Robot battery replacement method, robot battery replacement device, robot and storage medium

Abstract

The invention discloses a robot battery replacing method, a robot battery replacing device, a robot and a storage medium. The method comprises the steps that the initial charge state of the robot is acquired; if the initial charge state is smaller than or equal to a first charge state threshold value, generating a battery replacement request for indicating a user to plug a charger to a charging port of the robot; when it is detected that the charging port is connected to a charger, the robot is controlled to be switched from battery circuit power supply to charger circuit power supply; when it is determined that the battery of the robot is replaced, removing prompt information is generated, and the removing prompt information is used for prompting a user to remove the charger from the charging port; and when it is detected that the charger is removed from the charging port, the robot is controlled to be switched from charger circuit power supply to battery circuit power supply. According to the method, the robot is kept in the power-on state all the time in the robot power conversion process, data loss caused by power failure of the robot in the robot power conversion process is avoided, and the power conversion reliability of the robot is improved.

Description

Technical Field

[0001] The present application belongs to the field of robot technology, and in particular relates to a robot battery replacement method, a robot battery replacement device, a robot and a storage medium. Background Art

[0002] With the continuous development and progress of robotics technology, robots can now replace humans to perform work in more and more environments, so robots are becoming more and more popular.

[0003] Currently, robots are usually powered by batteries. The battery power decreases as the robot's working hours increase. When the battery power decreases to a certain threshold, the robot needs to be shut down and the battery replaced.

[0004] However, during the robot's battery replacement process, the data that the robot has not saved in time is lost when the robot is shut down, resulting in a decrease in the robot's battery replacement reliability. Summary of the invention

[0005] In view of this, the embodiments of the present application provide a robot battery replacement method, a robot battery replacement device, a robot and a storage medium to overcome the above problems of the prior art.

[0006] In a first aspect, an embodiment of the present application provides a robot battery replacement method, including: obtaining the robot's initial charge state; if the initial charge state is less than or equal to a first charge state threshold, generating a battery replacement request, the battery replacement request is used to instruct the user to plug the charger into the robot's charging port; when it is detected that the charging port is connected to the charger, controlling the robot to switch from battery circuit power supply to charger circuit power supply; when it is determined that the robot's battery has been replaced, generating a removal prompt message, the removal prompt message is used to prompt the user to remove the charger from the charging port; when it is detected that the charger has been removed from the charging port, controlling the robot to switch from charger circuit power supply to battery circuit power supply.

[0007] Among them, in some optional embodiments, when it is determined that the battery of the robot has been replaced, a removal prompt message is generated, including: when it is determined that the battery of the robot has been replaced, determining whether the current battery of the robot is a qualified battery; when it is determined that the current battery is a qualified battery, generating a removal prompt message.

[0008] Among them, in some optional embodiments, when it is determined that the battery of the robot has been replaced, it is determined whether the current battery of the robot is a qualified battery, including: when it is determined that the battery of the robot has been replaced, obtaining the current state of charge and the current battery health state of the current battery; if the current state of charge is greater than or equal to a second state of charge threshold and the current battery health state is greater than or equal to a battery health state threshold, then determining that the current battery is a qualified battery; if the current state of charge is less than the second state of charge threshold, and / or the current battery health state is less than the battery health state threshold, then determining that the current battery is an unqualified battery.

[0009] Among them, in some optional embodiments, when it is determined that the battery of the robot has been replaced, before generating a removal prompt message, the robot battery replacement method also includes: obtaining the current battery identification of the robot; determining whether the battery of the robot has been replaced based on the initial battery identification and the current battery identification of the robot; when it is determined that the battery of the robot has been replaced, generating a removal prompt message, including: when it is determined that the battery of the robot has been replaced based on the initial battery identification and the current battery identification, generating a removal prompt message.

[0010] Among them, in some optional embodiments, when it is detected that the charging port is connected to the charger, before controlling the robot to switch from battery circuit power supply to charger circuit power supply, the robot power replacement method also includes: obtaining the voltage of the first charging port of the robot; determining whether it is detected that the charging port is connected to the charger based on the first charging port voltage.

[0011] Among them, in some optional embodiments, when it is detected that the charging port is connected to the charger, the robot is controlled to switch from battery circuit power supply to charger circuit power supply, including: when it is detected that the charging port is connected to the charger, the initial battery voltage of the robot is obtained; when the first charging port voltage is greater than the initial battery voltage, the robot is controlled to switch from battery circuit power supply to charger circuit power supply.

[0012] Among them, in some optional embodiments, determining whether the charging port is detected to be connected to the charger is determined based on the first charging port voltage, including: when the first charging port voltage is greater than or equal to the first preset voltage, determining that the charging port is detected to be connected to the charger; when the first charging port voltage is less than the first preset voltage, determining that the charging port is not detected to be connected to the charger.

[0013] In the second aspect, the embodiment of the present application provides a robot battery replacement device, which includes a state acquisition module, a request generation module, a first control module, an information generation module and a second control module. The state acquisition module is used to obtain the initial state of charge of the robot; the request generation module is used to generate a battery replacement request if the initial state of charge is less than or equal to the first state of charge threshold, and the battery replacement request is used to instruct the user to plug the charger into the charging port of the robot; the first control module is used to control the robot to switch from battery circuit power supply to charger circuit power supply when it is detected that the charging port is connected to the charger; the information generation module is used to generate a removal prompt message when it is determined that the robot has been replaced with a battery, and the removal prompt message is used to prompt the user to remove the charger from the charging port; the second control module is used to control the robot to switch from charger circuit power supply to battery circuit power supply when it is detected that the charger has been removed from the charging port.

[0014] In a third aspect, an embodiment of the present application provides a robot comprising a memory; one or more processors coupled to the memory; and one or more applications, wherein the one or more applications are stored in the memory and configured to be executed by the one or more processors, and the one or more applications are configured to execute the robot battery replacement method provided in the first aspect above.

[0015] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, in which a program code is stored. The program code can be called by a processor to execute the robot battery replacement method provided in the first aspect above.

[0016] In a fifth aspect, an embodiment of the present application provides a computer program product. When the computer program product runs on a computer device, it enables the computer device to execute the robot battery replacement method provided in the first aspect above.

[0017] The solution provided by the present application obtains the initial state of charge of the robot. If the initial state of charge is less than or equal to the first state of charge threshold, a battery replacement request is generated. The battery replacement request is used to instruct the user to plug the charger into the charging port of the robot. When the charging port is detected to be connected to the charger, the robot is controlled to switch from battery circuit power supply to charger circuit power supply. When it is determined that the robot has been replaced with a battery, a removal prompt message is generated. The removal prompt message is used to prompt the user to remove the charger from the charging port. When the charger is detected to have been removed from the charging port, the robot is controlled to switch from charger circuit power supply to battery circuit power supply. This keeps the robot powered on during the robot battery replacement process, avoids data loss due to power failure of the robot during the robot battery replacement process, and improves the reliability of the robot battery replacement. When the robot is replaced during operation, the robot does not need to spend time waiting for shutdown and startup, which improves the robot's work efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0019] Figure 1 A schematic diagram of a scenario of a robot provided in an embodiment of the present application is shown.

[0020] Figure 2 Shows Figure 1 A structural schematic diagram of the circuit connection of the robot shown.

[0021] Figure 3 A flow chart of a robot battery replacement method provided in an embodiment of the present application is shown.

[0022] Figure 4 Another flow chart of the robot battery replacement method provided in an embodiment of the present application is shown.

[0023] Figure 5 A structural block diagram of a robot battery replacement device provided in an embodiment of the present application is shown.

[0024] Figure 6 A functional block diagram of the robot provided in an embodiment of the present application is shown.

[0025] Figure 7 A computer-readable storage medium provided in an embodiment of the present application for storing or carrying program code for implementing the robot battery replacement method provided in an embodiment of the present application is shown.

[0026] Figure 8 A computer program product provided in an embodiment of the present application for storing or carrying program codes for implementing the robot battery replacement method provided in an embodiment of the present application is shown. DETAILED DESCRIPTION

[0027] In order to make the purpose, features, and advantages of the invention of this application more obvious and easy to understand, the technical solutions in the embodiments of this application will be clearly and completely described below in conjunction with the drawings in the embodiments of this application. Obviously, the embodiments described below are only part of the embodiments of this application, not all of them. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0028] It should be understood that when used in this specification and the appended claims, the term "comprising" indicates the presence of described features, integers, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, integers, steps, operations, elements, components and / or groups thereof.

[0029] It should also be understood that the terms used in this application specification are only for the purpose of describing specific embodiments and are not intended to limit the application. As used in this application specification and the appended claims, unless the context clearly indicates otherwise, the singular forms "a", "an" and "the" are intended to include plural forms.

[0030] It should be further understood that the term “and / or” used in the specification and appended claims refers to any combination and all possible combinations of one or more of the associated listed items, and includes these combinations.

[0031] In addition, in the description of the present application, the terms "first", "second", "third", etc. are only used to distinguish the description and cannot be understood as indicating or implying relative importance.

[0032] With the continuous development and progress of robotics technology, robots can now replace humans to perform work in more and more environments, so robots are becoming more and more popular.

[0033] Currently, robots are usually powered by batteries. The battery power decreases as the robot's working hours increase. When the battery power decreases to a certain threshold, the robot needs to be shut down and the battery replaced.

[0034] However, during the robot's battery replacement process, the data that the robot has not saved in time is lost when the robot is shut down, resulting in a decrease in the robot's battery replacement reliability.

[0035] In response to the above problems, the robot battery replacement method, robot battery replacement device, robot and storage medium provided in the embodiments of the present application obtain the initial charge state of the robot. If the initial charge state is less than or equal to the first charge state threshold, a battery replacement request is generated. The battery replacement request is used to instruct the user to plug the charger into the charging port of the robot. When the charging port is detected to be connected to the charger, the robot is controlled to switch from battery circuit power supply to charger circuit power supply. When it is determined that the robot has been replaced with a battery, a removal prompt message is generated. The removal prompt message is used to prompt the user to remove the charger from the charging port. When the charger is detected to have been removed from the charging port, the robot is controlled to switch from charger circuit power supply to battery circuit power supply. This keeps the robot powered on during the robot battery replacement process, avoids data loss due to power failure of the robot during the robot battery replacement process, and improves the reliability of the robot battery replacement. When the robot replaces the battery during operation, the robot does not need to spend time waiting for shutdown and startup, which improves the robot's work efficiency.

[0036] The technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application.

[0037] See also Figure 1 , which shows a robot 100 provided in an embodiment of the present application. The robot 100 may include a robot shell 110, a control module 120 and a power module 130. The control module 120 and the power module 130 are installed in the shell 110. The shell 110 can provide installation support for the control module 120 and the power module 130.

[0038] The control module 120 is communicatively connected to the power module 130 and performs data exchange with the power module 130 .

[0039] The control module 120 is equivalent to the brain of the robot 100 , and can receive various instructions in real time and convert them into controls for the robot 100 .

[0040] In some embodiments, Figure 2 As shown, the power module 130 may include a battery circuit 131 and a charger circuit 132 , and the control module 120 may control the robot 100 to switch from power supply from the battery circuit 131 to power supply from the charger circuit 132 , or to switch from power supply from the charger circuit 132 to power supply from the battery circuit 131 .

[0041] The battery circuit 131 and the charger circuit 132 may be connected to the control module 120 via an OR logic circuit. For example, the battery circuit 131 and the charger circuit 132 may be connected to the control module 120 using a diode OR logic circuit.

[0042] The control module 120 can also be connected to the battery circuit 131 through the first communication interface, and read the battery status of the battery circuit 131 through the first communication interface. The control module 120 can also be connected to the charger circuit 132 through the second communication interface, and read the charging port voltage of the charger circuit 132 through the second communication interface, and detect whether the charging port of the charger circuit 132 is connected to the charger according to the charging port voltage.

[0043] In some embodiments, the robot 100 may also include at least any one of an audio and video module, a navigation module, an obstacle avoidance module, a communication module, a chassis motion module, a human-computer interaction module, and a business module (for example, a distribution module, an inspection module, or a cleaning module, etc.), which is not limited here.

[0044] See also Figure 3 , which shows a flow chart of a robot battery replacement method provided by an embodiment of the present application. In a specific embodiment, the robot battery replacement method can be applied to Figure 1 The control module 120 in the robot 100 shown in FIG. 1 is taken as an example below. Figure 3 The process shown is described in detail, and the robot battery replacement method may include the following steps 210 to 250.

[0045] Step 210: Obtain the initial charge state of the robot.

[0046] In the embodiment of the present application, the control module can collect the state of charge (SOC) of the battery of the robot based on the battery circuit to obtain an initial SOC.

[0047] It can be understood that SOC is the ratio of the remaining capacity of a battery after it has been used for a period of time or has been left unused for a long time to its capacity in a fully charged state, usually expressed as a percentage. The value range of SOC is 0 to 1. When SOC = 0, it means that the battery is fully discharged, and when SOC = 1, it means that the battery is fully charged.

[0048] Step 220: If the initial state of charge is less than or equal to the first state of charge threshold, a battery replacement request is generated.

[0049] In an embodiment of the present application, if the initial SOC is less than or equal to the first SOC threshold, the control module can generate a battery replacement request to instruct the user to plug the charger into the charging port of the robot according to the battery replacement request, thereby actively reminding the user to perform a battery replacement operation when the robot's SOC is less than the minimum SOC corresponding to the normal working state, thereby avoiding the robot's task failure due to low battery, which is beneficial to improving the success rate of the robot's task execution.

[0050] The battery replacement request can be used to instruct the user to plug the charger into the charging port of the robot. The first SOC threshold can be used to characterize the minimum SOC of the robot in normal working state. The first SOC threshold can be the SOC pre-set by the user or the SOC automatically generated by the control module according to multiple battery replacement processes, etc., which is not limited here.

[0051] In some embodiments, if the initial SOC is less than or equal to the first SOC threshold, after the control module generates a battery replacement request, it can obtain the first charging port voltage of the robot's charging port, and determine whether it is detected that the charging port is connected to the charger based on the first charging port voltage.

[0052] When the voltage of the first charging port is greater than or equal to the first preset voltage, it is determined that the charging port is detected to be connected to the charger; when the voltage of the first charging port is less than the first preset voltage, it is determined that the charging port is not detected to be connected to the charger.

[0053] The first preset voltage can be used to characterize the minimum charging port voltage when the robot is powered by the charger circuit. The first preset voltage can be a voltage preset by the user, or a voltage automatically generated by the control module according to multiple battery replacement processes, etc. The setting method of the first preset voltage is not limited here, and can be set according to actual needs.

[0054] Step 230: When it is detected that the charging port is connected to a charger, the robot is controlled to switch power supply from the battery circuit to the charger circuit.

[0055] In the embodiment of the present application, when the control module detects that the charging port is connected to a charger, it can control the robot to switch from battery circuit power supply to charger circuit power supply.

[0056] Among them, the battery circuit power supply is used to characterize that the robot is powered by a battery, and the charger circuit power supply is used to characterize that the robot is powered by a charger.

[0057] In some embodiments, when the control module detects that the robot is connected to a charger, it can obtain the initial battery voltage of the robot, and when the voltage of the first charging port is greater than the initial battery voltage, the control module switches the robot from being powered by the battery circuit to being powered by the charger circuit. This enables the robot to be controlled to switch its power supply circuit when it is detected that the charging voltage of the charger connected to the charging port is greater than the battery voltage of the robot, so that the robot can work normally after the power supply circuit is switched, which is beneficial to improving the success rate of battery replacement of the robot.

[0058] The initial battery voltage is the battery voltage at the moment when it is detected that the charging port is connected to the charger.

[0059] In some embodiments, when the control module detects that the charging port is connected to the charger, it controls the robot to switch power supply from the battery circuit to the charger circuit, and then obtains the current battery identification of the robot, and determines whether the battery of the robot has been replaced based on the initial battery identification and the current battery identification of the robot. Judging whether the battery of the robot has been replaced based on the battery identification is conducive to improving the accuracy of judging the battery replacement operation of the robot.

[0060] The current battery identification is the battery identification after the control battery circuit power supply is switched to the charger circuit power supply, and the initial battery identification is the battery identification before the control battery circuit power supply is switched to the charger circuit power supply.

[0061] The control module may pre-store an initial battery identification, and the control module may read the pre-stored initial battery identification; the control module may also generate an upload prompt message, and receive the initial battery identification uploaded by the user according to the upload prompt message, etc., which is not limited here.

[0062] The upload prompt information can be used to prompt the user to upload the initial battery identification to the control module. The upload prompt information can be at least any one of text prompt information, sound prompt information or light prompt information, etc., which is not limited here.

[0063] When the initial battery identification is the same as the current battery identification, it is determined that the battery of the robot has not been replaced; when the initial battery identification is different from the current battery identification, it is determined that the battery of the robot has been replaced.

[0064] Step 240: When it is determined that the battery of the robot has been replaced, a removal prompt message is generated.

[0065] In an embodiment of the present application, when the control module detects that the charging port is connected to the charger, it controls the robot to switch from battery circuit power supply to charger circuit power supply. When it is determined that the battery of the robot has been replaced, a removal prompt message can be generated.

[0066] Among them, the removal prompt information can be used to prompt the user to remove the charger from the charging port. The removal prompt information can be at least any one of text prompt information, sound prompt information or light prompt information, etc., which is not limited here.

[0067] Specifically, when the control module detects that the charging port is connected to the charger, it controls the robot to switch power supply from the battery circuit to the charger circuit. It can then obtain the current battery identification of the robot, and determine whether the battery of the robot has been replaced based on the initial battery identification and the current battery identification of the robot. When it is determined that the battery of the robot has been replaced based on the initial battery identification and the current battery identification, a removal prompt message is generated.

[0068] In some embodiments, when the control module determines that the battery of the robot has been replaced, after generating a removal prompt message, it can obtain the second charging port voltage of the robot's charging port and determine whether it is detected that the charger has been removed from the charging port based on the second charging port voltage.

[0069] When the second charging port voltage is less than or equal to the second preset voltage, it is determined that the charger has been removed from the charging port; when the second charging port voltage is greater than the second preset voltage, it is determined that the charger has not been removed from the charging port.

[0070] Among them, the second preset voltage is smaller than the first preset voltage. The second preset voltage can be a voltage pre-set by the user, or a voltage automatically generated by the control module according to multiple battery replacement processes, etc. The setting method of the second preset voltage is not limited here, and can be set according to actual needs.

[0071] Step 250: When it is detected that the charger has been removed from the charging port, control the robot to switch power supply from the charger circuit to the battery circuit.

[0072] In the embodiment of the present application, when the control module determines that the robot has been replaced with a battery, after generating a removal prompt message, when detecting that the charger has been removed from the charging port, the robot can be controlled to switch from the charger circuit power supply to the battery circuit power supply, so that the robot is always powered on during the robot battery replacement process, avoiding data loss due to power failure of the robot during the robot battery replacement process, and improving the reliability of the robot battery replacement. When the robot replaces the battery during operation, the robot does not need to spend time waiting for shutdown and startup, which improves the robot's work efficiency.

[0073] Specifically, when the control module determines that the robot's battery has been replaced, after generating a removal prompt message, it can obtain the second charging port voltage of the robot's charging port, and determine whether it is detected that the charger has been removed from the charging port based on the second charging port voltage. When it is determined that the charger has been removed from the charging port based on the second charging port voltage, the robot is controlled to switch from charger circuit power supply to battery circuit power supply.

[0074] In some embodiments, when the control module detects that the charger has been removed from the charging port, it controls the robot to switch power supply from the charger circuit to the battery circuit, and then generates a battery replacement record. The battery replacement record is sent to the cloud platform through the network. The cloud platform receives and stores the battery replacement record, so that the user can trace the battery replacement process of the robot according to the battery replacement record, thereby improving the user experience during the robot's battery replacement process.

[0075] Among them, the battery replacement record may include the initial battery identification, current battery identification, initial SOC, current SOC, etc., which are not limited here.

[0076] The control module is connected to the cloud platform through the network and exchanges data with the cloud platform through the network. The cloud platform can be an independent physical cloud platform, or a cloud platform cluster or distributed system composed of multiple physical cloud platforms. It can also be any of the cloud platforms that provide basic cloud computing services such as cloud services, cloud databases, cloud computing, cloud functions, cloud storage, network services, cloud communications, middleware services, domain name services, security services, content delivery networks (CDN), big data or artificial intelligence platforms, etc., without limitation here.

[0077] The network can be any one of a ZigBee network, a Bluetooth (BT) network, a Wireless Fidelity (Wi-Fi) network, a Thread network, a Long Range Radio (LoRa) network, a Low-Power Wide-Area Network (LPWAN), an infrared network, a Narrow Band Internet of Things (NB-IoT), a Controller Area Network (CAN), a Digital Living Network Alliance (DLNA) network, a Wide Area Network (WAN), a Local Area Network (LAN), a Metropolitan Area Network (MAN) or a Wireless Personal Area Network (WPAN), etc. The type of network is not limited here and can be set according to actual needs.

[0078] The solution provided by the present application obtains the initial state of charge of the robot. If the initial state of charge is less than or equal to the first state of charge threshold, a battery replacement request is generated. The battery replacement request is used to instruct the user to plug the charger into the charging port of the robot. When the charging port is detected to be connected to the charger, the robot is controlled to switch from battery circuit power supply to charger circuit power supply. When it is determined that the robot has been replaced with a battery, a removal prompt message is generated. The removal prompt message is used to prompt the user to remove the charger from the charging port. When the charger is detected to have been removed from the charging port, the robot is controlled to switch from charger circuit power supply to battery circuit power supply. This keeps the robot powered on during the robot battery replacement process, avoids data loss due to power failure of the robot during the robot battery replacement process, and improves the reliability of the robot battery replacement. When the robot is replaced during operation, the robot does not need to spend time waiting for shutdown and startup, which improves the robot's work efficiency.

[0079] See also Figure 4 , which shows a flow chart of a robot battery replacement method provided by another embodiment of the present application. In a specific embodiment, the robot battery replacement method can be applied to Figure 1 The control module 120 in the robot 100 shown in FIG. 1 is taken as an example below. Figure 4 The process shown is described in detail, and the robot battery replacement method may include the following steps 310 to 360.

[0080] Step 310: Obtain the initial charge state of the robot.

[0081] Step 320: If the initial state of charge is less than or equal to the first state of charge threshold, a battery replacement request is generated.

[0082] Step 330: When it is detected that the charging port is connected to a charger, the robot is controlled to switch power supply from the battery circuit to the charger circuit.

[0083] In this embodiment, step 310, step 320 and step 330 may refer to the contents of the corresponding steps in the aforementioned embodiment, which will not be described in detail here.

[0084] Step 340: When it is determined that the battery of the robot has been replaced, determine whether the current battery of the robot is a qualified battery.

[0085] In this embodiment, when the control module detects that the charging port is connected to the charger, it controls the robot to switch power supply from the battery circuit to the charger circuit. When it is determined that the battery of the robot has been replaced, it can determine whether the current battery of the robot is a qualified battery.

[0086] Specifically, when the control module detects that the charging port is connected to the charger, it controls the robot to switch power supply from the battery circuit to the charger circuit. When it is determined that the robot's battery has been replaced, the current SOC and current battery health status (State of Health, SOH) of the robot's current battery can be obtained, and whether the current battery is a qualified battery can be determined based on the current SOC and current SOH.

[0087] If the current SOC is greater than or equal to the second SOC threshold and the current SOH is greater than or equal to the SOH threshold, the current battery is determined to be a qualified battery; if the current SOC is less than the second SOC threshold, and / or the current SOH is less than the SOH threshold, the current battery is determined to be an unqualified battery.

[0088] The second SOC threshold and SOH threshold can be the SOC and SOH preset by the user, or can be the SOC and SOH automatically generated by the control module according to multiple battery replacement processes, etc., which are not limited here.

[0089] Step 350: When it is determined that the current battery is a qualified battery, a removal prompt message is generated.

[0090] In this embodiment, when the control module determines that the robot's battery has been replaced, it determines whether the robot's current battery is a qualified battery. When the current battery is determined to be a qualified battery, a removal prompt message can be generated. This enables the user to remove the charger after determining that the robot has been replaced with a qualified battery. The qualified current battery can power the robot normally, thus avoiding the situation where the unqualified battery cannot power the robot normally when the charger is removed due to the replacement of an unqualified battery. This is beneficial to improving the success rate of battery replacement for the robot.

[0091] Step 360: When it is detected that the charger has been removed from the charging port, control the robot to switch power supply from the charger circuit to the battery circuit.

[0092] In this embodiment, step 360 may refer to the contents of the corresponding steps in the aforementioned embodiments, which will not be described in detail here.

[0093] The solution provided in this embodiment obtains the initial state of charge of the robot. If the initial state of charge is less than or equal to the first state of charge threshold, a battery replacement request is generated. When the charging port is detected to be connected to a charger, the robot is controlled to switch from battery circuit power supply to charger circuit power supply. When it is determined that the robot has been replaced with a battery, it is determined whether the current battery of the robot is a qualified battery. When it is determined that the current battery is a qualified battery, a removal prompt message is generated. When it is detected that the charger has been removed from the charging port, the robot is controlled to switch from charger circuit power supply to battery circuit power supply. This ensures that the robot is always powered on during the robot battery replacement process, avoids data loss due to power failure of the robot during the robot battery replacement process, and improves the reliability of the robot battery replacement. When the robot is replaced during operation, the robot does not need to spend time waiting for shutdown and startup, which improves the robot's work efficiency.

[0094] Furthermore, after determining that the robot has been replaced with a qualified battery, the user is prompted to remove the charger, and the qualified current battery can power the robot normally. This avoids the situation where the unqualified battery cannot power the robot normally when the charger is removed due to the replacement of an unqualified battery, which is beneficial to improving the success rate of the robot's battery replacement.

[0095] See also Figure 5 , which shows a robot battery replacement device 500 provided by an embodiment of the present application. The robot battery replacement device 500 can be applied to Figure 1 The control module 120 in the robot 100 shown in FIG. 1 is taken as an example below. Figure 5 The robot battery replacement device 500 shown is described in detail. The robot battery replacement device 500 may include a state acquisition module 510, a request generation module 520, a first control module 530, an information generation module 540 and a second control module 550.

[0096] The state acquisition module 510 can be used to obtain the initial charge state of the robot; the request generation module 520 can be used to generate a battery replacement request if the initial charge state is less than or equal to the first charge state threshold, and the battery replacement request can be used to instruct the user to plug the charger into the charging port of the robot; the first control module 530 can be used to control the robot to switch from battery circuit power supply to charger circuit power supply when it detects that the charging port is connected to the charger; the information generation module 540 can be used to generate removal prompt information when it is determined that the battery of the robot has been replaced, and the removal prompt information can be used to prompt the user to remove the charger from the charging port; the second control module 550 can be used to control the robot to switch from charger circuit power supply to battery circuit power supply when it detects that the charger has been removed from the charging port.

[0097] In some implementations, the information generating module 540 may include a first determining unit and a first generating unit.

[0098] The first determination unit may be used to determine whether the current battery of the robot is a qualified battery when it is determined that the battery of the robot has been replaced; the first generation unit may be used to generate removal prompt information when it is determined that the current battery is a qualified battery.

[0099] In some implementations, the first determining unit may include an acquiring subunit, a first determining subunit, and a second determining subunit.

[0100] The acquisition subunit can be used to acquire the current state of charge and the current battery health state of the current battery when it is determined that the battery of the robot has been replaced; the first determination subunit can be used to determine that the current battery is a qualified battery if the current state of charge is greater than or equal to a second state of charge threshold and the current battery health state is greater than or equal to a battery health state threshold; the second determination subunit can be used to determine that the current battery is an unqualified battery if the current state of charge is less than the second state of charge threshold and / or the current battery health state is less than the battery health state threshold.

[0101] In some embodiments, the robot battery replacement device 500 may further include an identification acquisition module and a first determination module.

[0102] The identification acquisition module can be used to obtain the current battery identification of the robot before generating the removal prompt information when the information generation module 540 determines that the battery of the robot has been replaced; the first determination module can be used to determine whether the battery of the robot has been replaced based on the initial battery identification and the current battery identification of the robot.

[0103] In some implementations, the information generating module 540 may further include a second generating unit.

[0104] The second generating unit may be configured to generate removal prompt information when it is determined that the battery of the robot has been replaced according to the initial battery identification and the current battery identification.

[0105] In some embodiments, the robot battery replacement device 500 may further include a voltage acquisition module and a second determination module.

[0106] The voltage acquisition module can be used for the first control module 530 to acquire the voltage of the first charging port of the robot before controlling the robot to switch from battery circuit power supply to charger circuit power supply when the first control module 530 detects that the charging port is connected to the charger; the second determination module can be used to determine whether it is detected that the charging port is connected to the charger based on the first charging port voltage.

[0107] In some implementations, the first control module 530 may include an acquisition unit and a control unit.

[0108] The acquisition unit can be used to obtain the initial battery voltage of the robot when it detects that the charging port is connected to the charger; the control unit can be used to control the robot to switch from battery circuit power supply to charger circuit power supply when the voltage of the first charging port is greater than the initial battery voltage.

[0109] In some implementations, the second determining module may include a second determining unit and a third determining unit.

[0110] The second determination unit can be used to determine that the charging port is connected to the charger when the voltage of the first charging port is greater than or equal to the first preset voltage; the third determination unit can be used to determine that the charging port is not connected to the charger when the voltage of the first charging port is less than the first preset voltage.

[0111] The solution provided in this embodiment obtains the initial state of charge of the robot. If the initial state of charge is less than or equal to the first state of charge threshold, a battery replacement request is generated. The battery replacement request is used to instruct the user to plug the charger into the charging port of the robot. When the charging port is detected to be connected to the charger, the robot is controlled to switch from battery circuit power supply to charger circuit power supply. When it is determined that the battery of the robot has been replaced, a removal prompt message is generated. The removal prompt message is used to prompt the user to remove the charger from the charging port. When the charger is detected to have been removed from the charging port, the robot is controlled to switch from charger circuit power supply to battery circuit power supply. This keeps the robot powered on during the robot battery replacement process, avoids data loss due to power failure of the robot during the robot battery replacement process, and improves the reliability of the robot battery replacement. When the robot is replaced during operation, the robot does not need to spend time waiting for shutdown and startup, which improves the robot's work efficiency.

[0112] It should be noted that each embodiment in this specification is described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same and similar parts between the embodiments can be referred to each other. For the device embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiment. Any processing method described in the method embodiment can be implemented by the corresponding processing module in the device embodiment, and will not be repeated one by one in the device embodiment.

[0113] In addition, each functional module in each embodiment of the present application can be integrated into a processing module, or each module can exist physically separately, or two or more modules can be integrated into one module. The above integrated modules can be implemented in the form of hardware or software functional modules.

[0114] See also Figure 6 , which shows a functional block diagram of a robot 600 provided by an embodiment of the present application, the robot 600 may include one or more of the following components: a memory 610, a processor 620, and one or more applications, wherein the one or more applications may be stored in the memory 610 and configured to be executed by the one or more processors 620, and the one or more applications are configured to execute the method described in the aforementioned method embodiment.

[0115] The memory 610 may include a random access memory (RAM) or a read-only memory (ROM). The memory 610 may be used to store instructions, programs, codes, code sets or instruction sets. The memory 610 may include a program storage area and a data storage area, wherein the program storage area may store instructions for implementing an operating system, instructions for implementing at least one function (such as detecting that the charging port is connected to a charger, controlling the power supply from the battery circuit to the charger circuit, determining that the battery has been replaced, generating a removal prompt message, prompting the user, removing the charger, detecting that the charger has been removed, controlling the power supply from the charger circuit to the battery circuit, determining whether the current battery is a qualified battery, determining that the current battery is a qualified battery, obtaining the current state of charge, obtaining the current battery health status, determining that the current battery is an unqualified battery, obtaining the current battery identification, determining whether the battery has been replaced, obtaining the first charging port voltage, obtaining the initial battery voltage, obtaining the initial state of charge, generating a battery replacement request, instructing the user and plugging in the charger, etc.), instructions for implementing the following various method embodiments, etc. The storage data area can also store data created by the robot 600 during use (such as robot, charger, battery circuit power supply, charger circuit power supply, removal prompt information, user, current battery, qualified battery, current state of charge, current battery health status, first state of charge threshold, unqualified battery, current battery identification, initial battery identification, first charging port voltage, initial battery voltage, initial state of charge, second state of charge threshold, battery replacement request and charging port), etc.

[0116] The processor 620 may include one or more processing cores. The processor 620 uses various interfaces and lines to connect various parts of the entire robot 600, and executes various functions and processes data of the robot 600 by running or executing instructions, programs, code sets or instruction sets stored in the memory 610, and calling data stored in the memory 610. Optionally, the processor 620 can be implemented in at least one hardware form of digital signal processing (DSP), field-programmable gate array (FPGA), programmable logic array (PLA), etc. The processor 620 can integrate one or a combination of a central processing unit (CPU), a graphics processing unit (GPU), and a modem. Among them, the CPU mainly processes the operating system, user interface, and application programs; the GPU is responsible for rendering and drawing display content; and the modem is used to process wireless communications. It can be understood that the above-mentioned modem may not be integrated into the processor 620, but may be implemented separately through a communication chip.

[0117] See also Figure 7 , which shows a structural block diagram of a computer-readable storage medium provided in an embodiment of the present application. The computer-readable storage medium 700 stores a program code 710, which can be called by a processor to execute the method described in the above method embodiment.

[0118] The computer readable storage medium 700 can be an electronic memory such as a flash memory, an EEPROM (electrically erasable programmable read-only memory), an EPROM, a hard disk, or a ROM. Optionally, the computer readable storage medium 700 includes a non-transitory computer-readable storage medium. The computer readable storage medium 700 has storage space for program code 710 that performs any method steps in the above method. These program codes can be read from or written to one or more computer program products. The program code 710 can be compressed, for example, in an appropriate form.

[0119] See also Figure 8, which shows a structural block diagram of a computer program product 800 provided in an embodiment of the present application. The computer program product 800 includes a computer program / instruction 810, and the computer program / instruction 810 is stored in a computer-readable storage medium of a computer device. When the computer program product 800 is run on a computer device, a processor of the computer device reads the computer program / instruction 810 from the computer-readable storage medium, and the processor executes the computer program / instruction 810, so that the computer device performs the method described in the above method embodiment.

[0120] The solution provided in this embodiment obtains the initial state of charge of the robot. If the initial state of charge is less than or equal to the first state of charge threshold, a battery replacement request is generated. The battery replacement request is used to instruct the user to plug the charger into the charging port of the robot. When the charging port is detected to be connected to the charger, the robot is controlled to switch from battery circuit power supply to charger circuit power supply. When it is determined that the battery of the robot has been replaced, a removal prompt message is generated. The removal prompt message is used to prompt the user to remove the charger from the charging port. When the charger is detected to have been removed from the charging port, the robot is controlled to switch from charger circuit power supply to battery circuit power supply. This keeps the robot powered on during the robot battery replacement process, avoids data loss due to power failure of the robot during the robot battery replacement process, and improves the reliability of the robot battery replacement. When the robot is replaced during operation, the robot does not need to spend time waiting for shutdown and startup, which improves the robot's work efficiency.

[0121] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit it. Although the present application 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 make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A robot battery replacement method, characterized in that: include: Get the robot's initial charge state; If the initial state of charge is less than or equal to a first state of charge threshold, a battery replacement request is generated, where the battery replacement request is used to instruct a user to plug a charger into a charging port of the robot; When it is detected that the charging port is connected to a charger, the robot is controlled to switch from being powered by a battery circuit to being powered by a charger circuit; When it is determined that the battery of the robot has been replaced, generating a removal prompt message, wherein the removal prompt message is used to prompt the user to remove the charger from the charging port; When it is detected that the charger has been removed from the charging port, the robot is controlled to switch from being powered by the charger circuit to being powered by the battery circuit.

2. The robot battery replacement method according to claim 1, characterized in that: When it is determined that the battery of the robot has been replaced, generating a removal prompt message includes: When it is determined that the battery of the robot has been replaced, determining whether the current battery of the robot is a qualified battery; When it is determined that the current battery is a qualified battery, the removal prompt information is generated.

3. The robot battery replacement method according to claim 2, characterized in that: When it is determined that the battery of the robot has been replaced, determining whether the current battery of the robot is a qualified battery comprises: When it is determined that the battery of the robot has been replaced, obtaining the current state of charge and the current battery health status of the current battery; If the current state of charge is greater than or equal to a second state of charge threshold and the current battery health state is greater than or equal to a battery health state threshold, determining that the current battery is a qualified battery; If the current state of charge is less than the second state of charge threshold, and / or the current battery health state is less than the battery health state threshold, it is determined that the current battery is an unqualified battery.

4. The robot battery replacement method according to claim 1, characterized in that: When it is determined that the battery of the robot has been replaced, before generating the removal prompt information, the robot battery replacement method further includes: Get the current battery ID of the robot; Determining whether the battery of the robot has been replaced according to the initial battery identification of the robot and the current battery identification; When it is determined that the battery of the robot has been replaced, generating a removal prompt message includes: When it is determined that the battery of the robot has been replaced according to the initial battery identification and the current battery identification, the removal prompt information is generated.

5. The robot battery replacement method according to any one of claims 1 to 4, characterized in that: When it is detected that the charging port is connected to a charger, before controlling the robot to switch from battery circuit power supply to charger circuit power supply, the robot power replacement method further includes: Obtaining a voltage of a first charging port of the robot; It is determined whether it is detected that the charging port is connected to the charger according to the voltage of the first charging port.

6. The robot battery replacement method according to claim 5, characterized in that: When detecting that the charging port is connected to a charger, controlling the robot to switch from battery circuit power supply to charger circuit power supply comprises: When detecting that the charging port is connected to the charger, obtaining an initial battery voltage of the robot; When the voltage of the first charging port is greater than the initial battery voltage, the robot is controlled to switch from being powered by the battery circuit to being powered by the charger circuit.

7. The robot battery replacement method according to claim 5, characterized in that: The determining, according to the voltage of the first charging port, whether it is detected that the charging port is connected to the charger comprises: When the voltage of the first charging port is greater than or equal to a first preset voltage, it is determined that the charging port is connected to the charger; When the voltage of the first charging port is less than the first preset voltage, it is determined that the charging port is not detected to be connected to the charger.

8. A robot battery replacement device, characterized in that: include: A state acquisition module is used to obtain the initial charge state of the robot; a request generation module, configured to generate a battery replacement request if the initial state of charge is less than or equal to a first state of charge threshold, wherein the battery replacement request is used to instruct a user to plug a charger into a charging port of the robot; A first control module, configured to control the robot to switch from battery circuit power supply to charger circuit power supply when detecting that the charging port is connected to a charger; an information generating module, configured to generate a removal prompt message when it is determined that the battery of the robot has been replaced, wherein the removal prompt message is used to prompt a user to remove the charger from the charging port; The second control module is used to control the robot to switch from being powered by the charger circuit to being powered by the battery circuit when it is detected that the charger has been removed from the charging port.

9. A robot, characterized in that: include: Memory; One or more processors coupled to the memory; One or more applications, wherein the one or more applications are stored in the memory and configured to be executed by the one or more processors, and the one or more applications are configured to execute the robot battery replacement method as described in any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores program code, and the program code can be called by a processor to execute the robot battery replacement method as described in any one of claims 1 to 7.

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