A method and apparatus for determining a charging location, charging

Abstract

The application provides a method and device for determining a charging position and charging, relates to the technical field of electronics, and is used for reducing the number of charging piles that need to be deployed in a factory, improving space utilization, and achieving the purpose of reducing production cost. The scheme comprises the following steps: obtaining three-dimensional pose information of a target charging interface, the three-dimensional pose information being used to indicate the relative position of the charging interface of the target charging interface and an electric device when the target charging interface is connected to the electric device for charging; determining N charging positions of the target charging interface according to the three-dimensional pose information of the target charging interface, wherein N is greater than or equal to 2; the N charging positions correspond to N types of electric devices; when any type of electric device is located at the corresponding charging position and the charging pose angle matches the relative position and pose of the target charging interface, the charging interface is aligned with the target charging interface; the height of the charging interface of each type of electric device in the N types of electric devices is the same as that of the target charging interface; and a charging reference point is a motion center point of the electric device.

Description

Technical Field

[0001] This application relates to the field of electronic technology, and in particular to a method and apparatus for determining the charging location and charging. Background Technology

[0002] In recent years, with the continuous development of automation technology, a new high-tech field—unmanned transport vehicle (UHT) technology—has gradually come into view. Robots can walk and stop at designated locations according to path planning and operational requirements, automatically completing a series of transportation tasks. With the widespread application of robots, the market demands increasingly higher levels of adaptability, functionality, positioning accuracy, and load-bearing capacity, leading to a proliferation of robot types. For example, in the same warehouse of a factory, ordinary robotic equipment and forklift robotic equipment work collaboratively.

[0003] In traditional robot scheduling systems, each type of robot has its corresponding charging station deployed on the scene map. This means that one charging station can only charge one fixed model of robot. Even if other robots use the same charging interface and charging voltage as the fixed model of robot, differences in the position and angle of the charging port can prevent them from connecting properly to the charging equipment.

[0004] Obviously, in scenarios where multiple different types of robots work together, deploying dedicated charging stations for each type of robot would not only require too much space, but would also affect the path planning of normal operations and the efficiency of robot operation, thereby increasing production costs. Summary of the Invention

[0005] This application provides a method and apparatus for determining charging location and charging, which replaces the method of setting up charging interfaces for each type of electrical equipment, reduces the number of charging piles that need to be deployed in the factory, improves space utilization, and achieves the purpose of reducing production costs and improving efficiency.

[0006] To achieve the above objectives, the embodiments of this application adopt the following technical solutions:

[0007] Firstly, a method for determining a charging position is provided. This method may include: acquiring three-dimensional attitude information of a target charging interface, the three-dimensional attitude information indicating the relative position of the target charging interface to the charging interface of a device when the target charging interface is connected to the device for charging; determining N charging positions of the target charging interface based on the three-dimensional attitude information of the target charging interface, where N is greater than or equal to 2; the N charging positions correspond to N types of devices, and when any type of device is located at its corresponding charging position and its charging attitude angle matches the relative pose of the target charging interface, the charging interface is aligned with the target charging interface; the charging interface of each of the N types of devices has the same height as the target charging interface; the position of the charging reference point is different when the charging interfaces of different types of devices are aligned with the target charging interface; the charging reference point is the motion center point of the device.

[0008] The scheme for determining the charging position provided in this application, after obtaining the three-dimensional pose information of the target charging interface, can determine N charging positions of the target charging interface, where N is greater than or equal to 2. This achieves the effect of aligning the charging interface with the target charging interface when a type of electrical device is located at its corresponding charging position and the charging pose angle matches the relative pose of the target charging interface. In practical applications, the target charging interface can determine the value of N based on the actual usage environment (e.g., the usage environment contains multiple types of electrical devices with the same charging interface type and height, differing only in the horizontal position of the plane where the charging interface is located). That is, one charging interface can be compatible with charging multiple types of electrical devices, replacing the method of setting up a dedicated charging interface for each type of electrical device. This reduces the number of charging piles that need to be deployed in the factory, improves space utilization, and achieves the goal of reducing production costs and improving efficiency.

[0009] In one possible implementation, determining N charging positions for the target charging interface based on its three-dimensional attitude information can include: identifying N types of electrical devices corresponding to the target charging interface; and determining N charging positions based on the three-dimensional attitude information of the target charging interface and the three-dimensional attitude information of the charging interfaces of the N types of electrical devices. This approach, by identifying the N types of electrical devices corresponding to the target charging interface, determines the number of types of electrical devices with the same height and type as the target charging interface. Matching the three-dimensional attitude information of the target charging interface with the three-dimensional attitude information of the charging interfaces of the aforementioned N types of electrical devices further determines the N charging positions for these N types of electrical devices. This reduces the number of electrical device types detected when determining the charging positions for the target charging interface, thus improving work efficiency.

[0010] In one possible implementation, the target charging interface has a default charging position. The target charging interface supports charging of a first type of electrical device at this default charging position. The first type of electrical device is any electrical device in N types whose corresponding charging position is the same as the default charging position. Based on the three-dimensional attitude information of the target charging interface, N charging positions of the target charging interface are determined. This can include: obtaining the coordinate difference between the horizontal positions of the charging interfaces of the first type of electrical device and each charging interface of the second type of electrical device, based on the three-dimensional attitude information of the charging interfaces of the first type of electrical device and the three-dimensional attitude information of the charging interfaces of the second type of electrical device. The second type of electrical device consists of N-1 types of electrical devices other than the first type. Based on the coordinates of the default charging position and the coordinate differences, N-1 charging positions of the target charging interface corresponding to the second type of electrical device are determined. In this way, other types of electrical devices can determine the distance to move to the default charging position based on the difference in three-dimensional attitude information between their charging interfaces and those of the first type of electrical devices, allowing other types of electrical devices to be charged at the target charging interface.

[0011] In one possible implementation, determining N charging positions for the target charging interface based on its three-dimensional attitude information can include: determining the position of a charging reference point when the charging interface of each type of device aligns with the target charging interface based on the target charging interface's three-dimensional attitude information and the three-dimensional attitude information of the charging interfaces of N types of devices; and using the position of the charging reference point as the corresponding charging position for each type of device. It is worth noting that the target charging interface may not have a default charging position. The position corresponding to the charging reference point when the charging interface of a third type of device aligns with the target charging interface can be used as the charging position for the third type of device, or it can be the default charging position for the target charging interface.

[0012] In one possible implementation, N charging positions of the target charging interface are determined based on its three-dimensional attitude information. This includes: outputting the three-dimensional attitude information of the target charging interface; and receiving N charging positions input by the user. This way, the N charging positions of the target charging interface are no longer limited to those determined by the control device; the user can input specific charging positions according to actual needs, thus meeting the user's actual production requirements.

[0013] In one possible implementation, the method provided in this application may further include: receiving registration information of a third type of electrical device, the registration information including the three-dimensional posture information of the charging interface of the third type of electrical device; the third type of electrical device is an electrical device that has not yet been configured with a corresponding charging position; and determining the charging position corresponding to the third type of electrical device on the target charging interface based on the three-dimensional posture information of the target charging interface and the three-dimensional posture information of the charging interface of the third type of electrical device. It is worth noting that the third type of electrical device refers to an unregistered type of electrical device. When the electrical device sends registration information, since the registration information includes the three-dimensional posture information of the charging interface of the electrical device, the charging device determines the charging position corresponding to the third type of electrical device by matching the charging interface corresponding to the third type of electrical device. The process of determining the corresponding charging position for an unregistered electrical device can be completed automatically after receiving the registration information of the electrical device, avoiding excessive user intervention, improving the automation level of the charging process, and increasing production efficiency.

[0014] In one possible implementation, the method provided in this application may further include: displaying a configuration interface for the target charging interface, the configuration interface including the charging location corresponding to the N-type electrical equipment. This facilitates users in viewing the configuration information of the target interface and subsequent management.

[0015] In one possible implementation, the method provided in this application may further include: receiving a modification command input by the user in a configuration interface, the modification command being used to modify the charging position corresponding to the third type of electrical equipment; and updating the charging position corresponding to the third type of electrical equipment in response to the modification command. It is understood that if the third type of electrical equipment is located at its assigned charging position, there may be a slight misalignment between the charging interface of the third type of electrical equipment and the target charging interface. In this case, the user can modify the charging position corresponding to the third type of electrical equipment through the configuration interface to ensure precise alignment between the charging interface of the third type of electrical equipment and the target charging interface.

[0016] In one possible implementation, the method provided in this application may further include: identifying the device to be charged; sending a scheduling task to the device to be charged, the scheduling task instructing the device to move to the charging location corresponding to the category of the device to which it belongs. In this way, when the device needs charging, it will move to its corresponding charging location according to a preset strategy.

[0017] Secondly, this application provides a charging method applied to a scheduling device, which schedules electrical devices to charge in a charging system. The method may include: determining the electrical device to be charged; determining a target charging interface for the electrical device to be charged, the target charging interface being at the same height as the charging interface of the electrical device to be charged; determining a charging position within the target charging interface corresponding to the electrical device to be charged; aligning the charging interface with the target charging interface when the electrical device to be charged is located at its corresponding charging position; and sending a scheduling task to the electrical device to be charged, the scheduling task instructing the electrical device to move to the charging position corresponding to the category of electrical devices to which the electrical device to be charged belongs.

[0018] The charging scheme provided in this application, after determining that a device needs charging, first identifies the target charging interface corresponding to the device, and then determines the charging position of the device within that target charging interface. This ensures that when the device moves to that charging position, its charging interface aligns with the target charging interface. Finally, a scheduling task is sent to the device to move to the charging position corresponding to its category. In this way, without human intervention, the system automatically determines whether a device needs charging and identifies its target charging interface and corresponding charging position, enabling the device to automatically select the target charging interface and move to the charging position, thus improving the efficiency of the device and its charging system.

[0019] In one possible implementation, a charging interface in the charging system is configured with charging positions corresponding to different types of electrical devices; when the charging interfaces of different types of electrical devices are aligned with the charging interfaces in the charging system, the positions of the charging reference points are different; N is greater than or equal to 2; determining the target charging interface of the electrical device to be charged includes: determining the charging interface configured with the charging position corresponding to the type of the electrical device to be charged as the target charging interface; determining the charging position in the target charging interface corresponding to the electrical device to be charged may include: determining the charging position in the target charging interface corresponding to the type of the electrical device to be charged as the charging position corresponding to the electrical device to be charged.

[0020] In one possible implementation, determining the charging position in the target charging interface corresponding to the device to be charged may include: determining the position of the charging reference point of the device to be charged when the charging interface of the device to be charged is aligned with the target charging interface based on the three-dimensional attitude information of the target charging interface and the three-dimensional attitude information of the charging interface of the device to be charged; and using the position of the charging reference point as the charging position corresponding to the device to be charged.

[0021] Thirdly, this application provides an apparatus for determining a charging position. The apparatus may include: an acquisition module for acquiring three-dimensional attitude information of a target charging interface, the three-dimensional attitude information indicating the relative position of the target charging interface with respect to the charging interface of a device when the target charging interface is connected to the device for charging; and a determination module for determining N charging positions of the target charging interface based on the three-dimensional attitude information of the target charging interface, where N is greater than or equal to 2; the N charging positions correspond to N types of devices, and when any type of device is located at its corresponding charging position and its charging attitude angle matches the relative pose of the target charging interface, the charging interface is aligned with the target charging interface; the charging interface of each type of device in the N types of devices has the same height as the target charging interface; the position of the charging reference point is different when the charging interfaces of different types of devices are aligned with the target charging interface; the charging reference point is the center point of the device's movement.

[0022] In one possible implementation, the aforementioned determining module is further used to determine the N types of electrical devices corresponding to the target charging interface; specifically, the determining module is used to determine N charging positions based on the three-dimensional attitude information of the target charging interface and the three-dimensional attitude information of the charging interfaces of the N types of electrical devices.

[0023] In one possible implementation, the target charging interface has a default charging position, which supports charging of a first type of electrical device at the default charging position. The first type of electrical device is an electrical device in N types of electrical devices whose corresponding charging position is the same as the default charging position. The acquisition module is further used to obtain the coordinate difference of the horizontal position of the charging interface of the first type of electrical device and the charging interface of the second type of electrical device based on the three-dimensional posture information of the charging interface of the first type of electrical device and the three-dimensional posture information of the charging interface of the second type of electrical device. The second type of electrical device is N-1 types of electrical devices in N types of electrical devices, excluding the first type of electrical devices. The determination module specifically determines N-1 charging positions of the target charging interface corresponding to the second type of electrical device based on the coordinates of the default charging position and the coordinate difference.

[0024] In one possible implementation, the aforementioned determining module is specifically used to determine the position of the charging reference point when the charging interface of each type of electrical device is aligned with the target charging interface based on the three-dimensional attitude information of the target charging interface and the three-dimensional attitude information of the charging interfaces of N types of electrical devices, and to use the position of the charging reference point as the charging position corresponding to each type of electrical device.

[0025] In one possible implementation, the device further includes an output module for outputting three-dimensional attitude information of the target charging interface; the device also includes a receiving module for receiving N charging positions input by the user.

[0026] In one possible implementation, the receiving module is further configured to receive registration information of a third type of electrical device, the registration information including the three-dimensional attitude information of the charging interface of the third type of electrical device; the third type of electrical device is an electrical device that has not yet been configured with a corresponding charging position; the determining module is specifically configured to determine the charging position corresponding to the third type of electrical device on the target charging interface based on the three-dimensional attitude information of the target charging interface and the three-dimensional attitude information of the charging interface of the third type of electrical device.

[0027] In one possible implementation, the device further includes a display module for displaying a configuration interface for the target charging interface, the configuration interface including the charging location corresponding to the N-type electrical equipment.

[0028] In one possible implementation, the receiving module is further configured to receive a modification instruction input by the user in the configuration interface, the modification instruction being used to modify the charging position corresponding to the third type of electrical equipment; the device also includes an updating module, configured to update the charging position corresponding to the third type of electrical equipment in response to the modification instruction.

[0029] In one possible implementation, the determining module is further configured to determine the electrical equipment to be charged; the device further includes a sending module configured to send a scheduling task to the electrical equipment to be charged, the scheduling task being configured to instruct the electrical equipment to be charged to move to the charging location corresponding to the category of electrical equipment to which the electrical equipment to be charged belongs.

[0030] Fourthly, this application provides a charging device applied to a scheduling device, which schedules electrical equipment to charge in a charging system. The device includes: a determining module for determining an electrical device to be charged; the determining module further for determining a target charging interface of the electrical device to be charged, the target charging interface being at the same height as the charging interface of the electrical device to be charged; the determining module further for determining a charging position within the target charging interface corresponding to the electrical device to be charged; when the electrical device to be charged is located at its corresponding charging position, the charging interface is aligned with the target charging interface; and a sending module for sending a scheduling task to the electrical device to be charged, the scheduling task instructing the electrical device to move to the charging position corresponding to the category of electrical equipment to which the electrical device to be charged belongs.

[0031] In one possible implementation, a charging interface in the charging system is configured with charging positions corresponding to different types of electrical devices; when the charging interfaces of different types of electrical devices are aligned with the charging interfaces in the charging system, the positions of the charging reference points are different; the number of charging positions is greater than or equal to 2; the aforementioned determining module is specifically used to determine the charging interface configured with the charging position corresponding to the type of electrical device to be charged as the target charging interface; the aforementioned determining module is specifically used to determine the charging position in the target charging interface corresponding to the type of electrical device to be charged as the charging position corresponding to the electrical device to be charged.

[0032] In one possible implementation, the aforementioned determining module is specifically used to determine the position of the charging reference point of the device to be charged when the charging interface of the device to be charged is aligned with the target charging interface, based on the three-dimensional attitude information of the target charging interface and the three-dimensional attitude information of the charging interface of the device to be charged, and to use the position of the charging reference point as the corresponding charging position of the device to be charged.

[0033] Fifthly, this application provides a server comprising one or more processors and one or more memories; the one or more memories are coupled to the one or more processors, and the one or more memories are used to store computer program code, the computer program code including computer instructions, and when the one or more processors execute the computer instructions, the server performs a method for determining a charging location and charging, as described in the first aspect and any of the methods therein.

[0034] In a sixth aspect, this application provides a computer-readable storage medium storing computer instructions that, when executed on a server, cause the server to perform the method for determining a charging location as described in the first aspect or any possible implementation, or to perform the charging method as described in the second aspect or any possible implementation.

[0035] In a seventh aspect, this application provides a computer program product comprising computer instructions that, when the computer program product is run on a computer, cause the computer to perform the method for determining a charging location as described in the first aspect or any possible implementation, or to perform the charging method as described in the second aspect or any possible implementation.

[0036] For a detailed description of aspects three through seven and their various implementations in this application, please refer to the detailed descriptions in aspects one and two and their various implementations; and for a detailed description of the beneficial effects of aspects three through seven and their various implementations, please refer to the beneficial effect analysis in aspects one and its various implementations, which will not be repeated here. Attached Figure Description

[0037] Figure 1a This is a schematic diagram of a robot application scenario provided in an embodiment of this application;

[0038] Figure 1b A schematic diagram of a scene map of a robot scheduling center provided in an embodiment of this application;

[0039] Figure 2 This is a schematic diagram of a charging scenario provided in an embodiment of this application;

[0040] Figure 3 A schematic diagram of a process for determining a charging position is provided in an embodiment of this application;

[0041] Figure 4a A two-dimensional spatial coordinate system provided in the embodiments of this application;

[0042] Figure 4b A schematic diagram of a scene map of a robot scheduling center provided in an embodiment of this application;

[0043] Figure 5 This application provides a schematic diagram illustrating the positional relationship between a target charging interface and a power-consuming device.

[0044] Figure 6 A schematic diagram of a human-computer interaction interface provided in an embodiment of this application;

[0045] Figure 7 A schematic diagram of a process for determining a charging position is provided in an embodiment of this application;

[0046] Figure 8 A schematic diagram of the human-computer interaction interface of the managed charging interface provided in the embodiments of this application;

[0047] Figure 9 A schematic diagram of the configuration interface of the target charging interface provided in the embodiments of this application;

[0048] Figure 10 A schematic flowchart of a charging method provided in an embodiment of this application;

[0049] Figure 11 A schematic flowchart illustrating another charging method provided in an embodiment of this application;

[0050] Figure 12 An interactive flowchart of a charging method provided in an embodiment of this application;

[0051] Figure 13 A flowchart illustrating a charging method provided in an embodiment of this application;

[0052] Figure 14 A schematic diagram of the hardware structure of a device for determining a charging position provided in an embodiment of this application;

[0053] Figure 15 A schematic diagram of the hardware structure of another device for determining the charging position provided in an embodiment of this application;

[0054] Figure 16 A schematic diagram of the hardware structure of a charging device provided in an embodiment of this application;

[0055] Figure 17 This is a schematic diagram of the structure of a server provided in an embodiment of this application. Detailed Implementation

[0056] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of this application.

[0057] The terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, unless otherwise stated, "multiple" means two or more. Furthermore, "at least one" means one or more, and "multiple" means two or more.

[0058] It should be noted that, in this application, the terms "exemplary" or "for example" are used to indicate that something is being described as an example, illustration, or illustration. Any embodiment or design described as "exemplary" or "for example" in this application should not be construed as being more preferred or advantageous than other embodiments or design solutions. Specifically, the use of terms such as "exemplary" or "for example" is intended to present the relevant concepts in a concrete manner.

[0059] First, some of the terms used in this application will be explained to facilitate understanding by those skilled in the art.

[0060] Charging reference point: This refers to the reference point (or base point) used by the electrical equipment during charging and movement. The charging reference point can be any location on the electrical equipment. For example, it can be a vertex on the side where the charging port is located, or it can be the center point of the electrical equipment's movement.

[0061] Charging position: This refers to the area where the electrical device is located when connected to a charging device, or the location of the charging reference point of the electrical device. The charging position can be an area or the coordinate position of a point in a coordinate system. When the electrical device moves to its charging position (charging position indicator area), or when the charging reference point of the electrical device moves to its charging position (charging position indicator point), the charging interface of the electrical device is aligned with the charging interface of the charging device. It should be understood that charging interface alignment means that the output voltage of the charging device is sufficient to charge the electrical device.

[0062] Class I electrical equipment: refers to electrical equipment with the same charging location.

[0063] 3D attitude information: This describes the relative position of a device and a charging device when the device is connected for charging. The 3D attitude information of the device indicates the position and angle of its charging port. The 3D attitude information of the charging device indicates the position and angle of its charging port. This information may include: information about the charging port's location on the device's surface (e.g., front, side, or back), its relative position on the surface (e.g., center of the front or other location), and the angle of the charging port (e.g., straight or angled).

[0064] exist Figure 1a In the robot application scenario shown, the charging interface type and height of robot A 30 are the same as those of robot B 31 and robot C 32, only differing in the horizontal position of the charging interface. Specifically, the charging interface 301 of robot A 30 is located in the middle of its plane, the charging interface 311 of robot B 31 is located on one side of its plane, and the charging interface 321 of robot C 32 is located on the other side of its plane.

[0065] The charging interface 101 of the charging device 10 has only one charging area 102. When the Class A robot 30 moves to the charging area 102, the charging interface 301 aligns with the charging interface 101, and charging can begin. When the Class B robot 31 or the Class C robot 32 moves to the charging area 102, the charging interface 311 or the charging interface 321 cannot align with the charging interface 101. That is, the charging interface 101 of the charging device 10 can only provide charging services to the Class A robot 30.

[0066] like Figure 1b In the schematic diagram of the robot dispatch center scene map shown, the dashed lines represent the robot's route, and box A can be... Figure 1aThe charging port 101 of the charging device 10 corresponds to a single charging area 102. This is understandable. Figure 1a When the Class A robot 30 moves to box A, its charging port aligns with the charging port of the charging device, allowing it to charge. Figure 1a When either type B robot 31 or type C robot 32 moves to box A, the charging port of type B robot 31 or type C robot 32 cannot be aligned with the charging port of the charging device. That is... Figure 1a The charging interface 101 of the charging device 10 has only one charging location that provides charging service for the Class A robot 30, that is... Figure 1b Box A in the middle.

[0067] Based on the above problems, this application proposes a method and apparatus for determining charging locations and charging. One charging interface supports multiple charging locations, and one charging location is used to charge one type of electrical equipment. This enables one charging interface to support charging for multiple types of electrical equipment, replacing the need to set up a dedicated charging interface for each type of electrical equipment. This reduces the number of charging piles that need to be deployed in the factory, improves space utilization, and achieves the goal of reducing production costs and improving efficiency.

[0068] For ease of understanding, one of the system architectures on which the embodiments of this application are based will be described below.

[0069] Figure 2 This is a schematic diagram of a charging scenario provided in an embodiment of this application. For example... Figure 2 As shown, the scenario includes charging device 201, power-consuming device 202, scheduling device 203, and control device 204.

[0070] Among them, the power-consuming equipment 202 is used to move and perform tasks in the work area. When the power is insufficient, the scheduling equipment 203 selects a suitable charging equipment 201 and schedules the power-consuming equipment 202 to connect to the selected charging equipment 201 for charging.

[0071] The control device 204 is used to configure the information or strategies used by the scheduling device 203. For example, the control device 204 can execute the scheme provided in this application to configure multiple charging positions on a charging interface of the charging device 201 for charging various types of electrical equipment 202; the control device 204 can send the configured content to the scheduling device 203, and the scheduling device 203 can schedule the electrical equipment 202 to be charged according to the configured content.

[0072] It should be noted that the control device 204 and the scheduling device 203 can be servers or other types of computing devices. This application embodiment does not specifically limit the product form of the control device 204 and the scheduling device 203. The control device 204 and the scheduling device 203 can be centrally deployed (i.e., deployed within a single device), or they can be deployed separately (e.g., ...). Figure 2 (Illustrative image shown), but the embodiments in this application are not limited in this respect.

[0073] The technical solutions in the embodiments of this application will now be described with reference to other accompanying drawings.

[0074] On the one hand, embodiments of this application provide a method for determining the charging location, which can be applied to... Figure 2 The control device 204 is shown in the diagram.

[0075] It should be noted that the following embodiments of this application are used as examples to illustrate the process of determining multiple charging positions of a target charging interface. In practical applications, the process of determining multiple charging positions for any charging interface is the same, and other methods will not be described in detail.

[0076] like Figure 3 As shown, the method for determining the charging position provided in this application embodiment may include:

[0077] S301, The control device acquires the three-dimensional attitude information of the target charging interface.

[0078] Among them, the three-dimensional attitude information of the target charging interface is used to indicate the relative position of the target charging interface to the charging interface of the device when the device is connected for charging.

[0079] As one possible implementation, the three-dimensional orientation information of the target charging interface includes length, width, and height information. The length and width information can be used to describe the appearance of the target charging interface within its plane, such as circular, square, or other shapes. The height information can be used to identify multiple electrical devices with the same height as the target charging interface, and then to determine the corresponding charging position from among these devices.

[0080] As one possible implementation, the three-dimensional attitude information of the target charging interface can be pre-configured and stored, and can be retrieved by the control device in S301. The storage location of the three-dimensional attitude information of the target charging interface can be inside the control device or in other locations; this embodiment of the application does not limit this.

[0081] S302. The control device determines N charging positions of the target charging interface based on the three-dimensional attitude information of the target charging interface, where N is greater than or equal to 2.

[0082] In this setup, N charging positions correspond to N types of electrical devices. When a type of electrical device is located at its corresponding charging position and its charging posture angle matches the relative pose of the target charging interface, the charging interface is aligned with the target charging interface. The charging interface of each of the N types of electrical devices has the same height as the target charging interface. The position of the charging reference point differs when the charging interfaces of different types of electrical devices are aligned with the target charging interface. The charging reference point is the center of motion of the electrical device during charging and movement.

[0083] Optionally, S302 determines N charging positions based on the three-dimensional attitude information of the target charging interface, which can be achieved through, but is not limited to, the following two methods:

[0084] Option 1: The control device automatically determines the N charging positions of the target charging interface.

[0085] As one possible implementation, the control device can determine the type N electrical devices corresponding to the target charging interface. Based on the three-dimensional attitude information of the target charging interface and the three-dimensional attitude information of the charging interfaces of the type N electrical devices, N charging positions are determined.

[0086] Among them, the electrical device corresponding to the target charging interface refers to the electrical device with the same height as the charging interface of the target charging device. The position of the charging reference point differs when the charging interfaces of different types of electrical devices are aligned with the target charging interface. Therefore, it can be understood that the N types of electrical devices corresponding to the target charging interface refer to the classification of electrical devices with the same height as the target charging device's charging interface according to the position of the charging reference point.

[0087] In Scheme 1, the automatic determination process can be divided into the following two cases: Case 1 and Case 2.

[0088] Scenario 1: The target charging port has a default charging location.

[0089] In one possible implementation, the target charging interface supports charging of a first type of electrical device at a default charging position. The first type of electrical device refers to any electrical device in N types whose corresponding charging position is the same as the default charging position. Based on the three-dimensional attitude information of the target charging interface, N charging positions of the target charging interface are determined, including: obtaining the coordinate difference between the horizontal positions of the charging interfaces of the first type of electrical device and each charging interface of the second type of electrical device, based on the three-dimensional attitude information of the charging interfaces of the first type of electrical device and the three-dimensional attitude information of the charging interfaces of the second type of electrical device. The second type of electrical device refers to N-1 types of electrical devices in N types of electrical devices, excluding the first type. Based on the coordinates of the default charging position and the coordinate differences, the N-1 charging positions of the target charging interface corresponding to the second type of electrical device are determined.

[0090] For example, in combination Figure 1a The application scenario shown uses charging interface 101 as the target charging interface. If charging area 102 is the default charging location for charging interface 101, and the first type of electrical device is robot 30 (Class A), assume the robot's charging reference point is its center of motion. Assume the top-view appearance of robot 30 can be considered a square with sides of 100 cm, and its charging interface 301 is 50 cm above the ground, located at the exact center of a horizontal position 50 cm above the ground on the plane in which robot 30 moves. Figure 1a The application scenario shown (top view) is a plane, and a model is created as follows: Figure 4a The two-dimensional spatial coordinate system shown has the center of the charging interface of the Class A robot 30 as the coordinate point a1. When the charging interface 301 of the Class A robot 30 is aligned with the charging interface 101, the charging reference point of the Class A robot 30 is located at the coordinate point a1(50, 50). Therefore, the default charging position of the charging interface 101 can be the coordinate point a1(50, 50).

[0091] Assuming the top-view appearance of robot B31 can also be considered as a square with sides of 100 cm, and its charging port 311 is 50 cm above the ground, its position is 10 cm to the left of the center of the horizontal position 50 cm above the ground in the plane of robot B31's movement direction. Determine the coordinate difference between the horizontal positions of the charging ports of robot A30 and robot B31 as follows: Figure 3 In the schematic coordinate system, the vertical axis is 10 cm downwards, which determines the charging position of the charging interface 101 corresponding to the B-type robot 31 as coordinate point b1(50, 40).

[0092] Understandably, in combination Figure 1b and Figure 4a As shown in the diagram, the position where the charging port of robot A (30) is shifted downwards by 10 centimeters is the charging position where the charging port of robot B is aligned with the target charging port. Figure 4b The scene map of the robot dispatch center shown is shown, where box A can be... Figure 4a The coordinates of the point are a1(50, 50). When based on... Figure 4a After determining the charging reference point coordinates a1(50, 50) of Class A robot 30, the charging location of Class B robot 31 is determined, and the robot scheduling center configures the position of box B in the scene map, that is... Figure 4a The coordinates of point b1 are (50, 40).

[0093] It should be noted that the example in Case 1 is based on the charging location as a single point. Of course, when the charging location is a region, the region indicated by the charging location can be a region centered on the point indicated by the charging location, with the robot's top-down view as the boundary of the region.

[0094] Scenario 2: The target charging port is not configured with a default charging location.

[0095] As one possible implementation, based on the three-dimensional attitude information of the target charging interface, N charging positions of the target charging interface are determined. This includes: determining the position of the charging reference point when the charging interface of each type of device is aligned with the target charging interface, based on the three-dimensional attitude information of the target charging interface and the three-dimensional attitude information of the charging interfaces of N types of electrical devices; and using the position of the charging reference point as the charging position corresponding to each type of electrical device. It is understandable that if only one type of electrical device exists in the actual usage environment (i.e., only one type of electrical device exists), and the target charging interface is not configured with a default charging position, then the control device determines the charging position of the target charging interface corresponding to that type of electrical device, which is the default charging position of that target charging interface.

[0096] For example, such as Figure 5 In the schematic diagram showing the positional relationship between the target charging interface and the electrical device, the charging device 40 has a target charging interface 401, and the charging interface 4021 of the third type of electrical device 402 is aligned with the target charging interface 401.

[0097] As an example, based on this positional relationship, the location of the charging reference point 4022 of the third type of electrical equipment 402 is taken as the charging location corresponding to the target charging interface 401 and the third type of electrical equipment 40. The area with the top view of the third type of electrical equipment 402 as the boundary is taken as the charging location corresponding to the third type of electrical equipment.

[0098] As another example, such as Figure 5 As shown, based on this positional relationship, the location of the charging reference point 4022 of the third type of electrical equipment 402 is taken as the reference position, and the top view of the third type of electrical equipment 402 is taken as the boundary of the region, and the region 1 is taken as the charging position corresponding to the target charging interface 401 and the third type of electrical equipment 40 (this charging position is a region).

[0099] It is understandable that the default charging position of the target charging interface can be the position of the charging reference point when the charging interface of any type of electrical device is aligned with the target charging interface. The control device can determine the positional relationship of the charging position of other types of electrical devices (the default charging position of the target charging interface) based on the difference in the three-dimensional posture information between the type of electrical device corresponding to the default charging position of the target charging interface and other types of electrical devices corresponding to the target charging interface. This allows the target charging interface to have multiple charging positions.

[0100] Option 2: The user inputs N charging positions of the target charging interface on the control device.

[0101] Specifically, in Scheme 2, the control device can output the three-dimensional attitude information of the target charging interface and receive N charging positions of the target charging interface input by the user.

[0102] For example, such as Figure 6 The control device shown provides a human-machine interface. This interface includes output content 601, used to output the three-dimensional attitude information of the target charging interface to the user. The interface also includes an interaction box 602, used to receive N charging positions of the target charging interface input by the user. Then, the charging positions received in the interaction box 602 are used as multiple charging positions of the target charging interface.

[0103] Understandably, one or more interaction boxes 602 can be set.

[0104] Furthermore, in Scheme 2, when configuring N charging positions for the target charging interface, the user can also provide the type of electrical equipment corresponding to each charging position, so that the N charging positions correspond to N types of electrical equipment.

[0105] It should be noted that a charging position can also be configured for a charging port following the procedures in S301 and S302, i.e., N is 1 above. The configuration process will not be described in detail here.

[0106] The solution provided in this application determines N charging locations for a target charging interface. These N charging locations correspond to N types of electrical equipment. When a type of electrical equipment is located at its corresponding charging location, the charging interface is aligned with the target charging interface. This enables a single charging interface to support charging for multiple types of electrical equipment, replacing the need to set up dedicated charging interfaces for each type of electrical equipment. This reduces the number of charging piles that need to be deployed in the factory, improves space utilization, and achieves the goal of reducing production costs and improving efficiency.

[0107] Furthermore, when a new type of electrical device is registered, the method provided in this application embodiment can also determine the charging location corresponding to the type of the newly registered electrical device.

[0108] like Figure 7 As shown, the method provided in this application embodiment may further include: S303 and S304.

[0109] S303. The control equipment receives the registration information of Class III electrical equipment.

[0110] The third category of electrical equipment refers to electrical equipment that has not yet been configured with a corresponding charging location; in other words, the third category of electrical equipment is a new type of electrical equipment. The registration information for the third category of electrical equipment includes the three-dimensional orientation information of the charging interface of the third category of electrical equipment.

[0111] For example, the registration information may include: the device identification code, the device model, and the device charging posture.

[0112] The equipment identification code is used to uniquely identify the equipment, and there is no possibility of duplicate equipment identification codes. The equipment model number indicates the type of equipment, such as forklift type I, forklift type II, towing type A, etc. Different models of equipment may have the same or different structural features, but equipment of the same model must have the same charging position. The equipment charging posture indicates the position and / or angle of the charging interface.

[0113] As one possible implementation, after the third type of electrical equipment is powered on, it actively reports its registration information. After receiving the registration information, the corresponding scheduling equipment forwards it to the control equipment.

[0114] For example, after a third type of electrical equipment is powered on, it proactively reports its capability value, which includes its registration information.

[0115] As another possible implementation, users can set up the registration information for the third type of electrical equipment through the human-computer interaction platform provided by the control device.

[0116] S304. Based on the three-dimensional attitude information of the target charging interface and the three-dimensional attitude information of the charging interface of the third type of electrical equipment, the control device determines the charging position corresponding to the third type of electrical equipment on the target charging interface.

[0117] Among them, the charging interface in the charging equipment corresponding to the third type of electrical equipment refers to the charging interface in the charging equipment that has the same height as the charging interface of the third type of electrical equipment.

[0118] It should be noted that the process of determining the charging location of the third type of electrical equipment in S304 can be referred to in S302 above, and will not be elaborated on here.

[0119] Furthermore, the control device can present the N charging positions of the identified target charging interface to the user through a human-machine interaction platform for easy management.

[0120] like Figure 7 As shown, the method provided in this application embodiment may further include S305.

[0121] S305. The control device displays the configuration interface of the target charging interface, which includes the charging position corresponding to the N-type electrical equipment.

[0122] In one possible implementation, the control device can execute S305 according to the user's request.

[0123] For example, the control device can provide, as Figure 8 The human-machine interface shown includes identifiers for the charging interfaces managed by the control device. When the user selects any charging interface as the target charging interface, the control device can execute S305 to display the configuration interface of the user-selected target charging interface.

[0124] For example, when a user is Figure 8 In the illustrated interface, if charging interface 2 is selected as the target charging interface, the control device can execute S305 to display the configuration interface of charging interface 2.

[0125] For example, when a user is Figure 8 In the illustrated interface, select charging port 2 as the target charging port, and control the device to... Figure 8 The interface shown displays the operation window 801 corresponding to the charging interface 2. The user clicks on the management operation 8011 in the operation window 801, and the control device executes S305 to display the configuration interface of the charging interface 2.

[0126] Furthermore, based on S305, the method provided in this application embodiment may also include a charging position adjustment process. For example... Figure 7 As shown, the method provided in this application embodiment may further include S306 and S307.

[0127] S306. The control device receives modification commands input by the user in the configuration interface.

[0128] This modification instruction is used to change the charging location corresponding to the third type of electrical equipment. The third type of electrical equipment is any type of electrical equipment corresponding to the target charging interface.

[0129] For example, the configuration interface of the target charging port can be as follows: Figure 9 As shown, the configuration interface includes the identifier of the target charging port and the coordinates of multiple charging positions for the currently configured target charging port. The configuration interface also provides an icon 901 for modifying the charging position coordinates.

[0130] Optional, such as Figure 9 As shown, when the user clicks the edit icon 901 for charging location a, a configuration box 902 for charging location a is displayed at the bottom of the configuration interface. In configuration box 902, the user can modify the relevant information for charging location a, and the control device updates the relevant information for charging location a according to the user's modifications in configuration box 902.

[0131] Optional, such as Figure 9As shown, the configuration interface also provides a delete icon 903 for the charging location, which is used to delete the coordinates of the charging location.

[0132] Optional, such as Figure 9 As shown, the configuration interface also provides an icon 904 for adding a charging location, which is used to add a new charging location to the target charging port.

[0133] Furthermore, when the user clicks the "Add Charging Location" icon 904, the system outputs information about the new charging location the user inputs. For details, please refer to [link / reference needed]. Figure 6 As shown, the control device will save the relevant information of the new charging location.

[0134] S307. The control device responds to the modification command and updates the charging position corresponding to the third type of electrical equipment.

[0135] As one possible implementation, after receiving a modification instruction, the control device updates the charging position corresponding to the third type of electrical equipment under the target charging interface.

[0136] As another possible implementation, after receiving the modification instruction, the control device updates the charging position of the third type of electrical equipment under all charging interfaces in the charging system.

[0137] Furthermore, when the power supply of an electrical device is low and it needs to be charged, based on the solutions described in S301 and S302 above, the method provided in this application embodiment may further include a charging process. For example... Figure 10 As shown, the method provided in this application embodiment may further include S308 and S309.

[0138] S308. The control device identifies the electrical equipment to be charged.

[0139] As one possible implementation, if the remaining power of the electrical device is less than the first remaining power, the electrical device actively sends a charging request to the control device, and the control device identifies the electrical device that sends the charging request as the electrical device to be charged.

[0140] As another possible implementation, the control device obtains the remaining power of the electrical equipment it controls, and identifies the electrical equipment with a remaining power less than a second remaining power as the electrical equipment to be charged.

[0141] S309. The control device sends a scheduling task to the electrical equipment to be charged. The scheduling task is used to instruct the electrical equipment to be charged to move to the charging location corresponding to the category of electrical equipment to which the electrical equipment to be charged belongs.

[0142] Specifically, in S309, the control device first determines the charging location corresponding to the category of the electrical equipment to be charged.

[0143] For example, the control device records the type of electrical device corresponding to the charging position of each charging interface. This information can be sent by the scheduling device. Based on this information, the control device can first determine multiple charging positions corresponding to the category of electrical device to be charged, and then select a charging position as the charging position corresponding to the category of electrical device to be charged according to the strategy.

[0144] The aforementioned strategy can be to select the nearest and available charging location, or it can be to select an available charging location on the current task path. Of course, the strategy can be configured according to actual needs, and this embodiment of the application does not limit it in this regard.

[0145] Furthermore, after receiving the scheduling task, the device to be charged moves to the corresponding charging location according to the scheduling task and completes charging through interaction with the charging interface. The interaction process between the device and the charging interface will not be described in detail in this embodiment.

[0146] On the other hand, embodiments of this application provide a charging method that can be applied to scheduling devices (e.g., Figure 2 (The dispatching device in the system). This dispatching device is used to schedule the charging of electrical equipment within the charging system. For example... Figure 11 As shown, the method may include:

[0147] S1101, The dispatching equipment determines the electrical equipment to be charged.

[0148] It should be noted that the specific implementation of S1101 can be referred to the aforementioned S308 process, and will not be repeated here.

[0149] S1102, The scheduling equipment determines the target charging interface of the electrical equipment to be charged.

[0150] The target charging interface is at the same height as the charging interface of the device to be charged.

[0151] Specifically, in S1102, the scheduling device can select a charging interface with the same height as the charging interface of the device to be charged as the target charging interface in the charging system.

[0152] For example, the scheduling device can arbitrarily select the target charging interface, or it can select it according to a preset strategy. This application embodiment does not limit this.

[0153] In one possible implementation, a charging interface in the charging system is configured with charging positions corresponding to different types of electrical devices. When the charging interfaces of different types of electrical devices are aligned with the charging interfaces in the charging system, the positions of the charging reference points are different. N is greater than or equal to 2. Accordingly, determining the target charging interface for the electrical device to be charged in S1102 can be specifically implemented as follows: the charging interface configured with the charging position corresponding to the type of electrical device to be charged is determined as the target charging interface.

[0154] When multiple charging interfaces are configured for the type of electrical equipment to be charged, the scheduling device can select one as the target charging interface, and the specific selection scheme is not limited.

[0155] It should be noted that the process of configuring a charging interface in the charging system with the corresponding charging position for different types of electrical equipment can be referred to in the aforementioned S301 and S302 processes, and will not be repeated here.

[0156] S1103. The scheduling equipment determines the charging position in the target charging interface corresponding to the electrical equipment to be charged.

[0157] When the device to be charged is located at its corresponding charging position, the charging interface is aligned with the target charging interface.

[0158] In one possible implementation, when a charging interface in the charging system is configured with charging positions corresponding to different types of electrical devices, determining the charging position in the target charging interface corresponding to the electrical device to be charged in step S1103 includes: determining the charging position in the target charging interface corresponding to the type of electrical device to be charged as the charging position corresponding to the electrical device to be charged.

[0159] In one possible implementation, determining the charging position corresponding to the device to be charged in the target charging interface in S1102 includes: determining the position of the charging reference point of the device to be charged when its charging interface is aligned with the target charging interface, based on the three-dimensional attitude information of the target charging interface and the three-dimensional attitude information of the charging interface of the device to be charged; and using the position of the charging reference point as the charging position corresponding to the device to be charged. The specific implementation can refer to Case 2 in Scheme 1 of the aforementioned S302 process, which describes the determination of the charging position corresponding to the third type of device.

[0160] In another possible implementation, determining the charging position corresponding to the device to be charged in the target charging interface in S1102 includes: determining the position of the charging reference point of the device to be charged when the charging interface of the device to be charged is aligned with the target charging interface based on the three-dimensional attitude information of the target charging interface and the three-dimensional attitude information of the charging interface of the device to be charged; and using the position of the charging reference point as the reference position and the top-view appearance of the device to be charged as the boundary of the region as the charging position corresponding to the device to be charged. For a detailed implementation, refer to the description of determining the charging position corresponding to the third type of device in Scheme 2 in the aforementioned S302 process.

[0161] S1104. The dispatching equipment sends a dispatching task to the electrical equipment to be charged.

[0162] The scheduling task is used to instruct the electrical equipment to be charged to move to the charging location corresponding to the category of electrical equipment to which the electrical equipment to be charged belongs.

[0163] Furthermore, after receiving the scheduling task, the device to be charged moves to the corresponding charging location according to the scheduling task and completes charging through interaction with the charging interface. The interaction process between the device and the charging interface will not be described in detail in this embodiment.

[0164] Specifically, in S303 to S307, the interaction process among the power-consuming equipment, the dispatching equipment, and the human-machine interaction platform can also be demonstrated through the interaction between the power-consuming equipment and the dispatching equipment, and the interaction between the dispatching equipment and the human-machine interaction platform. Figure 12 As shown, the above steps can be specifically represented as follows:

[0165] S1201. The power-consuming equipment sends the three-dimensional attitude information of the charging interface to the dispatching equipment.

[0166] As one possible implementation, the electrical equipment sends the three-dimensional attitude information of the charging interface to the scheduling equipment when it is powered on.

[0167] S1202, The scheduling device sends the received three-dimensional attitude information of the charging interface to the interactive platform.

[0168] As one possible implementation, the scheduling device sends the received three-dimensional attitude information of the charging interface to the interactive platform in real time.

[0169] S1203, The interactive platform receives the three-dimensional posture information of the charging interface configured by the user.

[0170] The three-dimensional attitude information of the charging interface configured by the user can be referred to the implementation method in step S305, which will not be elaborated on here.

[0171] S1204. The interactive platform updates the stored three-dimensional pose information of the charging interface.

[0172] As one possible implementation, the update priority of the 3D attitude information of the charging interface configured by the user is higher than that of the 3D attitude information of the charging interface sent by the scheduling device. That is, if the 3D attitude information of the charging interface configured by the user, the 3D attitude information of the charging interface sent by the scheduling device, and the 3D attitude information of the charging interface originally stored in the interactive platform are all different, the interactive platform selects the 3D attitude information of the charging interface configured by the user as the latest 3D attitude information of the charging interface of the device and stores it in the interactive platform. Similarly, if the 3D attitude information of the charging interface sent by the scheduling device is different from the 3D attitude information of the charging interface originally stored in the interactive platform (at which point there is no 3D attitude information of the charging interface configured by the user), the interactive platform selects the 3D attitude information of the charging interface sent by the scheduling device as the latest 3D attitude information of the charging interface of the device and stores it in the interactive platform.

[0173] S1205. The interactive platform sends updated three-dimensional attitude information of the charging interface to the scheduling device.

[0174] Understandably, when a device needs to report the three-dimensional attitude information of its charging interface (such as when it is first powered on or when the three-dimensional attitude information of the device's charging interface is modified), the device interacts with the scheduling and control devices to synchronize the three-dimensional attitude information of the device's charging interface and then configure the corresponding charging position of the device.

[0175] S1206. The scheduling device updates the stored three-dimensional attitude information of the charging interface.

[0176] For details on the update process, please refer to S1204. We will not go into further detail here.

[0177] S1207. The interactive platform generates three-dimensional pose information of the charging interface of the electrical equipment to be displayed to the user.

[0178] The interactive platform generates three-dimensional posture information of the charging interface of the electrical equipment to be displayed to the user for management, such as performing related operations of S305.

[0179] For example, in the field of robotics, the charging processes described in S308 and S309 can be specifically manifested as follows: Figure 13 The charging process is shown below.

[0180] (1) First, after the robot scheduling device is powered on, it loads multiple charging positions of the configured charging interface. For details on the process of determining the multiple charging positions, please refer to step S302 above, which will not be elaborated here.

[0181] (2) Determine whether the registered robot needs to be charged. The specific process of determination can be referred to the implementation method in step S308, which will not be elaborated here.

[0182] (3) If the robot needs to be charged, the robot scheduling device selects a corresponding charging area for it. The specific process can be referred to the implementation method in step S309, which will not be elaborated here.

[0183] (4) Determine whether the charging area has been successfully allocated. If it fails, re-execute (3); if it succeeds, continue to execute (5).

[0184] (5) Obtain the charging device information corresponding to the robot to be charged. This charging device information is used to interact with the charging device to ensure the charging process can proceed normally. The charging device information may include the charging protocol, charging voltage, or charging current of the robot to be charged.

[0185] (6) Combining the charging protocols of the charging equipment and the robot to be charged, the robot scheduling equipment generates task instructions. The process and content of the production scheduling task generated by the robot scheduling equipment can be referred to in S309 and S1101 to S1103, which will not be elaborated on here.

[0186] (7) Finally, the robot to be charged receives the task instruction and begins to charge.

[0187] As can be seen, the above mainly describes the solutions provided by the embodiments of this application from a methodological perspective. To achieve the functions, the embodiments of this application provide corresponding hardware structures and / or software modules for executing each function. Those skilled in the art should readily recognize that, in conjunction with the modules and algorithm steps of the various examples described in the embodiments disclosed herein, the embodiments of this application can be implemented in hardware or a combination of hardware and computer software. Whether a function is executed in hardware or by computer software driving hardware depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this invention.

[0188] This application embodiment can divide the control device into functional modules according to the above method example. For example, each function can be divided into a separate functional module, or two or more functions can be integrated into one processing module. The integrated module can be implemented in hardware or as a software functional module. Optionally, the module division in this application embodiment is illustrative and only represents one logical functional division; other division methods may be used in actual implementation.

[0189] This application provides a hardware structure diagram of a device for determining the charging position, as shown in the embodiment. Figure 14 As shown, the device 140 for determining the charging location includes an acquisition module 1401 and a determination module 1402.

[0190] The acquisition module 1401 is used to acquire the three-dimensional attitude information of the target charging interface. For example, the acquisition module 1401 can be used to support the device 140 for determining the charging position in executing the process of S301.

[0191] The determining module 1402 determines N charging positions of the target charging interface, where N is greater than or equal to 2. For example, the determining module 1402 can be used to support the device 140 for determining charging positions in performing the process of S302.

[0192] Optional, such as Figure 15 As shown, the device 140 for determining the charging position may further include: an output module 1403, a receiving module 1404, and a display module 1405.

[0193] The output module 1403 is used to output the three-dimensional attitude information of the target charging interface. For example, the output module 1403 can be used to support the device 140 that determines the charging position to perform the process of Scheme 2 in S302.

[0194] The receiving module 1404 is used to receive N charging locations input by the user and to receive registration information of the electrical equipment. For example, the receiving module 1404 can be used to support the device 140 that determines the charging location in executing the process of S303 and S302, which is scheme two.

[0195] Display module 1405 is used to display the configuration interface of the target charging interface. For example, display module 1405 can be used to support device 140, which determines the charging location, in executing process S305.

[0196] Furthermore, the hardware structure diagram of a charging device 160 provided in this application embodiment can be as follows: Figure 16 As shown. The charging device 160 is deployed in a scheduling device, which is used to schedule the charging of electrical equipment in the charging system. The charging device 160 includes a determining module 1601 and a sending module 1602.

[0197] The determining module 1601 is used to determine the electrical device to be charged, the target charging interface of the electrical device to be charged, and the charging position in the target charging interface corresponding to the electrical device to be charged. For example, the determining module 1601 can be used to support the device 160 for determining the charging position to execute the processes S1101 to S1103.

[0198] The sending module 1602 is used to send a scheduling task to the electrical equipment to be charged. For example, the sending module 1602 can be used to support the device 160 that determines the charging location in performing the process of S1104.

[0199] Furthermore, an embodiment of this application provides a schematic diagram of the structure of a server, as shown below. Figure 17 As shown, the server 170 may include a processor 1701, and optionally, a memory 1702 connected to the processor 1701.

[0200] The processor 1701 is used to execute any steps in the determination of charging location and charging method provided in the above embodiments.

[0201] Processor 1701 may be a central processing unit (CPU), a general-purpose processor, a network processor (NP), a digital signal processor (DSP), a microprocessor, a microcontroller, a programmable logic device (PLD), or any combination thereof. Processor 1701 may also be any other device with processing capabilities, such as a circuit, device, or software module. Processor 1701 may also include multiple CPUs, and processor 1701 may be a single-core processor or a multi-core processor. Here, "processor" can refer to one or more devices, circuits, or processing cores used to process data (e.g., computer program instructions).

[0202] The memory 1702 may be a read-only memory (ROM) or other type of static storage device capable of storing static information and instructions, random access memory (RAM) or other type of dynamic storage device capable of storing information and instructions, or it may be an electrically erasable programmable read-only memory (EEPROM), a compact disc read-only memory (CD-ROM) or other optical disc storage, optical disc storage (including compressed optical discs, laser discs, optical discs, digital universal optical discs, Blu-ray discs, etc.), magnetic disk storage media or other magnetic storage devices, or any other medium capable of carrying or storing desired program code in the form of instructions or data structures and accessible by a computer. This application embodiment does not impose any limitations on this. The memory 1702 may exist independently or may be integrated with the processor 1701. The memory 1702 may contain computer program code. The processor 1701 is used to execute the computer program code stored in the memory 1702, thereby implementing any of the methods for determining the charging position or the charging method in this application embodiment.

[0203] This application also provides a computer-readable storage medium including computer-executable instructions that, when run on a computer, cause the computer to perform any of the methods for determining a charging location or for charging provided in the above embodiments.

[0204] In the above embodiments, implementation can be achieved, in whole or in part, through software, hardware, firmware, or any combination thereof. When implemented using software programs, implementation can be, in whole or in part, in the form of a computer program product. This computer program product includes one or more computer-executable instructions. When these computer-executable instructions are loaded and executed on a computer, all or part of the flow or function according to the embodiments of this application is generated. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer-executable instructions can be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another. For example, computer-executable instructions can be transmitted from one website, computer, server, or data center to another via wired (e.g., coaxial cable, fiber optic, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) means. The computer-readable storage medium can be any available medium accessible to a computer or a data storage device containing one or more servers, data centers, etc., that can be integrated with the medium. The available medium can be a magnetic medium (e.g., floppy disk, hard disk, magnetic tape), an optical medium (e.g., DVD), etc.

[0205] Although this application has been described herein in conjunction with various embodiments, those skilled in the art, by reviewing the accompanying drawings, the disclosure, and the appended claims, will understand and implement other variations of the disclosed embodiments in carrying out the claimed application. In the claims, the word "comprising" does not exclude other components or steps, and "a" or "an" does not exclude multiple instances. A single processor or other unit can implement several functions listed in the claims. While different dependent claims may recite certain measures, this does not mean that these measures cannot be combined to produce good results.

[0206] Although this application has been described in conjunction with specific features and embodiments, it is obvious that various modifications and combinations can be made thereto without departing from the spirit and scope of this application. Accordingly, this specification and drawings are merely exemplary illustrations of this application as defined by the appended claims, and are considered to cover any and all modifications, variations, combinations, or equivalents within the scope of this application. Clearly, those skilled in the art can make various alterations and modifications to this application without departing from the spirit and scope of this application. Thus, if such modifications and modifications of this application fall within the scope of the claims of this application and their equivalents, this application is also intended to include such modifications and modifications.

[0207] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any changes or substitutions within the technical scope disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A method of determining a charging location, characterized by, include: Obtain the three-dimensional attitude information of the target charging interface, which is used to indicate the relative position of the target charging interface with respect to the charging interface of the device when the device is connected to the charging interface. Based on the three-dimensional posture information of the target charging interface, N charging positions are determined for the target charging interface, where N is greater than or equal to 2. These N charging positions correspond to N types of electrical devices. When any type of electrical device is located at its corresponding charging position and its charging posture angle matches the relative pose of the target charging interface, the charging interface is aligned with the target charging interface. The charging interface of each of the N types of electrical devices has the same height as the target charging interface. When the charging interfaces of different types of electrical devices are aligned with the target charging interface, the position of the charging reference point is different. The charging reference point is the motion center point of the electrical device. One charging interface supports multiple charging positions, and one charging position is used to charge one type of electrical device. If the target charging interface has a default charging position, then the target charging interface supports charging of a first type of electrical device at the default charging position. The first type of electrical device is the electrical device among the N types of electrical devices whose corresponding charging position is the same as the default charging position. Determining the N charging positions of the target charging interface based on its three-dimensional attitude information includes: Based on the three-dimensional posture information of the charging interface of the first type of electrical device and the three-dimensional posture information of the charging interface of the second type of electrical device, the coordinate difference of the horizontal position of the charging interface of the first type of electrical device and the charging interface of each of the second type of electrical devices is obtained; the second type of electrical device is the N-1 type of electrical device other than the first type of electrical device in the N types of electrical devices. Based on the coordinates of the default charging location and the coordinate difference, determine N-1 charging locations of the target charging interface corresponding to the second type of electrical equipment.

2. The method of claim 1, wherein, The step of determining N charging positions of the target charging interface based on its three-dimensional pose information includes: Identify the type N electrical equipment corresponding to the target charging interface; The N charging positions are determined based on the three-dimensional attitude information of the target charging interface and the three-dimensional attitude information of the charging interfaces of the N types of electrical devices.

3. The method of claim 2, wherein, The step of determining N charging positions of the target charging interface based on its three-dimensional pose information includes: Based on the three-dimensional attitude information of the target charging interface and the three-dimensional attitude information of the charging interfaces of the N types of electrical devices, the position of the charging reference point when the charging interface of each type of electrical device is aligned with the target charging interface is determined, and the position of the charging reference point is used as the charging position corresponding to each type of electrical device.

4. The method of claim 1, wherein, The step of determining N charging positions of the target charging interface based on its three-dimensional pose information includes: Output the three-dimensional attitude information of the target charging interface; Receive the N charging locations input by the user.

5. The method according to any one of claims 1 to 4, characterized in that, The method further includes: Receive registration information of a third type of electrical device, the registration information including the three-dimensional posture information of the charging interface of the third type of electrical device; the third type of electrical device is an electrical device that has not yet been configured with a corresponding charging position; Based on the three-dimensional attitude information of the target charging interface and the three-dimensional attitude information of the charging interface of the third type of electrical device, the charging position corresponding to the third type of electrical device is determined on the target charging interface.

6. The method according to any one of claims 1 to 4, characterized in that, The method further includes: The configuration interface of the target charging interface is displayed, and the configuration interface includes the charging position corresponding to the N types of electrical equipment.

7. The method of claim 6, wherein, The method further includes: The configuration interface receives modification instructions input by the user, which are used to modify the charging location corresponding to the fourth type of electrical equipment. In response to the modification instruction, the charging location corresponding to the fourth type of electrical equipment is updated.

8. The method according to any one of claims 1-4, characterized in that, The method further includes: Identify the electrical equipment to be charged; A scheduling task is sent to the electrical device to be charged. The scheduling task is used to instruct the electrical device to move to the charging location corresponding to the category of electrical devices to which the electrical device to be charged belongs.

9. A charging method, characterized in that, The method is applied to a scheduling device used to schedule electrical equipment to charge in a charging system; the scheduling device includes: Identify the electrical equipment to be charged; Determine the target charging interface of the device to be charged, wherein the target charging interface is at the same height as the charging interface of the device to be charged; Determine the charging position in the target charging interface corresponding to the device to be charged; when the device to be charged is located in its corresponding charging position, the charging interface is aligned with the target charging interface; A scheduling task is sent to the device to be charged. The scheduling task is used to instruct the device to move to the charging location corresponding to the category of the device to which it belongs. One charging interface supports multiple charging locations, and one charging location is used to charge one type of device. One charging interface in the charging system is configured with a charging position corresponding to different types of electrical devices; when the charging interfaces of different types of electrical devices are aligned with the charging interface in the charging system, the position of the charging reference point is different; the number of the charging positions is greater than or equal to 2. The step of determining the target charging interface of the electrical device to be charged includes: determining the charging interface configured with the charging position corresponding to the type of the electrical device to be charged as the target charging interface; Determining the charging position in the target charging interface corresponding to the device to be charged includes: determining the charging position in the target charging interface that corresponds to the type of the device to be charged as the charging position corresponding to the device to be charged.

10. The method according to claim 9, characterized in that, Determining the charging position in the target charging interface corresponding to the device to be charged includes: Based on the three-dimensional attitude information of the target charging interface and the three-dimensional attitude information of the charging interface of the device to be charged, the position of the charging reference point of the device to be charged when the charging interface of the device to be charged is aligned with the target charging interface is determined, and the position of the charging reference point is taken as the charging position of the device to be charged.

11. A device for determining a charging position, characterized in that, include: The acquisition module is used to acquire the three-dimensional attitude information of the target charging interface, which is used to indicate the relative position of the target charging interface with respect to the charging interface of the device when the device is connected to the charging interface. Determine the module, used for Based on the three-dimensional posture information of the target charging interface, N charging positions are determined for the target charging interface, where N is greater than or equal to 2. These N charging positions correspond to N types of electrical devices. When any type of electrical device is located at its corresponding charging position and its charging posture angle matches the relative pose of the target charging interface, the charging interface is aligned with the target charging interface. The charging interface of each of the N types of electrical devices has the same height as the target charging interface. When the charging interfaces of different types of electrical devices are aligned with the target charging interface, the position of the charging reference point is different. The charging reference point is the motion center point of the electrical device. One charging interface supports multiple charging positions, and one charging position is used to charge one type of electrical device. If the target charging interface has a default charging position, then the target charging interface supports charging of a first type of electrical device at the default charging position. The first type of electrical device is an electrical device among the N types of electrical devices whose corresponding charging position is the same as the default charging position. The acquisition module is further configured to acquire the coordinate difference between the horizontal position of the charging interface of the first type of electrical device and the charging interface of each of the second type of electrical devices based on the three-dimensional posture information of the charging interface of the first type of electrical device and the three-dimensional posture information of the charging interface of the second type of electrical device. The second type of electrical device is N-1 types of electrical devices among the N types of electrical devices, excluding the first type of electrical devices. The determination module is specifically configured to determine N-1 charging positions of the target charging interface corresponding to the second type of electrical device based on the coordinates of the default charging position and the coordinate difference.

12. The apparatus according to claim 11, characterized in that, The determining module is further configured to determine the N types of electrical devices corresponding to the target charging interface; specifically, the determining module is configured to determine the N charging positions based on the three-dimensional attitude information of the target charging interface and the three-dimensional attitude information of the charging interfaces of the N types of electrical devices. The determining module is specifically used to determine the position of the charging reference point when the charging interface of each type of electrical device is aligned with the target charging interface based on the three-dimensional posture information of the target charging interface and the three-dimensional posture information of the charging interfaces of the N types of electrical devices, and to use the position of the charging reference point as the charging position corresponding to each type of electrical device. The device further includes an output module for outputting the three-dimensional attitude information of the target charging interface; the device further includes a receiving module for receiving the N charging positions input by the user. The receiving module is further configured to receive registration information of a third type of electrical device, the registration information including three-dimensional attitude information of the charging interface of the third type of electrical device; the third type of electrical device is an electrical device that has not yet been configured with a corresponding charging position; the determining module is specifically configured to determine the charging position corresponding to the third type of electrical device on the target charging interface based on the three-dimensional attitude information of the target charging interface and the three-dimensional attitude information of the charging interface of the third type of electrical device; The device further includes a display module for displaying a configuration interface of the target charging interface, the configuration interface including the charging position corresponding to the N types of electrical equipment; The receiving module is further configured to receive a modification instruction input by the user in the configuration interface, the modification instruction being used to modify the charging position corresponding to the third type of electrical equipment; the device further includes an updating module, configured to update the charging position corresponding to the third type of electrical equipment in response to the modification instruction; The determining module is further configured to determine the electrical equipment to be charged; the device further includes a sending module configured to send a scheduling task to the electrical equipment to be charged, the scheduling task being configured to instruct the electrical equipment to be charged to move to the charging location corresponding to the category of electrical equipment to which the electrical equipment to be charged belongs.

13. A charging device, characterized in that, The device is applied to a dispatching device used to dispatch electrical equipment for charging in a charging system; the device includes: A determining module is used to determine the electrical device to be charged; the determining module is also used to determine the target charging interface of the electrical device to be charged, the target charging interface being at the same height as the charging interface of the electrical device to be charged; the determining module is also used to determine the charging position in the target charging interface corresponding to the electrical device to be charged; when the electrical device to be charged is located at its corresponding charging position, the charging interface is aligned with the target charging interface; The sending module is used to send a scheduling task to the electrical device to be charged. The scheduling task is used to instruct the electrical device to be charged to move to the charging location corresponding to the electrical device of the category to which the electrical device to be charged belongs. One charging interface in the charging system is configured with charging positions corresponding to different types of electrical devices; when the charging interfaces of different types of electrical devices are aligned with the charging interfaces in the charging system, the positions of the charging reference points are different; the number of charging positions is greater than or equal to 2; the determining module is specifically used to determine the charging interface configured with the charging position corresponding to the type of the electrical device to be charged as the target charging interface; the determining module is specifically used to determine the charging position in the target charging interface corresponding to the type of the electrical device to be charged as the charging position corresponding to the electrical device to be charged.

14. The apparatus according to claim 13, characterized in that, The determining module is further configured to determine the position of the charging reference point of the device to be charged when the charging interface of the device to be charged is aligned with the target charging interface based on the three-dimensional attitude information of the target charging interface and the three-dimensional attitude information of the charging interface of the device to be charged, and to use the position of the charging reference point as the charging position corresponding to the device to be charged.

15. A server, characterized in that, Includes one or more processors and one or more memories; The one or more memories are coupled to the one or more processors, the one or more memories being used to store computer program code, the computer program code including computer instructions, and when the one or more processors execute the computer instructions, the server performs the method as described in any one of claims 1-10.

16. A computer storage medium, characterized in that, Includes computer instructions that, when executed on a server, cause the server to perform the method as described in any one of claims 1-10.

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