Pile method and system for wireless charging of robots

Abstract

The present invention discloses a charging method and system for wireless charging of a robot. The charging method includes the following steps: navigating the robot to the charging point of a charging pile, wherein the charging pile has a transmitting coil and the robot has a receiving coil, and the transmitting coil and the receiving coil are respectively perpendicular to the horizontal plane; setting a limit rod on the charging pile; controlling the driver to output low torque, and when at least one front wheel of the robot abuts the limit rod, a stall is generated and a corresponding stall signal is sent; when the two front wheels of the robot respectively generate a stall signal, the charging pile is triggered to wirelessly charge the robot. The present invention can avoid X-axis deviation by adopting a vertical deployment method. By setting a charging point in front of the charging pile and navigating the robot to the charging point position, Y-axis deviation can be avoided. At the same time, by setting a limit rod on the charging pile, Z-axis deviation can be avoided, thereby meeting the normal charging requirements of the robot.

Description

Technical Field

[0001] The present invention relates to the technical field of robot charging, and more particularly to a charging method and a charging system for wirelessly charging a robot. Background Art

[0002] Currently, wireless charging for robots is typically deployed in two ways: horizontally and vertically. In horizontal deployment, the transmitting coil and receiving coil are parallel to the ground, while in vertical deployment, they are perpendicular to the ground. During the alignment process for wireless charging piles, four deviation requirements are typically met: X-axis deviation, Y-axis deviation, Z-axis deviation, and parallelism deviation (the X, Y, and Z axes are three-dimensional axes, with the X and Y axes representing the horizontal direction and the Z axis representing the vertical direction). These four deviations must be controlled within a certain range for wireless charging to proceed properly.

[0003] The existing horizontal deployment method does not address Z-axis deviation and parallelism deviation. The vertical deployment method does not need to consider X-axis deviation, Y-axis deviation, and Z-axis deviation because the height of the transmitting coil and the receiving coil are fixed, but it also does not address parallelism deviation. Summary of the Invention

[0004] One purpose of the present invention is to provide a new technical solution for a charging method and a charging system for wireless charging of robots, which can at least solve the problems of Z-axis deviation and parallelism deviation that are prone to occur in the existing technology of wireless charging of robots, thereby affecting the wireless charging of robots.

[0005] A first aspect of the present invention provides a method for wirelessly charging a robot, comprising the following steps:

[0006] Navigating the robot to a charging point of a charging pile, wherein the charging pile has a transmitting coil, the robot has a receiving coil, and the transmitting coil and the receiving coil are respectively perpendicular to a horizontal plane;

[0007] A limit rod is provided on the charging pile;

[0008] Controlling the driver to output low torque, and when at least one front wheel of the robot abuts against the limit rod, generating a stall and sending a corresponding stall signal;

[0009] When the two front wheels of the robot respectively generate the stall signal, the charging pile is triggered to wirelessly charge the robot.

[0010] Optionally, the charging point is 20-30 cm away from the charging pile.

[0011] Optionally, the step of controlling the driver to output low torque and generating a stall when at least one front wheel of the robot abuts against the limit rod and issuing a corresponding stall signal includes:

[0012] Controlling the low torque output of the driver and recording the current time and current mileage;

[0013] Controlling the robot to move forward in a straight line at a constant speed;

[0014] Determine the robot's forward time and distance traveled;

[0015] When it is determined that at least one of the front wheels of the robot abuts against the limit rod, a stall occurs and a corresponding stall signal is sent.

[0016] Optionally, when at least one of the front wheels of the robot abuts against the limit rod, the motor current increases, and the charging pile recognizes a stall signal.

[0017] Optionally, when the two front wheels of the robot respectively generate the stall signal, the step of triggering the charging pile to wirelessly charge the robot further includes:

[0018] When there is a parallelism deviation between the robot and the charging pile, adjustment is performed based on whether the two front wheels simultaneously reach the stall signal.

[0019] Optionally, the robot wireless charging method further includes:

[0020] When the two front wheels of the robot respectively generate the stall signal, the driver is controlled to restore the motor torque to a normal mode.

[0021] A second aspect of the present invention provides a robot wireless charging docking system, which is applied to the robot wireless charging docking method described in any one of the above embodiments. The docking system includes:

[0022] A charging pile, the charging pile having a transmitting coil, and at least one charging point being provided at a preset distance from the charging pile;

[0023] A robot, wherein the robot has a receiving coil, wherein the receiving coil corresponds to the transmitting coil and is respectively perpendicular to a horizontal plane;

[0024] a limiting rod, the limiting rod being connected to the charging pile and extending toward the position of the robot;

[0025] a navigation module, the navigation module being disposed in the robot and configured to navigate the robot to the charging point;

[0026] A driver is provided in the robot, and is used to output torque. When the driver outputs low torque and at least one front wheel of the robot abuts against the limit rod, a stall occurs and a corresponding stall signal is issued. When the two front wheels of the robot respectively generate the stall signal, the charging pile is triggered to wirelessly charge the robot.

[0027] Optionally, the charging point is 20-30 cm away from the charging pile, and the limiting rod extends toward one side of the robot.

[0028] According to a third aspect of the present invention, a robot is provided, comprising: a processor and a memory, wherein computer program instructions are stored in the memory, wherein when the computer program instructions are executed by the processor, the processor executes the steps of the robot wireless charging method in the above-mentioned embodiment.

[0029] In a fourth aspect of the present invention, a computer-readable storage medium is provided, wherein the computer-readable storage medium stores a computer program. When the computer program is executed by a processor, the processor executes the steps of the robot wireless charging method in the above embodiment.

[0030] The method for wireless charging of the robot of the present invention adopts a vertical deployment method, which can avoid X-axis deviation. By setting a charging point in front of the charging pile and navigating the robot to the charging point position, Y-axis deviation can be avoided. At the same time, by setting a limit rod on the charging pile, when the front wheel of the robot is close to the limit rod, the distance between the transmitting coil and the receiving coil is fixed, which can avoid Z-axis deviation and meet the normal charging of the robot. The method for wireless charging of the robot of the present invention can generate a stall according to the contact between the two front wheels of the robot and the limit rod. And the positions of the two front wheels are adjusted according to the corresponding stall signal. When the two front wheels generate a stall signal at the same time, it is determined that the Z-axis deviation and the parallelism deviation match, and wireless charging of the robot is achieved, thereby ensuring the success rate of wireless charging.

[0031] Further features and advantages of the present invention will become apparent from the following detailed description of exemplary embodiments of the present invention with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and, together with the description, serve to explain the principles of the invention.

[0033] Figure 1 is a flow chart of a method for wireless charging of a robot according to an embodiment of the present invention;

[0034] Figure 2is another flow chart of a method for wirelessly charging a robot according to an embodiment of the present invention;

[0035] Figure 3 2 is a schematic structural diagram of a wireless charging system for a robot according to an embodiment of the present invention;

[0036] Figure 4 is a schematic diagram of a robot according to an embodiment of the present invention.

[0037] Reference numerals:

[0038] Charging pile 10; transmitting coil 11;

[0039] Robot 20; receiving coil 21;

[0040] Limit rod 30;

[0041] Processor 201;

[0042] Memory 202; operating system 2021; application 2022;

[0043] Network interface 203;

[0044] Input device 204;

[0045] Hard disk 205;

[0046] Display device 206. DETAILED DESCRIPTION

[0047] Various exemplary embodiments of the present invention will now be described in detail with reference to the accompanying drawings. It should be noted that unless otherwise specifically stated, the relative arrangement of components and steps, numerical expressions and numerical values ​​set forth in these embodiments do not limit the scope of the present invention.

[0048] The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the invention, its application, or uses.

[0049] Technologies, methods, and equipment known to ordinary technicians in the relevant art may not be discussed in detail, but where appropriate, the technologies, methods, and equipment should be considered part of the specification.

[0050] In all examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not limiting. Therefore, other examples of the exemplary embodiments may have different values.

[0051] It should be noted that like reference numerals and letters refer to like items in the following figures, and therefore, once an item is defined in one figure, it need not be further discussed in subsequent figures.

[0052] In the description and claims of the present invention, references to features using the terms "first" or "second" may explicitly or implicitly include one or more of such features. In the description of the present invention, unless otherwise specified, "plurality" means two or more. Furthermore, in the description and claims, "and / or" refers to at least one of the connected items, and the character " / " generally indicates an "or" relationship between the connected items.

[0053] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0054] In the description of the present invention, it should be noted that, unless otherwise expressly specified or limited, the terms "mounted," "connected," and "connected" should be understood broadly. For example, these terms may refer to fixed, removable, or integral connections; mechanical or electrical connections; direct or indirect connections through an intermediary; or internal communication between two components. Those skilled in the art will understand the specific meanings of these terms in the present invention based on the specific circumstances.

[0055] The following describes in detail the method for wireless charging of a robot according to an embodiment of the present invention with reference to the accompanying drawings.

[0056] like Figures 1 to 3 As shown, the method for wireless charging of a robot according to an embodiment of the present invention includes the following steps:

[0057] S1. Navigate the robot 20 to the charging point of the charging pile 10, wherein the charging pile 10 has a transmitting coil 11, and the robot 20 has a receiving coil 21, and the transmitting coil 11 and the receiving coil 21 are respectively perpendicular to the horizontal plane;

[0058] S2. Install a limit rod 30 on the charging pile 10;

[0059] S3, controlling the driver to output low torque, and when at least one front wheel of the robot 20 abuts against the limit rod 30, a stall is generated and a corresponding stall signal is issued;

[0060] S4. When the two front wheels of the robot 20 generate stall signals respectively, the charging pile 10 is triggered to wirelessly charge the robot.

[0061] In other words, in the robot wireless charging method of the present invention, see Figure 1 First, the robot 20 can be navigated to the charging point of the charging pile 10 (see Figure 3 ), optionally, the charging point is 20-30 cm away from the charging pile 10. By navigating the robot 20 to the charging point, the Y-axis deviation problem is solved. In the present invention, the charging pile 10 has a transmitting coil 11, and the robot 20 has a receiving coil 21. The transmitting coil 11 and the receiving coil 21 are respectively perpendicular to the horizontal plane. The transmitting coil 11 and the receiving coil 21 are constructed in a vertical deployment manner to solve the X-axis deviation problem. In the present invention, the X-axis, Y-axis, and Z-axis in the X-axis deviation, Y-axis deviation, and Z-axis deviation are three-dimensional axes, the X-axis and Y-axis represent the horizontal direction, and the Z-axis represents the height direction.

[0062] like Figure 3 As shown, a limit rod 30 is provided on the charging pile 10. By controlling the low torque output of the driver, and when at least one front wheel of the robot 20 abuts the limit rod 30, a stall occurs and a corresponding stall signal is issued. When the front wheel of the robot 20 abuts the limit rod 30, the distance between the transmitting coil 11 and the receiving coil 21 is fixed, which can avoid Z-axis deviation and meet the normal charging of the robot 20 on the pile. Finally, as shown in FIG. Figure 1 and Figure 2 As shown, when the two front wheels of the robot 20 generate stall signals respectively, the charging pile 10 is triggered to wirelessly charge the robot. When the two front wheels generate stall signals at the same time, the Z-axis deviation and the parallelism deviation are determined to match, and wireless charging of the robot 20 is achieved, ensuring the success rate of wireless charging. The present invention adopts a limit rod 30 and a low torque method to solve the problem in the prior art of pile charging solutions that the robot 20 crashes into the charging pile 10 due to sensor failure or abnormality. By reducing the torque, the present invention makes it easier to identify the stall signal and avoids the situation where the robot 20 crosses the limit rod 30 under full torque.

[0063] Therefore, according to the pile-pile method for wireless charging of the robot according to the embodiment of the present invention, the vertical deployment method is adopted to avoid the X-axis deviation. By setting a charging point in front of the charging pile 10 and navigating the robot 20 to the charging point position, the Y-axis deviation can be avoided. At the same time, by setting a limit rod 30 on the charging pile 10, when the front wheel of the robot 20 is close to the limit rod 30, the distance between the transmitting coil 11 and the receiving coil 21 is fixed, which can avoid the Z-axis deviation and meet the normal pile charging of the robot 20. The pile-pile method for wireless charging of the robot of the present invention can generate a stall according to the contact between the two front wheels of the robot 20 and the limit rod 30. And the positions of the two front wheels are adjusted according to the corresponding stall signal. When the two front wheels generate a stall signal at the same time, it is determined that the Z-axis deviation and the parallelism deviation match, and wireless charging of the robot 20 is achieved, thereby ensuring the success rate of wireless charging.

[0064] According to one embodiment of the present invention, the steps of controlling the driver to output low torque, generating a stall when at least one front wheel of the robot 20 abuts against the limit rod 30, and issuing a corresponding stall signal include:

[0065] like Figure 2 As shown, when the robot 20 navigates to the charging point, the driver is controlled to output low torque and record the current time and current mileage. Then, the robot 20 is controlled to move forward in a straight line at a constant speed, and it is determined whether the robot 20 forward time has exceeded the threshold and whether the forward mileage is within the threshold range. If it is determined that the robot 20 forward time and forward mileage do not exceed the threshold, it is determined whether at least one front wheel (left front wheel and right front wheel) of the robot 20 is in contact with the limit rod 30. If so, the corresponding front wheel is locked and a corresponding lock signal is issued. If the left front wheel and the right front wheel generate a lock signal at the same time, the driver restores the motor torque to achieve normal wireless charging. If it is determined that the robot 20 forward time and forward mileage exceed the threshold, the driver restores the motor torque and navigates the robot 20 back to the charging point. If the left front wheel and the right front wheel do not generate a lock signal at the same time, the front wheel that is not in contact with the limit rod 30 is adjusted. For example, if the left front wheel does not generate a lock signal, the forward speed of the left front wheel is increased. If the left front wheel generates a stall signal and the right front wheel does not generate a stall signal, the forward speed of the right front wheel is increased.

[0066] According to one embodiment of the present invention, when at least one front wheel of the robot 20 abuts against the limit rod 30 , the motor current increases, and the charging pile 10 recognizes a stall signal.

[0067] That is, see Figure 2 and Figure 3When the robot 20 reaches the charging point, the driver is controlled to enter the low-torque mode, causing the front wheels of the robot 20 to abut against the limit rod 30 of the charging station 10, resulting in a stall. The motor current increases abnormally, and the robot 20 recognizes this signal and determines that it has abutted the limit rod 30. The present invention employs the limit rod 30 and low torque to address the problem in the prior art where sensor failure or anomaly causes the robot 20 to crash into the charging station 10. By reducing the torque, the present invention makes it easier to identify the stall signal and prevents the robot 20 from overtaking the limit rod 30 under full torque.

[0068] According to one embodiment of the present invention, when the two front wheels of the robot 20 respectively generate a stall signal, the step of triggering the charging pile 10 to wirelessly charge the robot further includes:

[0069] When there is a parallelism deviation between the robot 20 and the charging pile 10, adjustments are made based on the judgment that both front wheels simultaneously reach a stall signal.

[0070] In other words, if Figure 2 As shown, when the robot 20 and the charging station 10 are parallel to each other, adjustments can be made based on the simultaneous presence of stall signals on both front wheels. For example, if the right front wheel generates a stall signal, but the left front wheel does not, indicating parallelism deviation, increasing the left wheel speed (with the torque remaining at the set low torque value) will cause the robot 20 to rotate clockwise, causing the left front wheel to rest against the limit rod 30, triggering the stall signal for both front wheels.

[0071] According to one embodiment of the present invention, the method for wirelessly charging a robot further includes:

[0072] When the two front wheels of the robot 20 generate stall signals respectively, the driver is controlled to restore the motor torque to a normal mode.

[0073] In the present invention, the method for wireless charging of the robot is as follows: Figures 1 to 3Wireless charging adopts a vertical deployment method to solve the problem of X-axis deviation. The robot 20 records a charging point 20-30 cm in front of the charging pile 10. The robot 20 navigates to this point through the navigation module, solving the problem of Y-axis deviation. The charging pile 10 adds a limit rod 30. When the front wheel of the robot 20 leans against the limit rod 30, the distance between the transmitting coil 11 and the receiving coil 21 is fixed, solving the problem of Z-axis deviation. When the robot 20 arrives at the charging point, the control driver enters the low torque module, so that when the front wheel of the robot 20 leans against the limit rod 30 of the charging pile 10, a stall occurs and the motor current increases abnormally. The signal is recognized and it is determined that the robot 20 has approached the limit rod 30. By adopting the limit rod 30 and low torque, the problem of the robot 20 colliding with the charging pile 10 due to sensor failure or abnormality is solved. It shows that by reducing the torque, it is easier to identify the stall signal and it also avoids the situation where the robot 20 exceeds the limit rod 30 under full torque.

[0074] When the robot 20 and the charging station 10 are out of parallelism, adjustments can be made based on the simultaneous presence of stall signals on both front wheels. For example, if the right front wheel generates a stall signal but the left front wheel does not, this indicates a parallelism deviation. In this case, increasing the left wheel speed (while maintaining the set low torque value) will cause the robot 20 to rotate clockwise, causing the left front wheel to rest against the stop rod 30, triggering the stall signal for both front wheels.

[0075] The left and right front wheels reach the stall signal at the same time. This situation can be determined as the Z-axis deviation and parallelism deviation match, which can trigger wireless charging. At this time, the motor torque is restored to normal mode to keep the robot 20 in this position.

[0076] In summary, the method for wireless charging of a robot according to an embodiment of the present invention adopts a vertical deployment method, which can avoid X-axis deviation. By setting a charging point in front of the charging pile 10 and navigating the robot 20 to the charging point position, the Y-axis deviation can be avoided. At the same time, by setting a limit rod 30 on the charging pile 10, when the front wheel of the robot 20 is close to the limit rod 30, the distance between the transmitting coil 11 and the receiving coil 21 is fixed, which can avoid Z-axis deviation and meet the normal charging of the robot 20. The method for wireless charging of a robot of the present invention can generate a stall according to the contact between the two front wheels of the robot 20 and the limit rod 30. And the positions of the two front wheels are adjusted according to the corresponding stall signal. When the two front wheels generate a stall signal at the same time, it is determined that the Z-axis deviation and the parallelism deviation match, and wireless charging of the robot 20 is achieved, thereby ensuring the success rate of wireless charging.

[0077] According to a second aspect of the present invention, a charging pile system for wireless charging of a robot is provided, which is applied to the charging pile method for wireless charging of a robot in the above embodiment. The charging pile system includes a charging pile 10, a robot 20, a limit rod 30, a navigation module and a driver.

[0078] Specifically, if Figure 3 As shown, the charging pile 10 has a transmitting coil 11, and at least one charging point is provided at a preset distance from the charging pile 10. The robot 20 has a receiving coil 21, which corresponds to the transmitting coil 11 and is perpendicular to the horizontal plane. A limit rod 30 is connected to the charging pile 10 and extends toward the position of the robot 20. The navigation module is provided within the robot 20 and is used to navigate the robot 20 to the charging point. The driver is provided within the robot 20 and is used to output torque. When the driver outputs low torque and at least one front wheel of the robot 20 abuts the limit rod 30, a stall occurs and a corresponding stall signal is issued. When both front wheels of the robot 20 generate a stall signal, the charging pile 10 is triggered to wirelessly charge the robot. Optionally, the charging point is 20-30 cm away from the charging pile 10, and the limit rod 30 extends toward one side of the robot 20.

[0079] In the present invention, the robot wireless charging system is Figure 2 and Figure 3 Robot 20's wireless charging is deployed vertically, resolving the X-axis deviation issue. Robot 20 records a charging point 20-30 cm in front of charging station 10. Using the navigation module, robot 20 navigates to this point, resolving the Y-axis deviation issue. A limit rod 30 is added to charging station 10. When the front wheels of robot 20 rest against limit rod 30, the distance between transmitting coil 11 and receiving coil 21 is fixed, resolving the Z-axis deviation issue. When robot 20 reaches the charging point, the control driver enters the low-torque module, causing the front wheels of robot 20 to rest against limit rod 30 on charging station 10, resulting in a stall. The motor current increases abnormally, and this signal is recognized, confirming that robot 20 has approached limit rod 30. By using limit rod 30 and low torque, the problem of robot 20 crashing into charging station 10 due to sensor failure or anomaly is resolved. This demonstrates that by reducing torque, stall signals are more easily identified and prevents robot 20 from overrunning limit rod 30 under full torque.

[0080] When there is a parallelism deviation between the robot 20 and the charging pile 10, adjustments can be made based on the fact that the left and right front wheels simultaneously reach the stall signal. For example: the right front wheel generates a stall signal, but the left front wheel does not, indicating that a parallelism deviation occurs. At this time, the left wheel speed is increased (the torque is still the set low torque value) to make the robot 20 rotate clockwise, and then the left front wheel leans against the limit rod 30, causing the left and right front wheels to trigger the stall signal at the same time. When the left and right front wheels reach the stall signal at the same time, this situation can be determined as a match between the Z-axis deviation and the parallelism deviation, which can trigger wireless charging. At this time, the motor torque is restored to normal mode to keep the robot 20 in this position.

[0081] According to a third aspect of the present invention, a robot 20 is further provided, comprising: a processor 201 and a memory 202, wherein computer program instructions are stored in the memory 202, wherein when the computer program instructions are executed by the processor 201, the processor 201 executes the steps of the robot wireless charging method in the above-mentioned embodiment.

[0082] Furthermore, if Figure 4 As shown, the robot wireless device further includes a network interface 203 , an input device 204 , a hard disk 205 , and a display device 206 .

[0083] The above-mentioned interfaces and devices can be interconnected through a bus architecture. The bus architecture can include any number of interconnected buses and bridges. Specifically, one or more central processing units 201 (CPUs) represented by the processor 201 and various circuits of one or more memories 202 represented by the memory 202 are connected together. The bus architecture can also connect various other circuits such as peripheral devices, voltage regulators, and power management circuits. It can be understood that the bus architecture is used to achieve connection and communication between these components. In addition to the data bus, the bus architecture also includes a power bus, a control bus, and a status signal bus, which are all well known in the art and therefore will not be described in detail herein.

[0084] The network interface 203 can be connected to a network (such as the Internet, a local area network, etc.), obtain relevant data from the network, and save it in the hard disk 205.

[0085] The input device 204 can receive various instructions input by the operator and send them to the processor 201 for execution. The input device 204 can include a keyboard or a pointing device (e.g., a mouse, a trackball, a touchpad, or a touch screen).

[0086] The display device 206 can display the results obtained by the processor 201 executing the instructions.

[0087] The memory 202 is used to store programs and data necessary for the operation of the operating system 2021, as well as data such as intermediate results during the calculation process of the processor 201.

[0088] It is understood that the memory 202 in the embodiments of the present invention can be a volatile memory or a non-volatile memory, or can include both volatile and non-volatile memory. Among them, the non-volatile memory can be a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), or a flash memory. The volatile memory can be a random access memory (RAM), which is used as an external cache. The memory 202 of the apparatus and method described herein is intended to include, but is not limited to, these and any other suitable types of memory 202.

[0089] In some embodiments, the memory 202 stores the following elements, executable modules or data structures, or a subset thereof, or an extended set thereof: an operating system 2021 and application programs 2022 .

[0090] The operating system 2021 includes various system programs, such as a framework layer, a core library layer, and a driver layer, for implementing various basic services and handling hardware-based tasks. Application programs 2022 include various application programs, such as a browser, for implementing various application services. Programs implementing the methods of the embodiments of the present invention may be included in application programs 2022.

[0091] The processor 201 , when calling and executing the application 2022 and data stored in the memory 202 , specifically, the program or instructions stored in the application 2022 , executes the steps of the robot wireless charging docking method according to the above embodiment.

[0092] The methods disclosed in the above embodiments of the present invention can be applied to or implemented by processor 201. Processor 201 may be an integrated circuit chip with signal processing capabilities. During implementation, each step of the above method can be completed by hardware integrated logic circuits in processor 201 or by software instructions. The above processor 201 can be a general-purpose processor, a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA), or other programmable logic device, discrete gate or transistor logic device, or discrete hardware component, and can implement or execute the various methods, steps, and logic block diagrams disclosed in the embodiments of the present invention. A general-purpose processor can be a microprocessor, or the processor 201 can be any conventional processor 201. The steps of the methods disclosed in conjunction with the embodiments of the present invention can be directly implemented and executed by a hardware decoding processor, or by a combination of hardware and software modules in the decoding processor. The software module can be located in a storage medium mature in the art, such as random access memory, flash memory, read-only memory, programmable read-only memory, electrically erasable programmable memory, registers, etc. The storage medium is located in the memory 202 , and the processor 201 reads the information in the memory 202 and completes the steps of the above method in combination with its hardware.

[0093] It is understood that the embodiments described herein can be implemented using hardware, software, firmware, middleware, microcode, or a combination thereof. For hardware implementation, the processing unit can be implemented in one or more application-specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field programmable gate arrays (FPGAs), general-purpose processors, controllers, microcontrollers, microprocessors, other electronic units for performing the functions of the present application, or a combination thereof.

[0094] For software implementation, the technology herein can be implemented by modules (e.g., procedures, functions, etc.) that perform the functions herein. The software code can be stored in the memory 202 and executed by the processor 201. The memory 202 can be implemented in the processor 201 or outside the processor 201.

[0095] Specifically, the processor 201 is also used to read the computer program and execute the following steps: predict the pile charging method and output the answer to the question asked by the user.

[0096] The fourth embodiment of the present invention further provides a computer-readable storage medium, which stores a computer program. When the computer program is executed by the processor 201, the processor 201 executes the steps of the robot wireless charging method of the above embodiment.

[0097] In the several embodiments provided in this application, it should be understood that the disclosed methods and devices can be implemented in other ways. For example, the device embodiments described above are merely schematic. For example, the division of units is only a logical function division. In actual implementation, there may be other division methods, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0098] In addition, the functional units in various embodiments of the present invention may be integrated into a single processing unit, each unit may be physically included separately, or two or more units may be integrated into a single unit. The aforementioned integrated units may be implemented in the form of hardware or hardware plus software functional units.

[0099] The above-mentioned integrated unit implemented in the form of a software functional unit can be stored in a computer-readable storage medium. The above-mentioned software functional unit is stored in a storage medium and includes a number of instructions for causing a computer device (which can be a personal computer, server, or network device, etc.) to perform some steps of the sending and receiving methods of various embodiments of the present invention. The aforementioned storage medium includes: a USB flash drive, a mobile hard drive, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, an optical disk, and other media that can store program code.

[0100] Although some specific embodiments of the present invention have been described in detail by way of examples, it should be understood by those skilled in the art that the above examples are for illustration only and are not intended to limit the scope of the present invention. It should be understood by those skilled in the art that modifications may be made to the above embodiments without departing from the scope and spirit of the present invention. The scope of the present invention is defined by the appended claims.

Claims

1. A method for wireless charging of a robot, characterized in that: The following steps are involved: Navigating the robot to a charging point of a charging pile, wherein the charging pile has a transmitting coil, the robot has a receiving coil, and the transmitting coil and the receiving coil are respectively perpendicular to a horizontal plane; A limit rod is provided on the charging pile; The driver is controlled to output low torque, and when at least one front wheel of the robot abuts against the limit rod, a stall occurs, the motor current increases abnormally, and the charging pile recognizes the stall signal and sends a corresponding stall signal; When the two front wheels of the robot generate the stall signal respectively, and when there is a parallelism deviation between the robot and the charging pile, adjustment is made based on the judgment that the two front wheels simultaneously reach the stall signal, triggering the charging pile to wirelessly charge the robot; When the two front wheels of the robot respectively generate the stall signal, the driver is controlled to restore the motor torque to a normal mode.

2. The method for wireless charging of a robot according to claim 1, characterized in that: The charging point is 20-30 cm away from the charging pile.

3. The method for wireless charging of a robot according to claim 1, characterized in that: The steps of controlling the low torque output of the driver and generating a stall when at least one front wheel of the robot abuts against the limit rod and sending a corresponding stall signal include: Controlling the low torque output of the driver and recording the current time and current mileage; Controlling the robot to move forward in a straight line at a constant speed; Determine the robot's forward time and distance traveled; When it is determined that at least one of the front wheels of the robot abuts against the limit rod, a stall occurs and a corresponding stall signal is sent.

4. A robot wireless charging docking system, applied to the robot wireless charging docking method according to any one of claims 1 to 3, characterized in that: The pile system comprises: A charging pile having a transmitting coil and at least one charging point 20-30 cm away from the charging pile; A robot, wherein the robot has a receiving coil, wherein the receiving coil corresponds to the transmitting coil and is respectively perpendicular to a horizontal plane; a limiting rod, the limiting rod being connected to the charging pile and extending toward the position of the robot; a navigation module, the navigation module being disposed in the robot and configured to navigate the robot to the charging point; A driver is provided in the robot, and is used to output torque. When the driver outputs low torque and at least one front wheel of the robot abuts the limit rod, a stall occurs, and the motor current increases so that the charging pile can recognize the stall signal and send a corresponding stall signal. When the two front wheels of the robot respectively generate the stall signal, the charging pile is triggered to wirelessly charge the robot. When the two front wheels respectively generate the stall signal, the motor torque is restored to normal mode.

5. A robot, characterized in that: include: A processor and a memory, wherein computer program instructions are stored in the memory, wherein when the computer program instructions are executed by the processor, the processor is caused to perform the steps of the robot wireless charging method according to any one of claims 1 to 3.

6. A computer-readable storage medium, characterized in that The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the processor is caused to perform the steps of the robot wireless charging docking method according to any one of claims 1 to 3.

Images