Robot charging method, device, equipment and computer storage medium

Abstract

The present invention relates to the field of robotics technology, and discloses a robot charging method, apparatus, device, and computer storage medium. The method comprises: obtaining the task completion position of the robot when each task in the robot's current task list is completed; determining candidate charging points within a preset distance range of each task completion position and the distance from each candidate charging point to the corresponding task completion position; and determining whether the robot will go to the corresponding candidate charging point for charging upon completing the current task based on the distance, the preset charging judgment thresholds of different tasks in the current task list, the remaining power of the robot when each task is completed, and the estimated occupancy of the candidate charging points. By combining four factors: the distance to the candidate charging point, the preset charging judgment thresholds of different tasks, the remaining power, and the estimated occupancy of the candidate charging points, the robot's charging timing and location are comprehensively determined, thereby improving the intelligence of the robot's charging.

Description

Technical Field

[0001] The present invention relates to the field of robotics technology, and in particular to a robot charging method, device, equipment and computer storage medium. Background Art

[0002] At present, with the rapid development of new technologies, the application of robots is becoming more and more extensive. The widespread application of service robots in the service industry can not only improve service efficiency, but also free a large number of service personnel from tedious, mechanical and repetitive work.

[0003] However, when current robots are performing service tasks, the task execution is often interrupted due to insufficient power. After the task execution is interrupted, the robot cannot go to the charging area to charge independently. Management personnel are often required to manually move the robot to the charging area, which is time-consuming and labor-intensive, greatly limiting the promotion and use of service robots. Summary of the Invention

[0004] The main purpose of the present invention is to propose a robot charging method, device and computer program product, aiming to solve the technical problem that robot charging is not intelligent enough in the prior art.

[0005] To achieve the above objectives, the present invention provides a robot charging method, the robot charging method comprising:

[0006] Get the task completion position of the robot when each task in the robot's current task list is completed;

[0007] Determining candidate charging points within a preset distance range of each of the task completion locations and the distance between each candidate charging point and the corresponding task completion location;

[0008] Based on the distance, the preset charging judgment thresholds of different tasks in the current task list, the remaining power of the robot when each task is completed, and the expected occupancy of the candidate charging points, it is determined whether the robot will go to the corresponding candidate charging point for charging when completing the current task.

[0009] Optionally, the step of determining whether the robot should go to a corresponding candidate charging point for charging upon completing the current task based on the distance, preset charging judgment thresholds for different tasks in the current task list, the remaining power of the robot upon completion of each task, and the estimated occupancy of the candidate charging point includes:

[0010] If the remaining power of the robot upon completing the first task is less than or equal to a first charging judgment threshold corresponding to the first task, obtaining an estimated occupancy status of each candidate charging point corresponding to the first task;

[0011] Determine whether the robot will go to the corresponding candidate charging point for charging when completing the first task according to the estimated occupancy of the candidate charging point.

[0012] Optionally, the step of determining whether the robot should go to the corresponding candidate charging point for charging after completing the first task based on the estimated occupancy of the candidate charging point includes:

[0013] Calculating an estimated time for the robot to arrive at the corresponding candidate charging point from the first completion location corresponding to the first task based on the distance;

[0014] screening the candidate charging points according to the estimated occupancy status of each candidate charging point at the estimated time, and determining the candidate charging points whose estimated occupancy status is unoccupied;

[0015] A target charging point for the robot to be charged is determined based on the candidate charging points in the unoccupied state.

[0016] Optionally, the step of determining a target charging point for the robot to charge based on the candidate charging points in the unoccupied state includes:

[0017] Selecting the candidate charging point with the shortest distance from the candidate charging points in the unoccupied state as the target charging point for the robot to charge;

[0018] Alternatively, based on the start location of the next task of the first task, the candidate charging point with the shortest total distance to the starting location for charging and executing the next task is selected from the candidate charging points in the unoccupied state as the target charging point.

[0019] Optionally, the step of determining whether the robot should go to the corresponding candidate charging point for charging after completing the first task based on the estimated occupancy of the candidate charging point includes:

[0020] Calculating an estimated time for the robot to arrive at the corresponding candidate charging point from the first completion location corresponding to the first task based on the distance;

[0021] If the estimated occupancy status of each candidate charging point at the estimated time is all occupied, controlling the robot to perform a second task; the second task is the next task after the first task in the current task list;

[0022] When the second task is completed, it is determined whether the robot will go to the corresponding candidate charging point for charging when completing the second task based on the remaining power of the robot when completing the second task, the second charging judgment threshold corresponding to the second task, and the expected occupancy of the candidate charging point corresponding to the second task.

[0023] Optionally, the step of determining whether the robot should go to a corresponding candidate charging point for charging upon completing the current task based on the distance, preset charging judgment thresholds for different tasks in the current task list, the remaining power of the robot upon completion of each task, and the estimated occupancy of the candidate charging point includes:

[0024] When the first task is completed, if the first remaining power is greater than a first theoretical judgment threshold corresponding to the first task, determining power redundancy according to the first remaining power and the first theoretical judgment threshold;

[0025] Determining a preset charging judgment threshold corresponding to other tasks in the current task list based on other theoretical judgment thresholds corresponding to other tasks in the current task list, the power redundancy, and the proportion of the other tasks in the to-be-completed tasks in the current task list; the preset charging judgment threshold corresponding to the other tasks is less than the other theoretical judgment threshold;

[0026] The method determines whether the robot will go to the corresponding candidate charging point for charging when completing other tasks based on the distance, the preset charging judgment threshold of other tasks in the current task list, the remaining power of the robot when each other task is completed, and the expected occupancy of the candidate charging point.

[0027] Optionally, after determining whether the robot should go to a corresponding candidate charging point for charging upon completing the current task based on the distance, preset charging judgment thresholds for different tasks in the current task list, the remaining power of the robot upon completion of each task, and the estimated occupancy of the candidate charging point, the step further includes:

[0028] If it is determined that the robot will go to the corresponding candidate charging point for charging upon completing the current task, and there is a latest execution time for the next task of the current task, then the full charge time of the robot is predicted based on the remaining power of the robot upon completing the current task and the preset charging rate;

[0029] If the latest execution time of the next task is earlier than the full charge time, determining the latest departure time of the robot according to the distance between the corresponding candidate charging point and the task execution start location of the next task, the movement speed of the robot, and the latest execution time;

[0030] The robot is controlled to go to the corresponding candidate charging point to charge until the latest departure time when the current task is completed, and the robot is controlled to move to the task start execution position of the next task to execute the next task.

[0031] In addition, to achieve the above-mentioned purpose, the present invention further provides a robot charging device, the robot charging device comprising:

[0032] The power acquisition module is used to obtain the task completion position of the robot when each task in the robot's current task list is completed;

[0033] a distance determination module, configured to determine candidate charging points located within a preset distance range of each of the task completion locations and the distance between each candidate charging point and the corresponding task completion location;

[0034] The charging determination module is used to determine whether the robot should go to the corresponding candidate charging point for charging when completing the current task based on the distance, the preset charging judgment thresholds of different tasks in the current task list, the remaining power of the robot when each task is completed, and the expected occupancy of the candidate charging point.

[0035] In addition, to achieve the above-mentioned purpose, the present invention also provides a robot charging device, which includes: a memory, a processor, and a robot charging program stored in the memory and runnable on the processor. When the robot charging program is executed by the processor, the steps of the robot charging method described above are implemented.

[0036] In addition, to achieve the above-mentioned purpose, the present invention also provides a computer storage medium, on which a robot charging program is stored. When the robot charging program is executed by a processor, the steps of the robot charging method described above are implemented.

[0037] In the present invention, the robot's task completion location at the time each task in its current task list is completed is obtained; candidate charging points within a preset distance range from each task completion location are determined, as well as the distance from each candidate charging point to the corresponding task completion location. Based on these distances, the preset charging judgment thresholds for different tasks in the current task list, the robot's remaining battery life at each task completion, and the estimated occupancy of the candidate charging points, the robot is determined to proceed to the corresponding candidate charging point for charging upon completing the current task. By combining these four factors—the distance to the candidate charging point, the preset charging judgment thresholds for different tasks, the remaining battery life, and the estimated occupancy of the candidate charging points—the robot's charging timing and location are comprehensively determined, enhancing the robot's charging intelligence. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] Figure 1 It is a schematic diagram of the structure of a robot charging device in the hardware operating environment involved in the embodiment of the present invention;

[0039] Figure 2 This is a flow chart of the first embodiment of the robot charging method of the present invention.

[0040] The purpose, features and advantages of the present invention will be further described with reference to the accompanying drawings and in conjunction with the embodiments. DETAILED DESCRIPTION

[0041] It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0042] like Figure 1 As shown, Figure 1 It is a schematic diagram of the structure of a robot charging device in the hardware operating environment involved in the embodiment of the present invention.

[0043] The robot charging device according to the embodiment of the present invention may be a mobile service robot.

[0044] like Figure 1 As shown, the robot charging device may include: a processor 1001, such as a CPU, a memory 1003, and a communication bus 1002. Communication bus 1002 is used to connect and communicate between these components. Memory 1003 may be a high-speed RAM memory or a non-volatile memory, such as a disk drive. Memory 1003 may also optionally be a storage device independent of processor 1001.

[0045] Those skilled in the art will understand that Figure 1 The structure of the robot charging device shown in the figure does not constitute a limitation of the device, and may include more or fewer components than shown in the figure, or combine certain components, or arrange the components differently.

[0046] like Figure 1 As shown, the memory 1003 as a computer storage medium may include a robot charging program.

[0047] exist Figure 1 In the robot charging device shown, the processor 1001 can be used to call the robot charging program stored in the memory 1003 and execute the operations in the following robot charging method.

[0048] Based on the above hardware structure, various embodiments of the robot charging method of the present invention are proposed.

[0049] Before further explaining the embodiments of the present invention in detail, the nouns and terms involved in the embodiments of the present invention are explained. The nouns and terms involved in the embodiments of the present invention are subject to the following interpretations.

[0050] Reference Figure 2 , Figure 2 This is a flow chart of a first embodiment of a robot charging method according to the present invention. The robot charging method is applied to a robot and includes steps S10 to S30:

[0051] Step S10, obtaining the task completion position of the robot when each task in the current task list of the robot is completed;

[0052] In this embodiment, the robot charging method is applied to a robot or a robot charging control system, which is electrically connected to other robots and candidate charging points. For ease of description, this embodiment is described using the robot charging control system as the execution subject.

[0053] The robot's current task list includes the tasks that have been completed, tasks being executed, and tasks to be executed during the robot's current batch task execution. Each task has a starting execution position when it starts executing, and a task completion position when the task execution ends. It can be understood that the starting execution position refers to the position of the robot when a task starts to be executed by the robot, and correspondingly, the task completion position refers to the position of the robot when a task execution ends. Among them, the starting execution position and the task completion position can be the same or different, and this embodiment does not impose specific restrictions on this. The task completion position can be manually set by the management personnel, or it can be automatically set by the robot charging control system based on the historical completion of the task, that is, based on the position of the task when it was previously executed and completed.

[0054] Step S20, determining candidate charging points within a preset distance range of each task completion location and the distance from each candidate charging point to the corresponding task completion location;

[0055] In this embodiment, when the robot's task completion location is obtained at the time of each task completion, the robot is combined with the location of charging points available for charging to determine candidate charging points within a preset distance range of each task completion location, as well as the distance from each candidate charging point to the corresponding task completion location. There can be one or more candidate charging points for each task completion location.

[0056] It is understood that the preset distance ranges corresponding to different task completion locations may be the same or different, and this embodiment does not impose any specific limitations on this. The preset distance range can be manually set by a manager for each task completion location. For example, the preset distance range for a task completion location can be the range covered by a circle with a preset radius and the task completion location as the center. Alternatively, the preset distance range can be determined by the robot charging control system based on the distance to the farthest charging point that the robot has previously traveled to and charged at the task completion location. In other words, the preset distance range is the range covered by a circle with the task completion location as the center and the farthest charging point as the radius.

[0057] Step S30, based on the distance, the preset charging judgment thresholds of different tasks in the current task list, the remaining power of the robot when each task is completed, and the expected occupancy of the candidate charging points, determines whether the robot will go to the corresponding candidate charging point for charging when completing the current task.

[0058] In this embodiment, the preset charging judgment threshold refers to the critical value configured for each task when the current task list is established to determine whether the robot needs to be charged. The preset charging judgment thresholds for different tasks can be the same or different; when the remaining power of the robot after completing a task is less than the preset charging judgment threshold corresponding to the task, the robot can proceed with the subsequent charging point selection process. If the remaining power is greater than or equal to the preset charging judgment threshold corresponding to the task, it means that the robot currently has sufficient power and does not need to go to the candidate charging point corresponding to the task for charging, and can directly execute the next task.

[0059] The estimated occupancy of a candidate charging point refers to the theoretical occupancy of the candidate charging point when the robot moves from the task completion location to the corresponding candidate charging point. This estimated occupancy is determined by the robot charging control system through comprehensive calculation based on the historical data and task lists of all robots. This embodiment does not specifically limit the algorithm involved in this calculation.

[0060] This embodiment obtains the robot's task completion location upon completion of each task in the robot's current task list; determines candidate charging points within a preset distance range of each task completion location, as well as the distance from each candidate charging point to the corresponding task completion location; and determines whether the robot will proceed to the corresponding candidate charging point for charging upon completion of the current task based on the distance, the preset charging judgment thresholds for the different tasks in the current task list, the robot's remaining battery life upon completion of each task, and the estimated occupancy of the candidate charging points. By combining these four factors—the distance to the candidate charging point, the preset charging judgment thresholds for different tasks, the remaining battery life, and the estimated occupancy of the candidate charging points—the robot's charging timing and location are comprehensively determined, enhancing the robot's charging intelligence.

[0061] Furthermore, based on the first embodiment, a second embodiment of the robot charging method of the present invention is proposed. In this embodiment, the step S30 includes:

[0062] Step A1: If the remaining power of the robot upon completing a first task is less than or equal to a first charging judgment threshold corresponding to the first task, obtaining an estimated occupancy status of each candidate charging point corresponding to the first task;

[0063] Step A2: Determine, based on the estimated occupancy of the candidate charging points, whether the robot should go to the corresponding candidate charging point for charging after completing the first task.

[0064] In this embodiment, upon completion of the first task, the robot determines the remaining battery level of the robot. If the remaining battery level is less than a first charging threshold corresponding to the first task, the robot proceeds to a subsequent charging point selection process. Specifically, the robot obtains the estimated occupancy status of each candidate charging point corresponding to the first completion location of the first task, and determines whether the robot will proceed to the corresponding candidate charging point for charging based on the estimated occupancy status of the candidate charging points upon completion of the first task. The first task can be any task in the current task list.

[0065] Furthermore, the above step A2 includes:

[0066] Step A21, calculating an estimated time for the robot to arrive at the corresponding candidate charging point from the first completion position corresponding to the first task based on the distance;

[0067] Step A22, screening the candidate charging points according to the estimated occupancy status of each candidate charging point at the estimated time, and determining the candidate charging points whose estimated occupancy status is unoccupied;

[0068] Step A23: determining a target charging point for the robot to charge based on the candidate charging points in the unoccupied state.

[0069] In this embodiment, the estimated occupancy of a candidate charging point refers to the theoretical occupancy of the candidate charging point when the robot moves from the first completion location to the corresponding candidate charging point. Therefore, it is necessary to first calculate the robot's travel time from the first completion location to the candidate charging point based on the distance of each candidate charging point from the first completion location and the robot's movement speed. This, combined with the time at which the robot completes the first task, can determine the estimated time at which the robot arrives at the candidate charging point. The robot's movement speed can be a fixed speed pre-set by the administrator or an average speed calculated by the robot charging control system based on the robot's historical movement speeds; this embodiment does not impose any specific restrictions on this.

[0070] After determining the estimated time when the robot moves from the first completion position to each candidate charging point, the robot charging control system combines the task lists of other robots to determine whether other robots will occupy the candidate charging point at the estimated time when the current robot moves from the first completion position to the candidate charging point, and determines the candidate charging points whose estimated occupancy status is unoccupied, that is, the candidate charging points that are not occupied by other robots at the estimated time when the current robot moves from the first completion position to the candidate charging point.

[0071] After determining the candidate charging points whose occupancy status is expected to be unoccupied, the target charging point where the robot will go to charge can be determined from these candidate charging points.

[0072] Optionally, if the number of candidate charging points whose occupancy status is expected to be unoccupied is 1, the candidate charging point is directly used as the target charging point.

[0073] Furthermore, the above step A23 includes:

[0074] Step A231: Selecting the candidate charging point with the shortest distance from the candidate charging points in the unoccupied state as the target charging point for the robot to charge;

[0075] Alternatively, in step A232, based on the starting execution location of the next task of the first task, the candidate charging point with the shortest total distance to the starting execution location of charging and executing the next task is selected from the candidate charging points in the unoccupied state as the target charging point.

[0076] In this embodiment, if the number of candidate charging points with an estimated unoccupied state is greater than one, a secondary screening of the candidate charging points with an estimated unoccupied state is required. One method of secondary screening is to select the candidate charging point closest to the first completed location from the unoccupied candidate charging points as the target charging point for the robot to charge.

[0077] By selecting the candidate charging point closest to the task completion location and in an unoccupied state as the target charging point for the robot to charge, it can ensure that the robot is charged as quickly as possible.

[0078] Another way of secondary screening is to calculate the first distance from the first completed position to the candidate charging point, and the second distance from the candidate charging point to the start execution position of the next task of the first task. Then, the total distance is calculated by summing the first distance and the second distance. Then, from the candidate charging points in the unoccupied state, the candidate charging point with the smallest total distance is selected as the target charging point for the robot to go to for charging.

[0079] By selecting the candidate charging point with the shortest total distance as the target charging point for the robot to charge, the additional movement distance of the robot due to charging can be reduced as much as possible, which enables the robot to perform the next task as soon as possible after completing the first task, thereby improving the efficiency of the robot in performing tasks.

[0080] Furthermore, the above step A2 includes:

[0081] Step B1, calculating an estimated time for the robot to arrive at the corresponding candidate charging point from the first completion position corresponding to the first task based on the distance;

[0082] Step B2: If the estimated occupancy status of each candidate charging point at the estimated time is all occupied, controlling the robot to perform a second task; the second task is the task that follows the first task in the current task list;

[0083] Step B3, when the second task is completed, determine whether the robot will go to the corresponding candidate charging point for charging when completing the second task based on the remaining power of the robot when completing the second task, the second charging judgment threshold corresponding to the second task, and the expected occupancy of the candidate charging point corresponding to the second task.

[0084] In this embodiment, after determining the estimated time when the robot moves from the first completion position to arrive at each candidate charging point, the robot charging control system combines the task lists of other robots to determine whether other robots will occupy the candidate charging point at the estimated time when the current robot moves from the first completion position to arrive at the candidate charging point, and determines the candidate charging points whose estimated occupancy status is unoccupied, that is, the candidate charging points that are not occupied by other robots at the estimated time when the current robot moves from the first completion position to arrive at the candidate charging point.

[0085] If at the corresponding estimated time, the estimated occupancy status of each candidate charging point is occupied, the robot can be controlled to first perform the next task of the first task, that is, the second task. When the second task is completed, according to the logic similar to the aforementioned embodiment, that is, based on the remaining power of the robot when completing the second task, the second charging judgment threshold corresponding to the second task, and the estimated occupancy status of the candidate charging point corresponding to the second task, it is determined whether the robot will go to the corresponding candidate charging point for charging when completing the second task.

[0086] In this embodiment, when all candidate charging points corresponding to the current task completion location are occupied, the robot is controlled to perform the next task first, which can reduce the waiting time of the robot due to queuing for charging and improve the efficiency of the robot in performing tasks.

[0087] Furthermore, the expected occupancy situation may also include the expected occupancy time of the candidate charging point, which refers to the time that the candidate charging point is expected to be occupied by other robots from the expected time. If the current robot wants to go to the candidate charging point to charge, the expected waiting time of the current robot is the expected occupancy time of the candidate charging point. When all candidate charging points corresponding to the current task completion position are occupied, and the remaining power of the current robot is no longer able to complete the next task, the expected occupancy time of each candidate charging point and the first time the robot moves from the first completion position to the candidate charging point are determined, and the sum of the expected occupancy time and the first time is calculated, and the candidate charging point with the smallest sum of the two is determined as the target charging point for the robot to charge. By determining the candidate charging point that allows the robot to charge the fastest as the target charging point, it can be ensured that the robot is charged as soon as possible.

[0088] Furthermore, based on the first and / or second embodiments described above, a third embodiment of the robot charging method of the present invention is proposed. In this embodiment, step S30 includes:

[0089] Step C1, when the first task is completed, if the first remaining power is greater than or equal to a first theoretical judgment threshold corresponding to the first task, determining power redundancy according to the first remaining power and the first theoretical judgment threshold;

[0090] Step C2, determining a preset charging judgment threshold corresponding to other tasks in the current task list based on other theoretical judgment thresholds corresponding to other tasks in the current task list, the power redundancy, and the proportion of the other tasks in the to-be-completed tasks in the current task list; the preset charging judgment threshold corresponding to the other tasks is less than the other theoretical judgment threshold;

[0091] Step C3, determining whether the robot should go to the corresponding candidate charging point for charging when completing other tasks based on the distance, the preset charging judgment threshold of other tasks in the current task list, the remaining power of the robot when each other task is completed, and the expected occupancy of the candidate charging point.

[0092] In this embodiment, when the robot completes the first task, the robot's current remaining power (first remaining power) is greater than or equal to the first theoretical judgment threshold corresponding to the first task, and the difference between the first remaining power and the first theoretical judgment threshold is used as power redundancy.

[0093] After determining the power redundancy, determine the ratio of the number of tasks to be executed (other tasks) after the first task in the current task list to the total number of tasks in this batch (the ratio of tasks to be completed). Based on the other theoretical judgment thresholds corresponding to the other tasks in the current task list, the power redundancy, and the ratio of the other tasks to the corresponding tasks to be completed, determine the preset charging judgment thresholds corresponding to the other tasks. Specifically, subtract the power redundancy and the corresponding ratio of tasks to be completed from the other theoretical judgment thresholds corresponding to the other tasks to obtain the preset charging judgment threshold.

[0094] In this way, since the higher the task is ranked in the task list, the larger the proportion of tasks to be completed, the higher the task is ranked in the task list, the greater the reduction in the corresponding preset charging judgment threshold relative to the corresponding theoretical judgment threshold, and the lower the task is ranked in the task list, the smaller the reduction in the corresponding preset charging judgment threshold relative to the corresponding theoretical judgment threshold. This avoids the situation where the robot is forced to charge when there is still a lot of remaining power after completing a small number of tasks. When the proportion of tasks to be completed is small, the corresponding threshold is lowered a little more, and when the proportion of tasks to be completed is large, the corresponding threshold is lowered a little less.

[0095] After determining the preset charging judgment thresholds for other tasks, it is possible to determine whether the robot will go to the corresponding candidate charging point for charging when completing other tasks according to logic similar to that of the aforementioned embodiment. This embodiment will not elaborate on this logic.

[0096] Furthermore, after the above step S30, the following steps are further included:

[0097] Step S40: If it is determined that the robot will go to the corresponding candidate charging point for charging upon completing the current task, and there is a latest execution time for the next task of the current task, then the full charge time of the robot is predicted based on the current remaining power of the robot upon completing the current task and the preset charging rate;

[0098] Step S50, if the latest execution time of the next task is earlier than the full charge time, determining the latest departure time of the robot based on the distance between the corresponding candidate charging point and the task execution start location of the next task, the movement speed of the robot, and the latest execution time;

[0099] Step S60: When the current task is completed, the robot is controlled to go to the corresponding candidate charging point to charge until the latest departure time, and the robot is controlled to move to the task start execution position of the next task to execute the next task.

[0100] In this embodiment, if it is determined that the robot will proceed to the corresponding candidate charging point for charging upon completing the current task, and if the next task of the current task has a latest execution time, it is necessary to ensure that the robot arrives at the task start location of the next task before the latest execution time. To this end, the full charge time of the robot is first predicted based on the remaining battery power of the robot upon completing the current task, the estimated time for the robot to move from the task completion location of the current task to the candidate charging point, and a preset charging rate, where the estimated time is determined by the robot's movement speed and the distance between the task completion location of the current task and the candidate charging point. If the full charge time is later than the latest execution time, the latest departure time of the robot is determined based on the distance between the candidate charging point and the task start location of the next task, the robot's movement speed, and the latest execution time, where the latest departure time = latest execution time - distance between the candidate charging point and the task start location of the next task / robot's movement speed. The robot is then controlled to move to the candidate charging point to charge until the latest departure time is reached, at which point the robot is controlled to terminate charging and move to the task start location of the next task to perform the next task.

[0101] In this embodiment, when a subsequent task has a deadline, the robot is controlled to adjust the charging time according to the deadline to ensure that the execution of the subsequent task with the deadline is not delayed while the robot is charging.

[0102] The methods executed by the above-mentioned program units can refer to the various embodiments of the robot charging method of the present invention, and will not be repeated here.

[0103] The present invention also provides a robot charging device, the robot charging device comprising:

[0104] The power acquisition module is used to obtain the task completion position of the robot when each task in the robot's current task list is completed;

[0105] a distance determination module, configured to determine candidate charging points located within a preset distance range of each of the task completion locations and the distance between each candidate charging point and the corresponding task completion location;

[0106] The charging determination module is used to determine whether the robot should go to the corresponding candidate charging point for charging when completing the current task based on the distance, the preset charging judgment thresholds of different tasks in the current task list, the remaining power of the robot when each task is completed, and the expected occupancy of the candidate charging point.

[0107] The present invention also provides a robot charging device, which includes: a memory, a processor, and a robot charging program stored in the memory and runnable on the processor. The method implemented when the robot charging program is executed by the processor can refer to the various embodiments of the robot charging method of the present invention and will not be repeated here.

[0108] The present invention also provides a computer storage medium.

[0109] The computer storage medium of the present invention stores a robot charging program, and when the robot charging program is executed by a processor, the steps of the robot charging method described above are implemented.

[0110] Among them, the method implemented when the robot charging program running on the processor is executed can refer to the various embodiments of the robot charging method of the present invention, and will not be repeated here.

[0111] The present invention also provides a computer program product.

[0112] The computer program product of the present invention includes a robot charging program, which implements the steps of the robot charging method described above when executed by a processor.

[0113] Among them, the method implemented when the robot charging program running on the processor is executed can refer to the various embodiments of the robot charging method of the present invention, and will not be repeated here.

[0114] It should be noted that, in this document, the terms "comprises," "includes," or any other variations thereof are intended to encompass non-exclusive inclusion, such that a process, method, article, or system comprising a series of elements includes not only those elements but also other elements not explicitly listed, or elements inherent to such process, method, article, or system. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of other identical elements in the process, method, article, or system comprising the element.

[0115] The serial numbers of the above embodiments of the present invention are for description only and do not represent the advantages or disadvantages of the embodiments.

[0116] Through the description of the above implementation methods, those skilled in the art can clearly understand that the above-mentioned embodiment methods can be implemented by means of software plus the necessary general hardware platform, and of course can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of the present invention is essentially or the part that contributes to the prior art can be embodied in the form of a software product, which is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) as described above, and includes a number of instructions for enabling a terminal device (which can be a mobile service robot, etc.) to execute the methods described in each embodiment of the present invention.

[0117] The above are only preferred embodiments of the present invention and are not intended to limit the patent scope of the present invention. Any equivalent structure or equivalent process transformation made using the contents of the present invention description and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. A robot charging method, characterized in that: The robot charging method comprises: Get the task completion position of the robot when each task in the robot's current task list is completed; Determining candidate charging points within a preset distance range of each of the task completion locations and the distance between each candidate charging point and the corresponding task completion location; Determine whether the robot should proceed to the corresponding candidate charging point for charging upon completing the current task based on the distance, the preset charging judgment thresholds for different tasks in the current task list, the remaining power of the robot upon completion of each task, and the estimated occupancy of the candidate charging point; The step of determining whether the robot should go to the corresponding candidate charging point for charging upon completing the current task based on the distance, preset charging judgment thresholds for different tasks in the current task list, the remaining power of the robot upon completion of each task, and the estimated occupancy of the candidate charging point includes: When the first task is completed, if the first remaining power is greater than a first theoretical judgment threshold corresponding to the first task, determining power redundancy according to the first remaining power and the first theoretical judgment threshold; Determining a preset charging judgment threshold corresponding to other tasks in the current task list based on other theoretical judgment thresholds corresponding to other tasks in the current task list, the power redundancy, and the proportion of the other tasks in the to-be-completed tasks in the current task list; the preset charging judgment threshold corresponding to the other tasks is less than the other theoretical judgment threshold; The method determines whether the robot will go to the corresponding candidate charging point for charging when completing other tasks based on the distance, the preset charging judgment threshold of other tasks in the current task list, the remaining power of the robot when each other task is completed, and the expected occupancy of the candidate charging point.

2. The robot charging method according to claim 1, wherein: The step of determining whether the robot should go to the corresponding candidate charging point for charging when completing the current task based on the distance, preset charging judgment thresholds for different tasks in the current task list, the remaining power of the robot when each task is completed, and the estimated occupancy of the candidate charging point includes: If the remaining power of the robot upon completing the first task is less than or equal to a first charging judgment threshold corresponding to the first task, obtaining an estimated occupancy status of each candidate charging point corresponding to the first task; Determine whether the robot will go to the corresponding candidate charging point for charging when completing the first task according to the estimated occupancy of the candidate charging point.

3. The robot charging method according to claim 2, wherein: The step of determining whether the robot should go to the corresponding candidate charging point for charging after completing the first task based on the estimated occupancy of the candidate charging point includes: Calculating an estimated time for the robot to arrive at the corresponding candidate charging point from the first completion location corresponding to the first task based on the distance; screening the candidate charging points according to the estimated occupancy status of each candidate charging point at the estimated time, and determining the candidate charging points whose estimated occupancy status is unoccupied; A target charging point for the robot to be charged is determined based on the candidate charging points in the unoccupied state.

4. The robot charging method according to claim 3, wherein: The step of determining a target charging point for the robot to charge based on the candidate charging points in the unoccupied state includes: Selecting the candidate charging point with the shortest distance from the candidate charging points in the unoccupied state as the target charging point for the robot to charge; Alternatively, based on the start location of the next task of the first task, the candidate charging point with the shortest total distance to the starting location for charging and executing the next task is selected from the candidate charging points in the unoccupied state as the target charging point.

5. The robot charging method according to claim 2, wherein: The step of determining whether the robot should go to the corresponding candidate charging point for charging after completing the first task based on the estimated occupancy of the candidate charging point includes: Calculating an estimated time for the robot to arrive at the corresponding candidate charging point from the first completion location corresponding to the first task based on the distance; If the estimated occupancy status of each candidate charging point at the estimated time is all occupied, controlling the robot to perform a second task; the second task is the next task after the first task in the current task list; When the second task is completed, it is determined whether the robot will go to the corresponding candidate charging point for charging when completing the second task based on the remaining power of the robot when completing the second task, the second charging judgment threshold corresponding to the second task, and the expected occupancy of the candidate charging point corresponding to the second task.

6. The robot charging method according to claim 1, wherein: After determining whether the robot should go to the corresponding candidate charging point for charging upon completing the current task based on the distance, preset charging judgment thresholds for different tasks in the current task list, the remaining power of the robot upon completion of each task, and the estimated occupancy of the candidate charging point, the method further includes: If it is determined that the robot will go to the corresponding candidate charging point for charging upon completing the current task, and there is a latest execution time for the next task of the current task, then the full charge time of the robot is predicted based on the remaining power of the robot upon completing the current task and the preset charging rate; If the latest execution time of the next task is earlier than the full charge time, determining the latest departure time of the robot according to the distance between the corresponding candidate charging point and the task execution start location of the next task, the movement speed of the robot, and the latest execution time; The robot is controlled to go to the corresponding candidate charging point to charge until the latest departure time when the current task is completed, and the robot is controlled to move to the task start execution position of the next task to execute the next task.

7. A robot charging device, characterized in that: The robot charging device comprises: The power acquisition module is used to obtain the task completion position of the robot when each task in the robot's current task list is completed; a distance determination module, configured to determine candidate charging points located within a preset distance range of each of the task completion locations and the distance between each candidate charging point and the corresponding task completion location; a charging determination module, configured to determine whether the robot should proceed to a corresponding candidate charging point for charging upon completion of the current task based on the distance, preset charging judgment thresholds for different tasks in the current task list, the remaining power of the robot upon completion of each task, and the estimated occupancy of the candidate charging point; The step of determining whether the robot should go to the corresponding candidate charging point for charging upon completing the current task based on the distance, preset charging judgment thresholds for different tasks in the current task list, the remaining power of the robot upon completion of each task, and the estimated occupancy of the candidate charging point includes: When the first task is completed, if the first remaining power is greater than a first theoretical judgment threshold corresponding to the first task, determining power redundancy according to the first remaining power and the first theoretical judgment threshold; Determining a preset charging judgment threshold corresponding to other tasks in the current task list based on other theoretical judgment thresholds corresponding to other tasks in the current task list, the power redundancy, and the proportion of the other tasks in the to-be-completed tasks in the current task list; the preset charging judgment threshold corresponding to the other tasks is less than the other theoretical judgment threshold; The method determines whether the robot will go to the corresponding candidate charging point for charging when completing other tasks based on the distance, the preset charging judgment threshold of other tasks in the current task list, the remaining power of the robot when each other task is completed, and the expected occupancy of the candidate charging point.

8. A robot charging device, characterized in that: The robot charging device includes: a memory, a processor, and a robot charging program stored in the memory and executable on the processor. When the robot charging program is executed by the processor, the steps of the robot charging method according to any one of claims 1 to 6 are implemented.

9. A computer storage medium, characterized in that The computer storage medium stores a robot charging program, which, when executed by a processor, implements the steps of the robot charging method according to any one of claims 1 to 6.

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