Robot, robot pile matching method and storage medium

Abstract

The present application is applicable to the field of robot technology, and provides a robot, a robot charging pile method, and a storage medium, wherein the robot includes a memory and a processor, the memory stores computer-readable instructions, and the processor is used to implement the following steps when calling the computer-readable instructions in the memory: control the robot to move toward the charging pile; detect the charging pile signal and the current value of the robot's driving mechanism to obtain the detection result; adjust the position of the robot according to the detection result. The above robot can simultaneously detect the charging pile signal and the current value of the robot's driving mechanism, so as to better identify the abnormal situation of the robot's inappropriate charging pile position, and then adjust the robot's position to ensure the success rate of charging pile.

Description

Technical Field

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

[0002] Mobile robots are increasingly developing in the direction of intelligent automation, and automatic charging has gradually become an essential function for robots. Automatic charging means that the robot automatically returns to the charging point to recharge so that it can perform tasks for a longer time.

[0003] Mobile robots are generally charged with DC. Two electrodes are set on the robot end and the automatic charging pile. During the automatic charging process, the robot first moves quickly to a position close to the charging pile, and then moves to the charging pile at a low speed and aligns the pile (to achieve the docking of the electrodes at both ends). After the pile is determined to be aligned, the charging pile charges the robot. During the automatic charging process of the robot, whether the pile is aligned successfully is generally determined by detecting whether the electrode has voltage or current.

[0004] In practical applications, if the existing pile alignment method is used, when the robot's electrode sheet and the charging pile's electrode sheet are docked, as long as there is voltage or current at the electrode sheet, the pile alignment will be judged to be successful. Since the pile alignment method is too simple, it can only identify whether the robot's electrode sheet is in contact with the charging pile's electrode sheet when there is voltage at one end of the charging pile, and it is impossible to determine whether the robot's pile alignment position is appropriate. Therefore, it is difficult to give a corresponding robot position adjustment strategy for abnormal situations where the robot's pile alignment position is not appropriate, which will reduce the pile alignment success rate. Summary of the invention

[0005] The embodiments of the present application provide a robot, a robot pile alignment method and a storage medium, which can solve the technical problem in the prior art that the robot has difficulty identifying the abnormal situation of inappropriate pile alignment position during the automatic recharging pile alignment process and cannot complete the pile alignment well.

[0006] In a first aspect, an embodiment of the present application provides a robot, including a memory and a processor, wherein the memory stores computer-readable instructions, and the processor is configured to implement the following steps when calling the computer-readable instructions in the memory:

[0007] Control the robot to move towards the charging pile;

[0008] Detecting the pile signal and the current value of the driving mechanism of the robot to obtain a detection result;

[0009] The position of the robot is adjusted according to the detection result.

[0010] The robot adjusts the position of the robot according to the detection results by simultaneously detecting the pile alignment signal and the current value of the robot's driving mechanism. During the automatic recharging pile alignment process, if the robot's pile alignment position is suitable, it will be reflected in the pile alignment signal and the current value of the driving structure. Therefore, by comprehensively considering the pile alignment signal and the current value of the driving motor to adjust the robot's position, more abnormal situations where the robot's pile alignment position is not suitable can be identified, thereby ensuring the success rate of pile alignment.

[0011] In a possible implementation of the first aspect, adjusting the position of the robot according to the detection result specifically includes: if the detection result is that the charging pile signal is detected and the current value is greater than a preset current value, controlling the robot to move away from the charging pile by a first preset distance, and then re-controlling the robot to move toward the charging pile.

[0012] In a possible implementation of the first aspect, adjusting the position of the robot according to the detection result further includes: if the robot still cannot be paired with the charging pile after re-controlling the robot to move toward the charging pile and the failure reaches a preset number of times, a prompt indicating that the charging pile has failed.

[0013] In a possible implementation of the first aspect, adjusting the position of the robot according to the detection result specifically also includes: if the detection result is that the charging pile signal is not detected, and the current value is greater than a preset current value, controlling the robot to move away from the charging pile.

[0014] In a possible implementation of the first aspect, adjusting the position of the robot according to the detection result specifically includes: if the detection result is that the charging pile signal is not detected and the current value is less than a preset current value, controlling the robot to move toward the charging pile.

[0015] In a possible implementation manner of the first aspect, adjusting the position of the robot according to the detection result specifically includes:

[0016] If the detection result is that the charging pile signal is detected and the current value is less than the preset current value, the voltage value at the electrode sheet of the charging pile is obtained and it is determined whether the voltage value belongs to the preset threshold range;

[0017] If the voltage value falls within the preset threshold range, the position of the robot is locked, and the robot is controlled to be charged by the charging pile;

[0018] If the voltage value does not fall within the preset threshold range, the robot is controlled to move in a direction away from the charging pile.

[0019] In a possible implementation of the first aspect, the robot further includes a FOC control module, and the FOC control module is used to lock the position of the robot, and the locking mode specifically includes a FOC servo position control mode, a FOC speed control mode, and a FOC torque control mode;

[0020] The processor also implements the following steps:

[0021] Determine whether a spring is provided behind the electrode sheet of the charging pile;

[0022] If yes, correspondingly, when the processor implements locking the position of the robot, it specifically includes: locking the position of the robot using the FOC speed control method or the FOC torque control method;

[0023] If not, correspondingly, when the processor implements locking the position of the robot, it specifically includes: using the FOC servo position control method to lock the position of the robot.

[0024] In a possible implementation manner of the first aspect, the detecting the pile-pile signal specifically includes:

[0025] Detecting whether there is voltage on the electrode sheet of the robot;

[0026] If it is detected that there is voltage on the electrode sheet of the robot, it is determined that the pile-matching signal is detected.

[0027] In a possible implementation manner of the first aspect, the detecting the pile-pile signal specifically includes:

[0028] Controlling the robot to send a handshake signal to the charging pile;

[0029] If a handshake reply signal sent by the charging pile is received, it is determined that the charging pile signal is detected.

[0030] In a possible implementation manner of the first aspect, controlling the robot to move toward the charging pile includes:

[0031] If the distance between the robot and the charging pile is greater than a second preset distance, controlling the robot to move toward the charging pile at a first speed;

[0032] If the distance between the robot and the charging pile is less than the second preset distance, the robot is controlled to move toward the charging pile at a second speed; wherein the first speed is greater than the second speed.

[0033] In a second aspect, an embodiment of the present application provides a robot pile alignment method, comprising:

[0034] Control the robot to move towards the charging pile;

[0035] Detecting the pile signal and the current value of the driving mechanism of the robot to obtain a detection result;

[0036] The position of the robot is adjusted according to the detection result.

[0037] In a third aspect, an embodiment of the present application provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps in the robot pile pairing method as described in any one of the second aspects above are implemented.

[0038] It can be understood that the beneficial effects of the second to third aspects mentioned above can be found in the relevant description of the first aspect mentioned above, and will not be repeated here. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0040] Figure 1 This is a schematic diagram of an application scenario of a robot pile-to-pile method provided by an embodiment of the present application;

[0041] Figure 2 A schematic diagram of a process flow of a robot pile alignment method provided in an embodiment of the present application;

[0042] Figure 3 This is a module schematic diagram of a robot automatic recharging pile device provided in one embodiment of the present application;

[0043] Figure 4 is a schematic diagram of a module of a robot provided in one embodiment of the present application;

[0044] Figure 5 This is a control schematic diagram of a FOC control module provided in one embodiment of the present application. DETAILED DESCRIPTION

[0045] In the following description, specific details such as specific system structures, technologies, etc. are provided for the purpose of illustration rather than limitation, so as to provide a thorough understanding of the embodiments of the present application. However, it should be clear to those skilled in the art that the present application may also be implemented in other embodiments without these specific details. In other cases, detailed descriptions of well-known systems, devices, circuits, and methods are omitted to prevent unnecessary details from obstructing the description of the present application.

[0046] It should be understood that when used in the present specification and the appended claims, the term "comprising" indicates the presence of described features, wholes, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, wholes, steps, operations, elements, components and / or combinations thereof.

[0047] It should also be understood that the term “and / or” used in the specification and appended claims refers to any and all possible combinations of one or more of the associated listed items, and includes these combinations.

[0048] As used in the specification and appended claims of this application, the term "if" can be interpreted as "when" or "uponce" or "in response to determining" or "in response to detecting", depending on the context. Similarly, the phrase "if it is determined" or "if [described condition or event] is detected" can be interpreted as meaning "uponce it is determined" or "in response to determining" or "uponce [described condition or event] is detected" or "in response to detecting [described condition or event]", depending on the context.

[0049] In addition, in the description of the present application specification and the appended claims, the terms "first", "second", "third", etc. are only used to distinguish the descriptions and cannot be understood as indicating or implying relative importance.

[0050] References to "one embodiment" or "some embodiments" etc. described in the specification of this application mean that one or more embodiments of the present application include specific features, structures or characteristics described in conjunction with the embodiment. Therefore, the statements "in one embodiment", "in some embodiments", "in some other embodiments", "in some other embodiments", etc. that appear in different places in this specification do not necessarily refer to the same embodiment, but mean "one or more but not all embodiments", unless otherwise specifically emphasized in other ways. The terms "including", "comprising", "having" and their variations all mean "including but not limited to", unless otherwise specifically emphasized in other ways.

[0051] At present, the method of pile alignment in the process of automatic charging of robots generally determines whether the pile alignment is successful by detecting whether there is voltage or current on the electrode sheet. Since the method is too simple, it is difficult to give a corresponding robot position adjustment strategy for the abnormal situation that the robot is not in the right position for the pile, so it is difficult to ensure the success rate of pile alignment. In order to solve the above technical problems, the present application provides a robot pile alignment method, which can well identify the abnormal situation that the robot is not in the right position for the pile by simultaneously detecting the pile alignment signal and the current value of the robot's driving mechanism, and then adjust the robot's pile alignment position to improve the success rate of pile alignment.

[0052] See also Figure 1 , which shows a schematic diagram of an application scenario of a robot pile-to-pile method provided by the present application, such as Figure 1 The scene shown is a schematic diagram of a robot automatic charging scene, which includes a robot and a charging pile, wherein the robot includes a robot body 11 and two first electrode sheets 12 arranged on the robot body 11; the charging pile includes a charging pile body 21 and two second electrode sheets 22 arranged on the charging pile body 21. When the robot needs to be charged, after the robot moves to the vicinity of the charging pile, it slows down and slowly approaches the charging pile until the first electrode sheet 12 and the second electrode sheet 22 are in contact to achieve charging.

[0053] like Figure 1 As shown, the robot also includes a driving mechanism (not shown in the figure), a navigation component (not shown in the figure) and a walking mechanism. The driving mechanism drives the walking mechanism to drive the robot to move toward the charging pile, and the navigation component guides the robot to move toward the charging pile. The driving mechanism, the navigation component, and the walking mechanism can adopt the common structures in the prior art, which will not be described here.

[0054] The following is an exemplary description of a robot pile-aligning method provided by the present application in conjunction with specific embodiments.

[0055] Figure 2 The schematic diagram of the process of the robot pile alignment method provided by the present application is shown. During the pile alignment process, the method is applied to the robot, and the robot is used to perform the following steps. As an example but not a limitation, the method includes the following steps:

[0056] Step S210, controlling the robot to move toward the charging pile.

[0057] In the embodiment, the robot performs step S210 after entering the automatic charging mode. In the embodiment, the robot enters the automatic charging mode in the following manner: after detecting the charging signal, the robot starts the automatic charging mode.

[0058] Optionally, detecting the charging signal may include: detecting the power level of a battery of the robot, and if the power level is less than a preset value, confirming that the charging signal is detected.

[0059] Exemplarily, detecting the charging signal may also include: confirming whether the robot is after completing a task or in a gap between tasks, and if so, confirming that the charging signal is detected.

[0060] It is understandable that detecting a charging signal may also include: if a charging instruction issued by a user is received, an automatic charging mode is activated.

[0061] In the embodiment, the robot uses a navigation positioning sensor and a navigation algorithm to move toward the charging pile.

[0062] In a specific embodiment, the navigation and positioning sensor may include a laser radar, an RGBD camera, and a marker camera, etc., wherein the laser radar is used to determine the distance between the robot and the charging pile, and the RGBD camera is used to determine whether the object is a charging pile by the shape of the object in front of the robot.

[0063] In one embodiment, step S210 specifically includes: if the distance between the robot and the charging pile is greater than the second preset distance, controlling the robot to move toward the charging pile at a first speed; if the distance between the robot and the charging pile is less than the second preset distance, controlling the robot to move toward the charging pile at a second speed; wherein the first speed is greater than the first speed.

[0064] In the embodiment, when the distance between the robot and the charging pile is greater than the second preset distance, the robot is far away from the charging pile. In order to quickly move to the vicinity of the charging pile, the robot moves toward the charging pile at a first speed. When the distance between the robot and the charging pile is less than the second preset distance, the robot is close to the charging pile. In order to prevent the robot from moving too fast and causing inaccurate alignment, the robot moves slowly toward the charging pile at a second speed. At the same time, slow movement can also prevent the robot from colliding with the charging pile at too fast a speed, thereby ensuring the safety of the alignment process. It is understandable that the first speed can be a fixed value or a variable value, as long as it can achieve rapid movement to the vicinity of the charging pile.

[0065] Exemplarily, the second preset distance and the first speed in the embodiment of the present application are set according to actual conditions.

[0066] Optionally, different second preset distances and first speeds can be set according to the size of the robot. Specifically, the larger the robot, the greater the inertia. In order to avoid the inertia, a larger robot needs a larger second preset distance. And generally speaking, the larger the robot, the larger the first speed setting. The second preset distance can be 5cm to 10cm; optionally, the first speed is 0.01m / s to 0.05m / s.

[0067] Step S220, detecting the pile signal and the current value of the driving mechanism of the robot to obtain the detection result.

[0068] In the embodiment, the docking signal is a preliminary judgment of whether the electrode plates of the robot and the electrode plates of the charging pile are docked. Because in special circumstances (for example, the charging pile is not plugged in, the charging pile is damaged and the docking signal cannot be detected, etc.), whether the docking signal is detected cannot accurately represent whether the robot and the charging pile are docked, the current value of the robot's driving mechanism is detected in this embodiment.

[0069] In one embodiment, the alignment signal may be a voltage signal. In this case, the detection of the alignment signal in step S220 specifically includes: detecting whether there is a voltage on the electrode sheet of the robot; if it is detected that there is a voltage on the electrode sheet of the robot, it is determined that the alignment signal is detected. In another embodiment, the detection of the alignment signal in step S220 further includes: if it is detected that there is no voltage on the electrode sheet of the robot, it is determined that the alignment signal is not detected.

[0070] In the embodiment, whether the pile signal is detected is determined by detecting whether there is a voltage between the electrode sheets of the robot. If the voltage is detected, it means that the electrode sheets of the robot and the electrode sheets of the charging pile are docked, and the charging pile is in an available state (the charging pile is in a powered-on state), and it is determined that the pile signal is detected. If the voltage is not detected, the reason may be that the electrode sheets of the robot and the electrode sheets of the charging pile are not docked (for example, there is a deviation in the docking position of the electrode sheets, or there is a gap between the electrode sheets of the robot and the electrode sheets of the charging pile, etc.), or the charging pile is in an unavailable state (for example, the charging pile is not plugged in or the charging pile is damaged, etc.), and it is determined that the pile signal is not detected. In the above embodiment, the voltage signal is used as the pile signal, and the method is simple and easy to implement. For example, a voltage detection circuit can be set on the robot to detect whether there is a voltage between the electrode sheets of the robot. The voltage detection circuit is a conventional technology in the field and will not be described here.

[0071] In one embodiment, the charging pile signal may be a handshake signal, and the detection of the charging pile signal in step S220 specifically includes: controlling the robot to send a handshake signal to the charging pile; if a handshake reply signal sent by the charging pile is received, it is determined that the charging pile signal is detected. In another embodiment, the detection of the charging pile signal in step S220 further includes: if a handshake reply signal sent by the charging pile is not received, it is determined that the charging pile signal is not detected.

[0072] In the embodiment, the robot is controlled to send a handshake signal to the charging pile, and a preliminary judgment is made as to whether the electrode sheet of the robot is docked with the electrode sheet of the charging pile based on whether a handshake reply signal sent by the charging pile is received. Specifically, during the process of docking, the robot continuously and quickly sends a handshake signal, and when the robot and the charging pile are in contact, a handshake reply signal from the charging pile is received. If a handshake reply signal is received, it means that the electrode sheet of the robot is docked with the electrode sheet of the charging pile, and the charging pile is in an available state (the charging pile is powered on); if a handshake reply signal is not received, the reason may be that the electrode sheet of the robot is not docked with the electrode sheet of the charging pile (for example, there is a deviation in the docking position of the electrode sheet, or there is a gap between the electrode sheet of the robot and the electrode sheet of the charging pile, etc.), or the charging pile is in an unavailable state (for example, the charging pile is not plugged in or the charging pile is damaged, etc.). In the above embodiment, the handshake signal is used as a pile-to-pile signal, and a preliminary judgment is made as to whether the pile is docked by communicating between the robot and the charging pile. The method is simple and easy to implement.

[0073] Generally speaking, the ground where the charging pile is placed is relatively flat. Before the pile is aligned, the robot moves on the flat ground, and the resistance encountered during the movement will be relatively fixed, so the current value of the robot's driving mechanism is relatively stable. During the normal pile alignment process, the current value of the driving mechanism will change but will not exceed a certain threshold; however, in special cases where the pile alignment signal cannot be detected, after the robot contacts the charging pile, the robot's own position sensor can no longer accurately determine the position of the robot and the charging pile because the two are very close; therefore, the robot will continue to receive forward movement instructions. At this time, the charging pile will block the robot and hinder the robot's movement, resulting in excessive current in the robot's driving mechanism, causing the driving mechanism to heat up, increase power consumption, and even cause the driving mechanism to report an overload fault. Therefore, by detecting the current value of the robot's driving mechanism, the accuracy of pile alignment judgment can be improved.

[0074] Exemplarily, the driving mechanism includes a walking motor and a driving circuit connected to the walking motor; wherein the driving circuit is connected to the controller of the robot, and the walking motor is connected to the walking mechanism of the robot; the controller of the robot controls the walking mechanism through the driving circuit, thereby realizing the movement or braking of the robot. The specific structure of this part is a conventional technical means in this field, and will not be described in detail here.

[0075] Step S230, adjusting the position of the robot according to the detection result.

[0076] In an embodiment, the position of the robot may be the relative position of the robot and the charging pile; if the position of the charging pile is known, the position of the robot may also be the specific position of the robot, for example, a position expressed in longitude and latitude).

[0077] In the above embodiment, the detection result is obtained by detecting the pile alignment signal and the current value of the robot's driving mechanism, and the position of the robot is adjusted according to the detection result. The robot can be accurately adjusted in position and more abnormal situations in which the robot's pile alignment is inappropriate can be identified, thereby improving the success rate of pile alignment.

[0078] In one embodiment, the method for adjusting the position of the robot according to the detection result specifically includes: if the detection result is that a charging pile signal is detected and the current value is greater than a preset current value, the robot is controlled to move away from the charging pile by a first preset distance, and then the robot is controlled to move toward the charging pile again.

[0079] In the embodiment, the detection of the pile signal indicates that the electrode sheet of the robot is docked with the electrode sheet of the charging pile, and the charging pile is in an available state (the charging pile is powered on); the current value is greater than the preset current value, indicating that there is excessive squeezing between the robot and the charging pile, and the robot has a large squeezing force on the charging pile, and the charging pile will give the robot the same amount of reaction. In this case, if the current value is not judged, the robot is directly locked and accepts the charging of the charging pile. Since the locking of the robot requires a driving mechanism to be completed, in order to maintain the current state during the charging of the robot, a large current will be maintained in the driving mechanism. This will lead to increased power consumption, severe heating of the driving mechanism, and even an overload fault report of the driver in the driving mechanism; after the overload fault is reported, the driving mechanism will no longer be able to lock the robot, resulting in the inability to continue charging. Therefore, in this embodiment, the robot is controlled to move away from the charging pile and the robot is re-controlled to move toward the charging pile, so as to perform the pile alignment again. In this way, the pile alignment position of the robot can be adjusted, and while ensuring the pile alignment effect, the technical problems of increased power consumption of the robot, severe heating of the driving mechanism, and the inability to complete charging due to an overload fault in the driver in the driving mechanism can be avoided.

[0080] Optionally, the first preset distance is smaller than the second preset distance. In this case, the robot is closer to the charging pile, so it is convenient to move toward the charging pile again for alignment.

[0081] In one embodiment, if the robot still cannot complete the charging pile after re-controlling the robot to move toward the charging pile, and the failure reaches a preset number of times, it prompts that the charging pile has failed. Optionally, the robot can be controlled to prompt the failure of charging the pile in the form of voice or interface. Optionally, after prompting the failure of charging the pile, the robot is controlled to exit the automatic charging mode. In the embodiment, in the case of multiple failures, the robot is controlled to exit the automatic charging mode and prompt the charging failure, avoiding the robot's unlimited automatic charging of the pile to increase unnecessary time costs.

[0082] In one embodiment, the method for adjusting the position of the robot according to the detection result further includes: if the detection result is that no alignment signal is detected and the current value is greater than a preset current value, the robot is controlled to move in a direction away from the charging pile. In this embodiment, the current value is greater than the preset current, indicating that the robot has contacted the charging pile, but no alignment signal is detected, indicating that the charging pile is unavailable (for example, the charging pile is not plugged in or the charging pile is damaged, etc.); therefore, the robot moves in a direction away from the charging pile to leave the charging pile and give up alignment.

[0083] In one embodiment, the method for adjusting the position of the robot according to the detection result further includes: if the detection result is that no charging pile signal is detected and the current value is less than a preset current value, controlling the robot to move toward the charging pile. In this embodiment, the current value is less than the preset current value and no charging pile signal is detected, indicating that the robot is in a normal walking state and has not yet contacted the charging pile, so the robot is controlled to continue to move toward the charging pile, thereby continuing the charging pile process.

[0084] In one embodiment, the method for adjusting the position of the robot according to the detection result further includes: if the detection result is that a charging pile signal is detected and the current value is less than a preset current value, then obtaining the voltage value at the electrode sheet of the charging pile and judging whether the voltage value meets the preset threshold range; if the voltage value falls within the preset threshold range, then locking the position of the robot and controlling the robot to accept charging from the charging pile; if the voltage value does not fall within the preset threshold range, then controlling the robot to move away from the charging pile. In this case, the robot leaves the charging pile and gives up charging the pile.

[0085] In the embodiment, the preset threshold range refers to the range of charging voltage values ​​that are acceptable to the robot, and the preset threshold range can be set according to the charging voltage of the robot. When the charging voltage is too high, the charging current may be too large to damage the charging circuit and the battery, or even cause an accident. When the charging voltage is too low, it may not be charged or not fully charged. In the embodiment of the present application, the robot side can control whether to accept the charging of the charging pile. Only when the voltage value falls within the preset threshold range will the charging of the charging pile be accepted, thereby avoiding the situation where the charging voltage is too high or too low, and ensuring charging safety.

[0086] For example, if the charging voltage of the robot is 24V, the acceptable charging voltage value range of the robot is 20V to 30V.

[0087] In the embodiment of the present application, the situation where the robot is controlled to move in a direction away from the charging pile also belongs to a failure to charge the pile. Therefore, after the robot is controlled to move in a direction away from the charging pile, a failure to charge the pile may be prompted. Similarly, the robot may be controlled to prompt the failure of charging the pile in the form of voice or interface. Optionally, after prompting the failure of charging the pile, the robot is controlled to exit the automatic charging mode.

[0088] In one embodiment, the robot charging method further includes determining whether a spring is provided behind the electrode sheet of the charging pile; and then determining different ways of locking the robot position according to whether there is a spring behind the electrode sheet of the charging pile. In this embodiment, the robot further includes a FOC (Field-Oriented Control) control module, which is used to lock the position of the robot. The locking methods specifically include a FOC servo position control method, a FOC speed control method, and a FOC torque control method. The specific methods of locking the robot position are as follows:

[0089] a. If it is determined that a spring is provided behind the electrode sheet of the charging pile, the position of the robot is locked using the FOC speed control method or the FOC torque control method.

[0090] b. If it is determined that there is no spring behind the electrode sheet of the charging pile, the position of the robot is locked using the FOC servo position control method.

[0091] In one embodiment, a specific method for determining whether a spring is disposed behind the electrode sheet of the charging pile is that the robot determines by communicating with the charging pile. In this case, both the robot and the charging pile are required to be provided with a communication module.

[0092] It should be understood that the size of the serial numbers of the steps in the above embodiments does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.

[0093] Corresponding to the robot pile-to-pile method described in the above embodiment, Figure 3 A module schematic diagram of a robot automatic recharging pile device provided in an embodiment of the present application is shown. For ease of explanation, only the parts related to the embodiment of the present application are shown.

[0094] Reference Figure 3 The robot automatic recharging pile device includes:

[0095] The mobile control unit 31 is used to control the robot to move towards the charging pile.

[0096] The detection unit 32 is used to detect the pile signal and the current value of the driving mechanism of the robot to obtain the detection result.

[0097] The adjusting unit 33 is used to adjust the position of the robot according to the detection result.

[0098] It should be noted that the information interaction, execution process, etc. between the above-mentioned devices / units are based on the same concept as the method embodiment of the present application. Their specific functions and technical effects can be found in the method embodiment part and will not be repeated here.

[0099] Figure 4 A schematic diagram of a module of a robot provided in an embodiment of the present application, such as Figure 4 As shown, the robot 4 of this embodiment includes: at least one processor 40 ( Figure 4 Only one processor is shown in the figure), a memory 41, and a computer program 42 stored in the memory 41 and executable on the at least one processor 40, wherein the processor 40 implements the steps of the robot pile-pile method embodiment in any of the above-mentioned embodiments when executing the computer program 42.

[0100] In one embodiment, if Figure 4 As shown, the robot 4 may further include a pile signal detection component 43 and a current value detection component 44, wherein the pile signal detection component 43 is used to detect the pile signal, and the current value detection component 44 is used to detect the current value of the robot driving mechanism. The processor 40 obtains the pile signal detection result from the pile signal detection component 43, obtains the current detection result from the current value detection component 44, and adjusts the position of the robot according to the pile signal detection result and the current detection result.

[0101] In one embodiment, Figure 4 As shown, the robot 4 may also include a voltage value detection component 45 and a charging switch component 46. The voltage value detection component 45 is used to detect the charging voltage value of the charging pile and send the voltage value detection result to the processor 40; the charging switch component 45 is used to control whether to accept the charging of the charging pile according to the processing result of the voltage value by the processor 40, and charging will only be accepted when the voltage value belongs to the preset threshold range.

[0102] In one embodiment, Figure 4 As shown, the robot 4 may further include a FOC control module 47, which is used to control the movement of the robot and lock the position of the robot.

[0103] In one embodiment, Figure 4 As shown, the robot 4 may further include a communication component 48, which is used for communication between the robot and the charging pile, for example, it may be used to send a handshake signal to the charging pile and receive a handshake reply signal returned by the charging pile.

[0104] Figure 4It is only an example of the robot 4 and does not constitute a limitation of the robot 4. It may include more or fewer components than shown in the figure, or a combination of certain components, or different components. For example, it may also include input and output devices, network access devices, display devices, voice reminder devices, etc.

[0105] The processor 40 may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or any conventional processor, etc.

[0106] In some embodiments, the memory 41 may be an internal storage unit of the robot 4, such as a hard disk or memory of the robot 4. In other embodiments, the memory 41 may also be an external storage device of the robot 4, such as a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash card, etc. equipped on the robot 4. Further, the memory 41 may also include both an internal storage unit and an external storage device of the robot 4. The memory 41 is used to store an operating system, an application program, a boot loader, data, and other programs, such as the program code of the computer program. The memory 41 may also be used to temporarily store data that has been output or is to be output.

[0107] Figure 5 is a control schematic diagram of the FOC control module in one embodiment of the present application, such as Figure 5 As shown, the FOC vector control three-loop system is used in the embodiment of the present application, which includes the current loop (torque loop), speed loop and position loop from the inside to the outside. That is, there are three control modes for the robot in the embodiment of the present application, including FOC servo position control mode, FOC speed control mode and FOC torque control mode.

[0108] The three different control methods have their own characteristics when used for position locking, as follows: The FOC servo position control method can completely keep the robot in its original position, and the robot can remain in its original position even if there is an external force pushing it. When the FOC speed control method is adopted, the speed is set to 0. This method is particularly suitable for the case where a spring is provided at the rear end of the electrode sheet of the charging pile, so that the position locking process can have a certain deformation stroke to ensure full contact of the electrode sheet. When the FOC torque control method is adopted, a certain contact extrusion torque needs to be maintained. This method can ensure the reliability of contact. The embodiment of the present application integrates all three methods into the robot. During specific use, the corresponding locking position method can be selected by modifying the parameters according to the actual hardware configuration of the charging pile and the robot.

[0109] The technicians in the relevant field can clearly understand that for the convenience and simplicity of description, only the division of the above-mentioned functional units, modules, and components is used as an example. In practical applications, the above-mentioned function distribution can be completed by different functional units, modules, and components as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units, modules, and components in the embodiment can be integrated in a processing unit, or each unit can exist physically separately, or two or more units can be integrated in one unit. The above-mentioned integrated unit can be implemented in the form of hardware or in the form of software functional units. In addition, the specific names of the functional units, modules, and components are only for the convenience of distinguishing each other, and are not used to limit the scope of protection of this application. The specific working process of the units and modules in the above-mentioned system can refer to the corresponding process in the aforementioned method embodiment, which will not be repeated here.

[0110] An embodiment of the present application further provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps in the above-mentioned robot pile alignment method embodiments are implemented.

[0111] An embodiment of the present application provides a computer program product. When the computer program product runs on a robot, the robot can implement the steps in the above-mentioned robot pile alignment method embodiments when executing the computer program product.

[0112] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the present application implements all or part of the processes in the above-mentioned embodiment method, which can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a computer-readable storage medium, and the computer program can implement the steps of the above-mentioned various method embodiments when executed by the processor. Among them, the computer program includes computer program code, and the computer program code can be in source code form, object code form, executable file or some intermediate form. The computer-readable medium may at least include: any entity or device that can carry the computer program code to the device / terminal device, a recording medium, a computer memory, a read-only memory (ROM, Read-Only Memory), a random access memory (RAM, Random Access Memory), an electric carrier signal, a telecommunication signal, and a software distribution medium. For example, a USB flash drive, a mobile hard disk, a magnetic disk or an optical disk. In some jurisdictions, according to legislation and patent practice, computer-readable media cannot be electric carrier signals and telecommunication signals.

[0113] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described or recorded in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0114] Those of ordinary skill in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0115] In the embodiments provided in the present application, it should be understood that the disclosed devices / network equipment and methods can be implemented in other ways. For example, the device / network equipment embodiments described above are merely schematic. For example, the division of the modules or units is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0116] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0117] The embodiments described above are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, a person skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features may be replaced by equivalents. Such modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application, and should all be included in the protection scope of the present application.

Claims

1. A robot, characterized in that: The invention comprises a memory and a processor, wherein the memory stores computer-readable instructions, and the processor is used to implement the following steps when calling the computer-readable instructions in the memory: Control the robot to move towards the charging pile; Detecting a pile-matching signal and a current value of a driving mechanism of the robot to obtain a detection result, wherein the pile-matching signal indicates that the electrode sheet of the robot is connected to the electrode sheet of the charging pile, and the charging pile is in an available state, and the detection result includes: whether the pile-matching signal is detected, and a condition satisfied by the magnitude of the current value; adjusting the position of the robot according to the detection result; Wherein, adjusting the position of the robot according to the detection result includes: If the detection result is that the charging pile signal is not detected and the current value is greater than a preset current value, controlling the robot to move in a direction away from the charging pile; If the detection result is that the charging pile signal is not detected and the current value is less than the preset current value, controlling the robot to move toward the charging pile; If the detection result is that the charging pile signal is detected and the current value is less than the preset current value, the voltage value at the electrode sheet of the charging pile is obtained and it is determined whether the voltage value belongs to the preset threshold range; if the voltage value belongs to the preset threshold range, the position of the robot is locked, and the robot is controlled to accept charging from the charging pile; if the voltage value does not belong to the preset threshold range, the robot is controlled to move away from the charging pile; The robot further comprises a FOC control module, wherein the FOC control module is used to lock the position of the robot, and the locking mode specifically comprises a FOC servo position control mode, a FOC speed control mode and a FOC torque control mode; The processor also implements the following steps: Determine whether a spring is provided behind the electrode sheet of the charging pile; If yes, correspondingly, when the processor implements locking the position of the robot, it specifically includes: locking the position of the robot using the FOC speed control method or the FOC torque control method; If not, correspondingly, when the processor implements locking the position of the robot, it specifically includes: using the FOC servo position control method to lock the position of the robot.

2. The robot according to claim 1, characterized in that: The adjusting the position of the robot according to the detection result specifically includes: If the detection result is that the charging pile signal is detected and the current value is greater than the preset current value, the robot is controlled to move away from the charging pile by a first preset distance and then the robot is controlled to move toward the charging pile again.

3. The robot according to claim 2, characterized in that: The adjusting the position of the robot according to the detection result also includes: If the robot still cannot be aligned with the charging pile after being controlled to move toward the charging pile and the failure reaches a preset number of times, a prompt will be given that the charging alignment has failed.

4. The robot according to any one of claims 1 to 3, characterized in that: The detecting of the pile signal specifically includes: Detecting whether there is voltage on the electrode sheet of the robot; If it is detected that there is voltage on the electrode sheet of the robot, it is determined that the pile-matching signal is detected.

5. The robot according to any one of claims 1 to 3, characterized in that: The detecting of the pile signal specifically includes: Controlling the robot to send a handshake signal to the charging pile; If a handshake reply signal sent by the charging pile is received, it is determined that the charging pile signal is detected.

6. The robot according to claim 1, characterized in that: The controlling the robot to move toward the charging pile specifically includes: If the distance between the robot and the charging pile is greater than a second preset distance, controlling the robot to move toward the charging pile at a first speed; If the distance between the robot and the charging pile is less than the second preset distance, the robot is controlled to move toward the charging pile at a second speed; wherein the first speed is greater than the second speed.

7. A robot pile-to-pile method, characterized in that: include: Control the robot to move towards the charging pile; Detecting a charging pile signal and a current value of a driving mechanism of the robot to obtain a detection result, wherein the charging pile signal indicates that an electrode sheet of the robot is docked with an electrode sheet of the charging pile, and the charging pile is in an available state, and the detection result includes: whether the charging pile signal is detected, and a condition satisfied by the magnitude of the current value; adjusting the position of the robot according to the detection result; Wherein, adjusting the position of the robot according to the detection result includes: If the detection result is that the charging pile signal is not detected and the current value is greater than a preset current value, controlling the robot to move in a direction away from the charging pile; If the detection result is that the charging pile signal is not detected and the current value is less than the preset current value, controlling the robot to move toward the charging pile; If the detection result is that the charging pile signal is detected and the current value is less than the preset current value, the voltage value at the electrode sheet of the charging pile is obtained and it is determined whether the voltage value belongs to the preset threshold range; if the voltage value belongs to the preset threshold range, the position of the robot is locked, and the robot is controlled to accept charging from the charging pile; if the voltage value does not belong to the preset threshold range, the robot is controlled to move in a direction away from the charging pile; The robot pile alignment method further comprises: Determine whether a spring is provided behind the electrode sheet of the charging pile; If yes, correspondingly, when locking the position of the robot, specifically including: locking the position of the robot by using a FOC speed control method or a FOC torque control method; If not, correspondingly, when locking the position of the robot, specifically including: using a FOC servo position control method to lock the position of the robot.

8. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the robot pile-matching method according to claim 7 is implemented.

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