Control Method, Device, Electronic Device and Medium for Charging a Mobile Intelligent Device

Abstract

An embodiment of this specification provides a control method for charging a mobile intelligent device, which is applied to the mobile intelligent device and includes: during the process of the mobile intelligent device moving to a charging device, detecting whether the mobile intelligent device has been docked with the charging device; if the mobile intelligent device has been docked with the charging device, sending a preset control instruction to the motor driver carried by the mobile intelligent device, reducing the maximum torque that the motor driver can output to a preset value, and controlling the motor driver to continuously output torque according to the preset value to maintain the electrical connection state between the charging port of the mobile intelligent device and the charging contact of the charging device. Through the above technical solution, since no additional hardware modification is required and the electrical connection state between the charging port and the charging contact can be maintained in a stable state in a software manner, it not only saves costs but also has generality and strong adaptability.

Description

Technical Field

[0001] This specification relates to the field of control technologies, and particularly to a control method, device, electronic device, and storage medium for charging a mobile intelligent device. Background Art

[0002] With the continuous development of electronic information technologies, more and more mobile intelligent devices are widely used in daily life and social production, such as logistics robots used by logistics enterprises, floor-sweeping robots used at home, etc.

[0003] Generally, these mobile intelligent devices are driven by a motor driver carried thereon. Whenever they work for a period of time, the battery needs to be charged in a timely manner to maintain the normal operation of the device. Currently, when charging a mobile intelligent device, a corresponding charging device can usually be configured for the mobile intelligent device, such as a charging dock for a floor-sweeping robot, a charging pile for a delivery robot, etc. Summary of the Invention

[0004] In view of this, one or more embodiments of this specification provide a control method, device, electronic device, and storage medium for charging a mobile intelligent device to solve the problems existing in the related technologies.

[0005] To achieve the above object, one or more embodiments of this specification provide the following technical solutions:

[0006] According to the first aspect of the embodiments of this specification, a control method for charging a mobile intelligent device is provided, which is applied to the mobile intelligent device. The method includes:

[0007] During the process of the mobile intelligent device moving to the charging device, detecting whether the mobile intelligent device has been docked with the charging device;

[0008] If the mobile intelligent device has been docked with the charging device, sending a preset control instruction to the motor driver carried on the mobile intelligent device, reducing the maximum torque that the motor driver can output to a preset value, and controlling the motor driver to continuously output torque according to the preset value to maintain the electrical connection state between the charging port of the mobile intelligent device and the charging contact of the charging device.

[0009] According to the second aspect of the embodiments of this specification, a control device for charging a mobile intelligent device is provided, which is applied to the mobile intelligent device. The device includes:

[0010] A detection module, during the process of the mobile intelligent device moving to the charging device, detecting whether the mobile intelligent device has been docked with the charging device;

[0011] The control module, if the mobile intelligent device is docked with the charging device, sends a preset control instruction to the motor driver carried by the mobile intelligent device, reduces the maximum torque that the motor driver can output to a preset value, and controls the motor driver to continuously output torque according to the preset value, so as to maintain the electrical connection state between the charging port of the mobile intelligent device and the charging contact of the charging device.

[0012] According to the third aspect of the embodiments of the present specification, an electronic device is provided, including a communication interface, a processor, a memory, and a bus, and the communication interface, the processor, and the memory are interconnected with each other through the bus;

[0013] Machine-readable instructions are stored in the memory, and the processor executes the above method by calling the machine-readable instructions.

[0014] According to the fourth aspect of the embodiments of the present specification, a machine-readable storage medium is provided, and the machine-readable storage medium stores machine-readable instructions, and when the machine-readable instructions are called and executed by a processor, the above method is implemented.

[0015] The technical solutions provided by the embodiments of the present specification may include the following beneficial effects:

[0016] Through the above technical solutions, by sending a preset control instruction to the motor driver, the maximum torque that the motor driver can output is reduced to a preset value, and the motor driver is controlled to continuously output torque according to the preset value, so as to maintain the electrical connection state between the charging port of the mobile intelligent device and the charging contact of the charging device in a software manner. Since there is no need for additional hardware modification to keep the charging port and the charging contact in a stable electrical connection state, it not only saves costs but also has strong versatility and adaptability. Description of the Drawings

[0017] Figure 1 It is a flowchart of a control method for charging a mobile intelligent device provided by an exemplary embodiment of the present specification;

[0018] Figure 2 It is a schematic diagram of docking between a mobile intelligent device and a charging device provided by an exemplary embodiment of the present specification;

[0019] Figure 3 It is a schematic structural diagram of an electronic device where a control device for charging a mobile intelligent device provided by an exemplary embodiment of the present specification is located;

[0020] Figure 4 It is a block diagram of a control device for charging a mobile intelligent device provided by an exemplary embodiment of the present specification. Detailed Embodiments

[0021] Exemplary embodiments will be described in detail herein, and examples thereof are shown in the accompanying drawings. When the following description refers to the accompanying drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with one or more embodiments of this specification. On the contrary, they are merely examples of devices and methods consistent with some aspects of one or more embodiments of this specification as detailed in the appended claims.

[0022] It should be noted that: in other embodiments, the steps of the corresponding methods are not necessarily executed in the order shown and described in this specification. In some other embodiments, the steps included in the method may be more or less than those described in this specification. In addition, a single step described in this specification may be decomposed into multiple steps for description in other embodiments; and multiple steps described in this specification may also be combined into a single step for description in other embodiments.

[0023] As can be seen from the foregoing, when charging a mobile intelligent device, a corresponding charging device can usually be configured for the mobile intelligent device. After the mobile intelligent device is docked with the charging device, it is usually necessary to stop the power of the mobile intelligent device to increase the charging speed and avoid problems such as heating and overload caused by the motor driver of the mobile intelligent device being in a working state, ensuring the safety of charging.

[0024] However, due to the use of contact charging, the connection between the mobile intelligent device and the charging device is not stable and may be affected by various factors.

[0025] For example, when the charging environment is outdoors, it may be affected by wind, causing the mobile intelligent device to be blown away and away from the charging device, resulting in the inability to charge.

[0026] Again, when there is a certain slope at the docking position between the mobile intelligent device and the charging device, due to the action of gravity, the mobile intelligent device slides away from the charging device, resulting in the inability to charge.

[0027] In the related art, structural improvements to the hardware of the mobile intelligent device or the charging pile are usually adopted to solve the possible displacement problem of the mobile intelligent device during charging. For example, a sloped base can be added, and a concave pit can be set at the top of the slope, so that the mobile intelligent device can move along the slope and the wheels can be stuck in the concave pit, and after the wheels are stuck in the concave pit, the mobile intelligent device can be in a charging state. However, the hardware improvement not only increases the additional cost but also does not have universal applicability.

[0028] In view of this, this specification provides a technical solution in which a preset control instruction is sent to a motor driver to reduce the maximum torque that the motor driver can output to a preset value, and the motor driver is controlled to continuously output torque according to the preset value, so as to ensure that when the mobile intelligent device is charging, the electrical connection state between the charging port of the mobile intelligent device and the charging contact of the charging device is maintained.

[0029] When implemented, during the process of the mobile intelligent device moving to the charging device, it can be detected whether the mobile intelligent device has been docked with the charging device;

[0030] For example, it can be detected whether the charging port of the mobile intelligent device has come into contact with the charging contact of the charging device; if so, it is determined that the mobile intelligent device has been docked with the charging device.

[0031] If the mobile intelligent device has been docked with the charging device, a preset control instruction is sent to the motor driver carried by the mobile intelligent device to reduce the maximum torque that the motor driver can output to a preset value, and the motor driver is controlled to continuously output torque according to the preset value, so as to maintain the electrical connection state between the charging port of the mobile intelligent device and the charging contact of the charging device.

[0032] For example, if the charging port of the mobile intelligent device has come into contact with the charging contact of the charging device, a preset control instruction can be sent to the motor driver carried by the mobile intelligent device to reduce the maximum torque that the motor driver can output from the default value to the preset value, and the motor driver is controlled to continuously output torque according to the preset value, so as to maintain the electrical connection state between the charging port of the mobile intelligent device and the charging contact of the charging device.

[0033] Through the above technical solution, by sending a preset control instruction to the motor driver, the maximum torque that the motor driver can output is reduced to a preset value, and the motor driver is controlled to continuously output torque according to the preset value, so as to maintain the electrical connection state between the charging port of the mobile intelligent device and the charging contact of the charging device in a software manner when the mobile intelligent device is charging. Since there is no need for additional hardware modification to keep the charging port and the charging contact in a stable electrical connection state, it not only saves costs but also has strong versatility and adaptability.

[0034] The following will describe in detail the control method for charging a mobile intelligent device in this specification with reference to the accompanying drawings.

[0035] Please refer to Figure 1 , Figure 1 which is a flowchart of a control method for charging a mobile intelligent device provided in an exemplary embodiment of this specification, applied to a mobile intelligent device, and the method includes the following execution steps:

[0036] Step 101: During the process of the mobile intelligent device moving to the charging device, detect whether the mobile intelligent device has been docked with the charging device.

[0037] Step 102: If the mobile intelligent device has been docked with the charging device, send a preset control instruction to the motor driver carried by the mobile intelligent device, reduce the maximum torque that the motor driver can output to a preset value, and control the motor driver to continuously output torque according to the preset value to maintain the electrical connection state between the charging port of the mobile intelligent device and the charging contact of the charging device.

[0038] In this embodiment, during the process of the mobile intelligent device moving to the charging device, it can be detected whether the mobile intelligent device has been docked with the charging device.

[0039] For example, when the mobile intelligent device is approaching the charging device, it can be detected in real time whether the mobile intelligent device has been docked with the charging device.

[0040] In an illustrated embodiment, the mobile intelligent device includes a mobile robot.

[0041] For example, the mobile intelligent device can be a mobile robot with a transportation function, a mobile robot with a cleaning function, or a mobile robot with a voice interaction function. In this specification, the specific use of the mobile robot is not limited.

[0042] In an illustrated embodiment, before detecting whether the mobile intelligent device has been docked with the charging device during the process of the mobile intelligent device moving to the charging device, the mobile intelligent device can receive a guiding signal sent by the charging device; wherein, the guiding signal is used to indicate the position of the charging device; further, in response to the received guiding signal, the motor driver can be controlled to continuously output torque based on the default value of the maximum torque that can be output to drive the mobile intelligent device to move to the position of the charging device.

[0043] The above guiding signal can be an infrared signal, a laser signal, etc. Correspondingly, a signal receiver and a signal transmitter are mounted on the mobile intelligent device and the charging device.

[0044] For example, when the battery of a mobile intelligent device is low and needs to be charged, in order to accurately move near the charging device and complete the subsequent docking with the charging device, the mobile intelligent device can receive a guiding signal sent by the charging device for indicating the position of the charging device; then, it can control the motor driver to continuously output torque based on the default value of the maximum torque that can be output, so as to drive the mobile intelligent device to move to the position of the charging device indicated by the received guiding signal.

[0045] In an illustrated embodiment, it is possible to detect whether the charging port of the mobile intelligent device has come into contact with the charging contact of the charging device; if so, it is determined that the mobile intelligent device has been docked with the charging device.

[0046] For example, since the mobile intelligent device needs to be docked with the charging device for charging, it is possible to detect whether the charging port of the mobile intelligent device has come into contact with the charging contact of the charging device; if there is contact, it can be determined that the mobile intelligent device has been docked with the charging device.

[0047] In an illustrated embodiment, it is possible to detect the state of the battery of the mobile intelligent device; if the battery is in a charging state, it is determined that the charging port of the mobile intelligent device is in contact with the charging contact of the charging device; or, according to the distance sensor carried by the mobile intelligent device, it is possible to detect whether the distance between the mobile intelligent device and the charging device is less than a threshold value; if so, it is determined that the charging port of the mobile intelligent device is in contact with the charging contact of the charging device.

[0048] In one example, it is possible to detect the state of the battery of the mobile intelligent device. If the battery is in a charging state, it can be determined that the charging port of the mobile intelligent device is in contact with the charging contact of the charging device; if the battery is not in a charging state, it can be determined that the charging port of the mobile intelligent device is not in contact with the charging contact of the charging device.

[0049] In another example, according to the distance sensor carried by the mobile intelligent device, it is possible to detect whether the distance between the charging port side of the mobile intelligent device and the charging contact side of the charging device is less than a threshold value; if it is less than the threshold value, it is determined that the charging port of the mobile intelligent device is in contact with the charging contact of the charging device; if it is greater than the threshold value, it is determined that the charging port of the mobile intelligent device is not in contact with the charging contact of the charging device.

[0050] In this embodiment, if the mobile intelligent device has been docked with the charging device, a preset control instruction can be sent to the motor driver carried by the mobile intelligent device to reduce the maximum torque that the motor driver can output to a preset value, and control the motor driver to continuously output torque according to the preset value to maintain the electrical connection state between the charging port of the mobile intelligent device and the charging contact of the charging device.

[0051] For example, if the charging port of the mobile intelligent device has contacted the charging contact of the charging device, a preset control instruction can be sent to the motor driver carried by the mobile intelligent device to reduce the maximum torque that the motor driver can output from the default value to a preset value. For example, the preset value is 3.125% of the default value, and control the motor driver to continuously output torque according to the preset value to maintain the electrical connection state between the charging port of the mobile intelligent device and the charging contact of the charging device.

[0052] Among them, when reducing the maximum torque that the motor driver can output from the default value to the preset value, a step-down method can be adopted to gradually reduce it to the preset value, or it can be directly reduced to the preset value. This specification does not limit this.

[0053] It is worth noting that since the maximum torque that the motor driver can output is generally the default and is not open to the host computer, the torque value cannot be directly adjusted. Therefore, a register can be configured on the communication protocol for communication between the host computer of the mobile intelligent device and the motor driver. The host computer sends a preset control instruction to the register, and then the register controls the maximum torque that the motor driver can output to be reduced to the preset value.

[0054] In an illustrated embodiment, it can be determined whether the mobile intelligent device has completed charging; further, if the mobile intelligent device has completed charging, a preset recovery instruction is sent to the motor driver to restore the maximum torque that the motor driver can output to the default value, and control the motor driver to continuously output torque according to the default value to drive the mobile intelligent device away from the charging device.

[0055] For example, since the mobile intelligent device can continue to work or be in a standby state after charging is completed and there is no need to charge anymore, it can be determined whether the mobile intelligent device has completed charging. After charging is completed, a preset recovery instruction is sent to the motor driver to restore the maximum torque that the motor driver can output to the default value, and control the motor driver to continuously output torque according to the default value to drive the mobile intelligent device away from the charging device.

[0056] In an illustrated embodiment, the charging contact includes an elastic charging contact protruding outwardly on the charging device; when the elastic charging contact contacts the charging interface of the mobile intelligent device, an elastic force is generated on the mobile intelligent device in a direction away from the charging device; the preset value is not less than the torque value required to overcome the movement tendency of the mobile intelligent device due to the elastic force.

[0057] Please refer to Figure 2 , Figure 2 which is a schematic diagram of the docking of a mobile intelligent device and a charging device provided by an exemplary embodiment of this specification. As Figure 2 shown, an elastic charging contact 202 protruding outwardly is installed on the charging device 201, and a charging port 204 is installed on the mobile intelligent device 203. As can be seen from the foregoing, in order to charge the mobile intelligent device 203, it is necessary to dock the charging port 204 and the elastic charging contact 202.

[0058] It should be noted that although non-elastic charging contacts can also be used, so that the mobile intelligent device only needs to move itself to realize the docking of the charging contact and the charging port to complete charging, but since the charging contact is exposed when the mobile intelligent device is not docked with the charging device, there is a high risk of electric leakage, which needs to be avoided. Therefore, an elastic charging contact can be set, and the elastic charging contact and the electrode of the charging device are connected through an elastic component.

[0059] As Figure 2 shown, when the mobile intelligent device is not docked with the charging device, due to the elastic force of the elastic component 205, the elastic charging contact 202 protrudes outwardly, and there is no electrical connection between the elastic charging contact 202 and the electrode 206 of the charging device. Therefore, the elastic charging contact 202 is in a power-off state at this time.

[0060] Furthermore, when the motor driver of the mobile intelligent device drives the mobile intelligent device to dock with the charging device, as Figure 2 shown, since the mobile intelligent device 203 presses the elastic charging contact 202 into the charging device 201, an electrical connection is formed between the elastic charging contact 202 and the electrode 206 of the charging device. Therefore, an electrical connection can be formed between the electrode 206, the elastic charging contact 202, and the charging port 204 at this time, and the mobile intelligent device 203 can be in a charging state at this time.

[0061] As can be seen from the foregoing, if the mobile intelligent device is in a shutdown state during charging, then Figure 2Among them, due to the interaction of forces, when the elastic component 205 is subjected to the pressure of the mobile intelligent device 203, an elastic force will be exerted in the direction in which the mobile intelligent device 203 moves away from the charging device 201, which may cause the mobile intelligent device 203 to be subjected to the elastic force and move away from the charging device, resulting in the disconnection of charging.

[0062] Therefore, when the maximum torque that the motor driver can output is reduced to a preset value, the preset value is not less than the torque value required to overcome the movement tendency of the mobile intelligent device due to the elastic force.

[0063] Subsequently, when the charging is completed, as described above, a preset recovery instruction can be sent to the motor driver to restore the maximum torque that the motor driver can output to the default value, and control the motor driver to continuously output torque according to the default value to drive the mobile intelligent device away from the charging device.

[0064] It can be understood that after the mobile intelligent device moves away from the charging device, Figure 2 the elastic component 205 in no longer receives the force from the mobile intelligent device, will restore its elasticity and cause the elastic charging contact 202 to protrude outward, and the elastic charging contact 202 is in a power-off state again.

[0065] In an illustrated embodiment, the charging efficiency value and / or the temperature value of the mobile intelligent device can be monitored, and the preset value can be dynamically adjusted based on the monitoring result, so that the charging efficiency value and / or the temperature value of the mobile intelligent device are within a preset value range.

[0066] In one example, the charging efficiency value of the mobile intelligent device can be monitored, and the preset value can be dynamically adjusted based on the monitoring result, so that the charging efficiency value of the mobile intelligent device is within a preset value range, thereby ensuring the charging efficiency of the mobile intelligent device and preventing the situation of too long charging time.

[0067] In another example, the temperature value of the mobile intelligent device can be monitored, and the preset value can be dynamically adjusted based on the monitoring result, so that the temperature value of the mobile intelligent device is within a preset value range, thereby ensuring that the mobile intelligent device will not overheat during charging, preventing the motor driver from being overloaded, and avoiding potential risks brought by overheating of the battery.

[0068] In addition, the charging efficiency value and the temperature value of the mobile intelligent device can also be monitored simultaneously, and the preset value can be dynamically adjusted based on the monitoring result, so that the charging efficiency value and the temperature value of the mobile intelligent device are respectively within a preset value range.

[0069] In an illustrated embodiment, the preset value needs to meet one or more of the following combinations of conditions when being determined:

[0070] Overcome the movement tendency of the mobile robot caused by external forces;

[0071] Overcome the movement tendency of the mobile robot caused by gravity;

[0072] Overcome the internal resistance that hinders the movement of the mobile robot.

[0073] For example, when located in an outdoor environment, the influence of wind on the mobile robot needs to be considered; when there is a slope at the charging position and the slope causes the mobile robot to move away from the charging device, the influence of gravity on the mobile robot needs to be considered. In addition, there is also a certain resistance inside the mobile robot, which also needs to be considered. Otherwise, if the preset value is less than the internal resistance, although the motor driver is working, it is still unable to stop the movement tendency of the mobile robot away from the charging device.

[0074] It should be noted that when determining the preset value, after determining the preset value based on the above conditions, those skilled in the art can further adjust the preset value according to the charging efficiency value of the mobile intelligent device and / or the temperature value of the mobile intelligent device.

[0075] In addition, the motor driver usually automatically adjusts the speed based on a closed-loop control system. If the torque needs to be directly adjusted, a new logical architecture needs to be constructed to switch to another set of logic when the mobile intelligent device needs to be charged, which will increase the software cost. As can be seen from the foregoing, in this specification, by adding instructions, the original speed closed-loop mode is not changed and the cost can be saved.

[0076] Through the above technical solutions, by sending a preset control instruction to the motor driver, the maximum torque that the motor driver can output is reduced to the preset value, and the motor driver is controlled to continuously output torque according to the preset value, so as to maintain the electrical connection state between the charging port of the mobile intelligent device and the charging contact of the charging device when the mobile intelligent device is charging in a software manner. Since there is no need for additional hardware modification to keep the charging port and the charging contact in a stable electrical connection state, it not only saves costs but also has universality and strong adaptability.

[0077] In an exemplary embodiment of this specification, a device capable of implementing the above method is also provided.

[0078] Figure 3 It is a schematic structural diagram of a device provided by an exemplary embodiment. Please refer to Figure 3, at the hardware level, the device includes a processor 302, an internal bus 304, a network interface 306, a memory 308, and a non-volatile memory 310. Of course, it may also include other hardware required for other services. One or more embodiments of this specification can be implemented in software. For example, the processor 302 reads the corresponding computer program from the non-volatile memory 310 into the memory 309 and then runs it. Of course, in addition to the software implementation, one or more embodiments of this specification do not exclude other implementation methods, such as logical devices or a combination of software and hardware. That is to say, the execution subject of the following processing flow is not limited to each logical unit, but can also be hardware or logical devices.

[0079] Please refer to Figure 4 , in a software implementation, a control device 400 for charging a mobile intelligent device is provided, which is applied to the mobile intelligent device. As Figure 4 shown, the device includes:

[0080] A detection module 401, which detects whether the mobile intelligent device has been docked with the charging device during the process of the mobile intelligent device moving to the charging device;

[0081] A control module 402, if the mobile intelligent device has been docked with the charging device, sends a preset control instruction to the motor driver carried by the mobile intelligent device, reduces the maximum torque that the motor driver can output to a preset value, and controls the motor driver to continuously output torque according to the preset value to maintain the electrical connection state between the charging port of the mobile intelligent device and the charging contact of the charging device.

[0082] Optionally, the device 400 further includes:

[0083] A receiving module 403 (not shown in the figure), which receives the guiding signal sent by the charging device; wherein, the guiding signal is used to indicate the position of the charging device;

[0084] A driving module 404 (not shown in the figure), in response to the received guiding signal, controls the motor driver to continuously output torque based on the default value of the maximum torque that can be output to drive the mobile intelligent device to move to the position of the charging device.

[0085] Optionally, the device 400 further includes:

[0086] A determination module 405 (not shown in the figure), which determines whether the mobile intelligent device has completed charging;

[0087] A recovery module 406 (not shown in the figure), if the charging of the mobile intelligent device is completed, sends a preset recovery instruction to the motor driver, restores the maximum torque that the motor driver can output to the default value, and controls the motor driver to continuously output torque according to the default value to drive the mobile intelligent device away from the charging device.

[0088] Optionally, the charging contact includes an elastic charging contact protruding outwardly on the charging device; when the elastic charging contact contacts the charging interface of the mobile intelligent device, an elastic force acting on the mobile intelligent device is generated in the direction in which the mobile intelligent device moves away from the charging device; the preset value is not less than the torque value required to overcome the movement tendency of the mobile intelligent device due to the elastic force.

[0089] Optionally, the detection module 401 further:

[0090] Detects whether the charging port of the mobile intelligent device has contacted the charging contact of the charging device; if so, determines that the mobile intelligent device has been docked with the charging device.

[0091] Optionally, the detection module 401 further:

[0092] Detects the state of the battery of the mobile intelligent device; if the battery is in a charging state, determines that the charging port of the mobile intelligent device has contacted the charging contact of the charging device; or,

[0093] According to the distance sensor carried by the mobile intelligent device, detects whether the distance between the mobile intelligent device and the charging device is less than a threshold; if so, determines that the charging port of the mobile intelligent device has contacted the charging contact of the charging device.

[0094] Optionally, the device 400 further includes:

[0095] A monitoring module 407 (not shown in the figure), during the charging process of the mobile intelligent device, monitors the charging efficiency value and / or the temperature value of the mobile intelligent device, and dynamically adjusts the preset value based on the monitoring result so that the charging efficiency value and / or the temperature value of the mobile intelligent device are within a preset value range.

[0096] Optionally, when determining the preset value, it needs to meet one or more combinations of the following conditions:

[0097] Overcome the movement tendency of the mobile robot due to external forces;

[0098] Overcome the movement tendency of the mobile robot due to gravity;

[0099] Overcome the internal resistance that hinders the movement of the mobile robot.

[0100] Optionally, the mobile intelligent device includes a mobile robot.

[0101] For the specific implementation process of the functions and roles of each module in the above device 400, please refer to the implementation process of the corresponding steps in the above control method for charging the mobile intelligent device. For the relevant parts, please refer to the partial description of the method embodiment, and details will not be repeated here.

[0102] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical modules, that is, they may be located in one place or distributed to multiple network modules. Some or all of the units or modules can be selected according to actual needs to achieve the purpose of the solution in this specification. A person of ordinary skill in the art can understand and implement it without creative efforts.

[0103] The systems, devices, modules or units illustrated in the above embodiments can be specifically implemented by computer chips or entities, or by products with certain functions. A typical implementation device is a computer, and the specific form of the computer can be a personal computer, a laptop computer, a cellular phone, a camera phone, a smart phone, a personal digital assistant, a media player, a navigation device, an email transceiver device, a game console, a tablet computer, a wearable device, or a combination of any several of these devices.

[0104] In a typical configuration, a computer includes one or more processors (CPUs), an input / output interface, a network interface, and a memory.

[0105] The memory may include non-permanent memory in the computer-readable medium, random access memory (RAM) and / or non-volatile memory in the form of, for example, read-only memory (ROM) or flash memory (flash RAM). The memory is an example of the computer-readable medium.

[0106] Computer-readable media include permanent and non-permanent, removable and non-removable media that can be used to store information by any method or technology. Information can be computer-readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, compact disc read-only memory (CD-ROM), digital versatile disc (DVD) or other optical storage, magnetic cassettes, disk storage, quantum memory, graphene-based storage media or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device. As defined herein, computer-readable media does not include temporary computer-readable media (transitory media), such as modulated data signals and carrier waves.

[0107] It should also be noted that the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, commodity or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, commodity or device. In the absence of more restrictions, the elements defined by the sentence "comprises a ..." do not exclude the existence of other identical elements in the process, method, commodity or device including the elements.

[0108] The above is a description of a specific embodiment of the specification. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recorded in the claims can be performed in an order different from that in the embodiments and still achieve the desired results. In addition, the processes depicted in the drawings do not necessarily require the specific order or continuous order shown to achieve the desired results. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0109] The terms used in one or more embodiments of this specification are only for the purpose of describing specific embodiments, and are not intended to limit one or more embodiments of this specification. The singular forms of "a", "said" and "the" used in one or more embodiments of this specification and the appended claims are also intended to include plural forms, unless the context clearly indicates other meanings. It should also be understood that the term "and / or" used herein refers to and includes any or all possible combinations of one or more associated listed items.

[0110] It should be understood that although the terms first, second, third, etc. may be used in one or more embodiments of this specification to describe various information, such information should not be limited to these terms. These terms are only used to distinguish information of the same type from each other. For example, without departing from the scope of one or more embodiments of this specification, the first information may also be referred to as the second information, and similarly, the second information may also be referred to as the first information. Depending on the context, the word "if" as used herein may be interpreted as "when" or "while" or "in response to determining".

[0111] The foregoing is only a preferred embodiment of one or more embodiments of this specification and is not intended to limit one or more embodiments of this specification. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of one or more embodiments of this specification shall be included within the scope protected by one or more embodiments of this specification.

Claims

1. A control method for charging a mobile intelligent device, which is applied to the mobile intelligent device. The method includes: During the process of the mobile intelligent device moving to a charging device, detecting whether the mobile intelligent device has been docked with the charging device; If the mobile intelligent device has been docked with the charging device, sending a preset control instruction to a motor driver carried by the mobile intelligent device to reduce the maximum torque that the motor driver can output to a preset value; wherein, the charging contacts of the charging device include elastic charging contacts installed on the charging device; when the mobile intelligent device is not docked with the charging device, the elastic charging contacts protrude outwards, so that there is no electrical connection between the elastic charging contacts and the electrodes of the charging device; when the elastic charging contacts are in contact with the charging interface of the mobile intelligent device, the elastic charging contacts are subjected to the pressure of the mobile intelligent device, and an elastic force acting on the mobile intelligent device is generated in the direction away from the charging device by the mobile intelligent device; the preset value is not less than the torque value required to overcome the movement trend of the mobile intelligent device due to the action of the elastic force; Controlling the motor driver to continuously output torque according to the preset value to maintain the electrical connection state between the charging port of the mobile intelligent device and the charging contacts of the charging device.

2. According to the method described in claim 1, before detecting whether the mobile intelligent device has been docked with the charging device during the process of the mobile intelligent device moving to the charging device, the method further includes: Receiving a guiding signal sent by the charging device; wherein, the guiding signal is used to indicate the position of the charging device; In response to the received guiding signal, controlling the motor driver to continuously output torque based on the default value of the maximum torque that can be output to drive the mobile intelligent device to move to the position of the charging device.

3. According to the method described in claim 1, the method further includes: Determining whether the mobile intelligent device has completed charging; If the mobile intelligent device has completed charging, sending a preset recovery instruction to the motor driver to restore the maximum torque that the motor driver can output to the default value, and controlling the motor driver to continuously output torque according to the default value to drive the mobile intelligent device away from the charging device.

4. According to the method described in claim 1, detecting whether the mobile intelligent device has been docked with the charging device includes: Detecting whether the charging port of the mobile intelligent device has been in contact with the charging contacts of the charging device; If so, determining that the mobile intelligent device has been docked with the charging device.

5. According to the method described in claim 4, detecting whether the charging port of the mobile intelligent device has been in contact with the charging contacts of the charging device includes: Detecting the state of the battery of the mobile intelligent device; If the battery is in a charging state, determining that the charging port of the mobile intelligent device is in contact with the charging contacts of the charging device; Or, Based on the distance sensor equipped on the mobile intelligent device, detect whether the distance between the mobile intelligent device and the charging device is less than a threshold value; If so, determine that the charging port of the mobile intelligent device is in contact with the charging contact of the charging device.

6. The method according to claim 1, wherein the method further comprises: During the charging process of the mobile intelligent device, monitor the charging efficiency value and / or the temperature value of the mobile intelligent device, and dynamically adjust the preset value based on the monitoring result, so that the charging efficiency value and / or the temperature value of the mobile intelligent device are within a preset value range.

7. The method according to claim 1, wherein the mobile intelligent device includes a mobile robot.

8. The method according to claim 7, wherein the preset value needs to meet one or more of the following combinations of conditions when being determined: Overcome the movement trend of the mobile robot caused by an external force; Overcome the movement trend of the mobile robot caused by gravity; Overcome the internal resistance that hinders the movement of the mobile robot.

9. A control device for charging a mobile intelligent device, applied to the mobile intelligent device, the device comprising: A detection module, during the process of the mobile intelligent device moving to the charging device, detect whether the mobile intelligent device has been docked with the charging device; A control module, if the mobile intelligent device has been docked with the charging device, send a preset control instruction to the motor driver equipped on the mobile intelligent device, reduce the maximum torque that the motor driver can output to a preset value, and control the motor driver to continuously output torque according to the preset value to maintain the electrical connection state between the charging port of the mobile intelligent device and the charging contact of the charging device; wherein, the charging contact includes an elastic charging contact installed on the charging device; when the mobile intelligent device is not docked with the charging device, the elastic charging contact protrudes outwards, so that there is no electrical connection between the elastic charging contact and the electrode of the charging device; When the elastic charging contact is in contact with the charging interface of the mobile intelligent device, the elastic charging contact is subjected to the pressure of the mobile intelligent device, and generates an elastic force applied to the mobile intelligent device in the direction away from the charging device by the mobile intelligent device; the preset value is not less than the torque value required to overcome the movement trend of the mobile intelligent device caused by the elastic force.

10. An electronic device, comprising: A processor; A memory for storing instructions executable by the processor; Wherein, the processor realizes the method according to any one of claims 1-8 by running the executable instructions.

11. A machine-readable storage medium, on which machine-readable instructions are stored, and when the instructions are executed by a processor, the steps of the method according to any one of claims 1-8 are realized.

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