A charging and discharging method, device, equipment and storage medium

Abstract

The present invention discloses a charging and leaving method, device, equipment and storage medium, belonging to the field of mobile robot technology. The method comprises: determining the target leaving distance according to the robot model; during the charging and leaving process, after confirming that the distance between the robot and the charging pile reaches the target leaving distance, sending a pile-leaving success message; adjusting the original posture according to the received task point information, and driving to the task location. The technical solution of the embodiment of the present invention solves the collision problem caused by the robot adjusting the posture at the location of the charging pile, and can improve the safety and accuracy of the robot's movement.

Description

Technical Field

[0001] The present invention relates to the technical field of mobile robots, and in particular to a charging and driving method, device, equipment and storage medium. Background Art

[0002] With the continuous development of mobile robot technology, its application fields are becoming more and more extensive, such as food delivery robots used in restaurants, business guidance robots used in banks, and patrol robots used in factories, etc. Mobile robots are usually driven by batteries as energy, and they need to be charged before use.

[0003] In order to improve the working efficiency of the robot, the robot usually drives automatically to the location of the charging pile and automatically charges by adjusting its own posture. In the prior art, after the robot is charged, it will easily collide with the charging pile during the departure process according to the location of the task to be performed, causing damage to the robot and the charging pile or position displacement, causing the charging pile origin position to shift, affecting subsequent use. Summary of the invention

[0004] The present invention provides a charging and driving method, device, equipment and storage medium to improve the accuracy of the charging and driving motion of a robot.

[0005] According to one aspect of the present invention, there is provided a charging method, comprising:

[0006] Determine the distance from the target according to the robot model;

[0007] During the charging and leaving process, after confirming that the distance between the robot and the charging pile reaches the target leaving distance, a pile leaving success message is sent;

[0008] According to the received mission point information, the vehicle adjusts its original position and drives to the mission location.

[0009] According to another aspect of the present invention, there is provided a charging off-line device, comprising:

[0010] A target distance determination module is used to determine the target distance according to the robot model;

[0011] A charging pile unloading message sending module is used to send a charging pile unloading success message after confirming that the distance between the robot and the charging pile reaches the target unloading distance during the charging unloading process;

[0012] The posture adjustment module is used to adjust the original posture according to the received mission point information and drive to the mission location.

[0013] According to another aspect of the present invention, an electronic device is provided, the electronic device comprising:

[0014] at least one processor; and

[0015] a memory communicatively connected to the at least one processor; wherein,

[0016] The memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can perform the charging and discharging method described in any embodiment of the present invention.

[0017] According to another aspect of the present invention, a computer-readable storage medium is provided, wherein the computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the charging and disconnecting method described in any embodiment of the present invention when executed.

[0018] The technical solution of the embodiment of the present invention determines the target distance to the driving position based on the robot model, and during the charging and driving process, after confirming that the distance between the robot and the charging pile has reached the target distance to the driving position, sends a message of successful driving off the charging pile, and finally adjusts the original posture based on the received mission point information and drives to the mission location, which solves the collision problem caused by the robot's posture adjustment at the location of the charging pile, and can improve the safety and accuracy of the robot's movement.

[0019] It should be understood that the contents described in this section are not intended to identify the key or important features of the embodiments of the present invention, nor are they intended to limit the scope of the present invention. Other features of the present invention will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0021] Figure 1 is a flow chart of a charging and disconnecting method provided according to Embodiment 1 of the present invention;

[0022] Figure 2a is a flow chart of a charging and disconnecting method provided according to Embodiment 2 of the present invention;

[0023] Figure 2b is a schematic diagram of a target departure direction provided according to Embodiment 2 of the present invention;

[0024] Figure 2c is another schematic diagram of a target departure direction provided according to the second embodiment of the present invention;

[0025] Figure 3a is a flow chart of a charging and disconnecting method provided according to Embodiment 3 of the present invention;

[0026] Figure 3b is a schematic diagram of a target distance from a line provided according to Embodiment 3 of the present invention;

[0027] Figure 3c This is a flowchart of a robot staking according to Embodiment 3 of the present invention;

[0028] Figure 4 is a schematic structural diagram of a charging and disconnecting device provided according to a fourth embodiment of the present invention;

[0029] Figure 5 It is a schematic diagram of the structure of an electronic device for implementing the charging and disconnecting method according to an embodiment of the present invention. DETAILED DESCRIPTION

[0030] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0031] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0032] Embodiment 1

[0033] Figure 1 A flowchart of a charging and driving method is provided for the first embodiment of the present invention. This embodiment can be applied to the case where the charging and driving distance of a robot is determined according to the robot model. The method can be executed by a charging and driving device. The charging and driving device can be implemented in the form of hardware and / or software. The charging and driving device can be configured in various general-purpose computing devices. Figure 1As shown, the method includes:

[0034] S110: Determine the distance between the target and the robot according to the robot model.

[0035] The target departure distance is the safe distance that the robot needs to drive away from the charging pile after charging is completed. Specifically, when the robot is completed or receives a task to be performed during charging, it drives away from the charging pile until the distance to the charging pile reaches the target departure distance, and the robot is determined to have successfully landed. After the robot successfully lands, the robot can adjust its position according to the location of the task to be performed, and then drive to the location of the task.

[0036] In this embodiment, before the robot needs to perform the unloading action, it is necessary to obtain the model of the robot, and then determine the target distance to the line based on the model. Specifically, in the case where the robot can only leave the line in a direction perpendicular to the plane where the charging pile body is located, the target distance to the line that matches the model of the current robot can be determined based on the association between the model and the distance to the line. It is also possible to obtain the chassis parameters of the current robot based on the model of the current robot, and calculate the target distance to the line based on the chassis parameters. In the case where the robot can leave the line in a direction perpendicular to the plane where the charging pile body is located, or in two directions parallel to the plane where the charging pile body is located, it is necessary to combine the robot's departure direction and the robot's model to jointly determine the robot's target distance to the line.

[0037] In a specific example, the robot model and the corresponding departure distance are stored in advance to form a list containing the model and departure distance. The primary key in the list is the robot model, and the value is the departure distance corresponding to the model. When the robot receives a task to be executed during the charging process, it can search the above list for the departure distance that matches the current robot model, and use the found departure distance as the target departure distance. It is worth noting that the target departure distance mentioned in the current example corresponds to the departure direction that is perpendicular to the plane where the charging pile body is located and away from the charging pile body.

[0038] The distance from the line can be calculated based on the robot chassis parameters, charging pile parameters and fault tolerance value. For example, the G1 model robot has a distance from the line of 9 cm; the T1 model robot has a distance from the line of 9 cm; the T2 model robot has a distance from the line of 22 cm; the T5 model robot has a distance from the line of 15 cm; and the T6 model robot has a distance from the line of 15 cm.

[0039] In another specific example, when the charging pile port matched by the robot is located on the side of the charging pile body, the robot can not only drive away from the charging pile in a direction perpendicular to the plane where the charging pile body is located and away from the charging pile body, but also drive away from the charging pile in either of the left and right directions parallel to the plane where the charging pile body is located. For the same robot, when driving away from the charging pile in different directions, the corresponding target departure distance is different. Therefore, the target departure distance can be determined jointly based on the robot model and the robot's departure direction. For example, for the T2 model robot, the corresponding departure distances include 22 cm and 24 cm, of which 22 cm is the departure distance corresponding to the direction perpendicular to the plane where the charging pile body is located and away from the charging pile body, and 24 cm is the departure distance corresponding to either of the two directions parallel to the plane where the charging pile body is located.

[0040] S120: During the charging and leaving the vehicle, after confirming that the distance between the robot and the charging pile reaches the target leaving distance, a message of success of leaving the vehicle is sent.

[0041] In this embodiment, when the robot is driving away from the charging pile, the distance the robot has driven away from the charging pile can be obtained in real time, and it can be determined whether the distance has reached the target departure distance. If the target departure distance is reached, it is determined that the robot has been successfully unloaded. At this time, the robot further sends a success message of unloading to the server to instruct the server to send the location information of the task to be performed to the robot in response to the success message of unloading. On the one hand, the robot needs to unload according to the target departure distance after charging is completed, which can avoid collision problems caused by the robot directly adjusting its posture at the charging pile. On the other hand, the distance the robot has driven away from the charging pile is obtained in real time during the charging and unloading process. When the distance reaches the target departure distance, the success message of unloading is sent to the server in time, which can improve the accuracy of the robot's motion control and save the robot's electricity cost.

[0042] If the target departure distance is not reached, the robot further detects whether the robot motor is unlocked. If the motor is unlocked, it indicates that the current robot can be pushed manually, and then returns to execute the operation of obtaining the distance of the robot from the charging pile and judging whether the distance has reached the target departure distance. If the motor is not unlocked, it indicates that the current robot can only move autonomously. At this time, the robot continues to travel in the current driving direction at a speed of 3 cm / s, and continues to execute the operation of obtaining the distance of the robot from the charging pile and judging whether the distance has reached the target departure distance, until the distance of the robot from the charging pile reaches the target departure distance.

[0043] In a specific example, the target distance for the T2 model robot is 22 cm. After determining the target distance, the robot starts to drive away from the charging pile. In the process of driving away from the charging pile, the robot detects in real time whether the distance to the charging pile reaches 22 cm. When the distance reaches 22 cm, the robot speed is set to 0, the robot's motor is locked, and a message of success in driving away from the charging pile is sent to the server.

[0044] S130: Adjust the original position according to the received mission point information and drive to the mission location.

[0045] In this embodiment, after receiving the successful staking message sent by the robot, the server further sends the task point information of the task to be performed to the robot. Based on the received task point information, the robot can determine the positional relationship between the task location and the current location of the robot, and then adjust the robot's original posture based on the positional relationship, so that the robot faces the task location and then drives to the task location.

[0046] In a specific example, after the robot successfully lands on the charging pile, it faces due north and determines that the mission location is due west of the robot based on the robot position information sent by the server. At this time, the robot can turn 90 degrees counterclockwise on the spot, face the mission location, and then drive to the mission location. Since the robot has already driven away from the charging pile target distance, the robot will rotate on the spot at this time and will not collide with the charging pile, which improves the safety of the robot's movement.

[0047] The technical solution of the embodiment of the present invention determines the target distance to the line according to the robot model. During the charging and leaving the line process, after confirming that the distance between the robot and the charging pile has reached the target distance to the line, a message of successful discharge from the pile is sent, and the original posture is adjusted according to the received task point information. On the one hand, it can avoid collisions caused by posture adjustment directly at the location of the charging pile. On the other hand, determining the target distance to the line according to the robot model can improve the accuracy of the robot's movement compared to the method of setting a fixed distance to the line.

[0048] Embodiment 2

[0049] Figure 2a The flowchart of a charging and leaving method provided in the second embodiment of the present invention is further refined on the basis of the above embodiment, and provides specific steps for determining the target leaving distance according to the robot model. Figure 2a A charging and disconnecting method provided by an embodiment of the present invention is described, including the following:

[0050] S210: Determine the departure direction of the target according to the model of the robot and the location of the charging port of the charging pile.

[0051] Different robot models correspond to different types of charging piles, and the charging ports of different charging piles are located in different directions. Specifically, the charging port of the charging pile can be located at the bottom of the pile body or at the side of the pile body.

[0052] In the disclosed embodiment, the orientation of the charging port of the charging pile that matches the model is determined according to the robot model, so as to determine the target departure direction of the current robot according to the orientation of the charging port. Specifically, in the charging pile that matches the current robot model, when the orientation of the charging port is the side of the pile body, it can be determined that the target departure direction is a direction perpendicular to the plane where the charging pile body is located and away from the charging pile body, or any of the two directions parallel to the plane where the charging pile body is located. In the charging pile that matches the current robot model, when the orientation of the charging port is the bottom edge of the pile body, due to the obstruction of the protruding charging contacts on the bottom edge, the target departure direction of the robot can only be a direction perpendicular to the plane where the charging pile body is located and away from the charging pile body.

[0053] Optionally, the target departure direction is determined based on the robot model and the location of the charging port of the charging pile, including:

[0054] When the charging port of the charging pile is located at the bottom edge, the target departure direction of the robot is determined to be a direction perpendicular to the plane where the charging pile body is located and away from the charging pile body;

[0055] When the charging port of the charging pile is located on the side, the target departure direction of the robot is determined to be a direction perpendicular to the plane where the charging pile body is located and away from the charging pile body, or any one of the two directions parallel to the plane where the charging pile body is located.

[0056] In a specific example, Figure 2b As shown in the figure, the charging port of the charging pile matched by the robot is at the bottom of the pile body, so it can be determined that the robot's target departure direction can only be a direction perpendicular to the plane where the charging pile body is located and away from the charging pile body, that is, Figure 2b The direction of the arrow.

[0057] In another specific example, Figure 2c As shown, the charging port orientation of the charging pile matched by the robot is in the state side, then it can be determined that the robot's target departure direction can be a direction perpendicular to the plane where the charging pile body is located and away from the charging pile body, or it can be any of the two directions parallel to the plane where the charging pile body is located, that is, Figure 2c Any direction indicated by the three arrows.

[0058] S220: Determine the distance from the target according to the robot model and the direction from the target.

[0059] In the disclosed embodiment, after determining the target departure direction associated with the current robot, the target departure distance of the robot can be further determined according to the robot model and the target departure direction. Specifically, the robot model and the corresponding departure distance are stored in advance, wherein each robot model corresponds to multiple departure distances, and each departure distance corresponds to a different departure direction.

[0060] Exemplarily, for the T2 model robot, the corresponding distances are 22 cm and 24 cm, wherein 22 cm is the distance corresponding to the direction perpendicular to the plane where the charging pile body is located and away from the charging pile body, and 24 cm is the distance corresponding to any of the two directions parallel to the plane where the charging pile body is located.

[0061] Optionally, the distance from the target to the line is determined according to the robot model and the direction from which the target leaves the line, including:

[0062] Determine at least one candidate distance from the robot that matches the model of the current robot according to the correlation between the model of the robot and the distance from the robot;

[0063] According to the target departure direction, a target departure distance is determined from at least one candidate departure distance.

[0064] In this optional embodiment, a specific method for determining the target departure distance based on the robot model and the target departure direction is provided: first, based on the association between the robot model and the departure distance, one or more candidate departure distances matching the current robot model are determined. Further, based on the target departure direction corresponding to the current robot, a candidate departure distance matching the target departure direction is selected from at least one candidate departure distance as the target departure distance.

[0065] In a specific example, the current robot is a T1 model, and it is determined that the target departure direction of the current robot is perpendicular to the plane where the charging pile body is located and away from the charging pile body. According to this model, the candidate departure distances associated with the current robot are 9 cm and 12 cm. Among them, 9 cm is the departure distance corresponding to the direction perpendicular to the plane where the charging pile body is located and away from the charging pile body, and 12 cm is the departure distance corresponding to any of the two directions parallel to the plane where the charging pile body is located. Finally, according to the target departure direction, the departure distance (9 cm) corresponding to the direction perpendicular to the plane where the charging pile body is located and away from the charging pile body is determined in the candidate departure directions associated with this model as the target departure distance.

[0066] S230: Adjust the original position according to the received mission point information and drive to the mission location.

[0067] The technical solution of the embodiment of the present invention determines the target departure direction according to the model of the robot and the orientation of the charging port of the charging pile, and then determines the target departure distance according to the model of the robot and the target departure direction, and finally adjusts the original posture according to the received task point information and drives to the task location. When the robot drives away from the charging pile along different departure directions, the robot can be precisely controlled to avoid collision between the robot and the charging pile, thereby improving the safety of the robot's movement.

[0068] Embodiment 3

[0069] Figure 3a This is a flowchart of a charging and leaving the vehicle method provided in the third embodiment of the present invention. It is further refined on the basis of the above embodiment and provides specific steps for determining the target leaving distance according to the robot model, and specific steps for sending a successful leaving the vehicle message after confirming that the distance between the robot and the charging pile reaches the target leaving distance during the charging and leaving process. Figure 3a A charging and disconnecting method provided by an embodiment of the present invention is described, including the following:

[0070] S310. Determine a target distance from the robot to be matched based on the relationship between the robot model and the distance from the robot; wherein the distance from the robot to the robot is determined based on the robot chassis parameters, charging pile parameters, and fault tolerance value.

[0071] When the robot is fully charged or receives a task to be performed during the charging process, the robot needs to leave the charging pile and drive to the location of the task to be performed. In the related art, when the robot obtains the task location to be performed, it will adjust its posture at the charging pile position so that the robot faces the task location to be performed, and then drive to the task location. The above method can be applied to robots with circular chassis, but for robots with some non-centrally symmetrical chassis (for example, rectangular chassis), directly adjusting the posture at the charging pile position will cause the robot chassis to collide with the charging pile, damaging the robot and the charging pile.

[0072] In the disclosed embodiment, in order to avoid collision between the robot with a non-centrally symmetrical chassis and the charging pile, before the robot needs to drive from the charging pile to the task location, the robot can be driven away from the charging pile for a certain distance without performing a rotation action, for example, along the direction perpendicular to the plane where the charging pile body is located and away from the charging pile, and then retreat for a certain distance. After retreating for a certain distance, the robot can adjust its posture and drive to the task location.

[0073] Specifically, firstly, the target distance to be matched by the robot is determined according to the correlation between the robot model and the distance to be separated, and the robot is controlled to retreat the target distance to the direction perpendicular to the plane where the charging pile state is located and away from the charging pile.

[0074] The distance from the vehicle can be calculated based on the robot chassis parameters, charging pile parameters, and fault tolerance value. For a rectangular chassis robot, Figure 3b As shown, the robot's distance D is calculated as follows:

[0075] D=d2+d1-r

[0076] Among them, d2 is 1 / 2 of the diagonal length of the rectangular chassis, d1 is the length of the overlap between the charging side of the robot and the bottom edge of the charging pile, and r is 1 / 2 of the length of the vertical side between the robot and the charging pile.

[0077] S320: During the charging and leaving process, the distance between the robot and the charging pile is obtained in real time, and the distance is compared with the target leaving distance.

[0078] During the robot's retreat process, in order to ensure the accuracy of the robot's movement, the robot performs the following Figure 3c The steps of getting off the charging pile shown are, first, obtaining the distance between the robot and the charging pile in real time while the robot is driving away from the charging pile, and comparing the obtained distance with the target departure distance, so that when the robot's driving distance reaches the target departure distance, it can stop driving away from the charging pile in time.

[0079] S330: When the distance reaches the target distance, the speed of the robot is set to zero, the motor of the robot is locked, and a message indicating successful staking is sent.

[0080] In this embodiment, when it is detected that the distance between the robot and the charging pile reaches the target departure distance, it is determined that the robot has successfully disembarked from the charging pile. At this time, the speed of the robot can be set to 0 to prevent the robot from continuing to drive away from the charging pile, resulting in unnecessary waste of electricity.

[0081] When it is detected that the distance between the robot and the charging pile has not reached the target departure distance, it is possible to further detect whether the robot motor is unlocked. When the motor is unlocked, it indicates that the current robot can be pushed manually, and the operation of obtaining the distance of the robot from the charging pile and judging whether the distance has reached the target departure distance is returned. When the motor is not unlocked, it indicates that the current robot can only move autonomously. At this time, the robot continues to travel in the current driving direction at a speed of 3 cm / s, and continues to obtain the distance of the robot from the charging pile and judge whether the distance has reached the target departure distance until the distance of the robot from the charging pile reaches the target departure distance.

[0082] S340: Adjust the original position according to the received mission point information and drive to the mission location.

[0083] The technical solution of the embodiment of the present invention determines the target off-line distance that the robot matches based on the correlation between the robot model and the off-line distance, and then obtains the distance between the robot and the charging pile in real time during the charging off-line process, and compares the distance with the target off-line distance. When the distance reaches the target off-line distance, the robot's speed is set to zero, the robot's motor is locked, and a successful off-line message is sent. Finally, based on the received mission point information, the original posture is adjusted and the robot drives to the mission location, which can avoid collisions caused by posture adjustment directly at the location of the charging pile, and the target off-line distance is determined based on the robot model, which can improve the accuracy of the robot's movement compared to the method of setting a fixed off-line distance.

[0084] Embodiment 4

[0085] Figure 4 This is a schematic diagram of the structure of a charging and driving device provided in the fourth embodiment of the present invention. This embodiment can be applied to the situation of how to charge and drive a robot, and is particularly applicable to the situation of determining the required driving distance of the robot according to the robot model. The charging and driving device can be implemented in the form of hardware and / or software, and can be integrated into an electronic device that carries the charging and driving function, such as a server. Figure 4 As shown, the device comprises:

[0086] The target distance determination module 410 is used to determine the target distance according to the robot model;

[0087] The charging pile message sending module 420 is used to send a charging pile success message after confirming that the distance between the robot and the charging pile reaches the target distance during the charging process;

[0088] The posture adjustment module 430 is used to adjust the original posture according to the received mission point information and drive to the mission location.

[0089] The technical solution of the embodiment of the present invention determines the target distance to the line according to the robot model. During the charging and leaving the line process, after confirming that the distance between the robot and the charging pile has reached the target distance to the line, a message of successful discharge from the pile is sent, and the original posture is adjusted according to the received task point information. On the one hand, it can avoid collisions caused by posture adjustment directly at the location of the charging pile. On the other hand, determining the target distance to the line according to the robot model can improve the accuracy of the robot's movement compared to the method of setting a fixed distance to the line.

[0090] Optionally, the target distance determination module 410 is specifically configured to:

[0091] According to the correlation between the robot model and the distance from the line, determine the target distance from the line that the robot matches;

[0092] The distance from the vehicle is determined based on the robot chassis parameters, charging pile parameters and fault tolerance value.

[0093] Optionally, the target distance determination module 410 includes:

[0094] A target departure direction determination unit, used to determine the target departure direction according to the robot model and the charging port orientation of the charging pile;

[0095] The target distance determination unit is used to determine the target distance according to the robot model and the target distance direction.

[0096] Optionally, the target departure direction determination unit includes:

[0097] A first departure direction determination subunit is used to determine that the target departure direction of the robot is a direction perpendicular to the plane where the charging pile body is located and away from the charging pile body when the charging port of the charging pile is located at the bottom edge;

[0098] The second departure direction determination subunit is used to determine, when the charging port of the charging pile is located on the side, that the target departure direction of the robot is a direction perpendicular to the plane where the charging pile body is located and away from the charging pile body, or any one of the two directions parallel to the plane where the charging pile body is located.

[0099] Optionally, the target distance determination unit includes:

[0100] A candidate distance-to-run determination subunit is used to determine at least one candidate distance-to-run that matches the model of the current robot according to the association between the model of the robot and the distance-to-run;

[0101] The target distance-from-row determining subunit is configured to determine the target distance-from-row from the at least one candidate distance-from-row according to the target direction-from-row.

[0102] Optionally, the stub message sending module 420 includes:

[0103] A distance comparison unit, used to obtain the distance between the robot and the charging pile in real time during the charging and leaving process, and compare the distance with the target leaving distance;

[0104] The staking message sending unit is used to set the speed of the robot to zero, lock the motor of the robot, and send a staking success message when the distance reaches the target distance.

[0105] The charging and disconnecting device provided in the embodiment of the present invention can execute the charging and disconnecting method provided in any embodiment of the present invention, and has the corresponding functional modules and beneficial effects of the execution method.

[0106] Embodiment 5

[0107] Figure 5 A schematic diagram of the structure of an electronic device 10 that can be used to implement an embodiment of the present invention is shown. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices (such as helmets, glasses, watches, etc.) and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present invention described and / or required herein.

[0108] like Figure 5 As shown, the electronic device 10 includes at least one processor 11, and a memory connected to the at least one processor 11, such as a read-only memory (ROM) 12, a random access memory (RAM) 13, etc., wherein the memory stores a computer program that can be executed by at least one processor, and the processor 11 can perform various appropriate actions and processes according to the computer program stored in the read-only memory (ROM) 12 or the computer program loaded from the storage unit 18 to the random access memory (RAM) 13. In the RAM 13, various programs and data required for the operation of the electronic device 10 can also be stored. The processor 11, the ROM 12, and the RAM 13 are connected to each other through a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0109] A number of components in the electronic device 10 are connected to the I / O interface 15, including: an input unit 16, such as a keyboard, a mouse, etc.; an output unit 17, such as various types of displays, speakers, etc.; a storage unit 18, such as a disk, an optical disk, etc.; and a communication unit 19, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 19 allows the electronic device 10 to exchange information / data with other devices through a computer network such as the Internet and / or various telecommunication networks.

[0110] The processor 11 may be a variety of general and / or special processing components with processing and computing capabilities. Some examples of the processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any appropriate processor, controller, microcontroller, etc. The processor 11 performs the various methods and processes described above, such as the charging off-line method.

[0111] In some embodiments, the charge-off method may be implemented as a computer program, which is tangibly contained in a computer-readable storage medium, such as a storage unit 18. In some embodiments, part or all of the computer program may be loaded and / or installed on the electronic device 10 via the ROM 12 and / or the communication unit 19. When the computer program is loaded into the RAM 13 and executed by the processor 11, one or more steps of the charge-off method described above may be performed. Alternatively, in other embodiments, the processor 11 may be configured to perform the charge-off method in any other appropriate manner (e.g., by means of firmware).

[0112] Various implementations of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on chips (SOCs), complex programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various implementations can include: being implemented in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which can be a special purpose or general purpose programmable processor that can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.

[0113] Computer programs for implementing the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, so that when the computer program is executed by the processor, the functions / operations specified in the flow chart and / or block diagram are implemented. The computer program may be executed entirely on the machine, partially on the machine, partially on the machine and partially on a remote machine as a stand-alone software package, or entirely on a remote machine or server.

[0114] In the context of the present invention, a computer-readable storage medium may be a tangible medium that may contain or store a computer program for use by or in combination with an instruction execution system, device or equipment. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices or equipment, or any suitable combination of the foregoing. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. A more specific example of a machine-readable storage medium may include an electrical connection based on one or more lines, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0115] To provide interaction with a user, the systems and techniques described herein may be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and a pointing device (e.g., a mouse or trackball) through which the user can provide input to the electronic device. Other types of devices may also be used to provide interaction with the user; for example, the feedback provided to the user may be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form (including acoustic input, voice input, or tactile input).

[0116] The systems and techniques described herein may be implemented in a computing system that includes backend components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes frontend components (e.g., a user computer with a graphical user interface or a web browser through which a user can interact with implementations of the systems and techniques described herein), or a computing system that includes any combination of such backend components, middleware components, or frontend components. The components of the system may be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: a local area network (LAN), a wide area network (WAN), a blockchain network, and the Internet.

[0117] A computing system may include a client and a server. The client and the server are generally remote from each other and usually interact through a communication network. The client and server relationship is generated by computer programs running on the corresponding computers and having a client-server relationship with each other. The server may be a cloud server, also known as a cloud computing server or cloud host, which is a host product in the cloud computing service system to solve the defects of difficult management and weak business scalability in traditional physical hosts and VPS services.

[0118] It should be understood that the various forms of processes shown above can be used to reorder, add or delete steps. For example, the steps described in the present invention can be executed in parallel, sequentially or in different orders, as long as the desired results of the technical solution of the present invention can be achieved, and this document does not limit this.

[0119] The above specific implementations do not constitute a limitation on the protection scope of the present invention. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modification, equivalent substitution and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A charging and disconnecting method, It is characterized in that include: Determine the distance from the target according to the robot model; During the charging and leaving process, after confirming that the distance between the robot and the charging pile reaches the target leaving distance, a pile leaving success message is sent; According to the received mission point information, adjust the original posture and drive to the mission location; Among them, according to the model of the robot, the distance between the target and the line is determined, including: Determine the departure direction of the target based on the robot model and the location of the charging port of the charging pile; Determine at least one candidate distance from the robot that matches the model of the current robot according to the correlation between the model of the robot and the distance from the robot; According to the target departure direction, a target departure distance is determined from the at least one candidate departure distance.

2. The method according to claim 1, It is characterized in that Determine the distance from the target based on the robot model, including: According to the correlation between the robot model and the distance from the line, determine the target distance from the line that the robot matches; The distance from the vehicle is determined based on the robot chassis parameters, charging pile parameters and fault tolerance value.

3. The method according to claim 2, It is characterized in that The target distance D is calculated as follows: D=d2+d1-r Among them, d2 is 1 / 2 of the diagonal length of the rectangular chassis, d1 is the length of the overlap between the charging side of the robot and the bottom side of the charging pile, and r is 1 / 2 of the length of the vertical side between the robot and the charging pile.

4. The method according to claim 1, It is characterized in that Determine the direction of departure based on the robot model and the charging port position of the charging pile, including: In the case where the charging port of the charging pile is located at the bottom edge, determining that the target departure direction of the robot is a direction perpendicular to the plane where the charging pile body is located and away from the charging pile body; When the charging port of the charging pile is located on the side, the target departure direction of the robot is determined to be a direction perpendicular to the plane where the charging pile body is located and away from the charging pile body, or any one of the two directions parallel to the plane where the charging pile body is located.

5. The method according to claim 1, It is characterized in that During the charging and leaving process, after confirming that the distance between the robot and the charging pile reaches the target leaving distance, a pile leaving success message is sent, including: During the charging and leaving process, the distance between the robot and the charging pile is obtained in real time, and the distance is compared with the target leaving distance; When the distance reaches the target distance from the line, the speed of the robot is set to zero, the motor of the robot is locked, and a pile-down success message is sent.

6. The method according to claim 5, It is characterized in that Also includes: In a case where the distance does not reach the target travel distance, detecting whether the motor of the robot is unlocked; When the motor is in the unlocked state, returning to execute the operation of obtaining the distance between the robot and the charging pile in real time, and comparing the distance with the target distance; When the motor is in an unlocked state, the operation returns to the process of obtaining the distance between the robot and the charging pile in real time during the charging and leaving the vehicle, and comparing the distance with the target leaving the vehicle distance.

7. A charging and disconnecting device, It is characterized in that include: A target distance determination module is used to determine the target distance according to the robot model; A charging pile unloading message sending module is used to send a charging pile unloading success message after confirming that the distance between the robot and the charging pile reaches the target unloading distance during the charging unloading process; The posture adjustment module is used to adjust the original posture according to the received mission point information and drive to the mission location; Wherein, the target distance determination module includes: A target departure direction determination unit, used to determine the target departure direction according to the robot model and the charging port orientation of the charging pile; A candidate off-line distance determination unit, configured to determine at least one candidate off-line distance matching the model of the current robot according to the association between the model of the robot and the off-line distance; The target distance-from-the-row determining unit is configured to determine the target distance-from-the-row from the at least one candidate distance-from-the-row according to the target direction-from-the-row.

8. The device according to claim 7, in, The target distance determination module is specifically used for: According to the correlation between the robot model and the distance from the line, determine the target distance from the line that the robot matches; The distance from the vehicle is determined based on the robot chassis parameters, charging pile parameters and fault tolerance value.

9. An electronic device, It is characterized in that The electronic device comprises: at least one processor; and a memory communicatively connected to the at least one processor; wherein, The memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can perform the charge-disconnection method according to any one of claims 1 to 6.

10. A computer-readable storage medium, It is characterized in that The computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the charging and disconnecting method according to any one of claims 1 to 6 when executed.

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