] The technical solution of the present invention is described in detail below with specific embodiments.

[0111] Example 1

[0112] The present embodiment provides a humanoid robot wireless charging system for wirelessly charging a humanoid robot using a rechargeable battery as its power source when the humanoid robot is standing or moving, wherein the humanoid robot has a charging interface for charging its rechargeable battery.

[0113] like Figure 1 A schematic diagram of the structure of a humanoid robot wireless charging system provided by an embodiment of the present invention is shown as follows:

[0114] A humanoid robot wireless charging system includes a base blanket 110, a ferrite 120, a wireless magnetic flux transmitting coil 130, a pressure sensor 141, a photoelectric sensor 151, a visual beacon 160, a visual camera 210, a wireless magnetic flux receiving converter 220, a wireless communication server 230, and a processor 300 with a built-in artificial intelligence learning processing system, wherein:

[0115] The base blanket 110, the ferrite 120, the wireless magnetic flux transmitting coil 130, the pressure sensor 141, the photoelectric sensor 151 and the visual beacon 160 constitute an integrated wireless charging blanket 100, wherein the base blanket 110 is used to be laid on the area where the humanoid robot 10 stands or moves, the ferrite 120 is laid on the base blanket 110, a plurality of wireless magnetic flux transmitting coils 130 are respectively embedded in the base blanket 110, and each wireless magnetic flux transmitting coil 130 also constitutes a wireless magnetic flux transmitting unit with its corresponding ferrite 120, a plurality of pressure sensors 141 are respectively arranged around or above the wireless magnetic flux transmitting coil 130, a plurality of photoelectric sensors 151 and a plurality of visual beacons 160 with different numbers or shapes are respectively arranged on the base blanket 110, and the visual beacons 160 with different numbers or shapes are used to mark different areas of the wireless charging blanket 100 and different environments in which they are located;

[0116] The visual camera 210 and the wireless magnetic flux receiving converter 220 are respectively arranged on the humanoid robot 10, wherein the visual camera 210 is a binocular wide-angle wearable stereo camera with a built-in rotating mechanism that can automatically adjust the shooting direction, and the wireless magnetic flux receiving converter 220 is provided with a charging plug that can cooperate with the charging interface of the humanoid robot 10, and the visual camera 210, the wireless magnetic flux receiving converter 220 and the wireless charging blanket 100 are also respectively provided with communication function modules and together with the wireless communication server 230 form a wireless charging local area network, and the wireless charging local area network is connected to and regulated by the processor 300, and the pressure sensor 141 and the photoelectric sensor 151 are also respectively connected to the processor 300 for information;

[0117] When the humanoid robot 10 walks onto the wireless charging blanket 100, the pressure sensor 141, the photoelectric sensor 151 and the visual camera 210 respectively obtain the real-time pressure information, photoelectric sensing information, position and posture and surrounding environment image information of the humanoid robot 10 on the wireless charging blanket 100, and the above information and the characteristic information of the rechargeable battery (not shown in the figure) of the humanoid robot 10 are also sent to the processor 300 through the wireless charging local area network. The processor 300 or the processor 300 with the artificial intelligence learning processing system turned on processes this information and then controls the electromagnetic flux transmission switch, intensity and direction of at least one wireless magnetic flux transmitting unit of the wireless magnetic flux receiving converter 220 placed on the humanoid robot 10. The wireless magnetic flux receiving converter 220 on the humanoid robot 10 receives the electromagnetic flux emitted by the wireless magnetic flux transmitting unit and converts it into current to charge the rechargeable battery (not shown in the figure) of the humanoid robot 10.

[0118] From the above description, we can see that:

[0119] The humanoid robot wireless charging system provided in this embodiment is a device including a base blanket, a ferrite, a wireless magnetic flux transmitting coil, a pressure sensor, a photoelectric sensor, a visual beacon, a visual camera, a wireless magnetic flux receiving converter, a wireless communication server and a processor, and the base blanket, ferrite, a wireless magnetic flux transmitting coil, a pressure sensor, a photoelectric sensor and a visual beacon constitute an integrated wireless charging blanket, the processor also has a built-in artificial intelligence learning processing system (i.e., an AI system), and the visual camera and the wireless magnetic flux receiving converter are placed on the humanoid robot. Therefore, it can be seen that not only the wireless charging blanket has a compact structure, a reasonable layout, and is easy to use and transfer, but also, under the premise of not affecting the operation of the humanoid robot, it can be laid in the existing humanoid robot standing or moving operation area with a rechargeable battery as its power source to provide it with dynamic and efficient wireless charging services under all working conditions, which can greatly improve the endurance and work efficiency, allowing it to play a greater role;

[0120] Since the humanoid robot wireless charging system provided by the present embodiment includes a visual camera, the visual camera can well observe the real-time posture and movement of the humanoid robot, and has a good observation angle and extremely high credibility. Therefore, judging the real-time position and posture of the humanoid robot and estimating its position and posture at the next moment by visual observation has extremely high accuracy and exact credibility, and can quickly and accurately determine the immediate and inferred positions of the humanoid robot and its wireless electromagnetic flux receiving converter at the next moment, and efficiently and accurately transmit electromagnetic flux to it, thereby improving the charging efficiency of the humanoid robot;

[0121] Moreover, since the humanoid robot wireless charging system provided by the present embodiment also includes a plurality of pressure sensors and photoelectric sensors respectively arranged around or above the wireless magnetic flux transmitting coil, they can form a photoelectric, pressure and visual observation and determination system of the instant position and posture of the humanoid robot on the wireless charging blanket, either working alone or in combination, together with the visual camera, thereby providing a reliable source of information and basis for the processor to determine and predict the instant and next moment position and posture of the humanoid robot and its wireless magnetic flux receiving converter, further ensuring the high efficiency and accuracy of charging;

[0122] At the same time, in the humanoid robot wireless charging system provided by the present embodiment, the visual camera, the wireless magnetic flux transmitting coil, the wireless magnetic flux receiving converter and the wireless communication server form a wireless charging local area network connected to the processor, and the pressure sensor and the photoelectric sensor or the pressure sensing matrix and the photoelectric sensing matrix are connected to the processor, thereby forming an information transmission and processing system that can efficiently and timely obtain the real-time posture and position information of the humanoid robot on the wireless charging blanket and the real-time power information of the rechargeable battery of the humanoid robot, so that the rechargeable battery of the humanoid robot can be charged efficiently, accurately and dynamically, thereby fully realizing the purpose of improving the endurance and work efficiency of the humanoid robot and allowing it to play a greater role as proposed by the present invention.

[0123] As a preferred implementation, in the humanoid robot wireless charging system provided in this embodiment:

[0124] The base blanket 110 can be made of a polymer flexible flame-retardant material, the ferrite 120 can be a flexible ferrite sheet, and the wireless electromagnetic flux receiving converter 220 can be designed as a put-on / take-off shoe / boot-shaped wireless electromagnetic flux receiving converter, and the shoe / boot-shaped wireless electromagnetic flux receiving converter can be worn / put on the sole of the humanoid robot 10.

[0125] like Figure 4 A schematic diagram of the shoe / boot sole structure of a shoe / boot-shaped wireless electromagnetic flux receiving converter of a humanoid robot wireless charging system provided by an embodiment of the present invention is shown as follows:

[0126] The shoe / boot shaped wireless electromagnetic flux receiving converter has a shoe / boot sole plate including a flexible polymer base 221, a flexible ferrite sheet 222 fixed in the base 221, an electromagnetic flux receiving coil 223, a wireless communication device 224 and a microcontroller 225, wherein the flexible ferrite sheet 222 and the electromagnetic flux receiving coil 223 together constitute a wireless electromagnetic flux receiving unit, the wireless communication device 224 is used for wireless communication of the shoe / boot shaped wireless electromagnetic flux receiving converter, and the microcontroller 225 is used for the overall operation regulation of the shoe / boot shaped wireless electromagnetic flux receiving converter.

[0127] Obviously, through the above optimization process, that is, using polymer flexible flame-retardant material to make the base blanket and using flexible ferrite, the obtained wireless charging blanket can be bent and folded, thereby further facilitating use, movement and storage;

[0128] The optimized wireless electromagnetic flux receiving converter, that is, the wireless electromagnetic flux receiving converter is designed into a put-on / take-off shoe / boot shape, which can be easily worn / put on the soles of the feet of the humanoid robot. Not only will it not affect the operation and movement of the humanoid robot, but also the wireless charging blanket can more conveniently dynamically emit electromagnetic flux under all working conditions, thereby realizing efficient, dynamic and full-condition wireless charging of the humanoid robot.

[0129] Further, such as Figure 1 and Figure 2 A schematic diagram of a pressure sensing matrix structure of a humanoid robot wireless charging system provided by an embodiment of the present invention, Figure 3 A schematic diagram of the photoelectric sensing matrix structure of a humanoid robot wireless charging system provided by an embodiment of the present invention is shown as follows:

[0130] The multiple pressure sensors 141 arranged around or above each wireless magnetic flux transmitting coil 130 are orderly distributed in a point-like form, thereby forming each pressure sensing matrix 140 corresponding to each wireless magnetic flux transmitting coil 130. The pressure sensing matrix 140 is used to obtain the pressure generated by the sole of the humanoid robot 10 on the wireless charging blanket 100 and its pressure distribution information and send it to the processor 300;

[0131] The multiple photoelectric sensors 151 disposed on the base blanket 110 are orderly distributed in a point-like form, thereby forming one or more photoelectric sensing matrices 150 located on the base blanket 110. The photoelectric sensing matrix 150 is used to obtain the spatial position information of the soles of the humanoid robot 10 on the wireless charging blanket 100, including the height difference between the soles of the soles of the soles of the wireless charging blanket 100 and the projection position information of the soles of the soles of the soles of the wireless charging blanket 100, and send it to the processor 300;

[0132] The visual camera 210 is worn on the head, neck or torso of the humanoid robot 10 to obtain image information of the soles, legs, arms, torso, visual beacon 160 and working environment of the humanoid robot 10 and send it to the processor 300;

[0133] The processor 300 or the processor 300 with the artificial intelligence learning processing system turned on determines the instant foot position and overall posture of the humanoid robot 10 relative to the wireless charging blanket 100 and predicts its foot position and overall posture at the next moment based on the information obtained by the pressure sensor 141 / pressure sensing matrix 140, the photoelectric sensor 151 / photoelectric sensing matrix 150 and / or the visual camera 210, so as to determine the instant and next moment position and posture of the wireless electromagnetic flux receiving converter 220, thereby controlling the emission switch, intensity and direction of the electromagnetic flux of at least one wireless electromagnetic flux transmitting unit near the instant position of the wireless electromagnetic flux receiving converter 220 of the humanoid robot 10, and preparing the emission switch, intensity and direction control of the electromagnetic flux for at least one wireless electromagnetic flux transmitting unit corresponding to the wireless electromagnetic flux receiving converter 220 at the next moment.

[0134] Obviously, arranging multiple pressure sensors and multiple photoelectric sensors in an orderly manner according to certain rules to form a pressure sensing matrix and a photoelectric sensing matrix respectively can more accurately and comprehensively obtain the instantaneous pressure, pressure distribution, posture, position and height difference of the soles of the humanoid robot's feet on the wireless charging blanket, and together with the visual camera, it constitutes a more efficient, comprehensive and accurate observation and measurement system of the instantaneous position and posture of the humanoid robot on the wireless charging blanket, thereby providing timely and accurate information for the processor to determine and predict the instant and next moment position and posture of the humanoid robot and the wireless electromagnetic flux receiving converter, thereby ensuring efficient and accurate charging.

[0135] Furthermore, the processor of the humanoid robot wireless charging system provided in this embodiment also includes an artificial intelligence learning processing system. The artificial intelligence learning processing system establishes a positioning model for determining and predicting the immediate and next position and posture of the humanoid robot 10 and its wireless electromagnetic flux receiving converter 220 on the wireless charging blanket 100 by learning the information obtained by the pressure sensor 141 and / or the photoelectric sensor 151, the visual camera 210 or the pressure sensing matrix 140 and / or the photoelectric sensing matrix 150, and the visual camera 210, and plans in real time a control rule for the server to switch on and off the electromagnetic flux emission and adjust the intensity of at least one wireless electromagnetic flux transmitting coil 130 near the immediate position of the wireless electromagnetic flux receiving converter 220 of the humanoid robot 10 and to prepare for the electromagnetic flux emission and intensity adjustment of at least one wireless electromagnetic flux transmitting coil 130 corresponding to the wireless electromagnetic flux receiving converter 220 at the next moment, and then uses this control rule to perform charging control on the rechargeable battery (not shown in the figure) of the humanoid robot 10.

[0136] Obviously, this embodiment fully absorbs the development achievements of existing artificial intelligence technology, utilizes the powerful autonomous learning ability and modeling processing ability of the artificial intelligence learning and processing system, obtains the real-time posture and position information of the humanoid robot on the wireless charging blanket and the real-time power information of the humanoid robot's rechargeable battery through the wireless charging local area network, and combines the humanoid robot's own weight, size, walking gait, walking habits and other parameters to establish a positioning model that can determine and predict the real-time and next-moment position and posture of the humanoid robot and its wireless electromagnetic flux receiving converter on the wireless charging blanket, so as to plan in real time the control rules for the electromagnetic flux emission and intensity regulation of the humanoid robot and its wireless electromagnetic flux receiving converter, so as to intelligently, efficiently and accurately implement charging control of the humanoid robot and its rechargeable battery.

[0137] To further help understand the humanoid robot wireless charging system provided in the above embodiment, whose processor determines the instantaneous position and posture of the humanoid robot on the wireless charging blanket and predicts its position and posture at the next moment based on the information obtained by the pressure sensor / pressure sensor matrix and / or the electrical sensor / photoelectric sensing matrix and the visual camera, detailed explanations are given below.

[0138] (1) The method in which the processor 300 determines the instantaneous sole position and overall posture of the humanoid robot 10 relative to the wireless charging blanket 100 and predicts the sole position and overall posture of the humanoid robot 10 at the next moment based on the information obtained by the pressure sensor 141 / pressure sensor matrix 140 specifically includes:

[0139] When the pressure sensor 141 / pressure sensor matrix 140 measures the pressure of the two soles of the humanoid robot 10 and the pressure distribution information is consistent, the processor 300 determines that the humanoid robot 10 is in a standing state at this moment, and then combines the position of the pressure sensor 141 that detects the pressure and the weight, stride distance, work requirements and walking habits of the humanoid robot 10 to determine the immediate sole position and overall posture of the humanoid robot 10 and predict its sole position and overall posture at the next moment;

[0140] When the pressure sensor 141 / pressure sensing matrix 140 detects only the pressure of one sole of the humanoid robot 10 or the instantaneous pressure of both soles of the humanoid robot 10 and its pressure distribution information, the processor 300 first determines that the humanoid robot 10 is moving. Then, the processor 300 determines the position of the sole of the humanoid robot 10 according to the position of the pressure sensor 141 that detects the pressure, and determines its moving direction according to the pressure distribution information of the sole. Then, based on the weight, stride distance, and walking habits of the humanoid robot 10 itself, combined with the above-determined sole position and moving direction, the immediate overall posture of the humanoid robot 10 is determined and its sole position and overall posture at the next moment are predicted, wherein:

[0141] When the pressure sensor 141 / pressure sensing matrix 140 detects the instantaneous pressure of the soles of the humanoid robot 10 and the pressure distribution information of each sole, the processor 300 first determines the lifted foot and the supporting foot of the humanoid robot 10 at this moment, that is, the sole in the area where the pressure is increasing is the supporting foot of the humanoid robot 10, and the sole in the area where the pressure is decreasing is the lifted foot of the humanoid robot 10;

[0142] Then, the processor 300 determines the overall posture of the humanoid robot 10 based on the weight, stride distance, and walking habits of the humanoid robot 10 and predicts the position of its feet and overall posture at the next moment.

[0143] (2) The method in which the processor 300 determines the instantaneous foot position and overall posture of the humanoid robot 10 relative to the wireless charging blanket 100 and predicts the foot position and overall posture at the next moment based on the information obtained by the photoelectric sensor 151 / photoelectric sensing matrix 150 specifically includes:

[0144] The processor 300 determines the distance between the sole of the humanoid robot 10 and the wireless charging blanket 100 according to the time when the light feedback signal emitted by the photoelectric sensor 151 / photoelectric sensing matrix 150 is received;

[0145] The processor 300 determines the projection position of the sole of the humanoid robot 10 on the plane of the wireless charging blanket 100 according to the feedback signal of the light emitted by the photoelectric sensors 151 at different positions in the photoelectric sensor matrix 150;

[0146] Based on the distance between the sole of the humanoid robot 10 and the wireless charging blanket 100 and the projection position on the plane of the wireless charging blanket 100, the instantaneous spatial position of the sole of the foot is obtained, and then combined with the size parameters and walking habits of the humanoid robot 10, the processor 300 determines the instantaneous sole position and overall posture of the humanoid robot 10 and predicts its sole position and overall posture at the next moment.

[0147] (3) The method in which the processor 300 determines the instantaneous sole position and overall posture of the humanoid robot 10 relative to the wireless charging blanket 100 and predicts the sole position and overall posture of the humanoid robot 10 at the next moment based on the information acquired by the visual camera 210 specifically includes:

[0148] First, the processor 300 determines the instantaneous spatial distance and position between the soles of the humanoid robot 10 and the surface of the wireless charging blanket 100 and the overall posture of the humanoid robot 10 according to the three-dimensional image information of the soles of the humanoid robot 10, legs, arms, torso, visual beacon 160 and the working environment taken by the visual camera 210 and the image relationship between the soles of the humanoid robot 10 and the surface of the wireless charging blanket 100;

[0149] Then, the processor 300 combines the size, walking gait and walking habit parameters of the humanoid robot 10 to predict the next foot position and overall posture.

[0150] (4) The specific method by which the processor 300 determines the instantaneous foot position and overall posture of the humanoid robot 10 relative to the wireless charging blanket 100 and predicts the foot position and overall posture at the next moment based on the information respectively obtained by the pressure sensor 141 / pressure sensing matrix 140, the photoelectric sensor 151 / photoelectric sensing matrix 150 and the visual camera 210 includes:

[0151] First, the position of the sole of the humanoid robot 10 and the overall posture of the humanoid robot 10 are determined and a trust score is given through the information obtained by the pressure sensor 141 / pressure sensing matrix 140. The distance between the sole of the humanoid robot 10 and the surface of the wireless charging blanket 100, the projection position of the sole of the humanoid robot 10 on the surface of the wireless charging blanket 100, and the overall posture of the humanoid robot 10 are determined and a trust score is given through the information obtained by the photoelectric sensor 151 / photoelectric sensing matrix 150. The overall posture of the humanoid robot 10 and the spatial position of its sole are determined and a trust score is given through the information obtained by the visual camera 210, wherein:

[0152] The result of the pressure sensor 141 / pressure sensing matrix 140 determining the position of the sole of the humanoid robot 10 is determined as a reliable level according to the trust score, and the result of the pressure sensor 141 / pressure sensing matrix 140 determining the overall posture of the humanoid robot 10 is determined as a credible level according to the trust score;

[0153] The determination result of the distance between the sole of the humanoid robot 10 and the surface of the wireless charging blanket 100 by the photoelectric sensor 151 / photoelectric sensing matrix 150 is determined as a reliable level according to the trust score, the determination result of the projection position of the sole of the humanoid robot 10 on the surface of the wireless charging blanket 100 is determined as a reliable level according to the trust score, and the determination result of the overall posture of the humanoid robot 10 is determined as a credible level according to the trust score;

[0154] The visual camera 210 determines the overall posture of the humanoid robot 10 as a reliable level according to the trust score, and determines the spatial position of the sole of the humanoid robot 10 as a sub-reliable level according to the trust score;

[0155] Then, based on the above trust rating level, the reliable level information is taken as the determination result, and the sub-reliable level and credible level information are used as auxiliary references to give the evaluation results of the immediate foot position and overall posture of the humanoid robot 10 and the predicted results of its foot position and overall posture at the next moment.

[0156] (5) The specific method for the processor 300 of the artificial intelligence learning processing system to determine the instantaneous foot position and overall posture of the humanoid robot 10 relative to the wireless charging blanket 100 and predict the foot position and overall posture at the next moment based on the information obtained by the pressure sensor 141 / pressure sensing matrix 140, the photoelectric sensor 151 / photoelectric sensing matrix 150 and the visual camera 210 includes:

[0157] First, the processor 300 that has activated the artificial intelligence learning processing system establishes and continuously improves its intelligent positioning model for determining and predicting the immediate and next moment position and posture of the humanoid robot 10 and its wireless electromagnetic flux receiving converter 220 relative to the wireless charging blanket 100 by processing, learning, and autonomously relearning the information obtained by the pressure sensor 141 / pressure sensing matrix 140, the photoelectric sensor 151 / photoelectric sensing matrix 150, and / or the visual camera 210, as well as the weight, size, walking gait, and walking habit parameters of the humanoid robot 10;

[0158] Then, the artificial intelligence learning processing system formulates in real time, based on the intelligent positioning model, a control rule for the processor 300 to control the electromagnetic beam emission switch, intensity and direction of at least one wireless magnetic beam transmitting unit near the instant position of the wireless magnetic beam receiving converter 220 of the humanoid robot 10, and at the same time, a preparatory rule is planned for at least one wireless magnetic beam transmitting unit corresponding to the wireless magnetic beam receiving converter 220 to prepare for the electromagnetic beam emission switch, intensity and direction control in the next moment;

[0159] Finally, the processor 300 regulates the charging operation of the rechargeable battery (not shown in the figure) of the humanoid robot 10 in the current state based on the control rules and preparation rules formulated and planned by its artificial intelligence learning processing system, combined with the real-time characteristic information of the rechargeable battery (not shown in the figure) fed back by the wireless electromagnetic flux receiving converter 220 and the real-time working information of the wireless electromagnetic flux receiving converter 220, and prepares for the charging of the rechargeable battery (not shown in the figure) of the humanoid robot 10 in the next state.

[0160] From the above description, we can see that:

[0161] In the humanoid robot wireless charging system provided in this embodiment, the pressure sensor / pressure sensing matrix, photoelectric sensor / photoelectric sensing matrix and visual camera can not only independently constitute an observation and measurement device for the instant position and posture of the humanoid robot on the wireless charging blanket, but can also be used in combination to constitute a more powerful and comprehensive observation and measurement system. Different observation and measurement devices or systems can obtain the instant position and posture information of the humanoid robot on the wireless charging blanket in different methods and from different dimensions, thereby helping the processor to determine and verify the instant position and posture of the humanoid robot on the wireless charging blanket in different methods and predict its position and posture at the next moment, thereby providing a basis for accurate and efficient dynamic wireless charging of the humanoid robot in all working conditions;

[0162] The method for the processor to determine and predict the position and posture of the humanoid robot on the wireless charging blanket based on the information obtained by the pressure sensor / pressure sensing matrix and / or the photoelectric sensor / photoelectric sensing matrix and the visual camera is simple, fast, clear, and can obtain reliable results, thereby ensuring accurate and efficient wireless charging of the humanoid robot in its full working state.

[0163] Since the artificial intelligence learning and processing system has powerful autonomous learning and modeling processing capabilities, it can establish a method to determine the instantaneous sole position and overall posture of the humanoid robot relative to the wireless charging blanket and predict its sole position and overall posture at the next moment through learning relevant historical data such as the overall posture and sole trajectory changes of the humanoid robot, including learning the detection data from the pressure sensor / pressure sensing matrix, the photoelectric sensor / photoelectric sensing matrix and / or the image data from the visual camera, and combining the processing and learning of the humanoid robot's own weight, size, walking gait and walking habit parameters and autonomous re-learning. The intelligent positioning model receives the instant position and posture of the converter and predicts its position and posture at the next moment. It can be seen that this model is an intelligent model that combines rules and data learning. This model can be used to extract motion data related to the humanoid robot. Since the working tasks performed by humanoid robots are usually fixed, this model can make sufficiently accurate judgments and predictions on the posture and trajectory of the humanoid robot after a period of learning. This is like after the intelligent agent has learned the entire set of movements of the humanoid robot, it can infer the subsequent posture and trajectory based on the current and previous motion characteristics, thereby providing guarantee for the intelligent wireless charging of the humanoid robot.

[0164] Example 2

[0165] This embodiment provides a method for dynamically wirelessly charging a humanoid robot in a standing or moving condition based on any one of the humanoid robot wireless charging systems in the above-mentioned Embodiment 1.

[0166] The humanoid robot in this embodiment is a humanoid robot that uses a rechargeable battery as its power source, and the humanoid robot has a charging interface for charging its rechargeable battery.

[0167] like Figure 1 As shown, a method for wireless charging of a humanoid robot comprises the following steps:

[0168] In the area where the humanoid robot 10 stands or moves, a wireless charging blanket 100 in any one of the above-mentioned wireless charging systems for humanoid robots is laid, and a visual camera 210 and a wireless magnetic flux receiving converter 220 in the wireless charging system for humanoid robots are placed on the humanoid robot 10, and a charging plug of the wireless magnetic flux receiving converter 220 is connected to a charging interface of the humanoid robot 10, or a plurality of pressure sensors 141 orderly distributed in a point-like manner around or above each wireless magnetic flux transmitting coil 130 are further grouped to form a pressure sensing matrix 140, and a plurality of photoelectric sensors 151 orderly distributed in a point-like manner on the base blanket 110 are grouped to form at least one photoelectric sensing matrix 150;

[0169] When the humanoid robot 10 walks onto the wireless charging blanket 100, the processor 300 in the wireless charging system of the humanoid robot determines the instantaneous foot position and overall posture of the humanoid robot 10 relative to the wireless charging blanket 100 based on the information obtained by the pressure sensor 141 / pressure sensing matrix 140, the photoelectric sensor 151 / photoelectric sensing matrix 150 and / or the visual camera 210, and predicts the foot position and overall posture of the humanoid robot 10 at the next moment;

[0170] According to the determined instant foot position and overall posture of the humanoid robot 10 relative to the wireless charging blanket 100 and the predicted foot position and overall posture of the humanoid robot 10 at the next moment, the processor 300 controls at least one wireless electromagnetic flux transmitting unit to perform emission switch, intensity and direction control of the electromagnetic flux by starting directional emission nearby, pre-starting directional emission, intelligent emission of the artificial intelligence learning processing system and / or loss-proof variable power emission, and makes at least one wireless electromagnetic flux transmitting unit corresponding to the wireless electromagnetic flux receiving converter 220 at the next moment prepare for the emission switch, intensity and direction control of the electromagnetic flux, so as to transmit an electromagnetic flux with controlled intensity and direction to the wireless electromagnetic flux receiving converter 220 placed on the humanoid robot 10;

[0171] The wireless electromagnetic flux receiving converter 220 installed on the humanoid robot 10 receives the electromagnetic flux and converts it into electric current to charge the rechargeable battery (not shown in the figure). At the same time, the wireless electromagnetic flux receiving converter 220 sends its real-time working information and the real-time characteristic information of the rechargeable battery (not shown in the figure) to the processor 300 through the wireless charging local area network, and the processor 300 adjusts and controls the emission switch, intensity and direction of the electromagnetic flux on the wireless electromagnetic flux transmitting unit, thereby realizing dynamic wireless charging of the humanoid robot 10 in its standing or walking conditions, wherein the real-time working information of the wireless electromagnetic flux receiving converter 220 includes its current and voltage information, and the real-time characteristic information of the rechargeable battery (not shown in the figure) includes the power information of the rechargeable battery (not shown in the figure).

[0172] From the above description, we can see that:

[0173] This embodiment makes full use of the humanoid robot wireless charging system provided in Embodiment 1, and processes the information obtained by the pressure sensor / pressure sensing matrix and / or the photoelectric sensor / photoelectric sensing matrix, and the visual camera through the processor to determine the instantaneous position and posture of the humanoid robot on the wireless charging blanket and predict its position and posture at the next moment, thereby regulating at least one wireless electromagnetic flux transmitting unit to start directional transmission nearby, start directional transmission in advance, intelligently control transmission by artificial intelligence learning processing system, and / or loss-proof variable power transmission method, or combine these methods in various forms according to needs, to perform electromagnetic flux transmission switch and strong The wireless electromagnetic flux receiving converter can control the degree and direction of the electromagnetic flux, and make at least one wireless electromagnetic flux transmitting unit corresponding to the wireless electromagnetic flux receiving converter at the next moment prepare for the emission and intensity and direction control of the electromagnetic flux, so as to transmit the electromagnetic flux with controlled intensity to the wireless electromagnetic flux receiving converter placed on the humanoid robot, so as to realize the dynamic wireless charging of the humanoid robot in all working conditions whether it is standing or walking. The method is diverse and flexible, the operation is safe and convenient, and it is efficient and fast. It is a new technical solution for charging humanoid robots under full working conditions and has achieved technical effects that cannot be achieved by existing technologies. Therefore, it has outstanding substantial characteristics and significant progress, and is of great promotion and application value.

[0174] In order to better help understand the above-mentioned charging method, the description of at least one wireless electromagnetic flux beam transmitting unit using methods such as nearby initiation of directional transmission, pre-initiation of directional transmission, intelligent control transmission of artificial intelligence learning processing system or loss-proof variable power transmission to switch the electromagnetic flux transmission and control the intensity and direction is given below in further detail.

[0175] ① The specific method of the processor 300 controlling at least one wireless electromagnetic flux beam transmitting unit to control the electromagnetic flux beam transmitting switch, intensity and direction by starting the directional transmitting mode nearby is:

[0176] The processor 300 controls a wireless magnetic flux receiving converter 220 on the wireless charging blanket 100 or a wireless magnetic flux transmitting array composed of a plurality of wireless magnetic flux transmitting units to transmit the electromagnetic flux to the wireless magnetic flux receiving converter 220, including controlling the emission switch, intensity and direction of the electromagnetic flux, based on the position of the wireless magnetic flux receiving converter 220 determined by the instant foot position and overall posture of the humanoid robot 10, as well as the instant working information fed back by the electromagnetic flux receiving converter and the instant characteristic information of the rechargeable battery (not shown in the figure). The processor 300 controls the electromagnetic flux transmitting unit on the wireless charging blanket 100 or the wireless magnetic flux transmitting array composed of a plurality of wireless magnetic flux transmitting units to transmit the electromagnetic flux to the wireless magnetic flux receiving converter 220, while keeping the remaining wireless magnetic flux transmitting units or wireless magnetic flux transmitting arrays in a standby state of suspended operation.

[0177] ② The specific method of the processor 300 controlling at least one wireless electromagnetic flux transmitting unit to control the emission switch, intensity and direction of the electromagnetic flux by pre-starting the directional emission mode is:

[0178] The processor 300 pre-starts and regulates a wireless magnetic beam transmitting unit or a phased array wireless magnetic beam transmitting array composed of a plurality of wireless magnetic beam transmitting units at a position near the corresponding wireless magnetic beam receiving converter 220 according to the predicted position of the wireless magnetic beam receiving converter 220 determined by the foot position and the overall posture of the humanoid robot 10 at the next moment, as well as the instantaneous working information fed back by the wireless magnetic beam receiving converter 220 and the instantaneous characteristic information of the rechargeable battery (not shown in the figure), and transmits the electromagnetic beam to the wireless magnetic beam receiving converter 220 that has just entered its electromagnetic beam transmitting range, and regulates the transmitting switch, intensity and direction of the electromagnetic beam, and continuously adjusts the transmitting direction and transmitting intensity of the electromagnetic beam according to the moving trajectory of the wireless magnetic beam receiving converter 220 and the instantaneous working information of the wireless magnetic beam receiving converter 220, while leaving the remaining wireless magnetic beam transmitting units or wireless magnetic beam transmitting arrays in a standby state of suspended operation.

[0179] ③ The specific method of the processor 300 controlling at least one wireless electromagnetic flux transmitting unit to control the electromagnetic flux transmitting switch, intensity and direction through the intelligent transmitting mode of the artificial intelligence learning processing system is:

[0180] Turning on the artificial intelligence learning processing system built into the processor 300, so that the processor 300 is in an intelligent processing mode under the intelligent control of the artificial intelligence learning processing system;

[0181] The intelligent processor 300, through the autonomous learning, autonomous correction and re-learning functions of its artificial intelligence learning processing system, processes and learns the information obtained by the pressure sensor 141 / pressure sensing matrix 140, the photoelectric sensor 151 / photoelectric sensing matrix 150 and / or the visual camera 210 of the humanoid robot 10 walking on the wireless charging blanket 100, and combines the processing and learning of the weight, size, walking gait and walking habit parameters of the humanoid robot 10 to establish and continuously improve the intelligent positioning model for determining the instantaneous foot position and overall posture of the humanoid robot 10 relative to the wireless charging blanket 100 and predicting the foot position and overall posture of the humanoid robot 10 at the next moment, thereby determining the instantaneous position and posture of the wireless electromagnetic flux receiving converter 220 and predicting its position and posture at the next moment;

[0182] After the intelligent positioning model has learned the working actions of the humanoid robot 10, it accurately predicts the immediate foot position and overall posture of the humanoid robot 10 at the next moment relative to the wireless charging blanket 100 for repeated work, identifies the motion data features from the sensor, and then infers the action at the next moment;

[0183] When the humanoid robot 10 walks onto the wireless charging blanket 100, the intelligent processor 300 processes the relevant information obtained by the pressure sensor 141 / pressure sensing matrix 140, the photoelectric sensor 151 / photoelectric sensing matrix 150 and / or the visual camera 210, and combines the weight, size, walking gait and walking habit parameters of the humanoid robot 10, and determines the instantaneous position and posture of the wireless electromagnetic flux receiving converter 220 according to its intelligent positioning model and predicts its position and posture at the next moment, and accordingly formulates a control rule for switching on and off the electromagnetic flux emission, intensity and direction control of at least one wireless electromagnetic flux transmitting unit near the instantaneous position of the wireless electromagnetic flux receiving converter 220 of the humanoid robot 10, and plans a preparatory rule for preparing at least one wireless electromagnetic flux transmitting unit corresponding to the wireless electromagnetic flux receiving converter 220 at the next moment for the emission, intensity and direction control of the electromagnetic flux;

[0184] The intelligent processor 300 controls the electromagnetic beam emission switch, intensity and direction of at least one wireless magnetic beam transmitting unit or wireless magnetic beam transmitting array near the wireless magnetic beam receiving converter 220 of the humanoid robot 10 according to the control rules and preparation rules, as well as the instant working information fed back by the wireless magnetic beam receiving converter 220 and the instant characteristic information of the rechargeable battery (not shown in the figure), and prepares at least one wireless magnetic beam transmitting unit corresponding to the wireless magnetic beam receiving converter 220 to prepare for the emission and intensity control of the electromagnetic beam at the next moment, thereby realizing intelligent charging control of the rechargeable battery (not shown in the figure) of the humanoid robot 10.

[0185] ④ The specific method of the processor 300 controlling at least one wireless electromagnetic flux transmitting unit to perform electromagnetic flux transmitting switch, intensity and direction control through loss-proof variable power transmitting mode is:

[0186] When the processor 300 cannot accurately predict the movement trajectory of the foot of the humanoid robot 10, the wireless electromagnetic flux receiving converter 220 receives energy at a power lower than the rated power, that is:

[0187] When the sole of the humanoid robot 10 is far from the surface of the wireless charging blanket 100, the processor 300 controls the wireless charging transmitting unit or the wireless electromagnetic flux transmitting array to transmit the electromagnetic flux, so that the receiving power of the wireless electromagnetic flux receiving converter 220 is slightly lower than its rated value, so as to avoid the increase of the density of the electromagnetic flux when the sole moves downward quickly, resulting in the wireless charging transmitting unit or the wireless electromagnetic flux transmitting array not adjusting in time and causing overload damage to the wireless electromagnetic flux receiving converter 220;

[0188] When the processor 300 detects that the foot position of the humanoid robot 10 is approaching the wireless charging blanket 100 from far to near, the processor 300 controls the wireless charging transmitting unit or the wireless electromagnetic flux transmitting array to gradually adjust the transmission power of the electromagnetic flux from far to near, so that the energy power received by the wireless electromagnetic flux receiving converter 220 gradually approaches its rated value from small to large;

[0189] When the processor 300 detects that the sole of the humanoid robot 10 is close to the surface area of ​​the wireless charging blanket 100, the processor 300 controls the wireless charging transmitting unit or the wireless electromagnetic flux transmitting array to transmit the electromagnetic flux, so that the wireless electromagnetic flux receiving converter 220 can receive the full load of energy for wireless charging;

[0190] When the processor 300 can accurately and stably predict the motion trajectory of the foot of the humanoid robot 10, the processor 300 pre-starts and regulates a wireless magnetic flux transmitting unit or a wireless magnetic flux transmitting array composed of a plurality of wireless magnetic flux transmitting units near the next position of the corresponding wireless magnetic flux receiving converter 220 according to the predicted motion trajectory of the wireless magnetic flux receiving converter 220 determined by the foot position and overall posture of the humanoid robot 10 at the next moment, and the instant working information fed back by the wireless magnetic flux receiving converter 220 and the instant characteristic information of the rechargeable battery (not shown in the figure), and prepares for the emission switch, intensity and direction control of the electromagnetic flux, wherein:

[0191] When the wireless magnetic flux receiving converter 220 installed on the humanoid robot 10 approaches the wireless magnetic flux transmitting unit or the wireless magnetic flux transmitting array from far to near, the processor 300 timely adjusts the transmitting rule of the wireless magnetic flux transmitting unit or the wireless magnetic flux transmitting array according to the predicted motion trajectory of the wireless magnetic flux receiving converter 220 to ensure that the receiving power of the wireless magnetic flux receiving converter 220 is always close to the rated power;

[0192] When the wireless magnetic flux receiving converter 220 installed on the humanoid robot 10 moves away from the wireless magnetic flux transmitting unit or the wireless magnetic flux transmitting array from near to far, the processor 300 timely adjusts the transmitting law of the wireless magnetic flux transmitting unit or the wireless magnetic flux transmitting array according to the predicted movement trajectory of the wireless magnetic flux receiving converter 220 to ensure that the receiving power of the wireless magnetic flux receiving converter 220 is always close to the rated power.

[0193] It should be noted that:

[0194] The above-mentioned processor controls at least one wireless electromagnetic flux transmitting unit to perform electromagnetic flux transmitting switch, intensity and direction control. The various specific methods can also be selected and / or combined according to actual needs to meet the different charging needs of humanoid robots. Technical personnel in this field can make arrangements independently according to the above-mentioned methods. However, the selection and / or combination made according to the implementation methods given in this specification obviously falls within the scope of protection required by this application.

[0195] Usually, humanoid robots will repeat a certain task, and the intelligent positioning model given by the artificial intelligence learning processing system has the ability of autonomous learning. It can further improve the accuracy of positioning and prediction of the intelligent positioning model by autonomously learning the historical motion data of the humanoid robot and extracting the motion data features as needed.

[0196] The intelligent positioning model's learning process of the humanoid robot's overall posture and foot trajectory related data not only includes the learning of the information obtained by the pressure sensor / pressure sensor matrix and / or photoelectric sensor / photoelectric sensing matrix, and the visual camera, but also includes the learning of the above data and the humanoid robot's past position judgment and posture prediction rules, and extracts the above humanoid robot's relevant motion feature data from them to continuously update and improve its intelligent positioning model.

[0197] It can be seen that the dynamic wireless charging of the humanoid robot when standing or moving is performed using any one of the humanoid robot wireless charging systems in Example 1. The specific method can adopt different methods according to requirements and needs, so as to achieve efficient, fast and safe wireless charging of the humanoid robot with a rechargeable battery as its power source in its standing or moving working conditions, which is flexible, convenient, safe and reliable.

[0198] In summary, we can see that:

[0199] The present invention constructs a novel wireless charging system for humanoid robots by integrating a wireless charging blanket that includes a base blanket, ferrite, a wireless magnetic flux transmitting coil, a pressure sensor, a photoelectric sensor, and a visual beacon, as well as a visual camera, a wireless magnetic flux receiving converter, a wireless communication server, and a processor with a built-in artificial intelligence learning processing system. The wireless charging blanket has a compact structure and a reasonable layout, is easy to use and transfer, and is laid in the standing or moving operation area of ​​the humanoid robot. It does not affect the original working mode of the humanoid robot, but can provide it with dynamic and efficient wireless charging services under all working conditions, thereby improving the endurance and work efficiency of the humanoid robot and allowing it to play a greater role.

[0200] The present invention uses a pressure sensor, a photoelectric sensor and a visual camera to construct an observation and measurement system, which is used alone or in combination, to quickly, timely and accurately capture the instantaneous position and posture of the humanoid robot on the wireless charging blanket, thereby providing a reliable basis for the processor to determine and predict the instantaneous and next moment position and posture of the wireless magnetic flux receiving converter, thereby ensuring efficient and accurate charging.

[0201] The wireless charging local area network composed of a visual camera, a wireless magnetic flux transmitting coil, a wireless magnetic flux receiving converter and a wireless communication server, which is connected to the processor and connected to a pressure sensor and a photoelectric sensor, fully ensures the rapid and timely transmission and processing of the real-time posture and position information of the humanoid robot on the wireless charging blanket and the real-time power information of the rechargeable battery of the humanoid robot, so that the wireless charging system of the humanoid robot provided by the present invention can charge the rechargeable battery of the humanoid robot efficiently, accurately and dynamically;

[0202] The application of the artificial intelligence learning and processing system enables the humanoid robot wireless charging system provided by the present invention to implement efficient and accurate charging control in an intelligent manner;

[0203] In addition, the charging method provided by the present invention is flexible and convenient, and different methods can be adopted according to charging requirements and needs, so that the humanoid robot can complete wireless charging efficiently, quickly and safely under standing or moving working conditions.

[0204] In summary, the humanoid robot wireless charging system and charging method provided by the present invention overcome the shortcomings of the prior art, can implement dynamic and efficient wireless charging services under all working conditions for humanoid robots in standing or moving operations, improve their endurance and work efficiency, and enable them to play a greater role. It has achieved technical effects that cannot be achieved by the prior art, has outstanding substantive characteristics and significant progress, and is of great value for promotion and application.

[0205] In the description of the above manual:

[0206] The terms "this embodiment", "an embodiment of the present invention", "as shown in", "further", etc., mean that the specific features, structures, materials or characteristics described in the embodiment are included in at least one embodiment of the present invention. In this specification, the schematic expressions of the above terms do not necessarily refer to the same embodiment, and the specific features, structures, materials or characteristics described may be combined or combined in any one or more embodiments in a suitable manner;

[0207] In addition, under the premise that no contradiction occurs, a person of ordinary skill in the art may combine or combine the different embodiments and features of the different embodiments described in this specification.

[0208] Finally, it should be noted that:

[0209] The above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit the same. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents, and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions described in the embodiments of the present invention. The non-essential improvements, adjustments or replacements made by those skilled in the art based on the contents recorded in this specification are all within the scope of protection required by the present invention.

Claims

1. A humanoid robot wireless charging system, used for wireless charging of a humanoid robot whose power source is a rechargeable battery when the robot is standing or moving, wherein: The humanoid robot has a charging interface for charging its rechargeable battery, characterized by comprising: Base blanket, ferrite, wireless magnetic flux transmitting coil, pressure sensor, photoelectric sensor, visual beacon, visual camera, wireless magnetic flux receiving converter, wireless communication server and processor with built-in artificial intelligence learning processing system, wherein: The base blanket, ferrite, wireless magnetic flux transmitting coil, pressure sensor, photoelectric sensor and visual beacon constitute an integrated wireless charging blanket, wherein the base blanket is used to be laid on the area where the humanoid robot stands or moves, the ferrite is laid on the base blanket, a plurality of wireless magnetic flux transmitting coils are respectively embedded in the base blanket, and each wireless magnetic flux transmitting coil also constitutes a wireless magnetic flux transmitting unit with the corresponding ferrite, a plurality of pressure sensors are respectively arranged around or above the wireless magnetic flux transmitting coil, a plurality of photoelectric sensors and a plurality of visual beacons with different numbers or shapes are respectively arranged on the base blanket, and the visual beacons with different numbers or shapes are used to mark different areas of the wireless charging blanket and different environments in which they are located; The visual camera and the wireless magnetic flux receiving converter are respectively arranged on the humanoid robot, wherein the visual camera is a binocular wide-angle wearable stereo camera with a built-in rotating mechanism that can automatically adjust the shooting direction, and the wireless magnetic flux receiving converter is provided with a charging plug that can cooperate with the charging interface of the humanoid robot, and the visual camera, the wireless magnetic flux receiving converter and the wireless charging blanket are also respectively provided with communication function modules and together form a wireless charging local area network with the wireless communication server, and the wireless charging local area network is connected to and regulated by the processor, and the pressure sensor and the photoelectric sensor are also respectively connected to the processor information; When the humanoid robot walks onto the wireless charging blanket, the pressure sensor, the photoelectric sensor and the visual camera respectively obtain the real-time pressure information, photoelectric sensing information, position and posture, and surrounding environment image information of the humanoid robot on the wireless charging blanket, and the above information and the characteristic information of the rechargeable battery of the humanoid robot are also sent to the processor through the wireless charging local area network. After processing this information, the processor or the processor with the artificial intelligence learning processing system turned on performs electromagnetic flux emission switch, intensity and direction control operations on at least one of the wireless electromagnetic flux emission units nearby of the wireless electromagnetic flux receiving converter placed on the humanoid robot. The wireless electromagnetic flux receiving converter on the humanoid robot receives the electromagnetic flux emitted by the wireless electromagnetic flux emission unit and converts it into current to charge the rechargeable battery of the humanoid robot. The plurality of pressure sensors arranged around or above each of the wireless magnetic flux transmitting coils are orderly distributed in a point-like form, thereby forming respective pressure sensing matrices corresponding to each of the wireless magnetic flux transmitting coils, and the pressure sensing matrices are used to obtain the pressure generated by the soles of the humanoid robot on the wireless charging blanket and the pressure distribution information thereof and send them to the processor; The plurality of photoelectric sensors disposed on the base blanket are orderly distributed in a point-like form, thereby forming one or more photoelectric sensing matrices located on the base blanket, the photoelectric sensing matrix being used to obtain spatial position information of the soles of the humanoid robot on the wireless charging blanket, including the height difference between the soles of the feet and the wireless charging blanket and the projection position information of the soles of the feet on the wireless charging blanket, and send the information to the processor; The visual camera is worn on the head, neck or torso of the humanoid robot, and is used to obtain image information of the soles of the feet, legs, arms, torso, visual beacons and working environment of the humanoid robot and send it to the processor; The processor or the processor with the artificial intelligence learning processing system turned on determines the instantaneous foot position and overall posture of the humanoid robot relative to the wireless charging blanket and predicts its foot position and overall posture at the next moment based on the information obtained by the pressure sensor / pressure sensing matrix, the photoelectric sensor / photoelectric sensing matrix and / or the visual camera, so as to determine the instantaneous and next moment position and posture of the wireless electromagnetic flux receiving converter, thereby controlling the emission switch, intensity and direction of the electromagnetic flux for at least one of the wireless electromagnetic flux transmitting units near the instantaneous position of the wireless electromagnetic flux receiving converter of the humanoid robot, and preparing the emission switch, intensity and direction control of the electromagnetic flux for at least one of the wireless electromagnetic flux transmitting units corresponding to the wireless electromagnetic flux receiving converter at the next moment.

2. The humanoid robot wireless charging system according to claim 1, characterized in that: The base blanket is made of a polymer flexible flame-retardant material, the ferrite is a flexible ferrite sheet, and the wireless electromagnetic flux receiving converter is a removable shoe / boot-shaped wireless electromagnetic flux receiving converter, which is worn / covered on the sole of the humanoid robot; The shoe / boot shaped wireless electromagnetic flux receiving converter has a shoe / boot sole plate comprising a flexible polymer base, a flexible ferrite sheet fixed in the base, an electromagnetic flux receiving coil, a wireless communication device and a microcontroller, wherein the flexible ferrite sheet and the electromagnetic flux receiving coil together constitute a wireless electromagnetic flux receiving unit, the wireless communication device is used for wireless communication of the shoe / boot shaped wireless electromagnetic flux receiving converter, and the microcontroller is used for overall operation regulation of the shoe / boot shaped wireless electromagnetic flux receiving converter.

3. The humanoid robot wireless charging system according to claim 1, wherein: The method for the processor to determine the instantaneous sole position and overall posture of the humanoid robot relative to the wireless charging blanket and predict the sole position and overall posture of the humanoid robot at the next moment based on the information obtained by the pressure sensor / pressure sensing matrix specifically includes: When the pressure sensor / pressure sensing matrix measures the pressure of the two soles of the humanoid robot and the pressure distribution information is consistent, the processor determines that the humanoid robot is in a standing state at this moment, and then combines the position of the pressure sensor that detects the pressure and the weight, stride distance, work requirements and walking habits of the humanoid robot to determine the immediate sole position and overall posture of the humanoid robot and predict its sole position and overall posture at the next moment; When the pressure sensor / pressure sensing matrix detects only the pressure of one sole of the humanoid robot or the instantaneous pressure of both soles of the humanoid robot and its pressure distribution information, the processor first determines that the humanoid robot is moving, and then the processor determines the position of the sole of the humanoid robot according to the position of the pressure sensor that detects the pressure, and determines its moving direction according to the pressure distribution information of the sole, and then, based on the weight, stride distance, and walking habits of the humanoid robot, combined with the above-determined sole position and moving direction, determines the immediate overall posture of the humanoid robot and predicts its sole position and overall posture at the next moment, wherein: When the pressure sensor / pressure sensing matrix detects the instantaneous pressure of the soles of the two feet of the humanoid robot and the pressure distribution information of each of the soles, the processor first determines the lifted foot and the supporting foot of the humanoid robot at this moment, that is, the sole in the area where the pressure is increasing is the supporting foot of the humanoid robot, and the sole in the area where the pressure is decreasing is the lifted foot of the humanoid robot; Then, the processor determines the overall posture of the humanoid robot based on the weight, stride distance, and walking habits of the humanoid robot and predicts the position of its feet and overall posture at the next moment.

4. The humanoid robot wireless charging system according to claim 1, wherein: The method for the processor to determine the instantaneous sole position and overall posture of the humanoid robot relative to the wireless charging blanket and predict the sole position and overall posture of the humanoid robot at the next moment based on the information obtained by the photoelectric sensor / photoelectric sensing matrix specifically includes: The processor determines the distance between the sole of the humanoid robot and the wireless charging blanket according to the time when the light feedback signal emitted by the photoelectric sensor / photoelectric sensing matrix is ​​received; The processor determines the projection position of the sole of the humanoid robot on the plane of the wireless charging blanket according to the feedback signal of light emitted by the photoelectric sensors at different positions in the photoelectric sensor / photoelectric sensing matrix; Based on the distance between the sole of the humanoid robot's foot and the wireless charging blanket and the projection position on the plane of the wireless charging blanket, the instantaneous spatial position of the sole of the foot is obtained, and then combined with the humanoid robot's own size parameters and walking habits, the processor determines the instantaneous sole position and overall posture of the humanoid robot and predicts its sole position and overall posture at the next moment.

5. The humanoid robot wireless charging system according to claim 1, characterized in that: The method for the processor to determine the instantaneous sole position and overall posture of the humanoid robot relative to the wireless charging blanket and predict the sole position and overall posture of the humanoid robot at the next moment based on the information acquired by the visual camera specifically includes: First, the processor determines the instantaneous spatial distance and position between the soles of the humanoid robot and the surface of the wireless charging blanket and the overall posture of the humanoid robot based on the three-dimensional image information of the soles of the humanoid robot, legs, arms, torso, visual beacons and working environment taken by the visual camera and the image relationship between the soles of the humanoid robot and the surface of the wireless charging blanket; Then, the processor combines the size, walking gait and walking habit parameters of the humanoid robot to predict the position of its feet and overall posture at the next moment.

6. The humanoid robot wireless charging system according to claim 1, wherein: The specific method for the processor to determine the instantaneous sole position and overall posture of the humanoid robot relative to the wireless charging blanket and predict the sole position and overall posture of the humanoid robot at the next moment based on the information obtained by the pressure sensor / pressure sensing matrix, the photoelectric sensor / photoelectric sensing matrix and the visual camera respectively includes: First, the position of the sole of the humanoid robot and the overall posture of the humanoid robot are determined through the information obtained by the pressure sensor / pressure sensing matrix, and a trust score is given. The distance between the sole of the humanoid robot and the surface of the wireless charging blanket, the projection position of the sole of the humanoid robot on the surface of the wireless charging blanket, and the overall posture of the humanoid robot are determined through the information obtained by the photoelectric sensor / photoelectric sensing matrix, and a trust score is given. The overall posture of the humanoid robot and the spatial position of its sole are determined through the information obtained by the visual camera, and a trust score is given, wherein: The result of the pressure sensor / pressure sensing matrix determining the position of the sole of the humanoid robot as a reliable level according to the trust score, and the result of the pressure sensor / pressure sensing matrix determining the overall posture of the humanoid robot as a credibility level according to the trust score; The determination result of the distance between the sole of the humanoid robot's foot and the surface of the wireless charging blanket by the photoelectric sensor / photoelectric sensing matrix is ​​determined as a reliable level according to the trust score, the determination result of the projection position of the sole of the humanoid robot's foot on the surface of the wireless charging blanket is determined as a reliable level according to the trust score, and the determination result of the overall posture of the humanoid robot is determined as a credible level according to the trust score; Determine the result of the visual camera's determination of the overall posture of the humanoid robot as a reliable level according to the trust score, and determine the result of the visual camera's determination of the spatial position of the sole of the humanoid robot as a sub-reliable level according to the trust score; Then, based on the above trust rating level, the reliable level information is taken as the determination result, and the sub-reliable level and credible level information are used as auxiliary references to give the evaluation results of the immediate foot position and overall posture of the humanoid robot and the predicted results of its foot position and overall posture at the next moment.

7. The humanoid robot wireless charging system according to claim 1, wherein: The specific method for the processor of the artificial intelligence learning processing system to determine the instantaneous foot position and overall posture of the humanoid robot relative to the wireless charging blanket and predict the foot position and overall posture of the humanoid robot at the next moment based on the information obtained by the pressure sensor / pressure sensing matrix, the photoelectric sensor / photoelectric sensing matrix and the visual camera respectively includes: First, the processor that has activated the artificial intelligence learning processing system establishes and continuously improves its intelligent positioning model for determining and predicting the immediate and next moment position and posture of the humanoid robot and its wireless electromagnetic flux receiving converter relative to the wireless charging blanket by processing, learning, and autonomously relearning the information obtained by the pressure sensor / pressure sensing matrix, the photoelectric sensor / photoelectric sensing matrix, and / or the visual camera, as well as the weight, size, walking gait, and walking habit parameters of the humanoid robot itself; Then, the artificial intelligence learning processing system formulates in real time, based on the intelligent positioning model, a control rule for the processor to control the electromagnetic beam emission switch, intensity and direction of at least one of the wireless magnetic beam transmitting units near the instantaneous position of the wireless magnetic beam receiving converter of the humanoid robot, and at the same time, plans a preparatory rule for at least one of the wireless magnetic beam transmitting units corresponding to the wireless magnetic beam receiving converter to prepare for the electromagnetic beam emission switch, intensity and direction control in the next moment; Finally, the processor regulates the charging operation of the rechargeable battery of the humanoid robot in the current state based on the control rules and the preparatory rules formulated and planned by its artificial intelligence learning processing system, combined with the real-time characteristic information of the rechargeable battery fed back by the wireless electromagnetic flux receiving converter and the real-time working information of the wireless electromagnetic flux receiving converter, and prepares for the charging of the rechargeable battery of the humanoid robot in the next state.

8. A method for wireless charging of a humanoid robot, for dynamic wireless charging of a humanoid robot whose power source is a rechargeable battery and has a charging interface when the robot is standing or moving, characterized in that: The steps include: In the area where the humanoid robot stands or moves, a wireless charging blanket in the wireless charging system for the humanoid robot as described in any one of claims 1 to 7 is laid, and a visual camera and a wireless electromagnetic flux receiving converter in the wireless charging system for the humanoid robot are placed on the humanoid robot, and a charging plug of the wireless electromagnetic flux receiving converter is connected to a charging interface of the humanoid robot, or further a plurality of pressure sensors orderly distributed in a point-like manner around or above each wireless electromagnetic flux transmitting coil are respectively grouped to form a pressure sensing matrix, and a plurality of photoelectric sensors orderly distributed in a point-like manner on the base blanket are grouped to form at least one photoelectric sensing matrix; When the humanoid robot walks onto the wireless charging blanket, the processor in the wireless charging system of the humanoid robot determines the instantaneous foot position and overall posture of the humanoid robot relative to the wireless charging blanket based on the information obtained by the pressure sensor / pressure sensing matrix, the photoelectric sensor / photoelectric sensing matrix and / or the visual camera, and predicts the foot position and overall posture of the humanoid robot at the next moment; According to the determined instant foot position and overall posture of the humanoid robot relative to the wireless charging blanket and the predicted foot position and overall posture of the humanoid robot at the next moment, the processor controls at least one of the wireless electromagnetic flux transmitting units to perform emission switch, intensity and direction control of the electromagnetic flux by starting directional emission nearby, starting directional emission in advance, intelligent emission of the artificial intelligence learning processing system and / or loss-proof variable power emission, and makes at least one of the wireless electromagnetic flux transmitting units corresponding to the wireless electromagnetic flux receiving converter at the next moment prepare for the emission switch, intensity and direction control of the electromagnetic flux, so as to transmit an electromagnetic flux with controlled intensity and direction to the wireless electromagnetic flux receiving converter placed on the humanoid robot; The wireless electromagnetic flux receiving converter installed on the humanoid robot receives the electromagnetic flux and converts it into electric current to charge the rechargeable battery. At the same time, the wireless electromagnetic flux receiving converter sends its real-time working information and the real-time characteristic information of the rechargeable battery to the processor through the wireless charging local area network, and the processor adjusts and controls the emission switch, intensity and direction of the electromagnetic flux of the wireless electromagnetic flux transmitting unit, thereby realizing dynamic wireless charging of the humanoid robot in its standing or walking condition, wherein the real-time working information of the wireless electromagnetic flux receiving converter includes its current and voltage information, and the real-time characteristic information of the rechargeable battery includes the power information of the rechargeable battery.

9. The method for wireless charging of a humanoid robot as claimed in claim 8, characterized in that: The specific method for the processor to control at least one of the wireless electromagnetic flux transmitting units to perform electromagnetic flux transmitting switch, intensity and direction control through the nearby start-up directional transmission mode is: The processor controls one of the wireless magnetic flux transmitting units on the wireless charging blanket or a wireless magnetic flux transmitting array composed of a plurality of the wireless magnetic flux transmitting units to transmit the electromagnetic flux to the wireless magnetic flux receiving converter, including controlling the emission switch, intensity and direction of the electromagnetic flux, based on the position of the wireless magnetic flux receiving converter determined by the instant foot position and overall posture of the humanoid robot, as well as the instant working information fed back by the electromagnetic flux receiving converter and the instant characteristic information of the rechargeable battery, while keeping the remaining wireless magnetic flux transmitting units or the wireless magnetic flux transmitting array in a standby state of suspended operation.

10. The method for wireless charging of a humanoid robot as claimed in claim 9, characterized in that: The specific method of the processor controlling at least one of the wireless electromagnetic flux transmitting units to control the emission switch, intensity and direction of the electromagnetic flux through the pre-started directional transmission mode is: The processor pre-starts and regulates one of the wireless magnetic flux receiving converters or a phased array wireless magnetic flux transmitting array composed of a plurality of wireless magnetic flux transmitting units at a position near the wireless magnetic flux receiving converter, based on the predicted position of the humanoid robot's feet at the next moment and the overall posture, the position of the wireless magnetic flux receiving converter determined by the overall posture, the instantaneous working information fed back by the wireless magnetic flux receiving converter, and the instantaneous characteristic information of the rechargeable battery, and transmits the electromagnetic flux to the wireless magnetic flux receiving converter that has just entered its electromagnetic flux transmitting range, regulates the transmitting switch, intensity and direction of the electromagnetic flux, and continuously adjusts the transmitting direction and transmitting intensity of the electromagnetic flux according to the moving trajectory of the wireless magnetic flux receiving converter and the instantaneous working information of the wireless magnetic flux receiving converter, while keeping the remaining wireless magnetic flux transmitting units or the wireless magnetic flux transmitting array in a standby state of suspended operation.

11. The method for wireless charging of a humanoid robot as claimed in claim 9, characterized in that: The specific method in which the processor controls at least one of the wireless electromagnetic flux transmitting units to perform electromagnetic flux transmitting switch, intensity and direction control through the intelligent transmitting mode of the artificial intelligence learning processing system is: Turning on the artificial intelligence learning processing system built into the processor, so that the processor is in an intelligent processing mode under the intelligent control of the artificial intelligence learning processing system; The intelligent processor, through the autonomous learning, autonomous correction and re-learning functions of its artificial intelligence learning processing system, processes and learns the information obtained by the pressure sensor / pressure sensing matrix, the photoelectric sensor / photoelectric sensing matrix and / or the visual camera of the humanoid robot walking on the wireless charging blanket, and combines the processing and learning of the humanoid robot's own weight, size, walking gait and walking habit parameters, to establish and continuously improve the intelligent positioning model for determining the instantaneous foot position and overall posture of the humanoid robot relative to the wireless charging blanket and predicting its foot position and overall posture at the next moment, thereby determining the instantaneous position and posture of the wireless electromagnetic flux receiving converter and predicting its position and posture at the next moment; After the intelligent positioning model has learned the working actions of the humanoid robot, it accurately predicts the immediate foot position and overall posture of the humanoid robot in the next moment of repeated work relative to the wireless charging blanket, identifies the motion data features from the sensor, and then infers the action at the next moment; When the humanoid robot walks onto the wireless charging blanket, the intelligent processor processes the relevant information obtained by the pressure sensor / pressure sensing matrix, the photoelectric sensor / photoelectric sensing matrix and / or the visual camera, and combines the weight, size, walking gait and walking habit parameters of the humanoid robot to determine the instantaneous position and posture of the wireless electromagnetic flux receiving converter according to its intelligent positioning model and predict its position and posture at the next moment, and accordingly formulates a control rule for switching on and off the electromagnetic flux emission, intensity and direction control of at least one wireless electromagnetic flux transmitting unit near the instantaneous position of the wireless electromagnetic flux receiving converter of the humanoid robot, and plans a preparatory rule for preparing at least one wireless electromagnetic flux transmitting unit corresponding to the wireless electromagnetic flux receiving converter to be ready for the emission, intensity and direction control of the electromagnetic flux; The intelligent processor controls the electromagnetic beam emission switch, intensity and direction of at least one of the wireless magnetic beam transmitting units or the wireless magnetic beam transmitting array near the instant position of the wireless magnetic beam receiving converter of the humanoid robot according to the control rules and the preparation rules, as well as the instant working information fed back by the wireless magnetic beam receiving converter and the instant characteristic information of the rechargeable battery, and prepares at least one of the wireless magnetic beam transmitting units corresponding to the wireless magnetic beam receiving converter to control the electromagnetic beam emission switch, intensity and direction at the next moment, thereby realizing intelligent charging control of the rechargeable battery of the humanoid robot.

12. The method for wireless charging of a humanoid robot as claimed in claim 9, characterized in that: The specific method for the processor to control at least one of the wireless electromagnetic flux beam transmitting units to perform electromagnetic flux beam transmitting switch, intensity and direction control through the loss-proof variable power transmission mode is: When the processor cannot accurately predict the movement trajectory of the foot of the humanoid robot, the wireless electromagnetic flux receiving converter receives energy at a power lower than the rated power, that is: When the sole of the humanoid robot is far away from the wireless charging blanket, the processor controls the wireless charging transmitting unit or the wireless electromagnetic flux transmitting array to transmit the electromagnetic flux, so that the receiving power of the wireless electromagnetic flux receiving converter is slightly lower than its rated value, so as to avoid the increase of the density of the electromagnetic flux when the sole moves downward quickly, resulting in the wireless charging transmitting unit or the wireless electromagnetic flux transmitting array not adjusting and responding in time, thereby causing overload damage to the wireless electromagnetic flux receiving converter; When the processor detects that the sole of the humanoid robot approaches the wireless charging blanket from far to near, the processor controls the wireless charging transmitting unit or the wireless electromagnetic flux transmitting array to gradually adjust the transmission power of the electromagnetic flux from far to near, so that the energy power received by the wireless electromagnetic flux receiving converter gradually approaches its rated value from small to large; When the processor detects that the sole of the humanoid robot is close to the surface area of ​​the wireless charging blanket, the processor controls the wireless charging transmitting unit or the wireless electromagnetic flux transmitting array to transmit an electromagnetic flux, so that the wireless electromagnetic flux receiving converter can receive full-load energy for wireless charging; When the processor is able to accurately and stably predict the motion trajectory of the foot of the humanoid robot, the processor pre-starts and regulates one of the wireless electromagnetic beam transmitting units or a wireless electromagnetic beam transmitting array composed of a plurality of wireless electromagnetic beam transmitting units corresponding to the vicinity of the next moment position of the wireless electromagnetic beam receiving converter, according to the predicted motion trajectory of the wireless electromagnetic beam receiving converter determined by the foot position and overall posture of the humanoid robot at the next moment, as well as the instant working information fed back by the wireless electromagnetic beam receiving converter and the instant characteristic information of the rechargeable battery, and prepares for the emission switch, intensity and direction control of the electromagnetic beam, wherein: When the wireless magnetic flux receiving converter installed on the humanoid robot approaches the wireless magnetic flux transmitting unit or the wireless magnetic flux transmitting array from far to near, the processor timely adjusts the transmitting rule of the wireless magnetic flux transmitting unit or the wireless magnetic flux transmitting array according to the predicted motion trajectory of the wireless magnetic flux receiving converter, so as to ensure that the receiving power of the wireless magnetic flux receiving converter is always close to the rated power; When the wireless magnetic flux receiving converter installed on the humanoid robot moves away from the wireless magnetic flux transmitting unit or the wireless magnetic flux transmitting array from near to far, the processor timely adjusts the transmitting law of the wireless magnetic flux transmitting unit or the wireless magnetic flux transmitting array according to the predicted motion trajectory of the wireless magnetic flux receiving converter, so as to ensure that the receiving power of the wireless magnetic flux receiving converter is always close to the rated power.

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