Line patrol robot charging control system, method and unit

Abstract

The present invention relates to the field of charging of line patrol robots, and discloses a charging control system, method and unit for line patrol robots. The charging control unit includes a line patrol robot provided with a charging control system. The line patrol robot follows a preprogrammed path to perform a preprogrammed task. The line patrol robot includes: a ground contact wheel that remains connected to the preprogrammed path throughout the execution of the preprogrammed task; and a segmented wheel connected to a power supply / communication track. The segmented wheel is divided into an equal number of different contact surfaces, and these different contact surfaces include a charging contact surface, a sending contact surface and a receiving contact surface. The charging control unit also includes a power supply / communication track constructed to be parallel to the preprogrammed path.

Description

Technical Field

[0001] The subject matter of the present invention generally relates to the field of line patrol robots, and in particular but not exclusively to a charging control system, method and unit of a line patrol robot. Background Art

[0002] Typically, line patrol robots are used to move or inspect materials in warehouses and storage rooms. The operation of line patrol robots is usually powered by batteries and needs to be recharged after a certain operating time. Since the line patrol robot must leave the preprogrammed path and connect to the charging power source at another location when charging or recharging, the charging or recharging operation of the line patrol robot will cause the line patrol robot to generate shutdown time. When the line patrol robot is in shutdown time, the line patrol robot will stop performing the current operation or task, resulting in an increase in the total time required to complete the operation or task and a decrease in the efficiency of the line patrol robot. In order to prevent interruptions in operation caused by shutdown time, a backup line patrol robot is sometimes used. However, the use of a backup line patrol robot increases the resources required to complete the operation or task.

[0003] Various mechanisms for simplifying the charging operation of line patrol robots have been disclosed in the prior art. In order to save time, energy and resources, various robots including line patrol robots can be effectively charged by installing charging stations. However, this approach also requires the line patrol robot to stop the work at hand, then go to the nearest charging station and spend a predetermined time to charge. In addition, the charging station requires a large amount of preparation space and work space to operate properly. Therefore, the line patrol robot must stop the current task during the charging operation. When there are other line patrol robots waiting in line for charging in the charging station, it takes a certain amount of waiting time in line, and it must be recharged to complete the subsequent work.

[0004] It can be seen that the existing charging method of the line patrol robot is time-consuming and requires a large amount of preparation space and additional resources, resulting in low efficiency of the line patrol robot. Summary of the invention

[0005] Through the present disclosure, one or more disadvantages of the prior art can be overcome, and additional advantages can be provided. Through the technology of the present disclosure, other features and advantages can also be realized. Other embodiments and aspects of the present disclosure are described in detail herein, and these embodiments and aspects are also considered as a part of the protection scope of the present disclosure.

[0006] The present application discloses a charging control method for a line patrol robot. The method includes determining, by a charging control system, a contact surface of a segmented wheel of the line patrol robot connected to a power supply / communication track. The power supply / communication track is parallel to a preprogrammed path of the line patrol robot and carries a power supply signal and a communication signal. In addition, the method also includes: when the charging contact surface of the segmented wheel is connected to the power supply / communication track, the charging control system charges the battery of the line patrol robot; and the charging control system monitors the battery charge of the line patrol robot. Finally, the method includes, when the battery charge of the line patrol robot is higher than the optimal battery charge, the charging control system terminates the charging of the battery of the line patrol robot.

[0007] The present disclosure also relates to a charging control system for controlling the charging of a line patrol robot. The system includes a processor; and a memory connected to the processor in a communicative manner. The memory stores processor instructions, which, when executed, cause the processor to determine a contact surface of a segmented wheel of the line patrol robot connected to a power supply / communication track. The power supply / communication track is parallel to a preprogrammed path of the line patrol robot and carries a power supply signal and a communication signal. When the processor instructions are executed, the processor also causes the processor to charge the battery of the line patrol robot when the charging contact surface of the segmented wheel is connected to the power supply / communication track, and to monitor the battery level of the line patrol robot. Finally, when the processor instructions are executed, the processor also causes the processor to terminate charging of the battery of the line patrol robot when the battery level of the line patrol robot is higher than the optimal battery level.

[0008] In addition, the present disclosure also relates to a charging control unit for controlling the charging of a line patrol robot. The charging control unit includes a line patrol robot provided with a charging control system. The line patrol robot follows a preprogrammed path to perform a preprogrammed task. The line patrol robot includes: a ground contact wheel that remains connected to the preprogrammed path throughout the execution of the preprogrammed task; a segmented wheel connected to a power supply / communication track, the segmented wheel being divided into an equal number of different contact surfaces, the different contact surfaces including a charging contact surface, a sending contact surface, and a receiving contact surface; and the power supply / communication track constructed to be parallel to the preprogrammed path.

[0009] The above summary of the invention is only for illustration and is not intended to constitute any limitation. By referring to the drawings and the following detailed description, in addition to the above illustrative aspects, embodiments and features, other aspects, embodiments and features will also become apparent. BRIEF DESCRIPTION OF THE DRAWINGS

[0010] The attached figures are incorporated into and constitute a part of the present disclosure, and are used to describe the exemplary embodiments and, together with the specification, to illustrate the disclosed principles. In each figure, the leftmost bit value of the reference symbol indicates the figure number in which the reference symbol first appears, and similar components or parts are always referred to by the same symbol. Below, some embodiments of the device or system and / or method according to the embodiment of the present technical solution are described, which description is for illustration purposes only and refers to the above-mentioned drawings, wherein:

[0011] Figure 1 Shown is an exemplary configuration of a charging control unit for controlling the charging of a line patrol robot according to some embodiments of the present disclosure;

[0012] Figure 2 A detailed block diagram of a charging control system for controlling charging of a line patrol robot according to some embodiments of the present disclosure;

[0013] Figure 3 illustrative waveform diagrams of charging signals / power supply signals and communication signals according to some embodiments of the present disclosure;

[0014] Figure 4 is a flow chart of a charging control method for a line patrol robot according to some embodiments of the present disclosure;

[0015] Figure 5 The present invention is a flow chart of another charging control method for a line patrol robot according to some embodiments of the present invention.

[0016] It should be understood by those skilled in the art that any block diagram herein represents a conceptual diagram of an illustrative system adhering to the principles of the present technical solution. Similarly, it should also be understood that any operation diagram, flow chart, state transition diagram, and pseudo code, etc., represent various processes that can be substantially represented in a computer-readable medium and executed by a computer or processor (whether or not the computer or processor explicitly shows it). DETAILED DESCRIPTION

[0017] As used herein, the word "exemplary" is used to mean "as an example, instance or illustration". Any embodiment or implementation of the technical solution described as "exemplary" is not necessarily to be understood as a more preferred or advantageous embodiment than other embodiments.

[0018] Although the specific embodiments of the present disclosure are shown in the accompanying drawings in an exemplary form and described in detail below, the present disclosure can also make various modifications and substitutions. It should be understood that the present disclosure is not intended to be limited to the specific form disclosed, on the contrary, the present disclosure is intended to cover all modifications, equivalents and alternatives that fall within its spirit and scope.

[0019] The word "comprises" or any other variation thereof is intended to cover non-exclusive inclusions. Thus, for a system, apparatus, or method that includes a series of components or steps, it does not include only the listed components or steps, but may also include other components or steps that are not explicitly listed, or include components or steps inherent to the system, apparatus, or method. In other words, one or more elements in a system or device described after the expression "comprises..." does not exclude the presence of other or additional elements in the system or device, unless otherwise limited.

[0020] The present disclosure provides a method, system and unit for controlling charging of a line patrol robot. The line patrol robot includes a ground contact wheel, which is always connected to a preprogrammed path during the entire execution of a preprogrammed task. The line patrol robot also includes a segmented wheel. The segmented wheel is divided into an equal number of different contact surfaces. These different contact surfaces include a charging contact surface, a sending contact surface and a receiving contact surface. Each contact surface is separated by an insulating surface.

[0021] First, the contact surface of the segmented wheel connected to the power supply / communication track is determined. The power supply / communication track is constructed to be parallel to the preprogrammed path of the line patrol robot and carries power supply signals and communication signals. In one embodiment, the type of contact surface connected to the power supply / communication track is determined by a slot-type sensing mechanism.

[0022] In one embodiment, whether the charging contact surface of the segmented wheel is connected to the power supply / communication track is determined by checking whether a direct current (DC) voltage level exists on the contact surface of the segmented wheel. In addition, whether the receiving contact surface of the segmented wheel is connected to the power supply / communication track is determined by checking whether the receiving contact surface of the segmented wheel receives a communication message.

[0023] When it is determined that the charging contact surface is connected to the power supply / communication track, the battery of the line patrol robot can be charged. The power supply / communication track is powered by a power supply / communication unit, which is used to charge the battery of the line patrol robot when the charging contact surface is connected to the power supply / communication track. In addition, the battery power of the line patrol robot can be monitored. When the battery power of the line patrol robot is higher than the optimal battery power, the charging of the line patrol robot can be stopped. Since the power supply / communication track is constructed to be parallel to the preprogrammed path of the line patrol robot and connected to at least one contact surface of the segmented wheel of the line patrol robot, the line patrol robot does not need to leave its preprogrammed path for charging. By continuously monitoring the battery power of the line patrol robot, it can be ensured that the battery of the line patrol robot can be charged when the battery power of the line patrol robot is lower than the optimal battery power. The line patrol robot can be charged at any time as long as there is a need during the process of performing its preprogrammed tasks. In this way, the execution of the preprogrammed tasks by the line patrol robot can be avoided from being interrupted, thereby greatly shortening the time in the execution of the preprogrammed tasks and improving the execution speed and efficiency.

[0024] Hereinafter, embodiments of the present disclosure will be described in detail with reference to the accompanying drawings, which are part of this document and illustrate by way of example specific embodiments in which the present disclosure may be practiced. The description of these embodiments is detailed enough to allow those skilled in the art to practice the present disclosure, and it is understood that other embodiments may be used and various changes may be made without departing from the scope of the present disclosure. Therefore, the following description should not be considered to be limiting.

[0025] Figure 1 Detailed description is given of an exemplary configuration of a charging control unit 100 for controlling the charging of a line patrol robot 102 according to some embodiments of the present disclosure.

[0026] The charging control unit 100 may include a line patrol robot 102, a charging control system 104, and a power supply / communication track 106. The line patrol robot 102 may be used to perform preprogrammed tasks. The line patrol robot 102 may follow a preprogrammed path 108 to perform the preprogrammed tasks. The power supply / communication track 106 may be configured to be parallel to the preprogrammed path 108. The power supply / communication track 106 may be used to carry power supply signals and communication signals. The power supply / communication track 106 may be made of any conductive material for carrying both communication and power supply signals. In one embodiment, the line patrol robot 102 may be configured to have a charging control system 104 to charge the battery of the line patrol robot 102.

[0027] The line patrol robot 102 may include a ground contact wheel 110 and a segmented wheel 112. The ground contact wheel 110 may be connected to the preprogrammed path 108 throughout the execution of the preprogrammed task. The segmented wheel 112 may be connected to the power supply / communication track throughout the execution of the preprogrammed task. The segmented wheel 112 may be divided into an equal number of different contact surfaces. These different contact surfaces may include a charging contact surface, a sending contact surface, and a receiving contact surface. The charging contact surface may be made of any conductive material. The different contact surfaces may be separated by an insulating surface.

[0028] In one embodiment, the different contact surfaces of the segmented wheel 112 are arranged in the following order: charging contact surface-transmitting contact surface-receiving contact surface-charging contact surface. When the segmented wheel 112 rotates or moves on the power supply / communication track 106, the charging contact surface, the transmitting contact surface and the receiving contact surface can be connected to the power supply / communication track 106 in sequence in the above order.

[0029] In addition, the power supply / communication track 106 can be powered by the power supply / communication unit 114. The power supply / communication track 106 can carry power supply signals and communication signals. The charging control system 104 can communicate with the power supply / communication unit 114 to realize charging of the battery of the line patrol robot 102. The power supply / communication unit 114 can be powered by any power source such as an AC / DC converter, a DC / DC converter, a solar panel or a dry cell. The communication component of the power supply / communication unit 114 can perform communication between the line patrol robot 102 and the power supply / communication unit 114, between different line patrol robots, and between different system components. The communication component can be any communication unit such as a local area network (LAN) unit, a recommended standard 232 (RS232) unit, or a recommended standard 422 (RS422) unit.

[0030] In one embodiment, the charging control system 104 may continuously detect the battery power of the line patrol robot 102. When the battery power of the line patrol robot 102 is lower than the optimal battery power, the charging control system 104 may send at least one of the battery power of the line patrol robot 102 and a battery charging message to the power supply / communication unit 114. The battery power and the message may be sent via the power supply / communication track 106 when the transmission contact surface of the segmented wheel 112 is connected to the power supply / communication track 106. The charging control system 104 may charge the battery of the line patrol robot 102 when the charging contact surface is connected to the power supply / communication track 106.

[0031] Figure 2 Detailed block diagram of a charging control system 104 for controlling the charging of a line patrol robot 102 according to some embodiments of the present disclosure.

[0032] The charging control system 104 may include a processor 202 and a memory 204. The charging control system 104 may include data 206 and a module 208. Figure 2 As shown, for example, data 206 may be stored in the memory 204 of the charging control system 104. In one embodiment, the data 206 may include the battery level of the line patrol robot 102, the location of the line patrol robot 102, the task to be performed by the line patrol robot 102, and other data 210.

[0033] In some embodiments, the data 206 may be stored in the memory 204 in the form of various data structures. In addition, the data 206 may be organized by a data model such as a relational data model or a hierarchical data model. Other data 210 may store data generated by the module 208 for performing various functions of the charging control system 104, including temporary data and temporary files.

[0034] In some embodiments, the data 206 stored in the memory 204 may be processed by a module 208 of the charging control system 104. The module 208 may be stored in the memory 204. In one embodiment, the module 208, which is communicatively connected to the processor 202 provided in the charging control system 104, may also be external to the memory 204 and may be implemented as hardware. As used herein, the term "module 208" may refer to an application specific integrated circuit (ASIC), an electronic circuit, a processor (a shared processor, a dedicated processor, or a processor group) and a memory for executing one or more software or firmware programs, a combination of logic circuits, and / or other components that provide the above-mentioned functions.

[0035] In some embodiments, the module 208 may include, for example, a contact surface determination module 212, a monitoring module 214, a charging module 216, a termination module 218, and other modules 220. The other modules 220 may be used to perform various other functions of the charging control system 104. It is understood that the above-mentioned module 208 may be in the form of a single module or in the form of a combination of different modules.

[0036] In some embodiments, the contact surface determination module 212 can determine the contact surface of the segmented wheel 112 connected to the power supply / communication track 106. The contact surface determination module 212 can determine the type of the contact surface of the segmented wheel 112 connected to the power supply / communication track 106 through a slot type sensing mechanism. In one example, an infrared (IR) slot type sensor can be used as the slot type sensing mechanism. An infrared receiver can be fixed on the stationary part of the line patrol robot 102. In addition, different infrared transmitters aligned with each contact surface can be set on the segmented wheel 112. Each infrared transmitter aligned with the corresponding contact surface can transmit an infrared wave of a predetermined frequency, and the predetermined frequency can be different from the frequency transmitted by other infrared transmitters. The infrared transmitter aligned with the charging contact surface can transmit an infrared wave of a specific frequency, the infrared transmitter aligned with the transmitting contact surface can transmit an infrared wave of another frequency, and the infrared transmitter aligned with the receiving contact surface can transmit an infrared wave of yet another frequency. Whenever a specific contact surface contacts the power supply / communication track 106, each of the infrared transmitters can enter the line of sight of the infrared receiver. The contact surface determination module 212 may check the frequency received by the infrared receiver and determine which contact surface the power supply / communication track 106 is currently connected to based on the received frequency.

[0037] In another embodiment, the contact surface determination module 212 can determine whether the charging contact surface of the segmented wheel 112 is connected to the power supply / communication track 106 by checking whether there is a direct current (DC) voltage level or an effective voltage level on the contact surface of the segmented wheel 112. In addition, the contact surface determination module 212 can determine whether the receiving contact surface of the segmented wheel 112 is connected to the power supply / communication track 106 by checking whether the receiving contact surface of the segmented wheel 112 receives a communication message.

[0038] In one embodiment, the contact surface determination module 212 can determine the contact surface to which the power supply / communication track 106 is connected by performing a continuity check. First, the contact surface determination module 212 can measure the voltage level on the contact surface of the segmented wheel 112 to which the power supply / communication track 106 is connected. If a valid voltage level is detected on the contact surface, the contact surface to which the power supply / communication track 106 is connected can be determined as a charging contact surface. If the measured voltage level is higher than a predetermined voltage level, the voltage level can be regarded as a valid voltage level.

[0039] If no valid voltage level is detected on the contact surface to which the power / communication track 106 is connected, the contact surface determination module 212 may receive input related to the contact surface to which the power / communication track 106 is connected from the slot sensing mechanism. The slot sensing mechanism may determine the contact surface to which the power / communication track 106 is connected as the sending contact surface. If the sending contact surface is not determined to be the contact surface to which the power / communication track 106 is connected, the contact surface determination module 212 may wait to receive a communication message from the power / communication unit 114 or other line patrol robot. If a communication message is received on the contact surface, the contact surface determination module 212 may determine the contact surface to which the power / communication track 106 is connected as the receiving contact surface. If none of the above-mentioned different contact surfaces is determined to be connected to the power / communication track 106, the contact surface determination module 212 may repeat the continuity check as the segmented wheel 112 moves along the preprogrammed path 108.

[0040] When it is determined that the charging contact surface is connected to the power supply / communication track 106, the charging module 216 can charge the battery of the line patrol robot 102. The power supply / communication unit 114 can be used as a power source and provide a power supply signal to the power supply / communication track 106. The charging module 216 can charge the battery of the line patrol robot 102 through the charging contact surface of the segmented wheel 112 connected to the power supply / communication track 106.

[0041] In addition, the monitoring module 214 may continuously monitor the battery of the line patrol robot 102. When the battery power of the line patrol robot 102 is higher than the optimal battery power, the termination module 218 may terminate the charging of the battery of the line patrol robot 102. In order to terminate the battery charging, the termination module 218 may send a message to the power supply / communication unit 114 to instruct it to stop supplying power. On the other hand, when the battery power of the line patrol robot 102 is not equal to or higher than the optimal battery power, the charging module 216 may send a message to the power supply / communication unit 114 to instruct it to charge the battery of the line patrol robot 102. The power supply / communication unit 114 may continuously provide a power supply signal to the power supply / communication track 106 so that the battery of the line patrol robot 102 is continuously charged through the charging contact surface until the battery power of the line patrol robot 102 is equal to the optimal battery power.

[0042] In one embodiment, assume that a line patrol robot is configured to inspect a storage room. In order to implement the inspection, the line patrol robot may need to move around in the storage room having a certain structure. In order to inspect the storage status at a specific point in the storage room, the line patrol robot may need to reach a specific point in the storage room along a preprogrammed path to inspect the storage space. In this case, the line patrol robot may consume backup power while moving around in the storage room, and the backup power will be consumed at a certain point in time. In existing systems, the line patrol robot must move to a specific location where an available charging power source is set. In addition, in order to charge its backup power source, the line patrol robot also needs to be connected to the charging power source. This requires the line patrol robot to suspend its ongoing task (checking the storage status) while the backup power source is charging.

[0043] To solve this problem, the line patrol robot 102 may be configured with a charging control system 104. The power supply / communication track 106 may be configured to be parallel to the pre-programmed path 108 of the line patrol robot 102, and the segmented wheels 112 of the line patrol robot 102 may be constantly connected to the power supply / communication track 106. When the battery power of the line patrol robot 102 is lower than the optimal threshold, the battery of the line patrol robot 102 may be charged through the charging contact surface of the segmented wheels 112 during the process of the line patrol robot 102 inspecting the storage room. Therefore, the line patrol robot 102 does not need to suspend the inspection of the storage room, thereby improving the speed and efficiency of the line patrol robot 102 in performing its storage room inspection task.

[0044] Figure 3 2 is an example waveform diagram of a charging signal / power supply signal and a communication signal according to some embodiments of the present disclosure. Figure 3 As shown, after the charging contact surface is connected to the power supply / communication track 106, the power supply / communication unit 114 can provide a charging pulse with a voltage level of V and a time length of t1 to the charging contact surface of the segmented wheel 112. As the segmented wheel 112 moves or rotates, different contact surfaces of the segmented wheel 112 can be connected to the power supply / communication track 106 respectively. In one embodiment, after the charging contact surface, the transmission contact surface of the segmented wheel 112 can be connected to the power supply / communication track 106.

[0045] like Figure 3 As shown, after the transmission contact surface is connected to the power supply / communication track 106, the line patrol robot 102 can send communication transmission pulses to the transmission contact surface within the time length t2. After the transmission contact surface, the receiving contact surface of the segmented wheel 112 can be connected to the power supply / communication track 106.

[0046] like Figure 3As shown, after the receiving contact surface is connected to the power supply / communication track 106, the line patrol robot 102 can receive the communication receiving pulse within the time length t3. Following the receiving contact surface, as the segmented wheel 112 moves or rotates, the charging contact surface can be connected to the power supply / communication track 106 again. In this way, the segmented wheel 112 can always remain connected to the power supply / communication track 106 throughout the process of performing the pre-programmed task.

[0047] Figure 4 1 is a flow chart of a charging control method for the line patrol robot 102 according to some embodiments of the present disclosure.

[0048] The order in which the method 400 is described is not intended to be construed as limiting, and the various step boxes may have any number and may be combined in any order to implement the method 400. In addition, the various boxes may be deleted from the method 400 without departing from the spirit and scope of the technical solutions described herein. In addition, the method may be implemented in any suitable hardware, software, firmware, or a combination thereof.

[0049] In frame 402, method 400 may include determining, by the processor 202 of the charging control system 104, a contact surface where the segmented wheel 112 of the line patrol robot 102 is connected to the power supply / communication track 106. The power supply / communication track 106 may be parallel to the pre-programmed path 108 of the line patrol robot 102 and may carry power supply signals and communication signals. The contact surface where the power supply / communication track 106 is connected may be determined by a slot-type sensing mechanism. In one embodiment, the determination of the contact surface may be implemented by the contact surface determination module 212. Figure 1 , the working principle of the contact surface determination module 212 is described in detail.

[0050] In frame 404, method 400 may include charging the battery of line patrol robot 102 by processor 202 of charging control system 104 when the charging contact surface of segmented wheel 112 is connected with power supply / communication track 106. In one embodiment, when the battery power of line patrol robot 102 is lower than the optimal battery power, a message may be sent to power supply / communication unit 114 to charge the battery of line patrol robot 102. In one embodiment, charging of the battery of line patrol robot 102 may be implemented by charging module 216. Figure 1 , the working principle of the charging module 216 is described in detail.

[0051] In frame 406, the method 400 may include monitoring the battery power of the line patrol robot 102 by the processor 202 of the charging control system 104. In one embodiment, the monitoring of the battery power of the line patrol robot 102 may be implemented by the monitoring module 214. Figure 1, the working principle of the monitoring module 214 is described in detail.

[0052] In block 408, the method 400 may include, when the battery power of the line patrol robot 102 is higher than the optimal battery power, the processor 202 of the charging control system 104 terminates the charging of the battery of the line patrol robot 102. In one embodiment, the termination of the battery charging of the line patrol robot 102 may be implemented by the termination module 218. Figure 1 , the working principle of the termination module 218 is described in detail.

[0053] like Figure 4 As shown, method 400 includes one or more step frames for illustrating the charging control method of line patrol robot 102. Method 400 can be described in the general context of computer executable instructions. In general, computer executable instructions may include routines, programs, objects, components, data structures, processes, modules, and functions for performing specific functions or implementing specific abstract data types.

[0054] Figure 5 4 is a flow chart of another charging control method of the line patrol robot 102 according to some embodiments of the present disclosure.

[0055] The order in which the method 500 is described is not intended to be construed as limiting, and the various step boxes may have any number and may be combined in any order to implement the method 500. In addition, each box may be deleted from the method 500 without departing from the spirit and scope of the technical solutions described herein. In addition, the method may be implemented in any suitable hardware, software, firmware, or a combination thereof.

[0056] In frame 502, method 500 may include determining, by the processor 202 of the charging control system 104, a contact surface where the segmented wheel 112 of the line patrol robot 102 is connected to the power supply / communication track 106. The power supply / communication track 106 may be parallel to the pre-programmed path 108 of the line patrol robot 102 and may carry power supply signals and communication signals. The contact surface where the power supply / communication track 106 is connected may be determined by a slot-type sensing mechanism. In one embodiment, the determination of the contact surface may be implemented by the contact surface determination module 212. Figure 1 , the working principle of the contact surface determination module 212 is described in detail.

[0057] In frame 504, the method may include determining, by the processor 202 of the charging control system 104, whether the charging contact surface of the segmented wheel 112 is connected to the power supply / communication track 106. In one embodiment, the charging contact surface may be determined to be connected to the power supply / communication track 106 by a slot-type sensing mechanism. In another embodiment, the charging contact surface of the segmented wheel 112 may be determined to be connected to the power supply / communication track 106 by checking whether there is a DC voltage level or a valid voltage level on the contact surface of the segmented wheel 112. If a valid voltage level is detected on the contact surface, the contact surface connected to the power supply / communication track 106 may be determined as the charging contact surface. Wherein, if the measured voltage level is higher than a predetermined voltage level, the voltage level may be regarded as a valid voltage level.

[0058] If it is determined that the charging contact surface of the segmented wheel 112 is connected to the power supply / communication track 106, then in frame 506, the method may include the processor 202 of the charging control system 104 using the power supply or power supply signal provided by the power supply / communication unit 114 on the power supply / communication track 106 to charge the battery of the line patrol robot 102.

[0059] If it is determined that the charging contact surface is not connected to the power supply / communication track 106, then in block 508, the method may include determining, by the processor 202 of the charging control system 104, whether the transmission contact surface of the segmented wheel 112 is connected to the power supply / communication track 106. In one embodiment, whether the transmission contact surface is connected to the power supply / communication track 106 may be determined by a slot-type sensing mechanism.

[0060] If it is determined that the sending contact surface is connected to the power supply / communication track 106, then in frame 510, the method may include the processor 202 of the charging control system 104 checking whether any previous communication message has not been sent due to the loss of contact between the sending contact surface of the segment wheel 112 and the power supply / communication track 106. Among them, it can be checked whether there is a previous communication message that has not been sent based on the transmission status of the previous communication message. If the receiving contact surface fails to receive the confirmation message immediately after the previous communication message is sent, the transmission status can be determined as "unsuccessful". On the other hand, if the receiving contact surface receives the confirmation message immediately after the previous communication message is sent, the transmission status can be determined as "successful".

[0061] At block 512 , the method may include transmitting, by the processor 202 of the charging control system 104 , the current communication message via the power / communication track 106 through the transmission contact surface of the segment wheel 112 when the transmission status of the previous communication message is determined to be “successful”.

[0062] At block 514 , the method may include sending, by the processor 202 of the charging control system 104 , the previous communication message via the power / communication rail 106 when the transfer status is determined to be “unsuccessful”.

[0063] In block 516, the method may include determining, by the processor 202 of the charging control system 104, whether the receiving contact surface is connected to the power / communication track 106. In one embodiment, the determination of whether the receiving contact surface is connected to the power / communication track 106 may be performed by a slot-type sensing mechanism. In another embodiment, the determination of whether the receiving contact surface of the segmented wheel 112 is connected to the power / communication track 106 may be performed by checking whether a communication message is received on the receiving contact surface of the segmented wheel 112. If the receiving contact surface is not connected to the power / communication track 106, the method may return to block 502 to determine the type of contact surface to which the power / communication track 106 is connected.

[0064] In block 518, the method may include, when the receiving contact surface is connected to the power / communication track 106, receiving, by the processor 202 of the charging control system 104, an incoming communication message through the receiving contact surface of the segmented wheel 112 via the power / communication track 106. Upon successful receipt of the incoming communication message, the method may include sending, by the processor 202 of the charging control system 104, a confirmation message through the sending contact surface via the power / communication track 106.

[0065] like Figure 5 As shown, method 500 includes one or more step frames for illustrating the charging control method of line patrol robot 102. Method 500 can be described in the general context of computer executable instructions. In general, computer executable instructions may include routines, programs, objects, components, data structures, processes, modules, and functions for performing specific functions or implementing specific abstract data types.

[0066] The embodiment described as having a plurality of interrelated components does not mean that all such components are required components. On the contrary, it is described that there are also a variety of possible embodiments for realizing the present invention with a variety of optional components.

[0067] In this article, once there is a description of a single device or object, it is immediately clear that the single device / object can be replaced by more than one of the devices / objects (regardless of whether there is a collaborative relationship between them). Similarly, once there is a description of more than one device or object (regardless of whether there is a collaborative relationship between them) in this article, it is immediately clear that the more than one device or object can be replaced by a single device / object, or the number of devices or programs shown can be replaced by a different number of devices / objects. In addition, the functions and / or features of a certain device can be implemented by one or more other devices that are not explicitly described as having such functions / features. Therefore, other embodiments of the present invention do not need to include the device itself.

[0068] This specification describes a charging control method, system and unit for a line patrol robot 102. The steps shown are used to illustrate the exemplary implementation, and it should be expected that with the continuous development of technology, the execution mode of specific functions will also change. The above embodiments presented herein are for illustrative rather than limiting purposes. In addition, for the convenience of description, the demarcation of each component function paragraph herein is relatively arbitrary. As long as the above functions and their relationships can be properly implemented, the functional paragraphs can adopt other demarcation methods. According to the teachings of this application, alternative solutions (including equivalent solutions, extension solutions, deformation solutions, deviation solutions, etc. of the solutions described in this application) are obvious to technicians in the relevant fields. These alternative solutions all fall within the scope and spirit of the disclosed embodiments. In addition, the words "including", "having", "including", "containing" and other similar forms are intended to be equivalent to each other in meaning, and have the following open meaning: one or more items listed after any of the words are not intended to indicate that such items have been fully listed, or to indicate that such items are limited to the listed items. In addition, it must be noted that in this specification and the appended claims, unless the context clearly indicates otherwise, references to unspecified numbers include both the singular and the plural.

[0069] Finally, the text style selected in this specification is mainly for readability and teaching purposes, and it may not be intended to detail or limit the technical solutions of the present invention. Therefore, the scope of the present invention is not intended to be limited by this specific embodiment section, but is defined by any claims based on this section. Accordingly, the disclosure of the embodiments of the present invention is intended to illustrate rather than limit the scope of the present invention, and the scope of the present invention is as described in the following claims.

Claims

1. A charging control method for a line patrol robot, It is characterized in that The method includes: Determining, by a charging control system, a contact surface of a segmented wheel of the line patrol robot connected to a power supply / communication track, wherein the power supply / communication track is parallel to a preprogrammed path of the line patrol robot and the power supply / communication track carries a power supply signal and a communication signal; When the charging contact surface of the segmented wheel is connected to the power supply / communication track, the charging control system charges the battery of the line patrol robot; The charging control system monitors the battery power of the line patrol robot; and When the battery power of the line patrol robot is higher than the optimal battery power, the charging control system terminates charging the battery of the line patrol robot. The line patrol robot comprises a ground contact wheel and a segmented wheel which are arranged opposite to each other, wherein the ground contact wheel is connected to the preprogrammed path during the whole process of executing the preprogrammed task, and the segmented wheel is connected to the power supply / communication track during the whole process of executing the preprogrammed task. The segmented wheel is divided into an equal number of different contact surfaces, which include a charging contact surface, a sending contact surface and a receiving contact surface. Wherein, when the segmented wheel rotates or moves on the power supply / communication track, the charging contact surface, the sending contact surface and the receiving contact surface are connected to the power supply / communication track in sequence. Wherein, the method further comprises: Determining that the transmitting contact surface of the segmented wheel is connected to the power supply / communication track; checking a transmission status of a previous communication message sent to the sending contact surface of the segment wheel; When the receiving contact surface of the segmented wheel does not receive a confirmation message, sending the previous communication message via the power supply / communication track; The current communication message is transmitted via the power supply / communication track through the transmission contact surface of the segmented wheel.

2. The method according to claim 1, It is characterized in that Each of the charging contact surface, the transmitting contact surface, and the receiving contact surface is separated by an insulating surface.

3. The method according to claim 1, It is characterized in that An infrared (IR) slot-type sensing mechanism fixed to the segmented wheel is used to determine the type of contact surface to which the power / communication track is connected.

4. A charging control system for controlling the charging of a line patrol robot. It is characterized in that The charging control system includes: Processor; and A memory, the memory being communicatively connected to the processor, wherein the memory stores processor instructions, which, when executed, cause the processor to: Determining a contact surface of a segmented wheel of the line patrol robot connected to a power supply / communication track, wherein the power supply / communication track is parallel to a preprogrammed path of the line patrol robot and carries a power supply signal and a communication signal; When the charging contact surface of the segmented wheel is connected to the power supply / communication track, the battery of the line patrol robot is charged; Monitoring the battery power of the line patrol robot; and When the battery power of the line patrol robot is higher than the optimal battery power, the battery charging of the line patrol robot is terminated. The line patrol robot comprises a ground contact wheel and a segmented wheel which are arranged opposite to each other, wherein the ground contact wheel is connected to the preprogrammed path during the whole process of executing the preprogrammed task, and the segmented wheel is connected to the power supply / communication track during the whole process of executing the preprogrammed task. The segmented wheel is divided into an equal number of different contact surfaces, which include a charging contact surface, a sending contact surface and a receiving contact surface. Wherein, when the segmented wheel rotates or moves on the power supply / communication track, the charging contact surface, the sending contact surface and the receiving contact surface are connected to the power supply / communication track in sequence. Wherein, when the processor instruction is executed, the processor further causes the processor to: Determining that the transmitting contact surface of the segmented wheel is connected to the power supply / communication track; checking a transmission status of a previous communication message sent to the sending contact surface of the segment wheel; When the receiving contact surface of the segmented wheel does not receive a confirmation message, sending the previous communication message via the power supply / communication track; The current communication message is transmitted via the power supply / communication track through the transmission contact surface of the segmented wheel.

5. The charging control system according to claim 4, It is characterized in that The processor instructions, when executed, further cause the processor to: Monitoring the battery power of the line patrol robot; and When the battery power is lower than the optimal battery power, a message is sent to the charging / communication unit to charge the battery of the line patrol robot.

6. The charging control system according to claim 4, It is characterized in that Each of the charging contact surface, the transmitting contact surface, and the receiving contact surface is separated by an insulating surface.

7. The charging control system according to claim 4, It is characterized in that An infrared (IR) slot-type sensing mechanism fixed to the segmented wheel is used to determine the type of contact surface to which the power / communication track is connected.

8. The charging control system according to claim 4, It is characterized in that The processor charges the battery of the line patrol robot by checking whether a direct current (DC) voltage level exists on the charging contact surface of the segmented wheel to determine whether the contact surface of the segmented wheel is connected to the power supply / communication track.

9. The charging control system according to claim 4, It is characterized in that The processor determines whether the receiving contact surface of the segmented wheel is connected to the power / communication track by checking whether a communication message is received on the receiving contact surface of the segmented wheel.

10. The charging control system according to claim 4, It is characterized in that The processor instructions, when executed, further cause the processor to: Determining that the receiving contact surface of the segmented wheel is connected to the power supply / communication track; receiving an input communication message via the power / communication track through the receiving contact surface of the segmented wheel; as well as A confirmation message that the incoming communication message has been successfully received is sent via the power supply / communication track through the sending contact surface.

11. A charging control unit for controlling the charging of a line patrol robot, It is characterized in that The charging control unit comprises: A line patrol robot provided with a charging control system, wherein the line patrol robot follows a preprogrammed path to perform a preprogrammed task; The line patrol robot includes: a ground contacting wheel that remains connected to said preprogrammed path throughout the execution of said preprogrammed task; a segmented wheel connected to the power / communication track, wherein the segmented wheel is divided into an equal number of different contact surfaces, the different contact surfaces including a charging contact surface, a transmitting contact surface, and a receiving contact surface, wherein the ground contact wheel is arranged opposite to the segmented wheel, and the segmented wheel is connected to the power / communication track throughout the process of performing the pre-programmed task; and said power / communication track being configured to be parallel to said preprogrammed path, Wherein, when the segmented wheel rotates or moves on the power supply / communication track, the charging contact surface, the sending contact surface and the receiving contact surface are connected to the power supply / communication track in sequence. Wherein, the charging control unit is used for: Determining that the transmitting contact surface of the segmented wheel is connected to the power supply / communication track; checking a transmission status of a previous communication message sent to the sending contact surface of the segment wheel; When the receiving contact surface of the segmented wheel does not receive a confirmation message, sending the previous communication message via the power supply / communication track; The current communication message is transmitted via the power supply / communication track through the transmission contact surface of the segmented wheel.

12. The charging control unit according to claim 11, It is characterized in that The power supply / communication track is powered by a power supply / communication unit to charge the battery of the line patrol robot through the charging contact surface of the segmented wheel.

13. The charging control unit according to claim 12, It is characterized in that When the charging contact surface of the segmented wheel is connected to the power supply / communication track, the battery of the line patrol robot is charged.

14. The charging control unit according to claim 11, It is characterized in that The charging control system sends at least one of the battery power of the line patrol robot, the position of the line patrol robot, and the task to be performed by the line patrol robot to the power supply / communication unit.

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