Robot intelligent charging method and intelligent charging interaction system

Abstract

The application provides a robot intelligent charging method and an intelligent charging interaction system. The robot intelligent charging method comprises the following steps: a robot acquires real-time residual endurance mileage of the robot; when the real-time residual endurance mileage is less than or equal to a charging return mileage, the robot sends a charging request to a server, and the charging request comprises robot position information; the server acquires charging pile information in operation, acquires information of a charging pile closest to a position where the robot is located and idle according to the robot position information and the charging pile information, and sends the charging pile information to the robot, wherein the charging pile information comprises position information and / or ID information of the charging pile; when the robot receives the charging pile information, the robot plans a charging return path to return to the charging pile to charge. The robot intelligent charging method and the intelligent charging interaction system can improve the monitoring capability of the robot and the charging pile, improve the efficiency of operation and maintenance, and improve the service efficiency.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of robot control and communication technology, in particular to a robot intelligent charging method and an intelligent charging interaction system. BACKGROUND

[0002] Robots can replace manual services to reduce people's labor and bring great convenience to people. The current power source of mobile service robots mainly depends on rechargeable batteries, and charging devices are essential facilities for normal service work of robots. Automatic charging of robots has become a development direction, and the overall efficiency and operation and maintenance monitoring capability of automatic charging are also increasingly high.

[0003] Robots provide on-site services autonomously in an unmanned environment, and a remote system generally monitors and manages the robots. However, in addition to being able to obtain information reported by the robot system, it is difficult to obtain other real-time state information related to the robot, and the state information of the charging pile cannot be obtained in real time. In addition, in the existing automatic charging scheme, the robot performs charging only after simply judging whether the power is lower than a certain threshold, and the relationship curve between the current position and the power of the robot is not considered, so there is a possibility of return failure, and the overall efficiency is not high.

[0004] The present application provides a robot intelligent charging method and an intelligent charging interaction system to solve the above problems. SUMMARY

[0005] The technical problem solved by the present application is to provide a robot intelligent charging method and an intelligent charging interaction system. The charging pile has a networking function, so that the server can obtain information of the charging pile and the robot in real time, and meet the management requirements of multiple charging piles. At the same time, the real-time dynamic update of the return charging node condition judged by the robot makes the robot able to successfully move to the charging pile for charging.

[0006] The technical problem solved by the present application is solved by adopting the following technical scheme:

[0007] A robot intelligent charging method comprises: a robot obtaining real-time remaining endurance mileage of itself; when the real-time remaining endurance mileage is less than or equal to a planned charging return mileage, the robot sends a charging request to a server, the charging request comprising robot position information; the server obtains charging pile information in operation, and obtains information of a charging pile closest to the position of the robot and idle according to the robot position information and the charging pile information, and then sends the information of the charging pile to the robot, the information of the charging pile comprising position information and / or ID information of the charging pile; when the robot receives the information of the charging pile, the robot plans a charging return path to return to the charging pile for charging.

[0008] In the preferred embodiment of the present application, the above-mentioned intelligent charging method of the robot further comprises: iteratively updating the power and the endurance curve of the robot during the continuous charging and discharging of the robot; the robot acquires the real-time power and the real-time endurance curve of the robot; and the robot acquires the real-time remaining endurance mileage according to the real-time power and the real-time endurance curve of the robot.

[0009] In the preferred embodiment of the present application, the above-mentioned step of acquiring the real-time remaining endurance mileage of the robot further comprises: acquiring a first endurance curve of the power and the endurance mileage of the robot when performing a normal task in a full-power state.

[0010] In the preferred embodiment of the present application, the above-mentioned step of acquiring the first endurance curve of the power and the endurance mileage of the robot when performing a normal task in a full-power state further comprises: acquiring the task state information and the task power consumption and non-task power consumption of the robot; and correcting the first endurance curve according to the task power consumption and the non-task power consumption of the robot to acquire the real-time remaining endurance mileage.

[0011] In the preferred embodiment of the present application, the above-mentioned step of planning a charging return path to return to the charging pile for charging after the robot receives the information of the charging pile further comprises: the charging pile acquires the battery temperature information when the robot is charging, and adjusts the output charging current according to the battery temperature information.

[0012] In the preferred embodiment of the present application, the above-mentioned step of planning a charging return path to return to the charging pile for charging after the robot receives the information of the charging pile further comprises: when the robot is successfully charged, the robot and the charging pile send charging success information to the server, so that the server updates the operation state information of the charging pile to a used state; and when the robot is charged, the robot and the charging pile send charging completion information to the server, so that the server updates the operation state information of the charging pile to an idle state.

[0013] The present application also provides another intelligent charging method of a robot, applied to the robot, comprising: acquiring a real-time remaining endurance mileage; when the real-time remaining endurance mileage is less than or equal to a planned charging return mileage, sending a charging request to a server, the charging request comprising robot position information; and when receiving a charging pile allocation instruction sent by the server, planning a charging return path to return to an allocated charging pile for charging, the charging pile allocation instruction comprising position information and / or ID information of the allocated charging pile.

[0014] The application discloses an intelligent charging interaction system, characterized in that the intelligent charging interaction system comprises a robot, a server and a charging pile; the robot is used for sending a charging request to the server, the charging request comprising robot position information, and planning a charging return path to return to the charging pile for charging when receiving information of the charging pile sent by the server; the server is used for acquiring information of the charging pile in operation, and sending information of the charging pile to the robot after acquiring information of the charging pile closest to the position of the robot and idle according to the robot position information and the charging pile information, wherein the information of the charging pile comprises position information and / or ID information of the charging pile; and the charging pile is used for providing a charging power supply for the robot.

[0015] In the preferred embodiment of the application, the charging pile comprises a power management module, an MCU control module, a safety control module and a wireless communication module; the MCU control module is in communication connection with the power management module, the safety control module and the wireless communication module respectively, and is used for controlling whether the power management module charges, simultaneously acquiring charging voltage information and charging current information, and sending the information to the server through the wireless communication module; the safety control module is used for controlling the charging voltage and the charging current; and the wireless communication module is used for communicating with the server, and acquiring battery temperature information of the robot from the server during the charging process.

[0016] In the preferred embodiment of the application, the charging pile further comprises a contact collision sensor and an electrode sheet; the contact collision sensor is used for collecting a touch signal when the robot electrode sheet and the electrode sheet are in contact, and sending the touch signal to the MCU control module, so that the MCU control module controls the safety control module and the power management module to trigger charging; and the electrode sheet is connected with the safety control module, and is used for being connected with the robot electrode sheet.

[0017] The application achieves the technical effects of the above technical scheme, that is, intelligently judging whether the robot needs to move to the charging pile for charging according to the real-time position and the residual power of the robot, so that the robot can successfully move to the charging pile for charging; the server can acquire the information of the robot and the information of the charging pile in real time, realizes the management of the robot and the charging pile, and improves the monitoring capability of the robot and the charging pile; and the combination of the robot, the charging pile and the server effectively improves the safety during the charging process of the robot.

[0018] The above description is only a summary of the technical scheme of the application, in order to more clearly understand the technical means of the application, the preferred embodiments can be implemented according to the content of the specification, and in order to make the above and other purposes, characteristics and advantages of the application more obvious and easy to understand, the following preferred embodiments are described in detail, and the accompanying drawings are referred to. BRIEF DESCRIPTION OF DRAWINGS

[0019] The accompanying drawings, which are incorporated herein and constitute part of the specification, illustrate embodiments consistent with the present application and, together with the description, further serve to explain the principles of the application.

[0020] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the accompanying drawings needed to be used in the embodiments or prior art description will be briefly introduced as follows. Obviously, for those of ordinary skill in the art, the other drawings can be obtained based on these drawings without any creative effort.

[0021] Figure 1 A flow chart of the robot intelligent charging method according to the first embodiment of the present application is shown in the figure.

[0022] Figure 2 A flow chart of the robot intelligent charging method according to the second embodiment of the present application is shown in the figure.

[0023] Figure 3 A flow chart of the charging pile intelligent adjustment method according to the third embodiment of the present application is shown in the figure.

[0024] Figure 4 A flow chart of the robot intelligent charging method according to the fourth embodiment of the present application is shown in the figure.

[0025] Figure 5 A structure schematic diagram of the intelligent charging interactive system according to the fifth embodiment of the present application is shown in the figure.

[0026] Figure 6 A structure schematic diagram of the charging pile in the intelligent charging interactive system according to the fifth embodiment of the present application is shown in the figure.

[0027] Figure 7 A circuit diagram of the safety control module in the charging pile according to the fifth embodiment of the present application is shown in the figure. DETAILED DESCRIPTION

[0028] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the accompanying drawings needed to be used in the embodiments or prior art description will be briefly introduced as follows. Obviously, for those of ordinary skill in the art, the other drawings can be obtained based on these drawings without any creative effort.

[0029] First Embodiment

[0030] Please refer to Figure 1 , Figure 1 This is a flowchart illustrating the intelligent charging method for robots according to the first embodiment of the present invention.

[0031] like Figure 1 As shown, the robot intelligent charging method of this embodiment includes the following steps:

[0032] Step S11: The robot obtains its real-time remaining range.

[0033] In one embodiment, step S11: The robot obtains its real-time remaining range, including: the robot obtains its real-time battery level and a real-time range curve. Specifically, the real-time range curve is a graph showing the battery level and range corresponding to the current number of robot runs.

[0034] In one implementation, the robot is fully charged for the first time before operation and performs normal tasks in a fully charged state until it automatically shuts down, forming a first range curve S1(q) of battery power and range. Here, q is the battery power and S is the range.

[0035] Specifically, based on the robot performing normal tasks from a fully charged state until automatic shutdown, a curve T1(q) showing the relationship between the robot's battery level and time is obtained. Then, based on the robot's normal moving speed and the time in curve T(q), the corresponding driving range is obtained, forming a curve S1(t) showing time and driving range. Finally, based on curves T1(q) and S1(t), a first driving range curve S1(q) is formed, showing the relationship between battery level and driving range. Here, battery level is the vertical axis of the initial curve S1(q), and driving range is the horizontal axis of the curve S1(t).

[0036] In another implementation, the robot is fully charged for the first time before operation, and does not perform any tasks while in a fully charged state until it is automatically shut down, thus forming a second range curve S2(q) of battery power and range.

[0037] Specifically, the relationship between battery power and time when the robot is not performing a task can be obtained first, and then the driving range corresponding to the corresponding time can be obtained according to the robot's normal moving speed, so as to obtain the second driving range curve S2(q) of battery power and driving range when the robot is not performing a task.

[0038] In the process of continuous charging and discharging of the robot, the battery will be worn out, so it is necessary to iteratively update the power and endurance curve Si(q) of the robot, i is the number of dynamic adjustment of the endurance curve, so as to make dynamic adjustment of the endurance curve, so as to make up for the change of endurance time caused by battery aging. In the subsequent operation of the robot, the power and endurance of the robot are judged according to the updated endurance curve Si(q).

[0039] According to the first endurance curve S1(q), when performing the task, the robot determines the power and endurance according to the current task state and relative position point, as well as the task working power consumption and non-task working power consumption. Specifically, the remaining endurance of the robot in the non-task state is obtained according to the task working power consumption, the non-task working power consumption and the first endurance curve S1(q), and then the remaining endurance and the distance between the current position and the charging pile are judged to determine whether the robot needs to move to the charging pile for charging.

[0040] The power consumed by the robot in performing the task and not performing the task is different, and the power consumed in performing different tasks may also be different. Different power consumption will make the time and endurance of the robot continue to run different. Considering that the robot consumes power in the task state and returns to the charging pile, the robot will compensate and correct the first endurance curve S1(q) and / or the endurance curve Si(q) according to the task working power consumption and the non-task working power consumption.

[0041] In an embodiment, the robot synchronizes the position information in real time during navigation, and also synchronizes the charging pile state in real time, and obtains the distance and time information from the current position of the robot to the pre-allocated charging pile position in real time.

[0042] Step S12: When the real-time remaining endurance Sg(q) is less than or equal to the charging return distance Ss(q), the robot sends a charging request to the server, and the charging request includes the robot position information.

[0043] When the real-time remaining endurance Sg(q) is less than or equal to the charging return distance Ss(q), the robot needs to initiate a charging application, otherwise it continues to perform the task. Wherein Ss(q)=Si-S, Si is the endurance of this time, and S is the distance already run.

[0044] Or, when the real-time remaining endurance Sg(q) is less than or equal to the charging return distance Ss(q), the robot needs to initiate a charging application, otherwise it continues to perform the task. Wherein Ss(q)=Si+S, Si is the distance from the current position of the robot to the allocated charging pile position, and S is the reserved distance. Wherein, the reserved distance can be a certain distance value set by the user, such as 10m, 50m and 100m, etc.

[0045] When the robot determines the need for a charging task, it sends current location information and a charging request to the server to apply for charging.

[0046] Specifically, the robot can determine whether the robot can complete the current task and successfully move to the corresponding charging pile for charging according to the current task state, the relative position point of the charging pile (the charging pile pre-assigned by the server according to the position of the robot), the task power consumption, the non-task power consumption, and the current remaining power. If so, the current task is continued to be executed. If not, it is determined whether the current remaining power meets the requirement of moving the robot from the current position to the position of the corresponding charging pile. If so, it is determined whether the cruising range of the current remaining power is greater than the charging return range. If yes, the task is continued to be executed until the cruising range of the current remaining power is less than or equal to the charging return range. If not, a charging request is sent to the server. The robot can need to move when executing the task.

[0047] In an embodiment, when there is only one charging pile, before the robot applies for charging, the robot determines whether the task can be completed and the robot can successfully return to the charging pile for charging by comprehensively judging the current position, the task amount, and the cruising range maintained by the current power. If not, it is determined whether the robot needs to return to charge according to the current position and the cruising range maintained by the current power. Assuming that the real-time determination value is X (the difference between the return range and the cruising range), Xththreshold value, when X≤Xth, the robot sends a return charging request, otherwise, the robot continues to operate.

[0048] Step S13: The server obtains charging pile information in operation, and obtains the information of the charging pile closest to the position of the robot and idle according to the position information of the robot and the charging pile information, and sends the information of the charging pile to the robot. The information of the charging pile includes the position information and / or ID information of the charging pile.

[0049] The robot can pre-store map information or obtain map information from the server, and the map information is marked with the position information and / or ID information of each charging pile.

[0050] The server obtains the running state information of each charging pile in real time, and the running state information includes online state, fault state and other information, and the online state includes use state, idle state, reservation state and other information. After obtaining the state information of each charging pile, the running state information of the corresponding charging pile is updated in the database in real time.

[0051] The server selects a charging pile meeting the charging demand of the robot from the charging piles in operation according to the operating state, charging specification and other information of the charging piles in operation, and then allocates information of the nearest and idle charging pile to the robot. The charging demand of the robot includes charging voltage, charging current, charging interface and the like.

[0052] Step S14: The robot plans a charging return path to return to the charging pile for charging when receiving the information of the charging pile.

[0053] The robot obtains the position information of the corresponding charging pile from the map after receiving the ID information or position information of the charging pile, and plans a charging return path to the corresponding charging pile in the navigation system.

[0054] Step S14: The robot plans a charging return path to return to the charging pile for charging when receiving the information of the charging pile, and then includes: when the robot successfully charges, the robot and the charging pile send charging success information to the server, so that the server updates the operating state information of the charging pile to a used state.

[0055] When the robot successfully returns to the allocated charging pile ID, the robot sends charging success information to the server after contacting / connecting the electrode sheet of the charging pile or detecting charging success. The charging pile sends charging success information to the server after detecting that its electrode sheet contacts / connects with the electrode sheet of the robot. The server updates the operating state information of the corresponding charging pile to a used state according to the charging success information fed back by the charging pile and the robot, so as to lock the corresponding charging pile, so that the server skips the charging pile when allocating charging piles to other robots.

[0056] Step S14: The robot plans a charging return path to return to the charging pile for charging when receiving the information of the charging pile, and then includes: when the robot successfully charges, the robot and the charging pile send charging success information to the server, so that the server updates the operating state information of the charging pile to a used state.

[0057] When the robot detects that it is fully charged, it makes the electrode sheet of the charging pile and the electrode sheet of the charging pile separate, and then sends charging completion information to the server. The charging pile sends charging completion information to the server after detecting that its electrode sheet and the electrode sheet of the robot are separated. The server updates the state information of the corresponding charging pile to an idle state according to the charging completion information fed back by the charging pile and the robot, so as to release the corresponding charging pile.

[0058] The robot intelligent charging method provided by the embodiment can intelligently determine whether the robot needs to move to the charging pile for charging through the current position of the robot, the remaining power, and the endurance curve of the power and the endurance mileage. The charging pile has a networking function, the server can obtain real-time information of the robot and the charging pile, the management of multiple charging piles and robots can be realized, and a closed-loop charging control is formed between the charging pile and the robot.

[0059] Second embodiment

[0060] Please refer to Figure 2 , Figure 2 The flowchart of the robot intelligent charging method shown in the second embodiment of the application.

[0061] As Figure 2 shown, the robot intelligent charging method of the embodiment includes the following steps:

[0062] S21: The server obtains real-time robot information and charging pile information.

[0063] Specifically, the robot information includes position information, task state information, power consumption information, etc. The charging pile information includes charging pile usage state information, position information, and ID information, etc.

[0064] The robot synchronizes the position information with the server in real time during the navigation process, and the server also synchronizes the charging pile state in real time, so as to obtain the mileage and time information of the robot returning to the assigned charging pile position in real time.

[0065] Step S22: When the real-time remaining endurance mileage is less than or equal to the planned charging return mileage, the server sends a charging instruction to the robot.

[0066] The server obtains the current task state, relative position information, task work power consumption, non-task work power consumption, and current remaining power of the robot in real time, and obtains the charging pile information in real time.

[0067] The server determines whether the robot can successfully return to the assigned charging pile under the condition of completing the task according to the real-time task state, relative position, task work power consumption, non-task work power consumption, real-time residual power and information of the charging pile closest to the robot position and idle; if so, the server sends a charging instruction to the robot after the robot completes the work task; if not, the server sends a charging instruction to the robot when the cruising range is less than or equal to the charging return range. The charging instruction includes charging pile ID information, and the charging instruction includes the position information of the charging pile when the charging pile information is not included in the map information stored by the robot. The charging return range = the return to the charging pile range + the reserved range. The charging return range is variable, for example, the range from the position of the robot to the position of the assigned charging pile is 1000m, and the charging return range is 1100m; the range from the position of the robot to the position of the assigned charging pile is 500m, and the charging return range is 600m.

[0068] Step S23: The robot plans a return path to return to the charging pile for charging after receiving the charging instruction.

[0069] The charging instruction includes the assigned charging pile ID information and / or position information.

[0070] The robot pre-stores map information, and the map information is marked with position information and / or ID information of each charging pile. After receiving the charging instruction, the robot generates a navigation route from the current position to the corresponding charging pile according to the position information and / or ID information of the charging pile assigned by the server.

[0071] The robot intelligent charging method provided by the embodiment enables the server to determine whether the robot can successfully move to the assigned charging pile for charging under the condition of completing the task through the current task state, relative position information, task work power consumption, non-task work power consumption, current residual power and position information of the assigned charging pile; when the robot cannot successfully move to the assigned charging pile for charging under the condition of completing the task, the server intelligently determines whether the robot needs to move to the charging pile for charging according to the real-time position and residual power of the robot, so that the robot can successfully move to the charging pile for charging; the server realizes the management of the robot and the charging pile by real-time acquisition of the robot information and the charging pile information, and improves the monitoring capability of the robot and the charging pile.

[0072] Third embodiment

[0073] Please refer to Figure 3 , Figure 3 The flowchart of the charging pile intelligent adjustment method shown in the third embodiment of the present application.

[0074] As Figure 3As shown, the intelligent adjustment method of the charging pile of the embodiment includes the following steps:

[0075] Step S31: The charging pile acquires temperature information of the robot battery.

[0076] Step S32: The charging pile adjusts the output of the charging current size according to the temperature information of the robot battery during the charging process.

[0077] The intelligent adjustment method of the charging pile provided by the embodiment optimizes the charging output current by acquiring the temperature information of the robot battery from the server during the charging process of the robot, adjusts the output of the charging current size according to the temperature information of the battery during the charging process, and improves the safety of the charging process. The combination of the charging pile and the server effectively improves the reliability of safety and the early warning of abnormal information.

[0078] Fourth embodiment

[0079] Please refer to Figure 4 , Figure 4 The flowchart of the intelligent charging method of the robot shown in the fourth embodiment of the application.

[0080] As Figure 4 shown, the intelligent charging method of the robot of the embodiment includes the following steps:

[0081] Step S41: Acquire real-time remaining endurance mileage;

[0082] Step S42: When the real-time remaining endurance mileage is less than or equal to the planned charging return mileage, send a charging request to the server, the charging request including robot position information;

[0083] Step S43: When receiving the charging pile allocation instruction sent by the server, plan a charging return path to return to the allocated charging pile for charging, the charging pile allocation instruction including position information and / or ID information of the allocated charging pile.

[0084] The intelligent charging method of the robot described in the embodiment has the same technical features as the intelligent charging method of the robot of the first embodiment, and therefore will not be described in detail here. For details, please refer to the first embodiment.

[0085] Fifth embodiment

[0086] Please refer to Figure 5 , Figure 5 The structural schematic diagram of the intelligent charging interaction system shown in the fifth embodiment of the application.

[0087] As Figure 5 shown, the intelligent charging interaction system of the embodiment includes a robot 30, a server 20 and a charging pile 10.

[0088] The charging pile 10 charges the robot 20, and one implementation adopts contact charging, and can also adopt wireless non-contact charging. The charging pile 10 has networking function, and is composed of a main control unit, an intelligent charger, a safety control unit and a communication unit. The charging pile 10 can realize networking function through the communication module, so as to realize real-time monitoring and management of the server 20 on the charging pile 10, including charging current, charging power supply, temperature and other information.

[0089] In the embodiment, the robot 30 adopts contact charging, is used for sending a charging request to the server 20 when the real-time remaining cruising range is less than or equal to the charging return range; the charging pile 10 provides charging energy for the robot 20, and is used for sending charging state information to the server 20 when the robot 30 is successfully charged or charging is completed; and the server 20 is used for sending information of the charging pile closest to the position of the robot 30 and idle to the robot 30 according to the charging request sent by the robot 30, or receiving the charging state information sent by the robot 30 and the charging pile 10, and locking and releasing the charging pile state information.

[0090] The server 20 can be divided into five modules, including a robot communication module, a robot management and scheduling module, a charging distribution management module, a charging pile management and scheduling module and a charging pile communication module. After receiving the charging application sent by the robot, the server 20 obtains idle charging pile ID information through the charging distribution management module and the charging management and scheduling module. The charging pile management and scheduling module manages the state information of the charging pile, including online state, fault state and other information, and feeds back to the charging distribution management module, so as to distribute appropriate charging pile ID to the robot. The charging pile communication module obtains charging pile response information, including use state, fault state information and the like, and updates the corresponding charging pile information in real time through the charging management and scheduling module.

[0091] Specifically, the server 20 is the distribution management center of the robot 30 and the charging pile 10, connects the information interaction of the robot 30 and the charging pile 10, and manages the real-time state information of the charging pile 10. When the robot 30 needs to be charged, the robot 30 actively sends the current position information and the charging request information to the server, the server 20 distributes the nearest charging pile ID information to the robot 30 through the state of the charging pile in operation, so as to plan the charging path and automatically return to charging. After successful return to charging, the server 20 updates and locks the management of the charging pile state according to the current success information fed back by the charging pile 10 or the robot 30, so as to form an information closed loop. When the charging is completed, the robot 30 leaves the charging pile 10, and at this time, the robot 30 or the charging pile 10 feeds back the charging pile state again, and the server 20 updates and releases the charging pile permission.

[0092] Please refer toFigure 6 , Figure 6 The charging pile structure diagram shown in the fifth embodiment of the application is shown.

[0093] As shown in Figure 6 , the charging pile 10 includes a power management module 101, an MCU control module 102, a safety control module 103, a contact collision sensor 106, an electrode sheet 105, and a wireless communication module 104; the power management module 101 is in communication connection with the MCU control module 102 and the safety control module 103 respectively. The MCU control module 102 is in communication connection with the safety control module 103. The contact collision sensor 106 is used to send notification information to the MCU control module 102 when the robot electrode sheet and the electrode sheet 105 are in contact. The wireless communication module 104 is in communication connection with the MCU control module 102, and is used to communicate with the server, and plays a role of uploading local information and receiving information.

[0094] Among them, the wireless communication module 104 is used to receive the robot battery temperature information sent by the server, and send the robot battery temperature information to the MCU control module 102. The MCU control module 102 is used to send first charging control information to the power management module 101, control the size of the charging voltage through the power management module 101, and send second charging control signals to the safety control module 103. The power management module 101 is used to charge the robot through the safety control module 103. The safety control module 103 is used to control whether to output the charging voltage to the robot according to the received second charging control signal.

[0095] The power management module 101 is responsible for converting the mains into the voltage required by the battery and low-voltage direct current, and supplying power to the rest of the modules. The charging management part including the power management module 101 can communicate with the MCU control module 102 through wired communication modes such as RS485 bus or CAN bus.

[0096] The MCU control module 102 can also communicate with the power management module 101 to obtain charging voltage, charging current and other information. The MCU control module 102 can also obtain server scheduling information and upload charging pile charging current, charging voltage, use state and abnormal fault information through the wireless communication module 104. The information can be used as the basis for judging the health management and state information of the charging pile.

[0097] The safety control part can be divided into two parts, the contact collision detection and the safety control module 103. The purpose of the contact collision detection is to detect the successful docking of the robot to the charging pile through the contact sensor when the electrode sheet of the robot and the electrode sheet of the charging pile 105 are in contact, and to inform the MCU control module 102. The MCU control module 102 triggers the safety control module 103 and the power management module 101 to charge according to the touch signal sent by the contact collision sensor 106. The safety control module 103 is composed of a relay switch control.

[0098] Please refer to Figure 6 and Figure 7 , Figure 7 the circuit diagram of the safety control module shown in the fifth embodiment of the application.

[0099] Figure 7 The safety control module 103 mainly includes an isolation control unit 1031 and a on-off protection unit 1032. The isolation control unit 1031 can use an optical coupler or other isolation measures to control the on-off of the on-off protection unit 1032 by using a small signal. The on-off protection unit 1032 can be controlled by a relay or designed by using a MOS tube or other electronic switch mode.

[0100] The intelligent charging interaction system provided by the embodiment can monitor the information of the robot and the charging pile in real time, intelligently judge the charging node of the robot, and form a charging closed-loop control of the robot and the charging pile. In order to ensure the safety of the charging process, two-stage switching protection is made to improve the safety of the system.

[0101] It should be understood that, although Figures 1 to 4 the steps in the flowchart are shown in order according to the arrows, these steps are not necessarily executed in order according to the arrows. Unless otherwise specified in this article, the execution of these steps has no strict order limitation, and they can be executed in other orders. Moreover, Figures 1 to 4 at least part of the steps in may include multiple sub-steps or multiple stages, which are not necessarily executed at the same time, but can be executed at different times, and the execution order is not necessarily sequential, but can be executed alternately or alternately with at least part of other steps or sub-steps or stages of other steps.

[0102] Those skilled in the art can clearly understand the technical solutions of the embodiments of the present application through the above description of the embodiments of the present application, which can be implemented by hardware or by means of software and necessary universal hardware platform. Based on such understanding, the technical solutions of the embodiments of the present application can be embodied in the form of a software product, which can be stored in a non-volatile storage medium (which can be a CD-ROM, a U disk, a mobile hard disk, etc.), and includes a plurality of instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in various implementation scenarios of the embodiments of the present application.

[0103] The preferred embodiments of the present application are described in detail above in combination with the drawings, but the present application is not limited to the specific details in the above-described embodiments, the above-described embodiments and the drawings are exemplary, and the modules or flows in the drawings are not necessarily required to implement the embodiments of the present application, and should not be understood as limiting the present application. Within the technical concept of the present application, various simple modifications and combinations of the technical solutions of the present application can be made, and these simple modifications and combinations all belong to the protection scope of the present application.

Claims

1. A method for intelligent charging of a robot, characterized in that, The robot intelligent charging method comprises: The robot determines whether the current task can be completed by using the existing power and successfully moves to the charging pile for charging according to the current task state, the relative position point with the charging pile, the task working power consumption, the non-task working power consumption and the current remaining power; If yes, the current task is continued to be executed; If no, it is detected whether the current remaining power meets the requirement of moving the robot from the current position to the position of the charging pile; If yes, it is determined whether the real-time remaining cruising range capable of being traveled by the current remaining power is greater than the charging return range, the charging return range being the sum of the range of moving the robot from the current position to the position of the charging pile and a reserved range; If yes, the task is continued to be executed until the real-time remaining cruising range capable of being traveled by the current remaining power is less than or equal to the charging return range; If no, a charging request is sent to the server, the charging request comprising the robot position information; The server acquires the charging pile information in operation and acquires the information of the charging pile closest to the position of the robot and idle according to the robot position information and the charging pile information, and then sends the information of the charging pile to the robot, the information of the charging pile comprising the position information and / or ID information of the charging pile; The robot plans a charging return path to return to the charging pile for charging when the information of the charging pile is received.

2. The method of claim 1, wherein, The robot intelligent charging method further comprises: In the process of charging and / or discharging of the robot, the power and the cruising curve of the robot are iteratively updated; The robot acquires the real-time power and the real-time cruising curve of itself; The robot acquires the real-time remaining cruising range according to the real-time power and the real-time cruising curve.

3. The method of claim 2, wherein, The step of acquiring the real-time remaining cruising range comprises: Acquiring a first cruising curve of the power and the cruising range of the robot in the state of executing a normal task with full power.

4. The method of claim 3, wherein, The step of acquiring the first cruising curve of the power and the cruising range of the robot in the state of executing a normal task with full power comprises: Acquiring the task state information and the task power consumption and non-task power consumption of the robot; According to the task power consumption and non-task power consumption of the robot, the first cruising curve is corrected to acquire the real-time remaining cruising range.

5. The method of claim 1, wherein, The step of the robot planning a charging return path to return to the charging pile for charging when the information of the charging pile is received comprises: The charging pile acquires the battery temperature information when the robot is charging, and adjusts the output charging current according to the battery temperature information.

6. The method of claim 1, wherein, The step of the robot planning a charging return path to return to the charging pile for charging when the information of the charging pile is received comprises: When the robot is successfully charged, the robot and the charging pile send charging success information to the server, and the server updates the operation state information of the charging pile to a use state; When the robot charging is completed, the robot and the charging pile send charging completion information to the server, and the server updates the operation state information of the charging pile to an idle state. 7.A method for intelligent charging of a robot, applied to a robot, the method comprising: The robot intelligent charging method comprises: According to the current task state, the relative position point of the charging pile, the task working power consumption, the non-task working power consumption and the current remaining power, it is judged whether the current task can be completed by using the existing power and successfully moving to the charging pile for charging; If yes, continue to execute the current task; If no, it is detected whether the current remaining power meets the requirement of moving the robot from the current position to the position of the corresponding charging pile; If yes, it is further judged whether the real-time remaining cruising range of the current remaining power is greater than the charging return range, the charging return range being the sum of the range of moving the robot from the current position to the charging pile position and the reserved range; If yes, the task is continued to be executed until the real-time remaining cruising range of the current remaining power is less than or equal to the charging return range; If no, a charging request is sent to the server, the charging request comprising the robot position information; When receiving the charging pile allocation instruction sent by the server, a charging return path is planned to return to the allocated charging pile for charging, the charging pile allocation instruction comprising the position information and / or ID information of the allocated charging pile.

8. An intelligent charging interaction system, characterized in that, The intelligent charging interaction system comprises a robot, a server and a charging pile. The robot is configured to judge whether the current task can be completed by using the existing power and successfully moving to the charging pile for charging according to the current task state, the relative position point of the charging pile, the task working power consumption, the non-task working power consumption and the current remaining power; if yes, continue to execute the current task; if no, detect whether the current remaining power meets the requirement of moving the robot from the current position to the position of the corresponding charging pile; if yes, further judge whether the real-time remaining cruising range of the current remaining power is greater than the charging return range, the charging return range being the sum of the range of moving the robot from the current position to the charging pile position and the reserved range; if yes, continue to execute the task until the real-time remaining cruising range of the current remaining power is less than or equal to the charging return range; if no, send a charging request to the server, the charging request comprising the robot position information, and when receiving the information of the charging pile sent by the server, plan a charging return path to return to the charging pile for charging; The server is configured to acquire the information of the charging pile in operation, acquire the information of the nearest idle charging pile from the position of the robot according to the robot position information and the charging pile information, and send the information of the charging pile to the robot, the information of the charging pile comprising the position information and / or ID information of the charging pile; The charging pile is configured to provide charging power for the robot.

9. The intelligent charging interaction system of claim 8, wherein, The charging pile comprises a power management module, an MCU control module, a safety control module and a wireless communication module. The wireless communication module is used to receive robot battery temperature information sent by the server and send the robot battery temperature information to the MCU control module; The MCU control module is used to send first charging control information to the power management module, control the charging voltage through the power management module, and send a second charging control signal to the safety control module. The power management module is used to charge the robot through the safety control module; The safety control module is used to control whether to output charging voltage to the robot based on the received second charging control signal.

10. The intelligent charging interaction system of claim 9, wherein, The charging station also includes: a contact collision sensor and electrode plates; The contact collision sensor is used to collect the contact signal generated when the robot electrode plate and the electrode plate come into contact, and send the contact signal to the MCU control module, so that the MCU control module controls the safety control module and the power management module to trigger charging; The electrode pads are connected to the safety control module and are used to connect with the robot electrode pads.

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