Robot control method and robot

Abstract

This application discloses a robot control method and a robot. The method includes: determining the relative positional relationship between a target charging station and the robot body; making preliminary adjustments to the motion state of the robot body based on the relative positional relationship, controlling the robot body to move towards the target charging station until the robot body and the target charging station make contact; determining the degree of contact between the robot body and the target charging station, and subsequently adjusting the motion state of the robot body based on the degree of contact, so as to control the robot electrode plates of the robot body to make complete contact with the charging station electrode plates of the target charging station for charging. This application embodiment can ensure good contact between the robot electrode plates and the charging station electrode plates, improving the charging success rate.

Description

Technical Field

[0001] The present application relates to the field of computer application technology, and in particular to a robot control method and a robot. Background Art

[0002] With the continuous development of artificial intelligence technology, more and more robots have entered the market to replace human labor and serve in various fields.

[0003] These robots are generally powered by rechargeable batteries. However, due to the limitation of battery capacity, the continuous power supply time provided by the battery is short. The robot needs to monitor the power status of its own battery, automatically find the charging pile when the battery power is low, and automatically align and approach the charging pile for charging. Keeping the robot electrode sheet in good contact with the charging pile electrode sheet is of great significance to improving the charging success rate and ensuring the working efficiency of the robot. Summary of the invention

[0004] The present application provides a robot control method and a robot to solve the problem of low charging success rate of the robot due to poor contact between the robot electrode plates and the charging pile electrode plates.

[0005] According to one aspect of the present application, a robot control method is provided, the method comprising:

[0006] Determine the relative position relationship between the target charging pile and the robot body;

[0007] Preliminarily adjusting the motion state of the robot body according to the relative position relationship, and controlling the robot body to move toward the target charging pile until the robot body contacts the target charging pile;

[0008] Determine the contact degree between the robot body and the target charging pile, and post-adjust the motion state of the robot body according to the contact degree to control the robot electrode sheet of the robot body to fully contact the charging pile electrode sheet of the target charging pile for charging.

[0009] According to another aspect of the present application, a robot is provided, comprising:

[0010] A first robot electrode sheet, a second robot electrode sheet, a robot body, and a robot control device;

[0011] Wherein, the first robot electrode sheet and the second robot electrode sheet are respectively fixedly connected to the robot body; the robot control device is configured in the robot body;

[0012] The first robot electrode sheet and the second robot electrode sheet are used to respectively contact with the first charging pile electrode sheet and the second charging pile electrode sheet of the charging pile to obtain electric energy for the robot body; the first charging pile electrode sheet and the second charging pile electrode sheet are respectively arranged on the charging pile through elastic connectors;

[0013] The robot control device is used to determine the relative position relationship between the target charging pile and the robot body; preliminarily adjust the motion state of the robot body according to the relative position relationship, and control the robot body to move toward the target charging pile until the robot body and the target charging pile are in contact; determine the degree of contact between the robot body and the target charging pile, and post-adjust the motion state of the robot body according to the degree of contact, so as to control the robot electrode sheet of the robot body to fully contact the charging pile electrode sheet of the target charging pile to complete power-on.

[0014] The technical solution of the embodiment of the present application performs a preliminary adjustment on the motion state of the robot body according to the relative position relationship between the target charging pile and the robot body, controls the robot body to move toward the target charging pile, and when the robot body contacts the target charging pile, performs a post-adjustment on the motion state of the robot body according to the degree of contact between the robot body and the target charging pile, until the robot electrode sheet and the charging pile electrode sheet are in complete contact, thereby ensuring good contact between the robot electrode sheet and the charging pile electrode sheet, improving the charging success rate of the robot, and providing power guarantee for the normal operation of the robot.

[0015] It should be understood that the content described in this section is not intended to identify the key or important features of the embodiments of the present application, nor is it intended to limit the scope of the present application. Other features of the present application will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the description of the embodiments 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 creative work.

[0017] Figure 1 is a flow chart of a robot control method provided according to Embodiment 1 of the present application;

[0018] Figure 2A is a flow chart of a robot control method provided according to Embodiment 2 of the present application;

[0019] Figure 2BA flow chart for adjusting the robot motion state according to the relative angle provided in this embodiment;

[0020] Figure 3 is a flow chart of a robot control method provided according to Embodiment 3 of the present application;

[0021] Figure 4 is a flow chart of a robot control method provided according to Embodiment 4 of the present application;

[0022] Figure 5 is a schematic structural diagram of a robot control device provided according to Embodiment 5 of the present application;

[0023] Fig. 6A is a schematic diagram of the structure of a robot provided according to Embodiment 6 of the present application;

[0024] Figure 6B-1 Provide a front view of a robot electrode sheet for an application embodiment;

[0025] Figure 6B-2 Provide a top view of a robot electrode sheet for an application embodiment;

[0026] Figure 6C A schematic diagram of another robot structure provided in an embodiment of the present application;

[0027] Fig. 7A A schematic diagram of a charging pile structure provided in an embodiment of the present application;

[0028] Figure 7B A schematic diagram of the structure of another charging pile provided in an embodiment of the present application. DETAILED DESCRIPTION

[0029] In order to enable those skilled in the art to better understand the solution of the present application, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present application.

[0030] It should be noted that the terms "first", "second", "target" and "candidate" in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or precedence. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device comprising a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0031] Embodiment 1

[0032] Figure 1 A flowchart of a robot control method is provided for the first embodiment of the present application. This embodiment is applicable to the case where the robot automatically recharges. The method can be executed by a robot control device, which can be implemented in the form of hardware and / or software and can be configured in the robot. Figure 1 As shown, the method includes:

[0033] S110: Determine the relative position relationship between the target charging pile and the robot body.

[0034] Among them, the target charging pile matches the robot body and is used to provide electrical energy to the robot body.

[0035] Generally, the target charging pile is fixedly set in the charging area of ​​the robot service location. That is, the location of the target charging pile is available. Exemplarily, the location of the target charging pile can be recorded in the navigation map of the robot.

[0036] When the position of the target charging pile is known, the robot can determine the relative position relationship between the target charging pile and the robot body based on the current position of the robot body.

[0037] Optionally, the relative position relationship includes: relative position and relative distance. The relative position refers to the position of the target charging pile relative to the robot body; the relative distance refers to the relative distance between the target charging pile and the robot body.

[0038] Optionally, the robot can determine the relative position relationship between the target charging pile and the robot body when the automatic recharging conditions are met, and control the robot body to automatically go to the target charging pile for charging based on the relative position relationship to replenish its own energy.

[0039] The automatic recharge condition is used to determine the charging time of the robot. The automatic recharge condition can be determined according to actual business needs and is not limited here. For example, the automatic recharge condition can be determined according to the remaining power of the robot or according to the working time of the robot.

[0040] S120. Preliminarily adjust the motion state of the robot body according to the relative position relationship, and control the robot body to move toward the target charging pile until the robot body contacts the target charging pile.

[0041] The relative position relationship is used as a basis for preliminary adjustment of the motion state of the robot body and is used to adjust the motion state of the robot body.

[0042] The motion state of the robot body is preliminarily adjusted according to the relative position relationship. Optionally, the motion direction of the robot body is adjusted according to the relative orientation in the relative position relationship to control the robot body to move toward the target charging pile. The motion speed of the robot body is adjusted according to the relative distance to control the robot body to contact the target charging pile at a suitable speed to avoid stress damage to the robot body and the target charging pile due to excessive motion speed when the robot body contacts the target charging pile.

[0043] S130, determining the contact degree between the robot body and the target charging pile, and post-adjusting the motion state of the robot body according to the contact degree to control the robot electrode sheet of the robot body to fully contact the charging pile electrode sheet of the target charging pile for charging.

[0044] Among them, the post-adjustment of the motion state of the robot body is to make fine adjustments to the motion state of the robot body when the robot body contacts the charging pile body.

[0045] The post-adjustment of the motion state of the robot body is performed based on the contact degree between the robot body and the target charging pile. The contact degree is used to measure the contact between the robot body and the target charging pile. Optionally, when the robot body is charged by conductive charging, the contact degree between the robot body and the target charging pile can be determined based on the contact between the robot electrode sheet and the charging pile electrode sheet. The robot electrode sheet and the charging pile electrode sheet are installed on the robot body and the target charging pile, respectively.

[0046] The degree of contact between the robot body and the target charging pile directly affects the power supply. Only when the robot electrode sheet and the charging pile electrode sheet are in complete contact can a charging path be formed, so that the target charging pile can provide power to the robot body.

[0047] Optionally, during the post-adjustment process of the motion state of the robot body, the contact degree between the robot body and the target charging pile is monitored in real time, and the contact degree is used to react to the post-adjustment operation so that the robot electrode plate and the charging pile electrode plate are in full contact for charging.

[0048] The technical solution of the embodiment of the present application is to make a preliminary adjustment to the motion state of the robot body according to the relative position relationship between the target charging pile and the robot body, control the robot body to move toward the target charging pile, and when the robot body contacts the target charging pile, make a post-adjustment to the motion state of the robot body according to the degree of contact between the robot body and the target charging pile, that is, to achieve a moving displacement within 5 cm by controlling the robot's motion strategy, and control the robot from moving to stopping. Due to the rebound force of the charging electrode, the speed change curve is determined according to the elastic coefficient and the robot's friction force against the ground, and post-adjustment is made according to the change until the robot electrode plate and the charging pile electrode plate are fully in contact, thereby ensuring good contact between the robot electrode plate and the charging pile electrode plate, improving the charging success rate of the robot, and providing power guarantee for the normal operation of the robot.

[0049] In an optional embodiment, before determining the relative position relationship between the target charging pile and the robot body, the method also includes: obtaining charging pile feature data as candidate charging pile features; performing similarity matching on the candidate charging pile features with preset charging pile features respectively to determine the similarity score of each candidate charging pile feature; selecting a target charging pile feature from the candidate charging pile features based on the similarity score, and determining the charging pile associated with the target charging pile feature as the target charging pile.

[0050] The charging pile characteristic data refers to characteristic data used to uniquely characterize the charging pile, and the charging pile can be distinguished from other objects in the robot service location based on the charging pile characteristic data. The charging pile characteristic data is also used to distinguish different charging piles.

[0051] Optionally, a feature display structure is provided on the charging pile, and the robot scans the feature display structure of the charging pile through a laser radar to obtain the charging pile feature data. Correspondingly, the charging pile feature data may be radar point cloud data. The candidate charging pile features may come from different charging piles.

[0052] The preset charging pile feature is pre-configured in the robot and is used to uniquely characterize the charging pile feature data of the target charging pile. The preset charging pile feature is used as a reference charging pile feature to determine the charging pile feature data belonging to the target charging pile from the candidate charging pile features.

[0053] The robot matches the candidate charging pile features with the preset charging pile features respectively to determine the similarity score of each candidate charging pile feature, where the similarity score is used to measure the similarity between the candidate charging pile features and the preset charging pile features. Each candidate charging pile feature has a corresponding similarity score.

[0054] According to the similarity score, the target charging pile feature is selected from the candidate charging pile features. Optionally, the similarity score of each candidate charging pile feature is first compared with the similarity threshold, and the candidate charging pile feature greater than the similarity threshold is used as the candidate charging pile feature. Then, based on the similarity score of each candidate charging pile feature, the candidate charging pile feature with the highest similarity score is selected as the target charging pile feature. The charging pile associated with the target charging pile feature is determined as the target charging pile. Among them, the similarity threshold is determined according to actual business needs and is not limited here. Exemplarily, the similarity threshold can be set to 85%.

[0055] The above technical solution provides a target charging pile selection scheme, which obtains a similarity score by matching the characteristics of the candidate charging piles with the characteristics of the preset charging piles, and determines the target charging pile from the candidate charging piles based on the similarity score, thereby ensuring the accuracy of the target charging pile selection, selecting an appropriate target charging pile for the robot body, and ensuring the charging success rate.

[0056] Embodiment 2

[0057] Figure 2A This is a flow chart of a robot control method provided in the second embodiment of the present application. This embodiment is further optimized on the basis of the above embodiment. Specifically, the operation of "determining the relative position relationship between the target charging pile and the robot body" is refined. Figure 2A As shown, the method includes:

[0058] S210: Determine the location of the target charging pile as the target charging location, and determine the current location of the robot body as the current machine location.

[0059] The target charging position refers to the location of the target charging pile. It is known that the target charging pile is generally fixed in the charging area of ​​the robot service location. In other words, the target charging position is accessible. Exemplarily, the target charging position can be recorded in the robot's navigation map. The current machine position refers to the location of the robot body at the current moment.

[0060] S220: Determine the relative angle and relative distance between the target charging position and the current machine position.

[0061] Determine the relative angle between the target charging position and the current machine position. Optionally, use a line segment determined based on the target charging position and the current machine position as an orientation reference line; use the straight line in the robot's forward direction as an orientation baseline; the angle formed by the orientation reference line and the orientation baseline is the relative angle.

[0062] Relative distance refers to the actual length of the available path where the robot body is located. The available path is used to connect the current machine position and the target charging position. Generally speaking, the actual length of the available path is greater than or equal to the straight-line distance between the current machine position and the target charging position.

[0063] S230: Determine the relative position relationship between the target charging pile and the robot body according to the relative angle and the relative distance.

[0064] The relative position relationship includes relative angle and relative distance. Relative angle and relative distance are two important factors that affect the robot body to reach the target charging position. They are used to adjust the motion state of the robot body and control the robot body to reach the target charging position. The relative angle is used to adjust the motion direction of the robot body and control the robot body to move to the target charging position. The relative distance is used to adjust the motion speed of the robot body so that the robot body can contact the target charging pile at a suitable speed.

[0065] S240: Preliminarily adjust the motion state of the robot body according to the relative position relationship, and control the robot body to move toward the target charging pile until the robot body contacts the target charging pile.

[0066] In an optional embodiment, the motion state of the robot body is preliminarily adjusted according to the relative position relationship, including: if the relative distance is less than or equal to a first preset distance, controlling the robot body to move toward the target charging pile at a first preset speed.

[0067] The first preset distance is determined according to actual business needs and is not limited here. For example, the first preset distance can be determined according to the charging area where the target charging pile is located, such as the first preset distance can be the area radius of the charging area. For example, the first preset distance can be tens of centimeters.

[0068] If the relative distance is less than or equal to the first preset distance, it indicates that the robot body has approached the target charging pile, and the robot body needs to be controlled to move toward the target charging pile at a first preset speed. The first preset speed is determined according to actual business needs and is not limited here. It can be understood that the first preset speed is lower than the working moving speed of the robot.

[0069] The above technical solution, when the relative distance is less than or equal to the first preset distance, controls the robot body to move toward the target charging pile at a first preset speed, so as to facilitate the contact between the robot body and the target charging pile, and can effectively reduce the stress damage caused to the robot body and the target charging pile when the robot body contacts the target charging pile.

[0070] In an optional embodiment, the motion state of the robot body is preliminarily adjusted according to the relative position relationship, including: if the relative angle is greater than a first preset angle, adjusting the motion direction of the robot body until the relative angle is less than or equal to the first preset angle; when the relative angle is less than or equal to the first preset angle, adjusting the orientation of the robot body so that the robot electrode plate of the robot body faces the charging pile electrode plate of the target charging pile.

[0071] The first preset angle is used to measure the degree to which the robot body deviates from the target charging pile. The first preset angle is determined according to actual business needs and is not limited here. The first preset angle actually limits the alignment accuracy between the robot body and the target charging pile.

[0072] If the relative angle between the robot body and the target charging pile is greater than the first preset angle, it means that the robot body deviates too far from the target charging pile, and the robot body and the target charging pile cannot achieve effective contact. It is necessary to adjust the movement direction of the robot body so that the deviation between the robot body and the target charging pile is within an acceptable range. Optionally, the contact between the robot electrode sheet and the charging pile electrode sheet is effective contact.

[0073] The relative angle between the robot body and the target charging pile is less than or equal to the first preset angle, indicating that the robot body and the target robot can achieve effective contact. In this case, the orientation of the robot body is controlled so that the robot electrode sheet faces the charging pile electrode sheet. Specifically, the rotation angle of the robot body is determined according to the installation position of the robot electrode sheet on the robot body, and the robot body is controlled to rotate according to the rotation angle so that the robot electrode sheet faces the charging pile electrode sheet. Exemplarily, taking the robot's forward direction as the front of the robot body, if the robot electrode sheet is installed on the back of the robot body, the rotation angle is determined to be 180 degrees, and the robot body is controlled to rotate 180 degrees. Figure 2B The flowchart for adjusting the robot motion state according to the relative angle provided in this embodiment is as follows: Figure 2B As shown, 600 represents the robot and 700 represents the charging station. The robot electrode sheet is installed on the back of the robot body. Figure 2BFigure a in the figure shows that the relative angle between the robot body and the target charging pile is less than or equal to the first preset angle, that is, the robot body and the target charging pile meet the alignment accuracy. Next, Figure 2B Figure b in the figure shows that the robot body is controlled to rotate 180 degrees so that the robot electrode sheet installed on the back of the robot body faces the charging pile electrode sheet on the target charging pile. Figure 2B Figure c shows that after the robot body rotates, the robot moves toward the target charging pile while keeping the robot electrode sheet facing the charging pile electrode sheet.

[0074] Since the robot body may need to make a detour to avoid the target charging pile during its movement toward the target charging pile, the relative angle between the robot body and the target charging pile is constantly changing. If the motion state of the robot body is adjusted only according to the first preset angle and the relative angle, misjudgment may occur. Preferably, the motion state of the robot body is adjusted in combination with the relative angle and the relative distance. Specifically, when the relative position of the robot body and the target charging pile is less than or equal to the first preset distance, that is, when the robot body is close to the target charging pile, the motion state of the robot body can be adjusted according to the relative angle, that is, as described above, the motion state of the robot body is adjusted according to the relative size relationship between the relative angle and the first preset angle.

[0075] The above technical solution ensures effective contact between the robot body and the target charging pile by adjusting the motion state of the robot body according to the relative size relationship between the relative angle and the first preset angle, which helps to improve the charging success rate.

[0076] S250, determining the contact degree between the robot body and the target charging pile, and post-adjusting the motion state of the robot body according to the contact degree to control the robot electrode sheet of the robot body to fully contact the charging pile electrode sheet of the target charging pile for charging.

[0077] The technical solution provided by the present application determines the relative distance and relative angle between the robot body and the target charging pile, determines the relative position relationship between the robot body and the target charging pile, and adjusts the motion state of the robot body based on the relative position relationship, thereby providing a guarantee for achieving effective contact between the robot body and the target charging pile. At the same time, it can also effectively reduce the impact force generated when the robot body contacts the target charging pile, thereby reducing stress damage to the robot body and the target charging pile.

[0078] Embodiment 3

[0079] Figure 3This is a flow chart of a robot control method provided in accordance with the third embodiment of the present application. This embodiment is further optimized on the basis of the above embodiment. Specifically, the operation of "determining the contact degree between the robot body and the target charging pile" is refined. Figure 3 As shown, the method includes:

[0080] S310: Determine the relative position relationship between the target charging pile and the robot body.

[0081] S320: Preliminarily adjust the motion state of the robot body according to the relative position relationship, and control the robot body to move toward the target charging pile until the robot body contacts the target charging pile.

[0082] S330: The robot electrode sheet that has contacted the charging pile electrode sheet is regarded as the contacted electrode sheet.

[0083] The robot electrode sheet is configured on the robot body, and the charging pile electrode is configured on the target charging pile. The electrode sheet that has been in contact refers to the robot electrode sheet that has been in contact with the charging pile electrode sheet. It is understandable that when the robot electrode sheet is in contact with the charging pile electrode sheet, the charging pile electrode sheet will exert pressure on the robot electrode sheet, and whether the robot electrode sheet is in contact with the charging pile electrode sheet can be determined by monitoring the actual pressure on the robot electrode sheet.

[0084] Exemplarily, the actual pressure value corresponding to the robot electrode sheet monitored may be compared with a preset pressure threshold. If the actual pressure value is greater than the preset pressure threshold, it is determined that the robot electrode sheet has contacted the target charging pile.

[0085] Generally speaking, two robot electrode sheets are installed on the robot body, namely the first robot electrode sheet and the second robot electrode sheet. The first robot electrode sheet and the second robot electrode sheet are used to contact the first charging pile electrode sheet and the second charging pile electrode sheet respectively to form a charging path. The first charging pile electrode sheet and the second charging pile electrode sheet are respectively installed on the charging pile through elastic connectors. The first charging pile electrode sheet and the second charging pile electrode sheet correspond to the positive pole and the negative pole of the power supply respectively.

[0086] S340: Determine the contact degree between the robot body and the target charging pile according to the relative quantity relationship between the contacted electrode pieces and the robot electrode pieces.

[0087] Due to factors such as the placement orientation of the target charging pile and the aging degree of the elastic connectors used in the target charging pile, the first robot electrode sheet and the second robot electrode sheet may not be able to contact the first charging pile electrode sheet and the second charging pile electrode sheet at the same time, which results in different degrees of contact between the robot body and the target charging pile.

[0088] The degree of contact between the robot body and the target charging pile can be determined based on the relative quantity relationship between the electrode pieces that have been contacted and the electrode pieces of the robot. The relative quantity relationship between the electrode pieces that have been contacted and the electrode pieces of the robot refers to the size relationship between the number of electrode pieces that have been contacted and the total number of electrode pieces of the robot.

[0089] If the number of electrode pieces that have been in contact is less than the total number of robot electrode pieces, it can be determined that the degree of contact between the robot body and the target charging pile is partial contact; if the number of electrode pieces that have been in contact is equal to the total number of robot electrode pieces, it can be determined that the degree of contact between the robot body and the target charging pile is full contact. In the case where two robot electrode pieces are installed on the robot body, if the number of electrode pieces that have been in contact is 1, the degree of contact between the robot body and the target charging pile is partial contact. If the number of electrode pieces that have been in contact is 2, the degree of contact between the robot body and the target charging pile is full contact.

[0090] S350, post-adjusting the motion state of the robot body according to the contact degree to control the robot electrode sheet of the robot body to be in full contact with the charging pile electrode sheet of the target charging pile for charging.

[0091] The embodiment of the present application determines the contact degree between the robot body and the target charging pile according to the relative quantity relationship between the contacted electrode pieces and the robot electrode pieces, which provides a data reference for post-adjustment of the robot's motion state, provides a guarantee for achieving good contact between the robot body and the target charging pile, and is conducive to improving the charging success rate.

[0092] Embodiment 4

[0093] Figure 4 This is a flow chart of a robot control method provided in accordance with the fourth embodiment of the present application. This embodiment is further optimized on the basis of the above embodiment. Specifically, the operation of "post-adjusting the motion state of the robot body according to the contact degree" is refined. Figure 4 As shown, the method includes:

[0094] S410: Determine the relative position relationship between the target charging pile and the robot body.

[0095] S420: Preliminarily adjust the motion state of the robot body according to the relative position relationship, and control the robot body to move toward the target charging pile until the robot body contacts the target charging pile.

[0096] Optionally, the relative position relationship includes a relative distance and a relative angle, the relative distance is used to adjust the movement speed of the robot body, and the relative direction is used to adjust the movement direction of the robot body.

[0097] Optionally, when the relative distance between the robot body and the target charging pile is less than or equal to a first preset distance, the movement speed of the robot body is adjusted to the first preset speed.

[0098] S430: Determine the contact degree between the robot body and the target charging pile.

[0099] S440: If the contact degree is partial contact, the movement speed of the robot body is adjusted from the current movement speed to a second preset speed, and the robot body is controlled to continue moving toward the target charging pile at the second preset speed until the contact degree is full contact.

[0100] If the contact degree between the robot body and the target charging pile is partial contact, it means that the first robot electrode sheet and the second robot electrode sheet do not contact the first charging pile electrode sheet and the second charging pile electrode sheet at the same time, and the charging path has not been formed.

[0101] The robot body is in a state of having contacted but not completely contacted the target charging pile. The robot body needs to continue to move toward the target charging pile to achieve complete contact between the robot body and the target charging pile.

[0102] In this case, if the robot body moves too fast, it will cause stress damage to the robot body and the target charging pile. Therefore, it is necessary to further reduce the movement speed of the robot body, adjust the movement speed of the robot body from the current movement speed to the second preset speed, and control the robot body to continue to move toward the target charging pile at the second preset speed until the robot body and the target charging pile are completely in contact.

[0103] The second preset speed is determined according to actual business needs and is not limited here. It can be understood that the second preset speed is used to finely adjust the contact degree between the robot body and the target charging pile. Exemplarily, the second preset speed can be several millimeters per second.

[0104] Optionally, the current movement speed is a first preset speed obtained after adjusting the movement speed of the robot body according to the relative distance.

[0105] The second preset speed is less than the current movement speed, and the second preset speed is less than the first preset speed.

[0106] S450: If the contact degree is full contact, lock the driving motor of the robot body and charge it.

[0107] If the contact degree between the robot body and the target charging pile is full contact, it means that the first robot electrode sheet and the second robot electrode sheet are in contact with the first charging pile electrode sheet and the second charging pile electrode sheet at the same time, and the charging path has been formed. In order to prevent the charging path that has been formed from being disconnected again, the drive motor of the robot body is locked, and the drive motor is kept locked before the robot is fully charged, so that the robot body remains stationary in place and the contact degree is continuously ensured to be full contact. Optionally, after charging is locked, the drive motor is unlocked to release the movement restriction on the robot body.

[0108] It is worth noting that there is no logical relationship between step S440 and step S450. Step S440 and step S450 describe two methods for adjusting the motion state of the robot body, which are respectively applicable to the case where the degree of contact is partial contact and the case where the degree of contact is full contact. Step S440 and step S450 are executed one by one according to the degree of contact between the robot body and the target charging pile.

[0109] The embodiment of the present application performs post-adjustment on the motion state of the robot body according to the degree of contact between the robot body and the target charging pile. When the degree of contact is partial, the motion speed of the robot body is adjusted to a second preset speed, and the robot body is controlled to continue moving toward the target charging pile until the robot body and the target charging pile are in full contact. When the degree of contact is full, the drive motor of the robot body is controlled to be locked to keep the robot body stationary. The above technical solution achieves good contact between the robot body and the target charging pile, thereby ensuring the success rate of robot charging.

[0110] Embodiment 5

[0111] Figure 5 This is a schematic diagram of the structure of a robot control device provided according to the fifth embodiment of the present application. This embodiment can be applied to the case where the robot automatically recharges. The device can be implemented by software and / or hardware, and can be integrated into a robot such as an intelligent terminal.

[0112] like Figure 5 As shown, the device may include:

[0113] A relative position relationship determination module 510 is used to determine the relative position relationship between the target charging pile and the robot body;

[0114] A first motion state adjustment module 520, configured to preliminarily adjust the motion state of the robot body according to the relative position relationship, and control the robot body to move toward the target charging pile until the robot body contacts the target charging pile;

[0115] The second motion state adjustment module 530 is used to determine the degree of contact between the robot body and the target charging pile, and post-adjust the motion state of the robot body according to the contact degree to control the robot electrode sheet of the robot body to fully contact the charging pile electrode sheet of the target charging pile for charging.

[0116] The technical solution of the embodiment of the present application performs a preliminary adjustment on the motion state of the robot body according to the relative position relationship between the target charging pile and the robot body, controls the robot body to move toward the target charging pile, and when the robot body contacts the target charging pile, performs a post-adjustment on the motion state of the robot body according to the degree of contact between the robot body and the target charging pile, until the robot electrode sheet and the charging pile electrode sheet are in complete contact, thereby ensuring good contact between the robot electrode sheet and the charging pile electrode sheet, improving the charging success rate of the robot, and providing power guarantee for the normal operation of the robot.

[0117] Optionally, the relative position relationship determination module 510 includes: an object position determination submodule, configured to determine the position of the target charging pile as the target charging position, and determine the current position of the robot body as the current machine position;

[0118] The relative position relationship determination submodule is used to determine the relative angle and relative distance between the target charging position and the current machine position.

[0119] Optionally, the first motion state adjustment module 520 includes: a first motion speed adjustment submodule, which is specifically used to control the robot body to move toward the target charging pile at a first preset speed if the relative distance is less than or equal to a first preset distance.

[0120] Optionally, the first motion state adjustment module 520 includes: a motion direction adjustment submodule, used to adjust the motion direction of the robot body if the relative angle is greater than a first preset angle, until the relative angle is less than or equal to the first preset angle; a robot body orientation adjustment submodule, used to adjust the orientation of the robot body when the relative angle is less than or equal to the first preset angle, so that the robot electrode plate of the robot body faces the charging pile electrode plate of the target charging pile.

[0121] Optionally, the second motion state adjustment module 530 includes: a contacted electrode sheet determination submodule, used to treat the robot electrode sheet that has contacted the charging pile electrode sheet as a contacted electrode sheet; wherein the robot electrode sheet is configured on the robot body, and the charging pile electrode is configured on the target charging pile; a contact degree determination submodule, used to determine the contact degree between the robot body and the target charging pile according to the relative quantity relationship between the contacted electrode sheet and the robot electrode sheet.

[0122] Optionally, the second motion state adjustment module 530 includes: a second motion speed adjustment submodule, which is used to adjust the motion speed of the robot body from the current motion speed to a second preset speed if the contact degree is partial contact, and control the robot body to continue to move toward the target charging pile at the second preset speed until the contact degree is full contact; wherein the second preset speed is less than the current running speed; and a robot motor locking module, which is used to lock the drive motor of the robot body and charge if the contact degree is full contact.

[0123] Optionally, the device also includes: a charging pile feature data acquisition module, which is used to acquire charging pile feature data as candidate charging pile features before determining the relative position relationship between the target charging pile and the robot body; a feature similarity matching module, which is used to perform similarity matching on the candidate charging pile features with preset charging pile features, and determine the similarity score of each candidate charging pile feature; a target charging pile determination module, which is used to select a target charging pile feature from the candidate charging pile features based on the similarity score, and determine the charging pile associated with the target charging pile feature as the target charging pile.

[0124] A robot control device provided in an embodiment of the present invention can execute a robot control method provided in any embodiment of the present invention, and has corresponding performance modules and beneficial effects for executing a robot control method.

[0125] Embodiment 6

[0126] Fig. 6A is a schematic diagram of the structure of a robot provided in accordance with Embodiment 6 of the present application. The robot provided in this embodiment is equipped with a robot control device and can execute the robot control method provided in any of the above embodiments. The robot control method provided in the above embodiments can be applied to the case where the robot automatically recharges. Fig. 6A As shown, the robot includes:

[0127] Fig. 6A FIG. 6 is a schematic diagram showing a structure of a robot 600 that can be used to implement an embodiment of the present application. Fig. 6A As shown, the robot 600 includes:

[0128] A first robot electrode sheet 610, a second robot electrode sheet 620, a robot body 630, and a robot control device (not shown);

[0129] The first robot electrode sheet 610 and the second robot electrode sheet 620 are respectively fixedly connected to the robot body 630; the robot control device 640 is configured in the robot body 630;

[0130] The first robot electrode sheet 610 and the second robot electrode sheet 620 are used to contact the first charging pile electrode sheet and the second charging pile electrode sheet of the charging pile respectively, and to energize the robot body 630 to obtain electric energy; the first charging pile electrode sheet and the second charging pile electrode sheet are respectively arranged on the charging pile through elastic connectors;

[0131] In an optional embodiment, the first robot electrode sheet 610 and the second robot electrode sheet 620 are respectively fixedly connected to the robot body 630 in a direction parallel to the horizontal plane. Matchingly, the first charging pile electrode sheet and the second charging pile electrode sheet are respectively connected to the charging pile body in a direction parallel to the horizontal plane through the elastic connector; the first charging pile electrode sheet and the second charging pile electrode sheet move in a direction parallel to the horizontal plane under the action of horizontal stress.

[0132] The robot body 630 moves toward the target charging pile at a certain speed, so that the robot electrode sheet contacts the charging pile electrode sheet, which will generate horizontal stress on the contact surface. Under the action of the horizontal stress, the first charging pile electrode sheet 610 and the second charging pile electrode sheet 620 move toward the target charging pile in the horizontal direction, and transmit the horizontal stress to the elastic connector, causing the elastic connector to be squeezed in the horizontal direction. Under the action of the horizontal stress, the elastic connector continuously generates elastic forces in the opposite direction, so that the charging pile electrode sheet and the robot electrode sheet are in closer contact, thereby achieving good contact between the charging pile electrode sheet and the robot electrode sheet.

[0133] In an optional embodiment, the first robot electrode sheet 610 and the second robot electrode sheet 620 are both long arc-shaped sheet structures.

[0134] The first robot electrode sheet 610 and the second robot electrode sheet 620 are configured as long arc-shaped sheet structures, so as to expand the contact range between the robot electrode sheet and the charging pile electrode sheet. Figure 6B-1 and Figure 6B-2 The front view and top view of the robot electrode sheet are provided in the application embodiment. Figure 6B-2 .

[0135] For example, a long arc sheet structure with an arc of 120 degrees can achieve contact between the robot electrode sheet and the charging pile electrode sheet within a range of 120 degrees, which greatly reduces the requirements for alignment accuracy and improves the alignment tolerance.

[0136] The robot control device 640 is used to determine the relative position relationship between the target charging pile and the robot body 630; preliminarily adjust the motion state of the robot body 630 according to the relative position relationship, and control the robot body 630 to move toward the target charging pile until the robot body 630 and the target charging pile are in contact; determine the degree of contact between the robot body 630 and the target charging pile, and post-adjust the motion state of the robot body 630 according to the degree of contact, so as to control the robot electrode sheet 630 of the robot body to fully contact the charging pile electrode sheet of the target charging pile to complete power-on.

[0137] The technical solution of the embodiment of the present application performs a preliminary adjustment on the motion state of the robot body according to the relative position relationship between the target charging pile and the robot body, controls the robot body to move toward the target charging pile, and when the robot body contacts the target charging pile, performs a post-adjustment on the motion state of the robot body according to the degree of contact between the robot body and the target charging pile, until the robot electrode sheet and the charging pile electrode sheet are in complete contact, thereby ensuring good contact between the robot electrode sheet and the charging pile electrode sheet, improving the charging success rate of the robot, and providing power guarantee for the normal operation of the robot.

[0138] Figure 6C Another schematic diagram of a robot structure provided in an embodiment of the present application is as follows: Figure 6C As shown, the robot 600 also includes at least one processor 611, and a memory connected to the at least one processor 611 in communication, such as a read-only memory (ROM) 612, a random access memory (RAM) 613, etc., wherein the memory stores a computer program that can be executed by at least one processor, and the processor 611 can perform various appropriate actions and processes according to the computer program stored in the read-only memory (ROM) 612 or the computer program loaded from the storage unit 18 to the random access memory (RAM) 613. In the RAM 613, various programs and data required for the operation of the robot 600 can also be stored. The processor 611, the ROM 612, and the RAM 613 are connected to each other via a bus 614. An input / output (I / O) interface 615 is also connected to the bus 614.

[0139] A number of components in the robot 600 are connected to the I / O interface 615, including: an input unit 616, such as a keyboard, a mouse, etc.; an output unit 617, such as various types of displays, speakers, etc.; a storage unit 618, such as a disk, an optical disk, etc.; and a communication unit 619, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 619 allows the robot 600 to exchange information / data with other devices through a computer network such as the Internet and / or various telecommunication networks.

[0140] The processor 611 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, digital signal processors (DSPs), and any appropriate processors, controllers, microcontrollers, etc. The processor 611 includes a robot control device 630 to execute the robot control method described above.

[0141] In some embodiments, the robot control method may be implemented as a computer program, which is tangibly contained in a computer-readable storage medium, such as a storage unit 618. In some embodiments, part or all of the computer program may be loaded and / or installed on the robot 600 via the ROM 612 and / or the communication unit 619. When the computer program is loaded into the RAM 613 and executed by the processor 611, one or more steps of the robot control method described above may be performed. Alternatively, in other embodiments, the processor 611 may be configured to perform the robot control method in any other suitable manner (e.g., by means of firmware).

[0142] 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), load 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.

[0143] The computer programs for implementing the methods of the present application 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 programs are executed by the processor, the functions / operations specified in the flow charts and / or block diagrams are implemented. The computer programs 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.

[0144] In the context of the present application, a computer readable storage medium may be a tangible medium that may contain or store a computer program for use by or in conjunction 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.

[0145] 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).

[0146] 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.

[0147] 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.

[0148] Fig. 7A A schematic diagram of a charging pile structure provided in an embodiment of the present application. Fig. 7A As shown, the charging pile 700 includes: 701 is a charging pile electrode sheet, 702 is an electrode sheet bracket, 703 is a sleeve, 704 is a charging pile front shell, 705 is a charging pile frame, 706 is a charging pile circuit board, 707 is a power adapter, 708 is a charging pile rear shell, 709 is an adapter female head, 710 is a signal light board, and 711 is a diffusion plate. Among them, 701 includes a first charging pile electrode sheet and a second charging pile electrode sheet, and the first charging pile electrode sheet and the second charging pile electrode sheet are arranged parallel to each other up and down.

[0149] The signal light board is used to indicate the charging status of the robot. Optionally, the light source color of the signal light board can be adjusted to indicate different charging states of the robot. For example, a green light source can be used to indicate that charging is complete, and a red light source can be used to indicate that charging is in progress. The diffusion plate is used to make the light emitted by the signal light board more uniform and reduce the granularity of the light.

[0150] The charging pile electrode sheet 701 is connected through the electrode sheet bracket 702 by bolts to form the first component, and the first component is passed through the sleeve 703 to form the second component. The second component is passed through the charging pile front shell 704 to form the third component; the signal light board 711, the adapter female head 709, the circuit board 706, and the adapter 707 are placed in the corresponding slots or grooves of the charging pile skeleton 705, and connected by bolts to form the fourth component. The third and fourth components are fixedly connected to the charging pile skeleton 705 by bolts; finally, the charging pile rear shell 708 is slid into the corresponding guide rail of the charging pile front shell 704, and connected to the charging pile skeleton 705 with bolts.

[0151] The first component consisting of the charging pile electrode sheet 701 and the electrode sheet bracket 702 is connected to the charging pile skeleton 705 through an elastic connector (not shown), and the first component can move in the horizontal direction under the action of horizontal stress. The first component moves toward the charging pile bracket under the action of the horizontal stress applied by the robot electrode sheet, and transmits the horizontal stress to the elastic connector, causing horizontal extrusion of the elastic connector. The elastic connector continues to generate elastic forces in opposite directions under the action of horizontal stress, so that the charging pile electrode sheet 701 is in closer contact with the robot electrode sheet, preventing poor contact between the robot and the charging pile. The stroke of the elastic connector is determined according to actual business needs and is not limited here. For example, an elastic connector with a stroke of 10 mm can be selected.

[0152] Figure 7B A schematic diagram of the structure of another charging pile provided in the embodiment of the present application is shown in FIG. Figure 7B As shown, the charging pile 700 further includes: a characteristic display structure 712 and a detachable buffer component 713. The characteristic display structure 712 is used to set a characteristic structure that can uniquely characterize the charging pile.

[0153] The detachable buffer component 713 includes a column 7131 and a supporting rubber plug 7132, wherein the supporting rubber plug 7132 can be placed in the slot of the column 7131 or removed from the slot of the column 7131. If the wall that the charging pile contacts is provided with a skirting, the charging pile without a detachable buffer component cannot be completely fitted with the wall. When the robot contacts the charging pile at a certain speed, the charging pile subjected to stress impact may fall back, resulting in poor contact between the robot electrode sheet and the charging pile electrode sheet. Figure 7B The black area in the middle indicates the skirting line set on the wall. In view of the above situation, the supporting rubber plug 7132 at the bottom of the charging pile in contact with the skirting line can be removed, and the supporting rubber plugs 7132 at other positions can be retained to make the charging pile fit the wall, thereby ensuring good contact between the robot electrode sheet and the charging pile electrode sheet.

[0154] For details, please refer to Figure 7BThe detachable buffer component is arranged on the side of the charging pile 700 close to the support such as the wall to avoid direct contact between the charging pile body and the support, effectively buffer the stress impact received by the charging pile, and reduce the stress damage caused to the charging pile. The number of detachable buffer components is determined according to actual business needs and is not limited here. For example, the detachable buffer components can be 4 or 6.

[0155] 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 recorded in this application can be executed in parallel, sequentially or in different orders, as long as the expected results of the technical solution of this application can be achieved, and this document is not limited here.

[0156] The above specific implementations do not constitute a limitation on the protection scope of this application. 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 modifications, equivalent substitutions and improvements made within the spirit and principles of this application should be included in the protection scope of this application.

Claims

1. A robot control method, characterized in that: The method comprises: Determine the relative position relationship between the target charging pile and the robot body; Preliminarily adjusting the motion state of the robot body according to the relative position relationship, and controlling the robot body to move toward the target charging pile until the robot body contacts the target charging pile; Determine the contact degree between the robot body and the target charging pile, and post-adjust the motion state of the robot body according to the contact degree to control the robot electrode sheet of the robot body to fully contact the charging pile electrode sheet of the target charging pile for charging; Wherein, determining the contact degree between the robot body and the target charging pile includes: taking the robot electrode sheet that has contacted the charging pile electrode sheet as the contacted electrode sheet; wherein the robot electrode sheet is configured on the robot body, and the charging pile electrode is configured on the target charging pile; and determining the contact degree between the robot body and the target charging pile according to the relative quantitative relationship between the contacted electrode sheet and the robot electrode sheet.

2. The method according to claim 1, characterized in that: Determining the relative position relationship between the target charging pile and the robot body includes: The position of the target charging pile is determined as the target charging position, and the current position of the robot body is determined as the current machine position; Determining a relative angle and a relative distance between the target charging position and the current machine position; The relative position relationship between the target charging pile and the robot body is determined according to the relative angle and the relative distance.

3. The method according to claim 2, characterized in that Preliminarily adjusting the motion state of the robot body according to the relative position relationship includes: If the relative distance is less than or equal to a first preset distance, the robot body is controlled to move toward the target charging pile at a first preset speed.

4. The method according to claim 2, characterized in that: Preliminarily adjusting the motion state of the robot body according to the relative position relationship includes: If the relative angle is greater than a first preset angle, adjusting the movement direction of the robot body until the relative angle is less than or equal to the first preset angle; When the relative angle is less than or equal to the first preset angle, the orientation of the robot body is adjusted so that the robot electrode sheet of the robot body faces the charging pile electrode sheet of the target charging pile.

5. The method according to claim 1, characterized in that Post-adjusting the motion state of the robot body according to the contact degree includes: If the contact degree is partial contact, the movement speed of the robot body is adjusted from the current movement speed to a second preset speed, and the robot body is controlled to continue to move toward the target charging pile at the second preset speed until the contact degree is full contact; wherein the second preset speed is less than the current running speed; If the contact degree is full contact, the driving motor of the robot body is locked and charging is performed.

6. The method according to any one of claims 1 to 4, wherein: Before determining the relative position relationship between the target charging pile and the robot body, the method further includes: Acquire charging pile feature data as candidate charging pile features; The candidate charging pile features are matched with the preset charging pile features respectively to determine the similarity score of each candidate charging pile feature; According to the similarity score, a target charging pile feature is selected from the candidate charging pile features, and a charging pile associated with the target charging pile feature is determined as the target charging pile.

7. A robot, characterized in that: The robot comprises: A first robot electrode sheet, a second robot electrode sheet, a robot body, and a robot control device; Wherein, the first robot electrode sheet and the second robot electrode sheet are respectively fixedly connected to the robot body; the robot control device is configured in the robot body; The first robot electrode sheet and the second robot electrode sheet are used to respectively contact with the first charging pile electrode sheet and the second charging pile electrode sheet of the charging pile to obtain electric energy for the robot body; the first charging pile electrode sheet and the second charging pile electrode sheet are respectively arranged on the charging pile through elastic connectors; The robot control device is used to determine the relative position relationship between the target charging pile and the robot body; preliminarily adjust the motion state of the robot body according to the relative position relationship, and control the robot body to move toward the target charging pile until the robot body and the target charging pile are in contact; determine the contact degree between the robot body and the target charging pile, and post-adjust the motion state of the robot body according to the contact degree, so as to control the robot electrode sheet of the robot body to fully contact the charging pile electrode sheet of the target charging pile to complete power-on; Wherein, determining the contact degree between the robot body and the target charging pile includes: taking the robot electrode sheet that has contacted the charging pile electrode sheet as the contacted electrode sheet; wherein the robot electrode sheet is configured on the robot body, and the charging pile electrode is configured on the target charging pile; and determining the contact degree between the robot body and the target charging pile according to the relative quantitative relationship between the contacted electrode sheet and the robot electrode sheet.

8. The robot according to claim 7, characterized in that: The first robot electrode sheet and the second robot electrode sheet are both long arc-shaped sheet structures.

9. The robot according to claim 7, characterized in that: The first robot electrode sheet and the second robot electrode sheet are respectively fixedly connected to the robot body in a direction parallel to a horizontal plane.

10. The robot according to claim 7, characterized in that: The first charging pile electrode sheet and the second charging pile electrode sheet are respectively connected to the charging pile body through the elastic connecting piece in a direction parallel to the horizontal plane; the first charging pile electrode sheet and the second charging pile electrode sheet move in a direction parallel to the horizontal plane under the action of horizontal stress.

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