Charging system, method, handling robot and power supply equipment

Abstract

The embodiment of the present invention discloses a charging system, method, handling robot and power supply equipment, wherein the system includes: a server, a handling robot and a power supply equipment, the server is used to send a scheduling instruction to the handling robot; the handling robot is used to carry the charging device to the power supply equipment according to the scheduling instruction, and directly send or send the charging instruction to the power supply equipment through the server; the power supply equipment is used to adjust the power supply interface according to the charging instruction so that the power supply interface is aligned with the charging interface of the charging device, and directly send or send the charging response to the handling robot through the server after alignment; the handling robot is also used to move the charging device toward the charging interface of the charging device according to the charging response, so that the charging interface and the power supply interface are connected for charging. The embodiment of the present invention solves the problems of wasting labor costs and low charging and maintenance efficiency in the existing charging process, and realizes the automation of the charging process.

Description

Technical Field

[0001] The embodiments of the present invention relate to the field of automation technology, and in particular to a charging system, method, handling robot and power supply equipment. Background Art

[0002] In a workstation composed of large communication devices, a large number of large communication devices are usually configured to work together, and these communication devices need to be charged for normal use.

[0003] In the prior art, these communication devices are usually charged and maintained manually, which not only wastes manpower costs but also has low charging and maintenance efficiency. Summary of the invention

[0004] The embodiments of the present invention provide a charging system, method, power supply equipment and a handling robot to achieve the effect of automating the charging process of the equipment.

[0005] In a first aspect, an embodiment of the present invention provides a charging system, including a server, a handling robot and a power supply device; wherein:

[0006] The server is used to send a scheduling instruction to the transport robot;

[0007] The transport robot is used to transport the charging device to the power supply device according to the scheduling instruction and send a charging instruction to the power supply device;

[0008] The power supply device is used to adjust the power supply interface according to the charging instruction so that the power supply interface is aligned with the charging interface of the charging device, and send a charging response to the handling robot after alignment;

[0009] The transport robot is further used to move the charging device toward the charging interface according to the charging response, so that the charging interface and the power supply interface are docked for charging.

[0010] Optionally, an identification code and / or an infrared receiving device is provided at the charging interface of the charging device; accordingly,

[0011] The power supply device is specifically used to locate the position of the charging interface based on the identification code recognition technology and / or infrared positioning technology according to the charging instruction, and adjust the position of the power supply interface so that the power supply interface is aligned with the charging interface.

[0012] Optionally, the transport robot is further used to rotate the charging device at a preset speed when transporting the charging device to the power supply device;

[0013] Accordingly, the power supply device is also used for:

[0014] According to the charging instruction, receiving an instruction for the charging device to stop rotating sent by the transport robot;

[0015] According to the instruction of the charging device to stop rotating, the position of the charging interface is located in combination with the identification code recognition result and / or infrared positioning technology, and the position of the power supply interface is adjusted so that the power supply interface is aligned with the charging interface.

[0016] Optionally, the position adjustment of the power supply device includes horizontal and / or vertical position adjustment.

[0017] Optionally, the transport robot is further used to send a location confirmation instruction to the server when walking to the location of the charging device or the location of the power supply device;

[0018] The server is also used to receive the position confirmation instruction and feed back the corresponding confirmation result to the transport robot.

[0019] Optionally, the server is further used for:

[0020] After the power supply interface and the charging interface are connected for charging, the charging time of the charging device is obtained;

[0021] When the charging time does not exceed the time threshold, sending a waiting instruction to the transport robot so that the transport robot waits for the charging device to complete charging and transports the charging device to the original position;

[0022] When the charging time exceeds a time threshold, sending an evacuation instruction to the transport robot so that the transport robot evacuates the current position;

[0023] Correspondingly, the transport robot is also used to receive the waiting instruction or the evacuation instruction and perform corresponding actions.

[0024] In a second aspect, an embodiment of the present invention further provides a charging system, including a server and a transport robot; wherein:

[0025] The server is used to send a scheduling instruction to the transport robot;

[0026] The transport robot is used to transport the charging device to the power supply device according to the scheduling instruction, and align the charging interface of the charging device with the power supply interface of the power supply device, and move the charging device toward the charging interface after alignment so that the charging interface and the power supply interface of the power supply device can be docked for charging.

[0027] Optionally, an identification code and / or an infrared receiving device is provided at the charging interface of the charging device; accordingly,

[0028] The handling robot is specifically used for:

[0029] The power supply interface is located based on identification code recognition technology and / or infrared positioning technology, and the position of the charging device is adjusted to align the charging interface with the power supply interface.

[0030] Optionally, adjusting the position of the charging device includes rotating the charging device according to a first preset angle and / or raising or lowering the charging device according to a preset height.

[0031] Optionally, the transport robot is also used for:

[0032] After the charging device is moved to the power supply device, the charging device is continuously rotated at a preset speed. When the identification code scanning feedback and / or infrared emission feedback sent directly by the power supply device or through the server is received, the rotation of the charging device is stopped to align the charging interface with the power supply interface.

[0033] In a third aspect, an embodiment of the present invention further provides a charging method, which is applied to a power supply device, comprising:

[0034] Receive charging instructions from the server;

[0035] Aligning the power supply interface with the charging interface of the charging device according to the charging instruction;

[0036] According to the alignment, a charging response is sent to the transport robot so that the transport robot moves the charging device toward the charging interface of the charging device, so that the charging interface of the charging device is docked with the power supply interface for charging.

[0037] Optionally, aligning the power supply interface with the charging interface of the charging device according to the charging instruction includes:

[0038] According to the charging instruction, the position of the charging interface is located based on identification code recognition technology and / or infrared positioning technology, and the position of the power supply interface is adjusted so that the power supply interface is aligned with the charging interface of the charging device.

[0039] Optionally, aligning the power supply interface with the charging interface of the charging device according to the charging instruction further includes:

[0040] receiving an instruction for the charging device to stop rotating;

[0041] According to the instruction of the charging device to stop rotating, the position of the charging interface is located in combination with the identification code recognition result and / or infrared positioning technology, and the position of the power supply interface is adjusted so that the power supply interface is aligned with the charging interface.

[0042] Optionally, according to the charging instruction, locating the position of the charging interface based on an identification code recognition technology, and adjusting the position of the power supply interface so that the power supply interface is aligned with the charging interface of the charging device, including:

[0043] interacting with the charging device and sending interaction information to the server or the handling robot, wherein the interaction information is used to determine whether the power supply device scans the identification code on the charging interface;

[0044] receiving feedback from the transport robot on the position rotation adjustment of the charging interface according to the interaction information;

[0045] According to the position rotation adjustment feedback, when the identification code on the charging interface is scanned, combined with the recognition result of the identification code, the position of the power supply interface is adjusted to align the power supply interface with the charging interface.

[0046] Optionally, according to the charging instruction, locating the position of the charging interface based on infrared positioning technology, and adjusting the position of the power supply interface so that the power supply interface is aligned with the charging interface of the charging device, including:

[0047] sending an infrared signal to the charging device,

[0048] receiving feedback from the transport robot on the position rotation adjustment of the charging device according to the infrared signal reception result of the charging device;

[0049] According to the position rotation adjustment feedback, when the transmitted infrared signal is received by the charging device, the position of the power supply interface is adjusted in combination with the infrared positioning result so that the power supply interface is aligned with the charging interface.

[0050] Optionally, the position adjustment of the power supply device includes horizontal and / or vertical position adjustment.

[0051] In a fourth aspect, an embodiment of the present invention further provides a charging method, which is applied to a transport robot, comprising:

[0052] Receive scheduling instructions from the server;

[0053] According to the dispatching instruction, the charging equipment is moved to the power supply equipment;

[0054] Align the charging interface of the charging device with the power supply interface of the power supply device;

[0055] According to the alignment, the charging device is moved toward the charging interface so that the charging interface and the power supply interface are docked for charging.

[0056] Optionally, aligning a charging interface of the charging device with a power supply interface of a power supply device includes:

[0057] The power supply interface is located based on identification code recognition technology and / or infrared positioning technology, and the position of the charging device is adjusted to align the charging interface with the power supply interface.

[0058] Optionally, after the charging device is moved to the power supply device, the method further includes:

[0059] The charging device is continuously rotated at a preset speed, and when identification code scanning feedback and / or infrared emission feedback of the power supply device is received, the rotation of the charging device is stopped so as to align the charging interface with the power supply interface.

[0060] Optionally, locating the position of the power supply interface based on identification code recognition technology, and adjusting the position of the charging device so that the charging interface is aligned with the power supply interface, includes:

[0061] Receiving interactive information sent by the power supply device, wherein the interactive information is used to determine whether the power supply device scans the identification code on the charging interface;

[0062] Initially rotating the position of the charging device according to the interaction information;

[0063] According to the result of the initial rotation and in combination with the received identification code recognition result, the charging interface is aligned with the power supply interface by adjusting the position of the charging device.

[0064] Optionally, locating the power supply interface based on infrared positioning technology, and adjusting the position of the charging device so that the charging interface is aligned with the power supply interface, includes:

[0065] Initially rotating the position of the charging device according to the infrared signal reception result of the charging device;

[0066] According to the result of the initial rotation and in combination with the received infrared positioning result, the charging interface is aligned with the power supply interface by adjusting the position of the charging device.

[0067] Optionally, the position adjustment of the charging device includes rotating according to a first preset angle and / or raising and lowering according to a preset height.

[0068] In a fifth aspect, an embodiment of the present invention further provides a transport robot, comprising:

[0069] one or more processors;

[0070] a storage device for storing one or more programs,

[0071] When the one or more programs are executed by the one or more processors, the one or more processors implement the charging method as described in any embodiment of the present invention.

[0072] In a sixth aspect, an embodiment of the present invention further provides a power supply device, including:

[0073] Camera and / or infrared transmitter, where:

[0074] The camera is used to collect the identification code at the charging interface of the charging device;

[0075] The infrared emitting device is used to emit infrared signals when positioning the charging device;

[0076] one or more processors;

[0077] a storage device for storing one or more programs,

[0078] When the one or more programs are executed by the one or more processors, the one or more processors implement the charging method as described in any embodiment of the present invention.

[0079] Optionally, the power supply equipment is a charging pile.

[0080] The charging system provided by the embodiment of the present invention includes: a server, a handling robot and a power supply device, and the three can communicate with each other wirelessly, wherein the handling robot carries the charging device to the power supply device according to the scheduling instruction sent by the server, and then sends a charging instruction to the power supply device; the power supply device adjusts the power supply interface according to the charging instruction to align the power supply interface with the charging interface of the charging device, and sends a charging response to the handling robot after alignment; the handling robot moves the charging device toward the charging interface of the charging device according to the charging response, so that the charging interface and the power supply interface are connected for charging. The embodiment of the present invention solves the problem of waste of manpower costs in the existing charging process and low charging and maintenance efficiency of the charging equipment. By combining the handling robot with the power supply device that can be adjusted in position, the automation of the charging process is realized, and the efficiency of charging and maintenance of the charging equipment is improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0081] Figure 1 is a schematic diagram of the structure of a charging system provided in Embodiment 1 of the present invention;

[0082] Figure 2 is a schematic diagram of the structure of a charging system provided in Embodiment 2 of the present invention;

[0083] Figure 3 is a flow chart of a charging method provided in Embodiment 3 of the present invention;

[0084] Figure 4 is a flow chart of a charging method provided by Embodiment 4 of the present invention;

[0085] Figure 5 is a flow chart of a charging method provided in Embodiment 5 of the present invention;

[0086] Figure 6 is a flow chart of a charging method provided in Embodiment 6 of the present invention;

[0087] Figure 7 is a structural schematic diagram of a transport robot provided by Embodiment 7 of the present invention;

[0088] Figure 8 It is a structural schematic diagram of a power supply device provided in Embodiment 8 of the present invention. DETAILED DESCRIPTION

[0089] The present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It is to be understood that the specific embodiments described herein are only used to explain the present invention, rather than to limit the present invention. It should also be noted that, for ease of description, only parts related to the present invention, rather than all structures, are shown in the accompanying drawings.

[0090] Embodiment 1

[0091] Figure 1 Schematic diagram of the charging system provided by the first embodiment of the present invention. This embodiment is applicable to the case of charging a charging device, especially when a large charging device is carried by a handling robot for charging, and the power supply device can adjust its power supply interface to align with the charging interface of the charging device for charging. Figure 1 As shown, the charging system includes: a server 110, a handling robot 120 and a power supply device 130, wherein:

[0092] The server 110 is used to send a dispatch instruction to the transport robot 120;

[0093] The transport robot 120 is used to transport the charging device to the power supply device 130 according to the scheduling instruction, and directly send the charging instruction to the power supply device 130 or send the charging instruction to the power supply device 130 through the server 110;

[0094] The power supply device 130 is used to adjust the power supply interface according to the charging instruction so that the power supply interface is aligned with the charging interface of the charging device, and directly send a charging response or send a charging response to the handling robot 120 through the server 110 after alignment;

[0095] The transport robot 120 is further used to move the charging device toward the charging interface of the charging device according to the charging response, so that the charging interface of the charging device and the power supply interface of the power supply device can be docked for charging.

[0096] Charging equipment, such as large communication equipment in a communication workstation, can monitor its own power consumption in real time during its operation. When it is detected that the remaining power is lower than a preset power threshold, a charging request can be sent to the server 110, and the server 110 sends a dispatch instruction to the handling robot 120 according to the received charging request; or, the server 110 counts the remaining power information of the charging equipment in real time, and uses a monitoring program to monitor the remaining power of the charging equipment in real time. When it is detected that the remaining power of the charging equipment is lower than a preset power threshold, a charging request is automatically generated and the handling robot 120 is dispatched. Among them, the charging request includes the number of the charging equipment, and the power threshold can be set according to the minimum power consumption required for the normal operation of the charging equipment. Through wireless data communication between the server 110 and the charging equipment, the charging status of the charging equipment can be automatically monitored in real time, which can save the manpower cost required for manual monitoring and improve the maintenance efficiency of the charging equipment.

[0097] Specifically, before the server 110 dispatches the handling robot 120 according to the charging request, it simultaneously obtains the status information of all handling robots 120 in the current area, and the status information includes the location information and operation information of the handling robot 120, and the operation information indicates whether the current robot is idle. The server 110 determines the target handling robot for handling the charging device based on the charging request and the status information of the handling robot 120. Optionally, the process of determining the target handling robot 120 includes: determining the location of the charging device according to the correspondence between the number of the charging device and its location; according to the location of the charging device, determining the idle handling robot 120 whose distance from the charging device does not exceed the distance threshold as the target handling robot 120. This process is intended to determine the idle handling robot 120 that is closest to the charging device, reduce the walking path and time of the handling robot 120, and improve the charging efficiency.

[0098] After determining the transport robot 120 for transporting the charging device, the server 110 sends a scheduling instruction to the determined transport robot 120, and the scheduling instruction includes first path information and second path information. The first path information is the navigation path of the transport robot 120 walking from the current position to the location of the charging device, and the second path information is the navigation path of the transport robot 120 walking from the location of the charging device to the location of the power supply device 130 after lifting the charging device. The transport robot 120 transports the charging device to the power supply device 130 according to the scheduling instruction, and then directly sends a charging instruction to the power supply device 130, or sends a charging instruction to the power supply device 130 through the server 110, wherein the charging instruction indicates that the power supply device 130 can perform subsequent charging alignment with the charging device. In this embodiment, the server 110, the transport robot 120 and the power supply device 130 can all communicate with each other wirelessly.

[0099] The power supply device 130 adjusts its power supply interface according to the received charging instruction so that the power supply interface is aligned with the charging interface of the charging device, and after alignment, directly sends a charging response to the handling robot 120 or sends a charging response to the handling robot 120 through the server 110. Among them, the charging response indicates that the power supply interface and the charging interface have been aligned. When the two are fitted and connected, the circuit is turned on, and the charging of the power supply device can be realized; and the alignment of the power supply interface and the charging interface can be realized by positioning the power supply interface and the charging interface. After the handling robot 120 receives the charging response, it moves the charging device toward the charging interface of the charging device so that the charging interface of the charging device and the power supply interface of the power supply device 130 are charged and docked. Compared with the prior art that the power supply device 130 is usually a fixed device and its position cannot be adjusted automatically, in this embodiment, the power supply device 130 automatically adjusts its position to realize the automatic alignment of the power supply interface and the charging interface, eliminating the manual alignment operation, especially when the size of the charging device is large, it can provide great convenience for the charging and maintenance of the charging device, and further improve the charging efficiency.

[0100] On the basis of the above technical solution, specifically, an identification code and / or an infrared receiving device is set at the charging interface of the charging device; accordingly,

[0101] The power supply device 130 is specifically used to align the power supply interface with the charging interface by adjusting the position according to the charging instruction based on the identification code recognition technology and / or infrared positioning technology.

[0102] In actual application, an identification code and an infrared receiving device can be set at the charging interface of the charging device at the same time, or one of them can be selected for setting. The purpose is to provide the positioning information of the charging interface when the power supply interface is aligned with the charging interface, wherein the identification code includes a QR code or a barcode that can be used to indicate the position of the charging interface. Correspondingly, a camera and / or an infrared transmitting device is installed on the power supply device 130. After receiving the charging instruction, the power supply interface and the charging interface can be aligned by adjusting its own position based on the identification code recognition technology and / or infrared positioning technology to achieve automatic charging alignment. The identification code recognition technology and the infrared positioning technology can be used simultaneously or selectively during the alignment process, and this example does not impose specific restrictions on this. When the identification code recognition technology and the infrared positioning technology are used simultaneously, the position adjustment of the power supply device 130 can be achieved by comprehensively considering the identification code recognition result and the infrared positioning result to increase the accuracy of the alignment.

[0103] Optionally, the position adjustment of the power supply device 130 includes horizontal and / or vertical position adjustment. In this embodiment, the power supply device 130 can flexibly adjust the position in the horizontal and vertical directions, which increases the operability, flexibility and alignment accuracy of the charging alignment process.

[0104] Optionally, the transport robot 120 is further used to rotate the charging device at a preset speed when transporting the charging device to the power supply device 130;

[0105] Accordingly, the power supply device 130 is also used for:

[0106] According to the charging instruction, based on the identification code recognition technology and / or the infrared positioning technology, receiving the instruction of stopping the rotation of the charging device sent directly by the transfer robot 120 or through the server 110;

[0107] According to the instruction of the charging device to stop rotating, and in combination with the identification code recognition result and / or the infrared positioning result, the power supply interface and the charging interface are aligned by adjusting the position.

[0108] Considering that when the handling robot 120 carries the charging device to the power supply device 130, the surface where the charging interface is located is not necessarily facing the surface where the power supply interface of the power supply device 130 is located, therefore, before charging alignment, it is necessary to first achieve the correspondence between the surface where the charging interface is located and the surface where the power supply interface is located. When the handling robot 120 carries the charging device to the power supply device 130, the surface-to-surface correspondence between the charging interface and the power supply interface can be achieved based on the continuous rotation of the charging device or based on the interaction and rotation of the power supply device 130 and the charging device.

[0109] Among them, a specific process for realizing the surface-to-surface correspondence between the charging interface and the power supply interface may be: when the transport robot 120 transports the charging device to the power supply device 130, it starts the operation of continuously rotating the charging device at a preset speed. The rotation at this time is a low-speed rotation, which can ensure that during the rotation of the charging device, it does not affect the power supply device 130's scanning of the identification code at the charging interface position of the charging device, and / or does not affect the power supply device 130 sending infrared rays to the infrared receiving device at the charging interface position of the charging device, which is equivalent to the correspondence between the surface where the charging interface is located and the surface where the power supply interface is located during the continuous rotation of the charging device.

[0110] When the power supply device 130 scans the identification code on the charging device, the identification code scanning feedback is sent directly to the handling robot 120 or sent to the handling robot 120 through the server 110, and the handling robot 120 stops rotating the charging device above it according to the received identification code scanning feedback, and / or, when the power supply device 130 determines that the infrared receiving device on the charging device has received the infrared signal sent by it, the current infrared signal transmission is valid, and the infrared transmission feedback is sent directly to the handling robot 120 or sent to the handling robot 120 through the server 110, and the handling robot 120 stops rotating the charging device above it according to the received infrared transmission feedback. Then, the handling robot 120 sends the instruction to stop the rotation of the charging device directly to the power supply device 130 or sends it to the server 110.

[0111] Another specific process for achieving surface-to-surface correspondence between the charging interface and the power supply interface may be: based on identification code recognition technology and / or infrared positioning technology, the charging device interacts with the power supply device 130, and the handling robot 120 starts rotating the charging device above it at a preset angle based on the interaction information. For example, each time the charging device is rotated at a preset angle based on the interaction result, such as 90 degrees. When the surface where the charging interface is located corresponds to the surface where the power supply interface is located, the handling robot 120 stops the rotation operation after the interaction, and sends an instruction to stop the rotation of the charging device directly or through the server 110 to the power supply device 130.

[0112] The power supply device 130 aligns the power supply interface with the charging interface by adjusting its own position according to the received instruction to stop rotating the charging device and the obtained identification code recognition result and / or infrared positioning result, wherein the identification code recognition result and the infrared positioning result include parameter information of the power supply device 130 that needs to be adjusted in position, and the parameter information includes the direction and scale of the position adjustment, and the adjustment scale includes the distance that needs to be moved.

[0113] Optionally: the transport robot 120 is further configured to send a location confirmation instruction to the server 110 when walking to the location of the charging device or the location of the power supply device 130;

[0114] The server 110 is further configured to receive a position confirmation instruction and feed back a corresponding confirmation result to the transport robot 120 .

[0115] When the transport robot 120 walks to a target destination, it calls the camera to identify the location identification code of the current location, sends a location confirmation instruction to the server 110, and receives corresponding confirmation result feedback. This can avoid errors in the navigation path of the transport robot 120, and make real-time statistics on the walking dynamics of the transport robot 120, which can also facilitate statistics on the operating status of the transport robot 120.

[0116] Optionally, the server 110 is further configured to:

[0117] When the power supply interface and the charging interface are connected for charging, the charging time of the charging device is obtained;

[0118] When the charging time does not exceed the time threshold, a waiting instruction is sent to the transport robot 120 so that the transport robot 120 waits for the charging device to complete charging and transports the charging device to the original position;

[0119] When the charging time exceeds the time threshold, an evacuation instruction is sent to the transport robot 120 so that the transport robot 120 evacuates the current position;

[0120] Correspondingly, the transport robot 120 is also used to receive a waiting instruction or a evacuation instruction and perform corresponding actions.

[0121] The server 110 determines whether the current handling robot 120 needs to wait for the charging device to complete charging by obtaining the charging time of the charging device. When the charging time of the charging device is long, the handling robot 120 can evacuate the current position according to the evacuation instruction sent by the server 110 and wait for the dispatch instruction corresponding to other charging devices, thereby avoiding the situation where the handling robot 120 is idle and waiting for a long time, and realizing the full utilization of the handling robot 120.

[0122] The charging system provided by the technical solution of this embodiment includes: a server 110, a handling robot 120 and a power supply device 130, and the three can communicate with each other wirelessly, wherein the handling robot 120 carries the charging device to the power supply device 130 according to the scheduling instruction sent by the server 110, and then sends a charging instruction to the power supply device 130; the power supply device 130 adjusts the power supply interface according to the charging instruction so that the power supply interface is aligned with the charging interface of the charging device, and after alignment, sends a charging response to the handling robot 120, and the handling robot 120 moves the charging device toward the charging interface of the charging device according to the charging response so that the charging interface and the power supply interface are charged and docked. This embodiment solves the problem of wasting labor costs in the existing charging process and the low efficiency of charging and maintenance of the charging device. By combining the handling robot 120 with the power supply device 130 that can be adjusted in position, the automation of the charging process is realized, and the efficiency of charging and maintenance of the charging device is improved. In addition, the use of identification code recognition technology and infrared positioning technology ensures the accuracy of alignment between the power supply interface and the charging interface. In addition, the position confirmation interaction between the transport robot 120 and the server 110 ensures the correctness of the walking path of the transport robot 120, thereby ensuring the effective charging of the charging equipment; the transport robot 120 performs corresponding actions according to the waiting instructions or evacuation instructions sent by the server 110, thereby realizing the full utilization of the transport robot 120.

[0123] Embodiment 2

[0124] Figure 2 It is a schematic diagram of the structure of the charging system provided in the second embodiment of the present invention. This embodiment can be applied to the case of charging a charging device, especially when a large charging device is carried by a handling robot for charging, and the handling robot can adjust the position of the charging interface on the charging device and align it with the power supply interface on the power supply device for charging. The difference between this embodiment and the above embodiment is that in this embodiment, the position of the charging device is adjusted by the handling robot to achieve the alignment of the charging interface with the power supply interface of the power supply device. The contents not described in detail in this embodiment can refer to the above embodiment.

[0125] like Figure 2 As shown, the charging system includes: a server 210 and a transport robot 220, wherein:

[0126] The server 210 is used to send a dispatch instruction to the transport robot 220;

[0127] The transport robot 220 is used to transport the charging device to the power supply device according to the scheduling instructions, and align the charging interface of the charging device with the power supply interface of the power supply device. After alignment, move the charging device toward the charging interface of the charging device so that the charging interface of the charging device and the power supply interface of the power supply device can be connected for charging.

[0128] The server 210 sends a scheduling instruction to the handling robot 220 according to the charging request sent by the received charging device or the charging request generated based on the monitoring of the charging device. According to the scheduling instruction, the handling robot 220 carries the charging device to the power supply device, adjusts the position of the charging device to align the charging interface with the power supply interface, and then moves the charging device toward the charging interface of the charging device to charge the charging device. Among them, a bracket that can support the charging device is installed above the handling robot 220. The handling robot 220 adjusts the position of the charging device by adjusting the bracket, and the bracket can be rotated or raised and lowered. The handling robot 220 is used to carry the charging device and adjust the position of the charging device at the same time, which realizes the flexible alignment of the charging interface with the power supply interface and realizes the automation of the charging process.

[0129] Optionally, an identification code and / or an infrared receiving device is provided at the charging interface of the charging device; accordingly,

[0130] The transport robot 220 is specifically used for:

[0131] Based on identification code recognition technology and / or infrared positioning technology, the charging interface of the charging device is aligned with the power supply interface of the power supply device by adjusting the position of the charging device, wherein the position adjustment of the charging device includes rotating the charging device according to a first preset angle and / or raising and lowering the charging device according to a preset height.

[0132] When the handling robot 220 carries the charging device to the power supply device, the power supply device can call the camera to scan and identify the identification code on the charging device, and / or enable the infrared transmitter to send an infrared signal to the charging device for infrared positioning, and send the scanning and identification results and / or infrared positioning results to the handling robot 220, wherein the sending process can be directly sent or sent through the server 210. The identification code recognition result and the infrared positioning result include parameter information that the charging device needs to adjust the position, and the parameter information includes the type of position adjustment and the adjustment scale, the adjustment type includes rotation and lifting, and the adjustment scale includes the rotation angle value and the lifting height. According to the received results, the handling robot 220, for example, rotates the charging device according to a first preset angle and / or lifts the charging device according to a preset height to achieve alignment between the charging interface and the power supply interface, wherein the first preset angle and the preset height are both content of the adjustment scale.

[0133] Optionally, the transport robot 220 is also used for:

[0134] After the charging device is moved to the power supply device, the charging device is continuously rotated at a preset speed. When the identification code scanning feedback and / or infrared emission feedback sent directly by the power supply device or through the server 210 is received, the rotation of the charging device is stopped to align the charging interface with the power supply interface.

[0135] Considering that when the handling robot 220 carries the charging device to the power supply device, the surface where the charging interface is located is not necessarily facing the surface where the power supply interface of the power supply device is located, therefore, before charging alignment, it is necessary to first achieve the correspondence between the surface where the charging interface is located and the surface where the power supply interface is located. When the handling robot 220 carries the charging device to the power supply device, the surface-to-surface correspondence between the charging interface and the power supply interface can be achieved based on the continuous rotation of the charging device or based on the interaction and rotation of the power supply device and the charging device.

[0136] Among them, a specific process for realizing the surface-to-surface correspondence between the charging interface and the power supply interface may be: when the transport robot 220 transports the charging device to the power supply device, it starts the operation of continuously rotating the charging device at a preset speed. The rotation at this time is a low-speed rotation, which can ensure that during the rotation of the charging device, it does not affect the power supply device's scanning of the identification code at the charging interface position of the charging device, and / or does not affect the power supply device sending infrared rays to the infrared receiving device at the charging interface position of the charging device, which is equivalent to the correspondence between the surface where the charging interface is located and the surface where the power supply interface is located during the continuous rotation of the charging device.

[0137] When the power supply device scans the identification code on the charging device, the identification code scanning feedback is sent directly to the handling robot 220 or sent to the handling robot 220 through the server 210, and the handling robot 220 stops rotating the charging device above it according to the received identification code scanning feedback, and / or, when the power supply device determines that the infrared receiving device on the charging device has received the infrared signal sent by it, the current infrared signal transmission is valid, and the infrared transmission feedback is sent directly to the handling robot 220 or sent to the handling robot 220 through the server 210, and the handling robot 220 stops rotating the charging device above it according to the received infrared transmission feedback. Then, the handling robot 220 sends the instruction to stop the rotation of the charging device directly or sends it to the power supply device through the server 210.

[0138] Another specific process for achieving surface-to-surface correspondence between the charging interface and the power supply interface may be: based on identification code recognition technology and / or infrared positioning technology, the charging device interacts with the power supply device, and the power supply device sends the interaction information to the handling robot 220. The handling robot 220 starts an initial rotation operation of the charging device above it at a preset angle based on the interaction information. For example, the charging device is rotated by a preset angle, such as 90 degrees, each time based on the interaction information. When the surface where the charging interface is located corresponds to the surface where the power supply interface is located, the handling robot 220 stops the initial rotation operation of the charging device and sends the instruction to stop the rotation of the charging device directly or to the power supply device through the server 210.

[0139] The handling robot 220 sends a stop rotation instruction to the power supply device, indicating that the surface where the charging interface is located is aligned with the surface where the power supply interface is located. The handling robot 220 then receives the identification code recognition result and / or infrared positioning result sent by the power supply device, adjusts the position of the charging device, and aligns the charging interface with the power supply interface.

[0140] The charging system provided by the technical solution of this embodiment includes: a server 210 and a handling robot 220, which can communicate wirelessly, wherein the handling robot 220 carries the charging device to the power supply device according to the dispatching instruction of the server 210, adjusts the position of the charging device by the handling robot, aligns the charging interface with the power supply interface, and then realizes the charging connection between the charging interface and the power supply interface by moving the charging device toward the charging interface. This embodiment solves the problem of waste of manpower costs in the existing charging process and low charging and maintenance efficiency of the charging device, realizes the automation of the charging process, improves the efficiency of charging and maintenance of the charging device, and the adoption of identification code recognition technology and infrared positioning technology ensures the accuracy of the alignment of the charging interface with the power supply interface.

[0141] The following is an embodiment of a charging method provided by an embodiment of the present invention. This method and the charging system of the above-mentioned embodiments belong to the same inventive concept. For details not described in detail in the embodiment of the charging method, reference can be made to the embodiment of the above-mentioned charging system.

[0142] Embodiment 3

[0143] Figure 3 is a flow chart of a charging method provided in Embodiment 3 of the present invention. This embodiment can be applied to a situation where a power supply device is used to charge a charging device. The method can be executed by a charging device, which can be implemented in software and / or hardware and can be integrated in the power supply device. Figure 3 As shown, the method specifically includes:

[0144] S310: Receive a charging instruction from a server.

[0145] When the charging device is carried by the handling robot to the power supply device, the handling robot can send a charging instruction to the power supply device directly, or send a charging instruction to the power supply device through the server. The advantage of sending the charging instruction through the server is that it is convenient for the server to confirm the current information of the handling robot and the charging device, such as the robot's operating status and the current location of the two, and record the charging progress of the charging device.

[0146] S320: Align the power supply interface with the charging interface of the charging device according to the charging instruction.

[0147] The power supply device aligns the power supply interface with the charging interface by adjusting its own position according to the charging instruction.

[0148] Optionally, aligning the power supply interface with the charging interface of the charging device according to the charging instruction includes:

[0149] According to the charging instruction, based on the identification code recognition technology and / or infrared positioning technology, the power supply interface is aligned with the charging interface of the charging device by adjusting the position.

[0150] In the process of aligning the power supply interface with the charging interface, the identification code recognition technology and the infrared positioning technology can be used simultaneously, or one of them can be selected, which can be determined according to the specific hardware configuration of the power supply device and the charging device. The specific alignment process includes: aligning after the surface where the power supply interface is located corresponds to the surface where the charging interface is located based on the continuous low-speed rotation of the charging device, or aligning after the surface where the power supply interface is located corresponds to the surface where the charging interface is located based on the interaction between the charging device and the power supply device.

[0151] Optionally, the position adjustment of the power supply device includes horizontal and / or vertical position adjustment.

[0152] S330. Send a charging response to the transport robot according to the alignment condition, so that the transport robot moves the charging device toward the charging interface of the charging device, so that the charging interface of the charging device and the power supply interface are docked for charging.

[0153] After the power supply interface is aligned with the charging interface, the charging device can directly send a charging response to the transport robot or send a charging response to the transport robot through the server, and the transport robot moves the charging device toward the charging interface of the charging device according to the charging response.

[0154] On the basis of the above technical solution, optionally, according to the charging instruction, based on the identification code recognition technology, the power supply interface is aligned with the charging interface of the charging device by adjusting the position, including:

[0155] Interact with the charging device and send the interaction information to the server or the handling robot, wherein the interaction information is used to determine whether the power supply device scans the identification code on the charging device;

[0156] The receiving handling robot adjusts the position rotation of the charging device based on the interactive information;

[0157] The position rotation adjustment feedback is received, and when the identification code on the charging device is scanned, the power supply interface and the charging interface are aligned by adjusting the position in combination with the recognition result of the identification code.

[0158] The power supply device interacts with the charging device, and sends the interactive information directly to the handling robot or sends the interactive information to the handling robot through the server, wherein the form of interaction is that the power supply device calls the camera to scan the identification code at the charging interface of the charging device. If the interactive information indicates that the power supply device has not scanned the identification code on the charging device, the handling robot will perform an initial rotation adjustment of the charging device at a preset angle, for example, the preset angle can be 90 degrees. When the power supply device scans the identification code at the charging interface, that is, the surface where the charging interface is located corresponds to the surface where the power supply interface is located, the handling robot stops the interactive rotation adjustment of the charging device and sends corresponding position rotation adjustment feedback to the power supply device, indicating that the initial rotation adjustment of the position of the charging device has ended, and the surface where the charging interface is located has corresponded to the surface where the power supply interface is located. The power supply device receives the position rotation adjustment feedback, and in combination with the recognition result of the scanned identification code, aligns the power supply interface with the charging interface by adjusting the position in the horizontal direction and / or the vertical direction.

[0159] Optionally, according to the charging instruction, based on infrared positioning technology, the power supply interface is aligned with the charging interface of the charging device by adjusting the position, including:

[0160] Sends infrared signals to the charging device.

[0161] The receiving and handling robot adjusts the position rotation of the charging device based on the infrared signal reception result of the charging device;

[0162] The feedback is adjusted according to the received position rotation. When the transmitted infrared signal is received by the charging device, the power supply interface is aligned with the charging interface by adjusting the position in combination with the infrared positioning result.

[0163] Another interaction between the power supply device and the charging device is based on the emission and reception of infrared signals. The power supply device sends an infrared signal to the charging device, and sends the infrared signal reception result of the charging device directly to the handling robot or sends it to the handling robot through the server. The handling robot determines whether to perform an initial rotation adjustment of the charging device at a preset angle, which can be 90 degrees. When the infrared receiving device on the charging device does not receive the infrared signal sent by the power supply device, the handling robot performs the initial rotation adjustment of the charging device; when the infrared receiving device on the charging device can receive the infrared signal sent by the power supply device, that is, the surface where the charging interface is located corresponds to the surface where the power supply interface is located, at this time, the handling robot stops the initial rotation adjustment of the charging device. At the same time, the handling robot will also send feedback on the rotation adjustment of the charging device position in the corresponding situation to the power supply device. When the infrared signal sent by the power supply device is received by the charging device, the power supply device further combines the infrared positioning result and adjusts the position to align the power supply interface with the charging interface.

[0164] The technical solution of this embodiment aligns the power supply interface with the charging interface of the charging device according to the charging instruction sent by the server, and sends a charging response to the handling robot according to the alignment situation, so that the handling robot moves the charging device toward the charging interface of the charging device, thereby realizing the charging docking between the charging interface of the charging device and the power supply interface. This embodiment solves the problems of waste of manpower costs and low charging and maintenance efficiency of the charging device in the existing charging process by combining the handling robot and the power supply device that can adjust its position and actively search for the charging interface, realizes the automation of the charging process, improves the efficiency of charging and maintenance of the charging device, and, based on the identification code recognition technology and / or infrared positioning technology, gradually realizes the correspondence between the surface where the power supply interface is located and the surface where the charging interface is located, and the alignment between the charging interface and the power supply interface, thereby ensuring the accuracy of the alignment between the power supply interface and the charging interface.

[0165] Embodiment 4

[0166] Figure 4 1 is a flow chart of a charging method provided by Embodiment 4 of the present invention. This embodiment is further optimized on the basis of the above embodiment. Figure 4 As shown, the method specifically includes:

[0167] S410: Receive a charging instruction from a server.

[0168] S420: According to the charging instruction, based on the identification code recognition technology and / or the infrared positioning technology, receive an instruction for the charging device to stop rotating.

[0169] When the transport robot transports the charging device to the power supply device, it can directly send a charging instruction or send a charging instruction to the power supply device through the server, and at the same time start the operation of continuously rotating the charging device at a preset speed. The rotation at this time is a low-speed rotation, which can ensure that during the rotation of the charging device, it does not affect the power supply device's scanning of the identification code at the charging interface position of the charging device, and / or does not affect the power supply device sending infrared rays to the infrared receiving device at the charging interface position of the charging device, which is equivalent to matching the surface where the charging interface is located with the surface where the power supply interface is located during the continuous rotation of the charging device.

[0170] When the power supply device scans the identification code on the charging device, the identification code scanning feedback is sent directly to the handling robot or sent to the handling robot through the server, and the handling robot stops rotating the charging device above it according to the received identification code scanning feedback, and / or, when the power supply device determines that the infrared receiving device on the charging device has received the infrared signal sent by it, the current infrared signal transmission is valid, and the infrared transmission feedback is sent directly to the handling robot or sent to the handling robot through the server, and the handling robot stops rotating the charging device above it according to the received infrared transmission feedback. Then, the handling robot sends the instruction to stop the rotation of the charging device directly to the power supply device or sends it to the server.

[0171] S430, according to the instruction of the charging device to stop rotating, and in combination with the identification code recognition result and / or the infrared positioning result, the power supply interface and the charging interface are aligned by adjusting the position.

[0172] The power supply device aligns the power supply interface with the charging interface by adjusting its own position according to the received instruction of the charging device to stop rotating and the obtained identification code recognition result and / or infrared positioning result.

[0173] S440. Send a charging response to the transport robot according to the alignment condition, so that the transport robot moves the charging device toward the charging interface of the charging device, so that the charging interface of the charging device and the power supply interface are docked for charging.

[0174] The technical solution of this embodiment achieves the correspondence between the surface where the charging interface is located and the surface where the power supply interface is located based on the continuous rotation of the charging device. In combination with the identification code recognition result and / or the infrared positioning result, the power supply device adjusts its own position to align the power supply interface with the charging interface, thereby achieving charging docking between the charging interface and the power supply interface, solving the problems of waste of manpower costs in the existing charging process and low charging and maintenance efficiency of the charging equipment, realizing the automation of the charging process, and improving the efficiency of charging and maintenance of the charging equipment.

[0175] Embodiment 5

[0176] Figure 5 is a flow chart of a charging method provided in Embodiment 5 of the present invention. This embodiment can be applied to charging a charging device in a handling robot. The method can be executed by a charging device, which can be implemented in software and / or hardware and can be integrated in a handling robot. Figure 5 As shown, the method specifically includes:

[0177] S510: Receive a scheduling instruction from a server.

[0178] S520: According to the dispatch instruction, the charging equipment is moved to the power supply equipment.

[0179] Among them, the server sends a scheduling instruction to the transport robot according to the charging request sent by the charging device or the charging request generated based on the monitoring of the charging device, and then the transport robot transports the charging device to the power supply device according to the scheduling instruction.

[0180] S530: Align the charging interface of the charging device with the power supply interface of the power supply device.

[0181] The handling robot adjusts the position of the charging device by adjusting the bracket, and the bracket can be rotated or raised and lowered. In this embodiment, the handling robot is used to carry the charging device and adjust the position of the charging device at the same time, realizing flexible alignment of the charging interface and the power supply interface, and realizing the automation of the charging process.

[0182] Optionally, aligning a charging interface of the charging device with a power supply interface of the power supply device includes:

[0183] Based on identification code recognition technology and / or infrared positioning technology, the charging interface of the charging device is aligned with the power supply interface of the power supply device by adjusting the position of the charging device.

[0184] Optionally, the position adjustment of the charging device includes rotating according to a first preset angle and / or raising and lowering according to a preset height.

[0185] When the handling robot carries the charging device to the power supply device, the power supply device can call the camera to scan and identify the identification code on the charging device, and / or enable the infrared transmitting device to send an infrared signal to the charging device for infrared positioning, and send the scanning and identification results and / or infrared positioning results to the handling robot, wherein the sending process can be sent directly or through a server. The identification code recognition result and the infrared positioning result include parameter information of the charging device that needs to be adjusted in position, and the parameter information includes the type of position adjustment and the adjustment scale, the adjustment type includes rotation and lifting, and the adjustment scale includes the rotation angle value and the lifting height. The handling robot realizes the alignment of the charging interface and the power supply interface according to the received results, for example, by rotating the charging device according to a first preset angle and / or lifting the charging device according to a preset height, wherein the first preset angle and the preset height are both content of the adjustment scale.

[0186] S540: Move the charging device toward the charging interface of the charging device according to the alignment condition, so that the charging interface of the charging device and the power supply interface of the power supply device are connected for charging.

[0187] On the basis of the above technical solution, optionally, based on the identification code recognition technology, by adjusting the position of the charging device, the charging interface of the charging device is aligned with the power supply interface of the power supply device, including:

[0188] Receiving interactive information sent by the power supply device, wherein the interactive information is used to determine whether the power supply device scans the identification code on the charging device;

[0189] Performing an initial rotation of the position of the charging device based on the interaction information;

[0190] According to the result of the initial rotation and in combination with the received identification code recognition result, the charging interface is aligned with the power supply interface by adjusting the position of the charging device.

[0191] Based on the identification code recognition technology, the power supply device first scans the identification code on the charging device and interacts with the charging device to achieve the correspondence between the surface where the charging interface is located and the surface where the power supply interface is located. Then the handling robot combines the identification code recognition results sent directly by the power supply device or through the server, and aligns the charging interface with the power supply interface by adjusting the position of the charging device.

[0192] Optionally, based on infrared positioning technology, the charging interface of the charging device is aligned with the power supply interface of the power supply device by adjusting the position of the charging device, including:

[0193] Initially rotating the position of the charging device according to the infrared signal reception result of the charging device;

[0194] According to the result of the initial rotation and in combination with the received infrared positioning result, the charging interface is aligned with the power supply interface by adjusting the position of the charging device.

[0195] Based on infrared positioning technology, the handling robot first determines whether the charging device can receive the infrared signal sent by the power supply device, and then performs an initial rotation adjustment on the position of the charging device according to the charging device's reception result of the infrared signal. When the surface where the power supply interface is located corresponds to the surface where the charging interface is located, the initial rotation operation is stopped, and the position of the charging device is adjusted in combination with the received infrared positioning result to align the charging interface with the power supply interface.

[0196] The technical solution of this embodiment uses a dispatching robot to carry the charging device to the power supply device, and adjusts the position of the charging device to align the charging interface with the power supply interface, and then realizes the charging docking of the charging interface and the power supply interface through the mobile charging device, which solves the problem of waste of labor costs in the existing charging process and low charging and maintenance efficiency of the charging device, realizes the automation of the charging process, and improves the efficiency of charging and maintenance of the charging device. In addition, based on the identification code recognition technology and / or infrared positioning technology, the correspondence between the surface where the charging interface is located and the surface where the power supply interface is located and the alignment of the charging interface and the power supply interface are gradually realized, ensuring the accuracy of the alignment of the charging interface and the power supply interface.

[0197] Embodiment 6

[0198] Figure 6 1 is a flow chart of a charging method provided in Embodiment 6 of the present invention. This embodiment is further optimized on the basis of the above embodiments. Figure 6 As shown, the method specifically includes:

[0199] S610: Receive a scheduling instruction from a server.

[0200] S620: According to the dispatch instruction, the charging equipment is moved to the power supply equipment.

[0201] S630: Continuously rotate the charging device at a preset speed, and when receiving identification code scanning feedback and / or infrared emission feedback from the power supply device, stop the rotation of the charging device to align the charging interface of the charging device with the power supply interface of the power supply device.

[0202] When the transport robot transports the charging device to the power supply device, it can directly send a charging instruction or send a charging instruction to the power supply device through the server, and at the same time start the operation of continuously rotating the charging device at a preset speed. The rotation at this time is a low-speed rotation, which can ensure that during the rotation of the charging device, it does not affect the power supply device's scanning of the identification code at the charging interface position of the charging device, and / or does not affect the power supply device sending infrared rays to the infrared receiving device at the charging interface position of the charging device, which is equivalent to matching the surface where the charging interface is located with the surface where the power supply interface is located during the continuous rotation of the charging device.

[0203] When the power supply device scans the identification code on the charging device, the identification code scanning feedback is sent directly to the handling robot or sent to the handling robot through the server, and the handling robot stops rotating the charging device above it according to the received identification code scanning feedback, and / or, when the power supply device determines that the infrared receiving device on the charging device has received the infrared signal sent by it, the current infrared signal transmission is valid, and the infrared transmission feedback is sent directly to the handling robot or sent to the handling robot through the server, and the handling robot stops rotating the charging device above it according to the received infrared transmission feedback. Then, continue to align the charging interface of the charging device with the power supply interface of the power supply device.

[0204] S640: Based on the identification code recognition technology and / or the infrared positioning technology, the charging interface of the charging device is aligned with the power supply interface of the power supply device by adjusting the position of the charging device.

[0205] When the surface where the charging interface is located corresponds to the surface where the power supply interface is located, the handling robot can adjust the position of the charging device according to the received identification code recognition result and / or infrared positioning result to achieve alignment of the charging interface and the power supply interface.

[0206] S650: Move the charging device toward the charging interface of the charging device according to the alignment condition, so that the charging interface of the charging device and the power supply interface of the power supply device are connected for charging.

[0207] The technical solution of this embodiment achieves the correspondence between the surface where the charging interface is located and the surface where the power supply interface is located based on the continuous rotation of the charging device. In combination with the identification code recognition result and / or the infrared positioning result, the position of the charging device is adjusted by the handling robot to align the charging interface with the power supply interface, thereby achieving charging docking between the charging interface and the power supply interface, solving the problems of waste of manpower costs in the existing charging process and low charging and maintenance efficiency of the charging equipment, realizing the automation of the charging process, and improving the efficiency of charging and maintenance of the charging equipment.

[0208] Embodiment 7

[0209] Figure 7 It is a structural schematic diagram of a transport robot provided in Embodiment 7 of the present invention. Figure 7 A block diagram of an exemplary transfer robot 712 suitable for use in implementing embodiments of the present invention is shown. Figure 7 The transport robot 712 shown is merely an example and should not bring any limitation to the functions and scope of use of the embodiments of the present invention.

[0210] like Figure 7 As shown, the handling robot 712 is in the form of a general robot. The components of the handling robot 712 may include, but are not limited to: one or more processors 716, a storage device 728, and a bus 718 connecting different system components (including the storage device 728 and the processor 716).

[0211] Bus 718 represents one or more of several types of bus structures, including a storage device bus or storage device controller, a peripheral bus, an accelerated graphics port, a processor or a local bus using any of a variety of bus architectures. For example, these architectures include but are not limited to Industry Subversive Alliance (ISA) bus, Micro Channel Architecture (MAC) bus, Enhanced ISA bus, Video Electronics Standards Association (VESA) local bus and Peripheral Component Interconnect (PCI) bus.

[0212] The handling robot 712 typically includes a variety of computer system readable media. These media can be any available media that can be accessed by the handling robot 712, including volatile and non-volatile media, removable and non-removable media.

[0213] The storage device 728 may include computer system readable media in the form of volatile memory, such as random access memory (RAM) 730 and / or cache memory 732. The handling robot 712 may further include other removable / non-removable, volatile / non-volatile computer system storage media. By way of example only, the storage system 734 may be used to read and write non-removable, non-volatile magnetic media ( Figure 7 not shown, usually called a "hard drive"). Although Figure 7Not shown in the figure, a disk drive for reading and writing a removable non-volatile disk (e.g., a "floppy disk"), and an optical disk drive for reading and writing a removable non-volatile optical disk, such as a read-only optical disk (Compact Disc Read-Only Memory, CD-ROM), a digital video disk (Digital Video Disc-Read Only Memory, DVD-ROM) or other optical media) may be provided. In these cases, each drive may be connected to the bus 718 via one or more data medium interfaces. The storage device 728 may include at least one program product having a set (e.g., at least one) of program modules that are configured to perform the functions of the various embodiments of the present invention.

[0214] A program / utility 740 having a set (at least one) of program modules 742 may be stored, for example, in storage device 728, such program modules 742 including, but not limited to, an operating system, one or more application programs, other program modules, and program data, each of which or some combination may include an implementation of a network environment. Program modules 742 generally perform the functions and / or methods of the embodiments described herein.

[0215] The transport robot 712 can communicate with one or more networks (such as a local area network (LAN), a wide area network (WAN) and / or a public network, such as the Internet) through the network adapter 720. Figure 7 As shown, the network adapter 720 communicates with other modules of the handling robot 712 via the bus 718. It should be understood that, although not shown in the figure, other hardware and / or software modules can be used in conjunction with the handling robot 712, including but not limited to: microcode, terminal drivers, redundant processors, external disk drive arrays, disk arrays (Redundant Arrays of Independent Disks, RAID) systems, tape drives, and data backup storage systems.

[0216] In addition, the transport robot 712 may also communicate with one or more external devices (e.g., keyboards, pointing terminals, displays, etc.), one or more terminals that enable a user to interact with the transport robot 712, and / or any terminal that enables the transport robot 712 to communicate with one or more other computing terminals (e.g., network cards, modems, etc.). Such communication may be performed via an input / output (I / O) interface. With regard to I / O interfaces, external devices, and displays, Figure 7 It is not shown in the figure. In actual application, it can be adaptively set as needed and is not specifically limited here.

[0217] The processor 716 executes various functional applications and data processing by running the program stored in the storage device 728, for example, implementing the charging method for a transport robot provided in an embodiment of the present invention, the method comprising:

[0218] Receive scheduling instructions from the server;

[0219] According to the dispatching instruction, the charging equipment is moved to the power supply equipment;

[0220] Align the charging interface of the charging device with the power supply interface of the power supply device;

[0221] According to the alignment, the charging device is moved toward the charging interface of the charging device so that the charging interface of the charging device is docked with the power supply interface of the power supply device for charging.

[0222] Embodiment 8

[0223] Figure 8 It is a structural schematic diagram of a power supply device provided in Embodiment 8 of the present invention. Figure 8 A block diagram of an exemplary power supply device 812 suitable for use in implementing embodiments of the present invention is shown. Figure 8 The power supply device 812 shown is only an example and should not bring any limitation to the functions and scope of use of the embodiments of the present invention.

[0224] like Figure 8 As shown, the power supply device 812 is in the form of a universal power supply device. The components of the power supply device 812 may include, but are not limited to: a camera 810 and / or an infrared transmitter 826, one or more processors 816, a storage device 828, and a bus 818 connecting different system components (including the camera 810, the infrared transmitter 826, the storage device 828, and the processor 816). Figure 8 As an example, the camera 810 and the infrared emitting device 826 are shown together.

[0225] Camera 810 is used to collect the identification code at the charging interface of the charging device; infrared emitting device 826 is used to emit infrared signals when locating the charging device; bus 818 represents one or more of several types of bus structures, including storage device bus or storage device controller, peripheral bus, graphics acceleration port, processor or local bus using any bus structure in a variety of bus structures. For example, these architectures include but are not limited to Industry Subversive Alliance (ISA) bus, Micro Channel Architecture (MAC) bus, enhanced ISA bus, Video Electronics Standards Association (VESA) local bus and Peripheral Component Interconnect (PCI) bus.

[0226] The power supply device 812 typically includes a variety of computer system readable media. These media can be any available media that can be accessed by the power supply device 812, including volatile and non-volatile media, removable and non-removable media.

[0227] The storage device 828 may include computer system readable media in the form of volatile memory, such as random access memory (RAM) 830 and / or cache memory 832. The power supply device 812 may further include other removable / non-removable, volatile / non-volatile computer system storage media. By way of example only, the storage system 834 may be used to read and write non-removable, non-volatile magnetic media ( Figure 8 not shown, usually called a "hard drive"). Although Figure 8 Not shown in the figure, a disk drive for reading and writing a removable non-volatile disk (e.g., a "floppy disk"), and an optical disk drive for reading and writing a removable non-volatile optical disk, such as a compact disc read-only memory (CD-ROM), a digital video disc (DVD-ROM) or other optical media) can be provided. In these cases, each drive can be connected to the bus 818 through one or more data medium interfaces. The storage device 828 may include at least one program product having a set (e.g., at least one) of program modules that are configured to perform the functions of the various embodiments of the present invention.

[0228] A program / utility 840 having a set (at least one) of program modules 842 may be stored, for example, in a storage device 828, such program modules 842 including, but not limited to, an operating system, one or more application programs, other program modules, and program data, each of which or some combination may include an implementation of a network environment. The program modules 842 generally perform the functions and / or methods of the embodiments described herein.

[0229] The power supply device 812 can communicate with one or more networks (such as a local area network (LAN), a wide area network (WAN) and / or a public network, such as the Internet) through the network adapter 820. Figure 8 As shown, the network adapter 820 communicates with other modules of the power supply device 812 via the bus 818. It should be understood that, although not shown in the figure, other hardware and / or software modules can be used in conjunction with the power supply device 812, including but not limited to: microcode, terminal drivers, redundant processors, external disk drive arrays, disk arrays (Redundant Arrays of Independent Disks, RAID) systems, tape drives, and data backup storage systems.

[0230] In addition, the power supply device 812 may also communicate with one or more external devices (e.g., keyboards, pointing terminals, displays, etc.), one or more terminals that enable a user to interact with the power supply device 812, and / or any terminal that enables the power supply device 812 to communicate with one or more other computing terminals (e.g., network cards, modems, etc.). Such communication may be performed via an input / output (I / O) interface. With respect to I / O interfaces, external devices, and displays, Figure 8 It is not shown in the figure. In actual application, it can be adaptively set as needed and is not specifically limited here.

[0231] The processor 816 executes various functional applications and data processing by running the program stored in the storage device 828, for example, implementing the charging method for the power supply device provided in the embodiment of the present invention, the method comprising:

[0232] Receive charging instructions from the server;

[0233] Aligning the power supply interface with the charging interface of the charging device according to the charging instruction;

[0234] According to the alignment, a charging response is sent to the transport robot so that the transport robot moves the charging device toward the charging interface of the charging device, so that the charging interface of the charging device is docked with the power supply interface for charging.

[0235] Note that the above are only preferred embodiments of the present invention and the technical principles used. Those skilled in the art will understand that the present invention is not limited to the specific embodiments described herein, and that various obvious changes, readjustments and substitutions can be made by those skilled in the art without departing from the scope of protection of the present invention. Therefore, although the present invention has been described in more detail through the above embodiments, the present invention is not limited to the above embodiments, and may include more other equivalent embodiments without departing from the concept of the present invention, and the scope of the present invention is determined by the scope of the appended claims.

Claims

1. A charging system, characterized in that: Including servers, handling robots and power supply equipment; among them, The server receives a charging request; The server sends a scheduling instruction to the transport robot according to the received charging request; wherein, before the server schedules the transport robot according to the charging request, it simultaneously obtains the status information of all transport robots in the current area; the transport robot is used to transport the charging device to the power supply device according to the scheduling instruction, and send the charging instruction to the power supply device; The power supply device is used to adjust the position of the power supply interface according to the charging instruction so that the power supply interface is aligned with the charging interface of the charging device, and send a charging response to the transport robot after alignment; The transport robot is further used to move the charging device toward the charging interface according to the charging response, so that the charging interface and the power supply interface are connected for charging; An identification code and / or an infrared receiving device is provided at the charging interface of the charging device; accordingly, The power supply device is specifically used to locate the position of the charging interface based on the identification code recognition technology and / or infrared positioning technology according to the charging instruction, and adjust the position of the power supply interface so that the power supply interface is aligned with the charging interface.

2. The charging system according to claim 1, characterized in that: The transport robot is also used to rotate the charging device at a preset speed when transporting the charging device to the power supply device; Accordingly, the power supply device is also used for: According to the charging instruction, receiving an instruction for the charging device to stop rotating sent by the transport robot; According to the instruction of the charging device to stop rotating, the position of the charging interface is located in combination with the identification code recognition result and / or infrared positioning technology, and the position of the power supply interface is adjusted so that the power supply interface is aligned with the charging interface.

3. The charging system according to claim 1 or 2, characterized in that: The position adjustment of the power supply device includes position adjustment in a horizontal direction and / or a vertical direction.

4. The charging system according to claim 1, characterized in that: The transport robot is also used to send a location confirmation instruction to the server when walking to the location of the charging device or the location of the power supply device; The server is also used to receive the position confirmation instruction and feed back the corresponding confirmation result to the transport robot.

5. The charging system according to claim 1, characterized in that: The server is also used to: After the power supply interface and the charging interface are connected for charging, the charging time of the charging device is obtained; When the charging time does not exceed the time threshold, sending a waiting instruction to the transport robot so that the transport robot waits for the charging device to complete charging and transports the charging device to the original position; When the charging time exceeds a time threshold, sending an evacuation instruction to the transport robot so that the transport robot evacuates the current position; Correspondingly, the transport robot is also used to receive the waiting instruction or the evacuation instruction and perform corresponding actions.

6. A charging system, characterized in that: Including servers and handling robots; among them, The server receives a charging request; The server sends a scheduling instruction to the transport robot according to the received charging request; wherein, before the server schedules the transport robot according to the charging request, it simultaneously obtains the status information of all transport robots in the current area; the transport robot is used to transport the charging device to the power supply device according to the scheduling instruction, and align the charging interface of the charging device with the power supply interface of the power supply device, and after alignment, move the charging device towards the charging interface, so that the charging interface and the power supply interface of the power supply device are connected for charging; An identification code and / or an infrared receiving device is provided at the charging interface of the charging device; accordingly, The handling robot is specifically used for: The power supply interface is located based on identification code recognition technology and / or infrared positioning technology, and the position of the charging device is adjusted to align the charging interface with the power supply interface.

7. The charging system according to claim 6, characterized in that: The position adjustment of the charging device includes rotating the charging device according to a first preset angle and / or raising and lowering the charging device according to a preset height.

8. The charging system according to claim 7, characterized in that: The handling robot is also used for: After the charging device is moved to the power supply device, the charging device is continuously rotated at a preset speed. When the identification code scanning feedback and / or infrared emission feedback sent directly by the power supply device or through the server is received, the rotation of the charging device is stopped to align the charging interface with the power supply interface.

9. A charging method, applied to a power supply device, characterized in that: include: Receive charging instructions from the server; Aligning the power supply interface with the charging interface of the charging device according to the charging instruction; According to the alignment, a charging response is sent to the transport robot so that the transport robot moves the charging device toward the charging interface of the charging device so that the charging interface of the charging device is docked with the power supply interface for charging; Aligning the power supply interface with the charging interface of the charging device according to the charging instruction includes: According to the charging instruction, the position of the charging interface is located based on identification code recognition technology and / or infrared positioning technology, and the position of the power supply interface is adjusted so that the power supply interface is aligned with the charging interface of the charging device.

10. The method according to claim 9, characterized in that Aligning the power supply interface with the charging interface of the charging device according to the charging instruction, further comprising: receiving an instruction for the charging device to stop rotating; According to the instruction of the charging device to stop rotating, the position of the charging interface is located in combination with the identification code recognition result and / or infrared positioning technology, and the position of the power supply interface is adjusted so that the power supply interface is aligned with the charging interface.

11. The method according to claim 9, characterized in that According to the charging instruction, locating the position of the charging interface based on the identification code recognition technology, and adjusting the position of the power supply interface so that the power supply interface is aligned with the charging interface of the charging device, including: interacting with the charging device and sending interaction information to the server or the handling robot, wherein the interaction information is used to determine whether the power supply device scans the identification code on the charging interface; receiving feedback from the transport robot on the position rotation adjustment of the charging interface according to the interaction information; According to the position rotation adjustment feedback, when the identification code on the charging interface is scanned, combined with the recognition result of the identification code, the position of the power supply interface is adjusted to align the power supply interface with the charging interface.

12. The method according to claim 9, characterized in that According to the charging instruction, locating the position of the charging interface based on infrared positioning technology, and adjusting the position of the power supply interface so that the power supply interface is aligned with the charging interface of the charging device, including: sending an infrared signal to the charging device, receiving feedback from the transport robot on the position rotation adjustment of the charging device according to the infrared signal reception result of the charging device; According to the position rotation adjustment feedback, when the transmitted infrared signal is received by the charging device, the position of the power supply interface is adjusted in combination with the infrared positioning result so that the power supply interface is aligned with the charging interface.

13. The method according to any one of claims 9 to 12, characterized in that: The position adjustment of the power supply device includes position adjustment in a horizontal direction and / or a vertical direction.

14. A charging method, applied to a handling robot, characterized in that: include: Receive scheduling instructions from the server; According to the dispatching instruction, the charging equipment is moved to the power supply equipment; Align the charging interface of the charging device with the power supply interface of the power supply device; According to the alignment, move the charging device toward the charging interface so that the charging interface and the power supply interface are connected for charging; Aligning a charging interface of the charging device with a power supply interface of the power supply device includes: The power supply interface is located based on identification code recognition technology and / or infrared positioning technology, and the position of the charging device is adjusted to align the charging interface with the power supply interface.

15. The method according to claim 14, characterized in that After the charging device is moved to the power supply device, the method further includes: The charging device is continuously rotated at a preset speed, and when identification code scanning feedback and / or infrared emission feedback of the power supply device is received, the rotation of the charging device is stopped so as to align the charging interface with the power supply interface.

16. The method according to claim 14, characterized in that Locating the position of the power supply interface based on the identification code recognition technology, and adjusting the position of the charging device so that the charging interface is aligned with the power supply interface, including: Receiving interactive information sent by the power supply device, wherein the interactive information is used to determine whether the power supply device scans the identification code on the charging interface; Initially rotating the position of the charging device according to the interaction information; According to the result of the initial rotation and in combination with the received identification code recognition result, the charging interface is aligned with the power supply interface by adjusting the position of the charging device.

17. The method according to claim 14, characterized in that Locating the position of the power supply interface based on infrared positioning technology, and adjusting the position of the charging device so that the charging interface is aligned with the power supply interface, including: Initially rotating the position of the charging device according to the infrared signal reception result of the charging device; According to the result of the initial rotation and in combination with the received infrared positioning result, the charging interface is aligned with the power supply interface by adjusting the position of the charging device.

18. The method according to any one of claims 14 to 17, characterized in that: The position adjustment of the charging device includes rotating according to a first preset angle and / or lifting and lowering according to a preset height.

19. A transport robot, characterized in that: include: one or more processors; a storage device for storing one or more programs, When the one or more programs are executed by the one or more processors, the one or more processors implement the charging method as described in any one of claims 14 to 18.

20. A power supply device, characterized in that: include: Camera and / or infrared transmitter, where: The camera is used to collect the identification code at the charging interface of the charging device; The infrared emitting device is used to emit infrared signals when positioning the charging device; one or more processors; a storage device for storing one or more programs, When the one or more programs are executed by the one or more processors, the one or more processors implement the charging method as described in any one of claims 9 to 13.

21. The power supply device according to claim 20, characterized in that: The power supply equipment is a charging pile.

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