Charging current control method, device, equipment, charging pile and storage medium

Abstract

The embodiment of the present disclosure provides a charging current control method, device and equipment, a charging pile and a storage medium. The charging current control method comprises: when detecting that a robot is electrically connected with a charging pile, obtaining a cell temperature of a charging battery of the robot; when the cell temperature of the charging battery is higher than a second temperature, controlling the charging pile to charge the charging battery of the robot with a first current threshold; when the cell temperature of the charging battery is lower than a first temperature, controlling the charging pile to charge the charging battery of the robot with a second current threshold; wherein the second temperature is higher than the first temperature, and the first current threshold is greater than the second current threshold. The control strategy of determining the charging current of the charging battery based on the cell temperature is realized, so that the robot can be charged with a smaller current in a low-temperature working condition, and the charging efficiency and service life of the battery are improved.

Description

Technical Field

[0001] This disclosure relates to the field of robot charging technology, and in particular to a charging current control method, device, equipment, charging pile, and storage medium. Background Technology

[0002] Robot-based warehousing systems employ intelligent operating systems that enable the automatic retrieval and storage of goods through system commands. They can operate 24 / 7, replacing manual management and operation, thus improving warehousing efficiency and gaining widespread application and popularity.

[0003] Most robots are powered by rechargeable batteries. When the battery level is low, the robot needs to be moved to a charging station to recharge. Existing charging stations can only use a fixed default charging current to charge the robot, which is not suitable for robots operating in both low-temperature and normal-temperature conditions, thus limiting their application. Furthermore, using a larger charging current to charge the batteries of robots operating in low-temperature conditions can easily damage the batteries or reduce their lifespan. Summary of the Invention

[0004] This disclosure provides a charging current control method, device, equipment, charging pile, and storage medium, which realizes adaptive control of charging current based on the cell temperature of the robot's rechargeable battery, improves the application range of the charging pile, avoids the problem of shortened battery life of the robot due to improper charging current, and improves charging safety.

[0005] In a first aspect, embodiments of this disclosure provide a charging current control method, the method comprising:

[0006] When the robot is detected to be electrically connected to the charging pile, the cell temperature of the robot's rechargeable battery is obtained; when the cell temperature of the rechargeable battery is higher than a second temperature, the charging pile is controlled to charge the robot's rechargeable battery with a first current threshold; when the cell temperature of the rechargeable battery is lower than the first temperature, the charging pile is controlled to charge the robot's rechargeable battery with a second current threshold; wherein, the second temperature is higher than the first temperature, and the first current threshold is greater than the second current threshold.

[0007] Optionally, after controlling the charging pile to charge the robot's rechargeable battery at a first current threshold, the method further includes: when the cell temperature of the robot's rechargeable battery is between the first temperature and the second temperature, controlling the charging pile to continue charging the robot's rechargeable battery at the first current threshold.

[0008] Optionally, after controlling the charging pile to charge the robot's rechargeable battery at a second current threshold, the method further includes: when the cell temperature of the robot's rechargeable battery is between the first temperature and the second temperature, controlling the charging pile to continue charging the robot's rechargeable battery at the second current threshold.

[0009] Optionally, after controlling the charging pile to charge the robot's rechargeable battery with a second current threshold, the method further includes: when the voltage of the rechargeable battery meets a preset condition and the cell temperature of the rechargeable battery is less than or equal to a second temperature, controlling the charging pile to charge the rechargeable battery with a first pulse current; or, when the voltage of the rechargeable battery meets a preset condition and the cell temperature of the rechargeable battery is greater than the second temperature, controlling the charging pile to charge the rechargeable battery with a second pulse current; wherein the peak value of the second pulse current is greater than the first pulse current.

[0010] Optionally, after controlling the charging pile to charge the robot's rechargeable battery with a first current threshold, the method further includes: when the voltage of the rechargeable battery meets a preset condition, controlling the charging pile to charge the rechargeable battery with a third pulse current.

[0011] Optionally, when the robot is electrically connected to the charging pile and the cell temperature of the robot's rechargeable battery fails to be obtained, the method further includes: obtaining historical cell temperatures and the ambient temperature of the robot within a preset time period, wherein the historical cell temperatures include the cell temperatures of the rechargeable battery collected at least at a historical time node, and the preset time period includes the time period from the historical time node to the current time; and estimating the cell temperature of the robot's rechargeable battery at the current time based on the historical cell temperatures and the ambient temperature within the preset time period.

[0012] Optionally, when the maximum temperature difference of the ambient temperature corresponding to the robot within a preset time period is greater than a preset temperature difference, the method further includes: controlling the charging pile to charge the robot's rechargeable battery with a second current threshold.

[0013] Optionally, when an electrical connection between the robot and the charging pile is detected, the method further includes: obtaining first position information of the robot; determining, based on the first position information, whether the robot and the charging pile are reliably connected; if so, when the cell temperature of the charging battery is higher than a second temperature, controlling the charging pile to charge the robot's charging battery with a first current threshold, or when the cell temperature of the charging battery is lower than the first temperature, controlling the charging pile to charge the robot's charging battery with a second current threshold.

[0014] Secondly, embodiments of this disclosure also provide a charging current control device, the device comprising:

[0015] A cell temperature acquisition module is used to acquire the cell temperature of the robot's rechargeable battery when an electrical connection between the robot and the charging pile is detected; a first charging control module is used to control the charging pile to charge the robot's rechargeable battery at a first current threshold when the cell temperature of the rechargeable battery is higher than a second temperature; a second charging control module is used to control the charging pile to charge the robot's rechargeable battery at a second current threshold when the cell temperature of the rechargeable battery is lower than the first temperature; wherein, the second temperature is higher than the first temperature, and the first current threshold is greater than the second current threshold.

[0016] Thirdly, embodiments of this disclosure also provide a charging current control device, including: a memory and at least one processor; the memory stores computer-executable instructions; the at least one processor executes the computer-executable instructions stored in the memory, causing the at least one processor to execute the charging current control method provided in any embodiment corresponding to the first aspect of this disclosure.

[0017] Fourthly, the present disclosure also provides a charging pile, including a charging pile body, a power module, and a charging current control device provided in the embodiment corresponding to the third aspect of the present disclosure.

[0018] Fifthly, embodiments of this disclosure also provide a computer-readable storage medium storing computer-executable instructions, which, when executed by a processor, implement the charging current control method provided in any embodiment corresponding to the first aspect of this disclosure.

[0019] Sixthly, embodiments of this disclosure also provide a computer program product, including a computer program that, when executed by a processor, implements the charging current control method provided in any embodiment corresponding to the first aspect of this disclosure.

[0020] The charging current control method, apparatus, device, charging pile, and storage medium provided in this disclosure, for mobile robots, automatically determine the charging current of the charging pile based on the temperature range of the robot's battery cells when the robot is detected to be connected to the charging pile. This allows the charging pile to charge the robot's battery with a larger current (e.g., a first current threshold) when the temperature is above a second temperature under normal operating conditions. Conversely, it allows the charging pile to charge the robot's battery with a smaller current (e.g., a second current threshold) when the temperature is below the first temperature under low-temperature conditions. This ensures that a smaller current is used for charging under low-temperature conditions, i.e., when the iodine ion activity inside the battery is low, avoiding damage to the battery and extending its lifespan. Furthermore, it expands the application range of the charging pile, allowing mobile robots to charge and operate for extended periods in low-temperature conditions without requiring batteries with low-temperature characteristics, reducing battery costs and improving the robot's versatility. Attached Figure Description

[0021] The accompanying drawings, which are incorporated in and form a part of this specification, illustrate embodiments consistent with this disclosure and, together with the description, serve to explain the principles of this disclosure.

[0022] Figure 1 This is a schematic diagram of the structure of the warehousing system provided in the embodiments of this application;

[0023] Figure 2 This is a schematic diagram of the structure of a mobile robot in a warehousing system provided in an embodiment of this application;

[0024] Figure 3 This is a schematic diagram of the structure of a charging pile in a warehousing system provided in an embodiment of this application;

[0025] Figure 4 This is a schematic diagram of the structure of the third detection unit in the warehousing system provided in the embodiments of this application;

[0026] Figure 5 Circuit diagram of temperature probe and temperature transmitter in a warehousing system provided in the embodiments of this application;

[0027] Figure 6 A connection diagram of the second detection unit, charging pile, and server in the warehousing system provided in this application embodiment;

[0028] Figure 7 This is an application scenario diagram of the charging current control method provided in the embodiments of this disclosure;

[0029] Figure 8 A flowchart of a charging current control method provided in one embodiment of this disclosure;

[0030] Figure 9 A flowchart of a charging current control method provided in another embodiment of this disclosure;

[0031] Figure 10 A flowchart of a charging current control method provided in another embodiment of this disclosure;

[0032] Figure 11 This is a schematic diagram of the structure of a charging current control device provided in one embodiment of the present disclosure;

[0033] Figure 12 This is a schematic diagram of the structure of a charging current control device provided in one embodiment of the present disclosure;

[0034] Figure 13 This is a schematic diagram of the structure of a charging pile provided in one embodiment of the present disclosure.

[0035] The accompanying drawings have illustrated specific embodiments of this disclosure, which will be described in more detail below. These drawings and descriptions are not intended to limit the scope of the concept in any way, but rather to illustrate the concepts of this disclosure to those skilled in the art through reference to particular embodiments. Detailed Implementation

[0036] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numerals in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this disclosure. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this disclosure as detailed in the appended claims.

[0037] The technical solutions of this disclosure and how they solve the aforementioned technical problems will be described in detail below with specific embodiments. These specific embodiments can be combined with each other, and the same or similar concepts or processes may not be repeated in some embodiments. The embodiments of this disclosure will now be described with reference to the accompanying drawings.

[0038] The warehousing system may include a mobile robot and a charging station for charging the mobile robot. The mobile robot may include a robot body and a rechargeable battery for powering the robot body. The robot body has an electrical connection part. When the robot body moves to the charging station, the electrical connection part is inserted into a charging part on the charging station, so that the electrical connection part is electrically connected to the charging station, and the charging station charges the rechargeable battery.

[0039] Mobile robots typically use lithium iron phosphate (LFP) batteries. When the ambient temperature is low, such as below 0°C, or when the robot is operating in a cold storage facility, the LFP batteries experience reduced ion activity due to the lower temperature, making the battery cells more susceptible to damage during charging. Therefore, mobile robots are equipped with low-temperature charging batteries, allowing them to charge normally even in low-temperature environments.

[0040] However, rechargeable batteries that can be charged at low temperatures are expensive, and the use of mobile robots with rechargeable batteries that can be charged at low temperatures in cold environments results in low versatility of mobile robots.

[0041] Based on this, this application provides a warehousing system that can save costs and improve the versatility of mobile robots.

[0042] Figure 1 This is a schematic diagram of the structure of the warehousing system provided in the embodiments of this application; Figure 2 This is a schematic diagram of the structure of a mobile robot in a warehousing system provided in an embodiment of this application; Figure 3 This is a schematic diagram of the structure of a charging pile in a warehousing system provided in an embodiment of this application; Figure 6 A connection diagram of the second detection unit, charging pile, and server in the warehousing system provided in this application embodiment. See also... Figures 1 to 3 , Figure 6 As shown in the figure, this application provides a warehousing system, including a server 100, at least one mobile robot 200 and at least one charging pile 300. The mobile robot 200 and the charging pile 300 are respectively connected to the server 100. The charging pile 300 is used to charge the rechargeable battery 210 of the mobile robot 200. The charging current of the charging pile 300 is adjustable. The mobile robot 200 has a first detection unit 220, which is used to detect the temperature of the rechargeable battery 210 on the mobile robot 200.

[0043] The charging pile 300 has a control unit 310. The control unit 310 is used to control the charging pile 300 to charge the charging battery 210 of the mobile robot 200 at a first current threshold when the temperature of the charging battery 210 is greater than or equal to a preset temperature. The control unit 310 is also used to control the charging pile 300 to charge the charging battery 210 of the mobile robot 200 at a second current threshold when the temperature of the charging battery 210 is less than the preset temperature. The first current threshold is greater than the second current threshold.

[0044] In this application, the mobile robot 200 is wirelessly connected to the server 100. For example, the mobile robot 200 connects to the server 100 via Wi-Fi, and the mobile robot 200 accesses the server 100 via Wi-Fi. The charging pile 300 can be wired to the server 100, and the charging pile 300 accesses the server 100 via Ethernet 700. Specifically, the charging pile 300 is electrically connected to the server 100 via a switch 500, thereby transmitting data and information. The switch 500 is a switch that transmits data based on Ethernet 700.

[0045] In a specific implementation, the mobile robot 200 may include a mobile chassis and a robot body connected to the mobile chassis, with the mobile chassis driving the robot body to move within the warehouse. The robot body may have a handling device to move goods or boxes from warehouse shelves onto the robot body, or to move goods or boxes from the robot body onto warehouse shelves. Alternatively, handling equipment, such as a robotic arm or a handling robot, may be installed on or beside the warehouse shelves to move goods or boxes between the robot body and the goods. This application does not impose any limitations on this.

[0046] In this application, after the mobile robot 200 moves to the charging pile 300 and is electrically connected to it, the first detection unit 220 on the mobile robot 200 transmits the detected temperature of the rechargeable battery 210 on the mobile robot 200 to the server 100. The charging pile 300 obtains the temperature of the rechargeable battery 210 on the mobile robot 200 connected to it from the server 100. When the temperature of the rechargeable battery 210 is greater than or equal to a preset temperature, the control unit 310 controls the charging pile 300 to increase its charging current so that the charging pile 300 charges the rechargeable battery 210 of the mobile robot 200 at a first current threshold. When the temperature of the rechargeable battery 210 is less than the preset temperature, the control unit 310 controls the charging pile 300 to decrease its charging current so that the charging pile 300 charges the rechargeable battery 210 of the mobile robot 200 at a second current threshold, where the first current threshold is greater than the second current threshold.

[0047] It should be noted that the first current threshold, the second current threshold, and the preset temperature are selected according to the type of rechargeable battery 210. For example, when the rechargeable battery 210 is a lithium iron phosphate battery, the first current threshold is 25A to 35A, the second current threshold is 3A to 7A, and the preset temperature is 0℃.

[0048] The warehousing system provided in this application embodiment uses a first detection unit 220 on a mobile robot 200 to detect the temperature of the rechargeable battery 210 on the mobile robot 200. When the temperature of the rechargeable battery 210 is greater than or equal to a preset temperature, the control unit 310 controls the charging pile 300 to increase its charging current, so that the charging pile 300 charges the rechargeable battery 210 of the mobile robot 200 at a first current threshold. Specifically, the charging pile 300 can charge the rechargeable battery 210 of the mobile robot 200 with a current of 30A.

[0049] When the temperature of the rechargeable battery 210 is lower than a preset temperature, the control unit 310 controls the charging pile 300 to reduce its charging current, so that the charging pile 300 charges the rechargeable battery 210 of the mobile robot 200 at a second current threshold. For example, the charging pile 300 charges the rechargeable battery 210 of the mobile robot 200 at a current of 5A. When the ion activity inside the rechargeable battery 210 decreases, a small current is used for charging to avoid damaging the battery cells. In this way, even if the mobile robot is not equipped with a rechargeable battery that can be charged at low temperatures, it can still be charged normally in low ambient temperatures. This saves costs and improves the versatility of the mobile robot.

[0050] Before the charging station 300 charges the mobile robot 200, it needs to determine whether the mobile robot 200 is electrically connected to the charging station 300. Only after the mobile robot 200 is electrically connected to the charging station 300 can the charging station 300 charge the mobile robot 200. Therefore, in some embodiments, the warehousing system further includes at least one second detection unit 400, which is electrically connected to the charging station 300 and is used to detect whether the mobile robot 200 is electrically connected to the charging station 300.

[0051] In a specific implementation, the second detection unit 400 can be a limit switch or a proximity switch. During the process of the mobile robot 200 being electrically connected to the charging pile 300, the limit switch or proximity switch is triggered so that the charging pile 300 obtains information that the mobile robot 200 is electrically connected to the charging pile 300.

[0052] Because there are multiple mobile robots 200 in the warehouse, interference may occur during their movement. Therefore, the mobile robots 200 need to avoid each other. To avoid other mobile robots 200, a mobile robot 200 may move to the location of the charging station 300. During this avoidance process, the mobile robot 200 may become electrically connected to the charging station 300. In this situation, the mobile robot 200 electrically connected to the charging station 300 does not need to be charged, causing the charging station 300 to mistakenly charge the mobile robot 200.

[0053] Based on this, the warehousing system provided in this application embodiment has a position detection unit 230 on the mobile robot 200. The position detection unit 230 is used to detect the first position information of the mobile robot 200. When the charging pile 300 charges the charging battery 210 of the mobile robot 200, the charging pile 300 obtains the first position information and the temperature of the charging battery 210 through the server 100.

[0054] Specifically, when the mobile robot 200 needs charging, it sends its first location information and the temperature of the rechargeable battery 210 to the server 100. The interval between the mobile robot 200 sending its first location information and the temperature of the rechargeable battery 210 to the server 100 can be 10 seconds per transmission. The charging station 300 obtains the first location information of the mobile robot 200 that needs charging and the temperature of the rechargeable battery 210 from the server 100, and then charges the mobile robot 200 corresponding to the first location information and the rechargeable battery 210 obtained by the charging station 300, thereby preventing the charging station 300 from mistakenly charging the mobile robot 200 that does not need charging.

[0055] Furthermore, in this application, the charging pile 300 has preset second location information, and the charging pile 300 has a processing unit 320. The processing unit 320 is electrically connected to the control unit 310. The processing unit 320 is used to compare the first location information and the second location information to determine whether the mobile robot 200 electrically connected to the charging pile 300 is a mobile robot 200 that needs to be charged.

[0056] Since there are multiple charging stations 300 and multiple mobile robots 200, some charging stations 300 are already connected to mobile robots 200 that are being charged. Based on this, each charging station 300 has its own location information, that is, each charging station 300 has preset second location information. In this way, the server 100 can send the first location information of the mobile robot 200 and the temperature of the charging battery 210 to the specific charging station 300 that is not charging the mobile robot 200.

[0057] After acquiring the first location information of the mobile robot 200 that needs to be charged and the charging battery 210, the charging pile 300 compares the acquired first location information with its own second location information through the processing unit 320 on the charging pile 300 to determine whether the mobile robot 200 electrically connected to the charging pile 300 is the mobile robot 200 that needs to be charged. When the acquired first location information and its own second location information are consistent, that is, when the mobile robot 200 connected to the charging pile 300 is the mobile robot 200 to be charged allocated by the server 100 to the charging pile 300, the charging pile 300 starts the charging mode to charge the mobile robot 200.

[0058] In this application, the position detection unit 230 is a scanning unit used to identify the position code of the mobile robot 200's movement path. In a specific implementation, a ground code can be set on the warehouse floor. The mobile robot 200 scans the ground code using the scanning unit to obtain its first position information. In other words, the mobile robot 200's first position information is constantly changing. Therefore, the interval between the mobile robot 200 sending its first position information and the temperature of the rechargeable battery 210 to the server 100 can be 10 seconds per transmission, allowing the charging pile 300 to obtain the latest first position information of the mobile robot 200 in real time.

[0059] Furthermore, the storage system provided in this application embodiment has a third detection unit 330 on the charging pile 300, which is used to detect the ambient temperature around the charging pile 300.

[0060] When the charging pile 300 fails to acquire the first location information or the temperature of the charging battery 210 fails, the control unit 310 controls the charging pile 300 to charge the charging battery 210 of the mobile robot 200 at a first current threshold when the ambient temperature is greater than or equal to a preset temperature; when the ambient temperature is less than the preset temperature, the control unit 310 controls the charging pile 300 to charge the charging battery 210 of the mobile robot 200 at a second current threshold.

[0061] When the network is disconnected, the ground code is obstructed, or the distance between the ground code coordinates and the charging pile is too far, the charging pile 300 will fail to acquire the first location information or the temperature of the charging battery 210. When the charging pile 300 fails to acquire the first location information or the temperature of the charging battery 210, the third detection unit 330 on the charging pile 300 detects the ambient temperature around the charging pile 300 and adjusts the charging current of the charging pile 300 according to the ambient temperature, thereby charging the mobile robot 200. If the charging pile 300 also fails to acquire the detection information from the third detection unit 330 at the same time as the failure to acquire the first location information or the temperature of the charging battery 210, that is, the failure to acquire the detection information from the third detection unit 330, then the charging pile 300 and the mobile robot 200 are disconnected, that is, the charging pile 300 closes the charging channel.

[0062] In practice, the third detection unit 330 is a temperature measuring element, and the temperature measuring end of the temperature measuring element is located on the outside of the charging pile 300.

[0063] Figure 4 This is a schematic diagram of the structure of the third detection unit in the warehousing system provided in the embodiments of this application;

[0064] Figure 5 A circuit diagram of the third detection unit in the warehousing system provided in this application embodiment. See also... Figures 4 to 6As shown, the temperature sensing element includes a temperature probe 331 and a temperature transmitter 332. The temperature probe 331 and the temperature transmitter 332 are electrically connected. The temperature transmitter 332 is electrically connected to the processing unit 320. The temperature probe 331 is located on the outside of the charging pile 300. The processing unit 320 collects the temperature value of the temperature probe 331 through the temperature transmitter 332, converts it into a digital signal, and transmits it to the control unit 310.

[0065] Among them, temperature probe 331 is a three-wire Rpt100 resistance temperature detector.

[0066] The three leads from the Rpt100 (r1, r2, r3) have the same cross-sectional area and length, i.e., r1 = r2 = r3. The circuit for measuring the platinum resistance can be an unbalanced bridge. Connect one of the leads (r1) to the power supply terminal E of the bridge, and connect the other two leads (r2, r3) to the bridge arm containing the platinum resistance (Rpt100) and the adjacent bridge arm resistors (R1, R2, RX), respectively. The bridge is in a balanced state, and changes in the resistance of the lead wires have no effect on the measurement results.

[0067] The Rpt100 has a resistance of 100Ω at 0℃ and a resistance change rate of 0.3851Ω / ℃. Due to its low resistance and high sensitivity, the three-wire connection can eliminate measurement errors caused by the resistance of the lead wires.

[0068] When R1×(RX+r2+r3)=R2×(Rpt100+r2+r1), that is, when the bridge is balanced, the voltage U=0.

[0069] When Rpt100 is subjected to temperature changes, the bridge becomes unbalanced, and the voltage U≠0. At this time, the value of voltage U can be read.

[0070] Please continue reading Figures 1 to 3 , Figure 6 As shown, to facilitate electrical connection between the mobile robot 200 and the charging station 300, in this application, the charging station 300 has at least one charging interface 340, and the mobile robot 200 has a power receiving part that matches the charging interface 340, with each charging interface 340 and power receiving part corresponding one-to-one. The mobile robot 200 has a camera or position sensor. When the mobile robot 200 moves to the location of the charging station 300, it detects the position of the charging interface 340 on the charging station 300 using the camera or position sensor. Based on the detected position of the charging interface 340 on the charging station 300, the mobile robot 200 adjusts its position to align the charging interface 340 with the power receiving part. The mobile robot 200 continues to move towards the charging station 300 so that the power receiving part on the mobile robot 200 connects with the charging interface 340 on the charging station 300.

[0071] In this application, a second detection unit 400 may be provided on the power receiving part of the mobile robot 200. The second detection unit 400 detects whether the mobile robot 200 is electrically connected to the charging pile 300. When the mobile robot 200 is electrically connected to the charging pile 300, the mobile robot 200 can stop moving towards the charging pile 300 to avoid the power receiving part and the charging interface 340 being plugged in too tightly.

[0072] Furthermore, the warehousing system provided in this application embodiment has a display 350 on the charging pile 300, and the display 350 is electrically connected to the control unit 310.

[0073] The control unit 310 has a power interface 311, three three-mode switch interfaces 312, a red indicator light interface 313, a green indicator light interface 314, at least two charging indicator light interfaces 315, a second detection unit indicator light interface 316, and a control interface 317.

[0074] The power supply 600 is electrically connected to the power interface 311. The charging pile 300 also includes a main body 390, a three-mode switch 360, at least two indicator lights 370, at least two contactors 380, and a second detection unit interface 3100. The three-mode switch 360 is electrically connected to three three-mode switch interfaces 312 respectively. The red indicator light interface 313 and the green indicator light interface 314 are each connected to one indicator light 370. The main body 390 is electrically connected to the charging indicator light interface 315 through the contactor 380. The contactor 380 is electrically connected to the charging interface 340. The second detection unit 400 is electrically connected to the second detection unit interface 3100. The main body 390 is electrically connected to the control interface 317.

[0075] The application scenarios of the methods disclosed herein are explained below:

[0076] Figure 7 This is an application scenario diagram of the charging current control method provided in the embodiments of this disclosure, such as... Figure 7 As shown, the charging current control method provided in this embodiment can be executed by a charging current control device, which can be a processor, a control unit, or other integrated circuit devices. The robot 110 continuously traverses the various aisles of the warehouse in the warehousing system to perform various warehousing tasks, such as goods outbound, goods inbound, and goods sorting. When the robot 110's rechargeable battery 111 is low on power, such as below 20% or 10%, the robot 110 needs to move to the charging pile 120 to charge the battery 111 to ensure its power level.

[0077] The rechargeable batteries 111 of robot 110 are mostly lithium iron phosphate batteries. When robot 110 operates under low-temperature conditions, such as when the ambient temperature is below 0°C, or when robot 110 is running in a cold storage, the rechargeable batteries have low ion activity due to the low ambient temperature. As a result, lithium ions migrate slowly during charging and are easily reduced to metallic lithium, which precipitates on the negative electrode surface to form lithium dendrites, i.e., lithium plating occurs. This can puncture the separator, causing a short circuit in the rechargeable battery, which in turn causes the battery to bulge, damage the battery, and reduce its lifespan.

[0078] To enable robot 110 to operate in low-temperature conditions, existing technologies often replace the robot's rechargeable battery with one that has low-temperature characteristics, i.e., a rechargeable battery that can be charged at low temperatures. However, rechargeable batteries that can be charged at low temperatures are expensive, thus increasing the cost of robot 110. On the other hand, if ordinary batteries are used, robot 110 cannot operate in low-temperature environments, thus limiting its application range.

[0079] To enable the robot 110 equipped with a regular rechargeable battery to operate in low-temperature conditions, thereby expanding the robot's application range, this disclosure provides a charging current control method. The main idea of ​​this method is: when the robot is connected to a charging pile for charging, the charging current of the charging pile is adaptively determined based on the cell temperature of the robot's rechargeable battery. This enables the use of a small current to charge the rechargeable battery in low-temperature conditions, improving charging safety and extending the battery's lifespan.

[0080] Figure 8 Here is a flowchart of a charging current control method provided in one embodiment of this disclosure, as follows: Figure 8 As shown, this charging current control method is applicable to charging piles in a warehousing system, where the charging piles are used to charge the rechargeable batteries of robots in the warehousing system. This charging current control method can be executed by a charging current control device. The charging current control method provided in this embodiment includes the following steps:

[0081] Step S201: When it is detected that the robot is electrically connected to the charging pile, the cell temperature of the robot's charging battery is obtained.

[0082] Specifically, when the robot's battery level drops below a preset level, the robot sends a connection request to the charging station. The charging station responds and accepts the connection request, allowing the robot to move to the location of the charging station and establish a connection. The preset battery level can be 5%, 10%, 20%, or other values.

[0083] In some embodiments, the robot can also establish a connection with the charging station corresponding to the charging command. The charging command can be issued by the scheduling equipment of the warehouse system. Specifically, it can generate charging commands for each robot based on the remaining power of each robot's battery, the current position of each robot, and the working status of each charging station, so as to control the robot with low power, such as below a preset power level, to go to the charging station corresponding to the charging command for charging.

[0084] Specifically, when the charging channel of the charging pile is detected to be activated, it is determined that the charging pile is electrically connected to the robot.

[0085] Specifically, the status of the charging electrodes on the charging station can be used to determine if a robot is connected to it. For example, if the charging electrodes are in a docked state, such as when they are pressed down, then the robot is confirmed to be connected to the charging station.

[0086] Specifically, a second detection unit based on the charging pile or charging current control device can be used to detect whether the robot is electrically connected to the charging pile. This second detection unit can be a limit switch or a proximity switch. When the robot is electrically connected to the charging pile, if the distance between the robot and the charging pile is less than a preset distance, the limit switch or proximity switch is triggered, thus confirming a successful electrical connection between the robot and the charging pile.

[0087] Specifically, after detecting that the robot is electrically connected to the charging station, the cell temperature of the robot's rechargeable battery can be obtained by reading the output value of the robot's first detection unit. This first detection unit is used to detect the cell temperature of the rechargeable battery on the robot. This first detection unit can be a cell temperature detection circuit, such as a cell temperature sampling circuit.

[0088] Specifically, after the robot comes into contact with the charging pile head, the charging current control device installed on the charging pile obtains the current battery cell temperature of the robot, or the robot uploads its battery cell temperature to the charging current control device.

[0089] In some embodiments, after the robot is electrically connected to the charging pile, the robot can send the cell temperature of the robot's charging battery to the charging pile or charging current control device at a preset cycle, such as 6 times per minute.

[0090] In some embodiments, after obtaining the cell temperature of the robot's rechargeable battery, the cell temperature of the robot's rechargeable battery can also be displayed on the display screen of the charging station.

[0091] Step S202: When the cell temperature of the rechargeable battery is higher than the second temperature, control the charging pile to charge the robot's rechargeable battery with a first current threshold.

[0092] Step S203: When the cell temperature of the rechargeable battery is lower than the first temperature, control the charging pile to charge the robot's rechargeable battery with a second current threshold.

[0093] Wherein, the second temperature is higher than the first temperature, and the first current threshold is greater than the second current threshold. The first temperature can be 0℃, 1℃, 2℃, etc., and the second temperature can be 1℃, 2℃, 5℃, etc., specifically determined according to the charging characteristics of the rechargeable battery. The first current threshold can be 25A to 35A, such as 28A, 30A, etc., and the second current threshold can be 3A to 7A, such as 3.5A, 5A, etc.

[0094] Specifically, after obtaining the cell temperature of the robot's rechargeable battery, it can be determined whether the current cell temperature is higher than a second temperature. If so, the charging current output by the charging pile is controlled to be a first current threshold, thereby charging the robot's rechargeable battery based on the first current threshold. If not, it can be determined whether the cell temperature is lower than the first temperature. If so, the charging pile is controlled to charge the robot's rechargeable battery with the second current threshold.

[0095] Furthermore, if the robot's battery cell temperature is between the first temperature and the second temperature when the robot is detected to be electrically connected to the charging pile, the charging pile can be controlled to charge the robot's battery with a second current threshold, or the charging pile can be controlled to charge the robot's battery with a third current threshold, wherein the third current threshold is greater than the second current threshold and less than the first current threshold.

[0096] Furthermore, during the charging process of the robot's battery by the charging station, the cell temperature of the robot's battery can be continuously monitored. As the charging time gradually increases, the cell temperature of the battery will typically gradually increase or fluctuate within a small range. If the cell temperature is below a first temperature when the robot is connected to the charging station, and the cell temperature rises from below the first temperature to between the first and second temperatures, the charging station is controlled to maintain a second current threshold for charging the robot's battery. If the cell temperature continues to rise until it exceeds the second temperature, the charging station is controlled to maintain a first current threshold for charging the robot's battery. This avoids switching the charging current due to temporary temperature increases, improving the stability of the charging current. If the cell temperature is above the second temperature when the robot is connected to the charging station, and the cell temperature fluctuates between the first and second temperatures, the charging station is controlled to maintain a first current threshold for charging the robot's battery to avoid frequent switching of the charging current and reducing battery life.

[0097] Optionally, after controlling the charging pile to charge the robot's rechargeable battery at a first current threshold, the method further includes: when the cell temperature of the robot's rechargeable battery is between the first temperature and the second temperature, controlling the charging pile to continue charging the robot's rechargeable battery at the first current threshold.

[0098] Specifically, when the robot is connected to the charging station, the battery cell temperature is higher than the second temperature. After the charging station charges the robot's battery with the first current threshold, if the robot's battery cell temperature is detected to be between the first and second temperatures, that is, the robot's battery cell temperature drops slightly, then there is no need to change the charging current, and the charging station is controlled to continue charging the robot's battery at the first current threshold.

[0099] Optionally, after controlling the charging pile to charge the robot's rechargeable battery at a second current threshold, the method further includes: when the cell temperature of the robot's rechargeable battery is between the first temperature and the second temperature, controlling the charging pile to continue charging the robot's rechargeable battery at the second current threshold.

[0100] Specifically, when the robot is connected to the charging station, if the battery cell temperature is below a first temperature, and the charging station starts charging the robot's battery at a second current threshold, and then detects that the robot's battery cell temperature has risen to between the first and second temperatures (i.e., the battery cell temperature has risen to between the first and second temperatures), the charging current will not be switched initially; the charging station will continue to charge the robot's battery at the second current threshold. However, if the battery cell temperature continues to rise until it exceeds the second temperature, the charging station will switch the charging current from the second current threshold to the first current threshold, thereby charging the battery with a larger current to increase the charging speed.

[0101] Furthermore, as the charging station continuously charges the battery, the battery's voltage or capacity gradually increases. When the battery is fully charged, the charging station needs to be controlled to perform trickle charging to avoid overcharging.

[0102] The charging current control method provided in this disclosure, targeting mobile robots, automatically determines the charging current of the charging pile based on the temperature range of the robot's battery cells when the robot is detected to be connected to a charging pile. This allows the charging pile to charge the robot's battery with a larger current (e.g., a first current threshold) when the temperature is above a second temperature under normal operating conditions. Conversely, it allows the charging pile to charge the robot's battery with a smaller current (e.g., a second current threshold) when the temperature is below the first temperature under low-temperature conditions. This ensures that a smaller current is used for charging under low-temperature conditions, i.e., when the iodine ion activity inside the battery is low, preventing damage to the battery and extending its lifespan. Furthermore, it expands the application range of the charging pile, enabling mobile robots to charge and operate for extended periods in low-temperature conditions without requiring batteries with low-temperature characteristics, thus reducing battery costs and improving the robot's versatility.

[0103] Figure 9 This is a flowchart illustrating a charging current control method according to another embodiment of this disclosure. This embodiment addresses the situation where, during connection, the cell temperature of the robot's rechargeable battery is lower than a first temperature. The charging current control method provided in this embodiment is... Figure 8 Based on the illustrated embodiment, a step related to determining whether the connection between the robot and the charging station is reliable is added before step S203, and a step related to controlling the charging current after the voltage of the robot's charging battery rises to a first preset voltage is added after step S203, such as... Figure 9 As shown, the charging current control method provided in this embodiment may include the following steps:

[0104] Step S301: When it is detected that the robot is electrically connected to the charging pile, the cell temperature of the robot's charging battery and the first position information of the robot are obtained.

[0105] The first location information is used to describe the robot's current location.

[0106] Specifically, the robot's initial position information can be detected by a position detection unit installed on the robot.

[0107] For example, the position detection unit can be a scanning device that can determine the robot's first position detection information by recognizing position identification codes, such as ground codes, on the robot's movement path.

[0108] Specifically, after the robot is connected to the charging station, the robot can broadcast its first position information and battery cell temperature to the charging station or charging current control device at certain intervals.

[0109] Furthermore, when the robot initiates a charging request to the charging station, it can upload its first position information and battery cell temperature to the server in real time or at certain intervals. Thus, the charging station or charging current control device can obtain the robot's first position information and the battery cell temperature at various times through the server.

[0110] Step S302: Based on the first location information, determine whether the robot is reliably connected to the charging pile.

[0111] Specifically, after receiving the robot's broadcast first location information, it is possible to determine whether the robot and the charging station are reliably connected based on the first location information. For example, based on the current first location information, the positional relationship between the robot and the charging station can be determined, and based on the positional relationship, it can be determined whether the robot and the charging station are reliably connected.

[0112] For example, based on the robot's first position information, it can be determined whether the distance between the robot and the charging pile is less than a preset distance. If so, it is determined that the charging pile and the robot are reliably connected. If not, the robot is controlled to make fine adjustments based on the first position information or the distance between the robot and the charging pile to ensure a reliable electrical connection between the robot and the charging pile. This avoids charging when the charging pile is only partially connected to the robot, thus improving charging safety.

[0113] Furthermore, if the robot fails to acquire its initial location information—for example, if the robot or charging current control device cannot connect to the network, or if the location identifier is obscured—a location anomaly message can be generated to indicate an error in the robot's location acquisition. After the initial location information acquisition fails, the charging station can be controlled to output a test electrical signal. Based on the robot's charging current corresponding to this test electrical signal, it can be determined whether the robot and the charging station are reliably connected.

[0114] Step S303: If yes, then when the cell temperature of the rechargeable battery is lower than the first temperature, control the charging pile to charge the robot's rechargeable battery with the second current threshold.

[0115] Specifically, after confirming a reliable electrical connection between the robot and the charging station, the charging current for the robot is determined based on its current battery cell temperature. Specifically, if the current battery cell temperature is lower than a first temperature, the charging station is controlled to charge the robot's battery with a second current threshold. That is, when the robot is in a low-temperature operating condition, and the battery cell temperature is lower than the first temperature, the charging station is controlled to charge the robot with a small current (the second current threshold).

[0116] Furthermore, if the cell temperature of the rechargeable battery fails to be obtained, the cell temperature at the current time is estimated based on the ambient temperature and the cell temperature detected at the previous time.

[0117] Step S304: When the voltage of the rechargeable battery meets the preset conditions and the cell temperature of the rechargeable battery is less than or equal to the second temperature, control the charging pile to charge the rechargeable battery with the first pulse current.

[0118] Step S305: When the voltage of the rechargeable battery reaches the first preset voltage and the cell temperature of the rechargeable battery is greater than the second temperature, control the charging pile to charge the rechargeable battery with the second pulse current.

[0119] The peak value of the second pulse current is greater than that of the first pulse current. The preset condition is used to determine whether the rechargeable battery is fully charged. When the preset condition is met, it indicates that the rechargeable battery is fully charged or nearly fully charged, such as 100%, 99%, 98%, etc.

[0120] For example, the preset condition can be that the charge of the rechargeable battery is greater than a set charge, such as 90%, 95%, 98%, etc.

[0121] For example, the preset conditions may also be conditions related to the voltage of the rechargeable battery, such as the preset condition that the voltage of the rechargeable battery rises to a first voltage and remains within a preset range of the first voltage for at least a first time, and then the voltage of the rechargeable battery drops to a first preset voltage.

[0122] The first preset voltage is less than the first voltage, which can be the voltage across the rechargeable battery when it is fully charged. The first voltage and the first preset voltage can be determined based on the characteristics of the robot's rechargeable battery. The preset range can be ±0.05V, ±0.03V, etc., and the first time can be 30 minutes, 1 hour, 1.5 hours, 2 hours, or other times.

[0123] For example, the first voltage can be 54V, 53.8V, 53.5V, etc., and the first preset voltage can be 52V, 52.1V, 51.5V, 51.2V, etc.

[0124] After the robot is charged using a charging station at a second current threshold under low-temperature conditions (initial charging, cell temperature lower than the first temperature), the voltage across the robot's battery gradually increases with charging time. If the battery voltage reaches the first voltage at full charge and remains there for a first time before decreasing to a first preset voltage, it indicates that the battery is fully charged. The pulse current used for trickle charging can then be determined based on the current cell temperature range of the battery. Specifically, when the battery is determined to be fully charged, if the cell temperature is less than or equal to the second temperature (i.e., the cell temperature is low), the charging station is controlled to charge the battery with the first pulse current. Conversely, if the cell temperature is greater than the second temperature (i.e., the cell temperature is high), the charging station is controlled to charge the battery with the second pulse current.

[0125] For example, the peak value of the first pulse current shows a decreasing trend, the peak value of the second pulse current also shows a decreasing trend, and the peak value of the first pulse current in the corresponding sequence is smaller than the peak value of the second pulse current.

[0126] For example, the peak value of the first pulse current can be 15A, the peak value of the first second pulse current can be 18A, the peak value of the second first pulse current can be 14A, and the peak value of the second second pulse current can be 17A.

[0127] In this embodiment, when a connection between the robot and the charging station is detected, the system determines whether the connection between the robot and the charging station is reliable based on the robot's first position information. The robot's battery can only be charged after a reliable electrical connection is established, thus improving battery charging safety. During charging, if the detected cell temperature of the robot is lower than a first temperature, such as 0°C, the charging station is controlled to charge the battery with a smaller current, i.e., a second current threshold. This enables charging of ordinary batteries under low-temperature conditions, expanding the robot's application range. Once the battery is fully charged, a corresponding pulse current is determined based on the battery's cell temperature to achieve trickle charging, compensating for battery losses and preventing overcharging, further improving battery charging safety and reducing power consumption.

[0128] Optionally, if the robot is reliably electrically connected to the charging pile and the cell temperature of the rechargeable battery is higher than the second temperature, the charging pile is controlled to charge the robot's rechargeable battery with a first current threshold; when the voltage of the rechargeable battery meets a preset condition, the charging pile is controlled to charge the rechargeable battery with a third pulse current.

[0129] Specifically, if the cell temperature of the robot's rechargeable battery is higher than the second temperature during connection, after confirming a reliable connection between the robot and the charging station, the charging station is controlled to charge the robot's rechargeable battery with a larger current, i.e., the first current threshold. When it is determined that the robot's rechargeable battery is fully charged, i.e., the battery voltage meets the preset conditions, there is no need to detect and judge the cell temperature. The charging station is directly controlled to charge the rechargeable battery with a second pulse current with a higher peak value, thereby reducing power consumption and avoiding battery overcharging.

[0130] In some embodiments, if the cell temperature of the robot's rechargeable battery cannot be obtained or the cell temperature acquisition fails, the charging current of the charging pile can be determined based on the range of ambient temperature corresponding to the robot's operation. Specifically, if the average ambient temperature corresponding to the robot's operation is higher than a second temperature, the charging pile is controlled to charge the robot's rechargeable battery with a first current threshold; if the average ambient temperature corresponding to the robot's operation is lower than the first temperature, the charging pile is controlled to charge the robot's rechargeable battery with a second current threshold.

[0131] Figure 10 This is a flowchart of a charging current control method provided in another embodiment of this disclosure. This embodiment addresses the situation where the cell temperature of the robot's rechargeable battery cannot be obtained after the robot is connected to the charging pile. The charging current control method provided in this embodiment is... Figure 8 Based on the illustrated embodiment, step S201 is further refined as follows: Figure 10 As shown, the charging current control method when cell temperature acquisition fails may include the following steps:

[0132] Step S401: When the robot is electrically connected to the charging pile, the first position information of the robot is obtained.

[0133] Step S402: Based on the first location information, determine whether the robot and the charging pile are reliably connected.

[0134] Step S403: If yes, then obtain the cell temperature of the robot's rechargeable battery.

[0135] Step S404: When the battery cell temperature of the robot fails to be obtained, the historical battery cell temperature and the ambient temperature of the robot within a preset time period are obtained.

[0136] The historical cell temperature includes the cell temperature of the rechargeable battery collected at least at a historical time point, and the preset time period includes the time period corresponding to the historical time point to the current time.

[0137] Specifically, when the cell temperature of the robot's charging battery connected to the charging station cannot be obtained, the cell temperature of the robot's charging and discharging battery at the current time can be estimated based on the external ambient temperature and historical cell temperatures.

[0138] Step S405: Based on the historical cell temperature and the ambient temperature within a preset time period, estimate the cell temperature of the robot's rechargeable battery at the current time.

[0139] Specifically, the initial temperature of the robot's rechargeable battery can be determined by using the historical cell temperature. Based on the ambient temperature within a preset time period, the temperature change of the robot's rechargeable battery based on this initial temperature can be estimated, thereby obtaining the cell temperature of the robot's rechargeable battery at the current time.

[0140] Specifically, if the battery cell temperature of the robot at the current time point cannot be obtained, the battery cell temperature at the previous time point (i.e., the historical battery cell temperature) and the ambient temperature of the robot during the preset time period from the previous time point to the current time point can be obtained. Then, based on the battery cell temperature at the previous time point and the ambient temperature at each moment during the preset time period from the previous time point to the current time point, the battery cell temperature of the robot at the current time point can be estimated.

[0141] Furthermore, the battery temperature of the robot at the current time or at the current time node can be estimated based on the average ambient temperature of the robot within a preset time period, the length of the preset time period, and the historical battery cell temperature.

[0142] Specifically, if the preset time period is longer than the first length, the average ambient temperature of the robot within the preset time period is used as the current battery temperature. If the preset time period is shorter than the second length, the historical battery temperature is used as the current battery temperature. The first length is longer than the second length.

[0143] For example, the first length can be 10 min, 5 min, 3 min or other values, and the second length can be 10 s, 30 s, 1 min or other values.

[0144] Specifically, if the preset time period falls between the second and first lengths, the battery cell temperature at the current time or point in time is estimated based on the average ambient temperature of the robot within the preset time period, the preset time period length, and historical battery cell temperatures. The longer the preset time period, the greater the impact of ambient temperature on the battery cell temperature at the current time point; conversely, the shorter the preset time period, the greater the impact of historical battery cell temperatures on the battery cell temperature at the current time point.

[0145] For example, assuming the average ambient temperature within a preset time period is 0℃ and the historical cell temperature (i.e., the cell temperature at the previous time point) is 3℃, if the preset time period is 50s, the estimated cell temperature can be 2.5℃; if the preset time period is 10s, the estimated cell temperature can be 3℃; if the preset time period is 15min, the estimated cell temperature can be 0℃.

[0146] Step S406: When the estimated cell temperature of the rechargeable battery is higher than the second temperature, control the charging pile to charge the robot's rechargeable battery with a first current threshold.

[0147] Step S407: When the estimated cell temperature of the rechargeable battery is lower than the first temperature, control the charging pile to charge the robot's rechargeable battery with a second current threshold.

[0148] Among them, the second temperature is higher than the first temperature, and the first current threshold is greater than the second current threshold.

[0149] After obtaining the estimated cell temperature of the rechargeable battery, the charging current is determined based on the estimated cell temperature instead of the actual cell temperature of the rechargeable battery. If the estimated cell temperature is higher than the second temperature, the charging pile is controlled to charge the rechargeable battery with a first current threshold. If the estimated cell temperature is lower than the first temperature, the charging pile is controlled to charge the rechargeable battery with a second current threshold.

[0150] Furthermore, if the estimated cell temperature is between the first temperature and the second temperature, the charging pile can be controlled to charge the battery with a second current threshold, or the charging pile can be controlled to charge the battery with a third current threshold.

[0151] Furthermore, when the battery cell temperature of the robot fails to be acquired, an abnormal battery temperature acquisition message can be generated to prompt relevant personnel to conduct an inspection.

[0152] Furthermore, during the robot's charging process, the robot's battery cell temperature is continuously monitored. If the current battery cell temperature is obtained, the charging current of the charging station is determined based on this temperature. If the battery cell temperature is higher than a second temperature, the charging station is controlled to charge the robot's battery with a first current threshold. If the battery cell temperature is between the first and second temperatures, the charging station is controlled to maintain the current charging current. If the battery cell temperature is lower than the first temperature, the charging station is controlled to charge the robot's battery with a second current threshold.

[0153] Optionally, when the maximum temperature difference of the ambient temperature corresponding to the robot within a preset time period is greater than a preset temperature difference, the charging pile is controlled to charge the robot's rechargeable battery with a second current threshold.

[0154] The preset temperature difference can be 15℃, 20℃, 30℃ or other values.

[0155] Specifically, when the cell temperature of the robot's rechargeable battery at the current time cannot be obtained, and the ambient temperature of the robot's external environment changes significantly within a preset time period, with the maximum temperature difference exceeding the preset temperature difference, such as when the robot moves from a cold chain area to a normal temperature area, there is no need to estimate the current cell temperature of the robot. Instead, the charging pile can be directly controlled to charge the robot's rechargeable battery at the second current threshold.

[0156] In this embodiment, when the robot is reliably connected to the charging pile, in cases where the cell temperature of the robot's rechargeable battery cannot be read, the battery's cell temperature at the current time is estimated by using the historical cell temperature of the robot's rechargeable battery and the ambient temperature of the robot's external environment within a preset time period. Based on the estimated cell temperature range, the charging current of the charging pile is determined. Specifically, when the estimated cell temperature is low (e.g., below -1°C), a smaller current is used to charge the robot's rechargeable battery; when the estimated cell temperature is high (e.g., above 3°C), a larger current is used. This achieves adaptive charging control of the robot's rechargeable battery even when the cell temperature reading is abnormal, improving the robustness of battery charging control. Simultaneously, charging the battery with a smaller current, which may be operating at low temperatures, ensures charging safety, reduces damage to the rechargeable battery from low-temperature charging, and extends the battery's lifespan.

[0157] Figure 11 This is a schematic diagram of the structure of a charging current control device provided in one embodiment of the present disclosure, as shown below. Figure 11 The device includes: a cell temperature acquisition module 510, a first charging control module 520, and a second charging control module 530.

[0158] The system includes a cell temperature acquisition module 510, used to acquire the cell temperature of the robot's rechargeable battery when an electrical connection between the robot and the charging pile is detected; a first charging control module 510, used to control the charging pile to charge the robot's rechargeable battery at a first current threshold when the cell temperature of the rechargeable battery is higher than a second temperature; and a second charging control module 530, used to control the charging pile to charge the robot's rechargeable battery at a second current threshold when the cell temperature of the rechargeable battery is lower than the first temperature, wherein the second temperature is higher than the first temperature and the first current threshold is greater than the second current threshold.

[0159] Optionally, the device further includes: a first charge holding module, configured to, after controlling the charging pile to charge the robot's rechargeable battery at a first current threshold, when the cell temperature of the robot's rechargeable battery is between the first temperature and the second temperature, control the charging pile to maintain charging the robot's rechargeable battery at the first current threshold.

[0160] Optionally, the device further includes: a second charge holding module, configured to, after controlling the charging pile to charge the robot's rechargeable battery at a second current threshold, control the charging pile to maintain charging the robot's rechargeable battery at the second current threshold when the cell temperature of the robot's rechargeable battery is between the first temperature and the second temperature.

[0161] Optionally, the device further includes: a first pulse charging module, configured to, after controlling the charging pile to charge the robot's rechargeable battery with a second current threshold, when the voltage of the rechargeable battery meets a preset condition and the cell temperature of the rechargeable battery is less than or equal to a second temperature, control the charging pile to charge the rechargeable battery with a first pulse current; or, the first pulse charging module, configured to, after controlling the charging pile to charge the robot's rechargeable battery with a second current threshold, when the voltage of the rechargeable battery meets a preset condition and the cell temperature of the rechargeable battery is greater than the second temperature, control the charging pile to charge the rechargeable battery with a second pulse current; wherein the peak value of the second pulse current is greater than the first pulse current.

[0162] Optionally, the device further includes: a third pulse charging module, used to control the charging pile to charge the robot's rechargeable battery with a third pulse current when the voltage of the rechargeable battery meets a preset condition after controlling the charging pile to charge the robot's rechargeable battery with a first current threshold.

[0163] Optionally, the device further includes: a historical temperature acquisition module, used to acquire historical cell temperature and ambient temperature of the robot within a preset time period when the robot is electrically connected to the charging pile and the acquisition of cell temperature of the robot's rechargeable battery fails, wherein the historical cell temperature includes cell temperature of the rechargeable battery collected at least at a historical time node, and the preset time period includes the time period from the historical time node to the current time; and a temperature estimation module, used to estimate the cell temperature of the robot's rechargeable battery at the current time based on the historical cell temperature and ambient temperature within the preset time period.

[0164] Optionally, the device further includes: a third charging control module, used to control the charging pile to charge the robot's rechargeable battery with a second current threshold when the maximum temperature difference of the ambient temperature corresponding to the robot within a preset time period is greater than a preset temperature difference.

[0165] Optionally, the device further includes: a position acquisition module, used to acquire first position information of the robot when an electrical connection between the robot and the charging pile is detected; a connection judgment module, used to determine whether the robot and the charging pile are reliably connected based on the first position information; correspondingly, a cell temperature acquisition module 510, used to control the charging pile to charge the robot's charging battery with a first current threshold when the cell temperature of the charging battery is higher than a second temperature if the robot and the charging pile are reliably connected, or to control the charging pile to charge the robot's charging battery with a second current threshold when the cell temperature of the charging battery is lower than the first temperature.

[0166] The charging current control device provided in this disclosure can execute the charging current control method provided in any embodiment of this disclosure, and has the corresponding functional modules and beneficial effects of executing the method.

[0167] Figure 12 This is a schematic diagram of the structure of a charging current control device provided in one embodiment of the present disclosure, as shown below. Figure 12 As shown, the charging current control device includes: a memory 610, a processor 620, and a computer program.

[0168] The computer program is stored in memory 610 and configured to be executed by processor 620 to implement this disclosure. Figures 8 to 10 The charging current control method provided in any of the corresponding embodiments. The memory 610 and the processor 620 are connected via a bus 630.

[0169] For relevant instructions, please refer to the corresponding text. Figures 8 to 10 The relevant descriptions and effects corresponding to the steps will be understood, and will not be elaborated on here.

[0170] Figure 13 This is a schematic diagram of the structure of a charging pile provided in one embodiment of the present disclosure, as shown below. Figure 13 As shown, the charging pile includes: a charging pile body 710, a power module 720, and a charging current control device 730.

[0171] The power module 720 is used to provide charging current to the rechargeable battery; the charging current control device 730 is disclosed herein. Figure 12 The charging current control device provided in the illustrated embodiment.

[0172] In some embodiments, the charging station further includes an ambient temperature sensor for detecting ambient temperature; and a display screen for displaying one or more of the robot's first position information, battery cell temperature, and ambient temperature.

[0173] In some embodiments, the charging station also includes a network module for data communication with a server or robot.

[0174] This disclosure also provides a warehousing system, including a robot and a charging station, wherein the charging station is a feature of this disclosure. Figure 13 The charging pile provided in the illustrated embodiment.

[0175] One embodiment of this disclosure provides a computer-readable storage medium having a computer program stored thereon, the computer program being executed by a processor to implement this disclosure. Figures 8 to 10 The charging current control method provided in any of the corresponding embodiments.

[0176] The computer-readable storage medium can be ROM, random access memory (RAM), CD-ROM, magnetic tape, floppy disk, and optical data storage device, etc.

[0177] This disclosure also provides a program product including an executable computer program stored in a readable storage medium. At least one processor of a charging current control device or charging pile can read the computer program from the readable storage medium, and the at least one processor executes the computer program to cause the charging current control device to implement the charging current control methods provided in the various embodiments described above.

[0178] In the several embodiments provided in this disclosure, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are merely illustrative; for instance, the division of modules is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple modules may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be indirect coupling or communication connection through some interfaces, devices, or modules, and may be electrical, mechanical, or other forms.

[0179] The modules described as separate components may or may not be physically separate. The components shown as modules may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs.

[0180] Furthermore, the functional modules in the various embodiments of this disclosure can be integrated into one processing unit, or each module can exist physically separately, or two or more modules can be integrated into one unit. The aforementioned modular unit can be implemented in hardware or in a combination of hardware and software functional units.

[0181] The integrated modules implemented as software functional modules described above can be stored in a computer-readable storage medium. These software functional modules, stored in a storage medium, include several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) or processor to execute some steps of the methods described in the various embodiments of this disclosure.

[0182] It should be understood that the aforementioned processor can be a Central Processing Unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), etc. A general-purpose processor can be a microprocessor or any conventional processor. The steps of the method disclosed in this disclosure can be directly manifested as execution by a hardware processor, or execution by a combination of hardware and software modules within the processor.

[0183] The memory may include high-speed RAM, and may also include non-volatile storage (NVM), such as at least one disk storage device, and may also be a USB flash drive, external hard drive, read-only memory, disk or optical disc, etc.

[0184] The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus, etc. Buses can be categorized as address buses, data buses, control buses, etc. For ease of illustration, the buses shown in the accompanying drawings are not limited to a single bus or a single type of bus.

[0185] The aforementioned storage medium can be implemented from any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic storage, flash memory, magnetic disk, or optical disk. The storage medium can be any available medium accessible to general-purpose or special-purpose computers.

[0186] An exemplary storage medium is coupled to a processor, enabling the processor to read information from and write information to the storage medium. Alternatively, the storage medium can be an integral part of the processor. Both the processor and the storage medium can reside in an Application Specific Integrated Circuit (ASIC). Alternatively, the processor and storage medium can exist as discrete components in an electronic device or host device.

[0187] Those skilled in the art will understand that all or part of the steps of the above-described method embodiments can be implemented by hardware related to program instructions. The aforementioned program can be stored in a computer-readable storage medium. When executed, the program performs the steps of the above-described method embodiments; and the aforementioned storage medium includes various media capable of storing program code, such as ROM, RAM, magnetic disks, or optical disks.

[0188] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this disclosure, and are not intended to limit them. Although this disclosure has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this disclosure.

Claims

1. A charging current control method, characterized in that, The method includes: When the robot is detected to be electrically connected to the charging station, the cell temperature of the robot's charging battery is obtained; When the cell temperature of the rechargeable battery is higher than the second temperature, the charging pile is controlled to charge the robot's rechargeable battery with a first current threshold. When the cell temperature of the rechargeable battery is lower than the first temperature, the charging pile is controlled to charge the robot's rechargeable battery with a second current threshold. Wherein, the second temperature is higher than the first temperature, and the first current threshold is greater than the second current threshold; The method further includes: After controlling the charging pile to charge the robot's rechargeable battery at a first current threshold, when the cell temperature of the robot's rechargeable battery is between the first temperature and the second temperature, the charging pile is controlled to continue charging the robot's rechargeable battery at the first current threshold. After controlling the charging pile to charge the robot's rechargeable battery at a second current threshold, when the cell temperature of the robot's rechargeable battery is between the first temperature and the second temperature, the charging pile is controlled to continue charging the robot's rechargeable battery at the second current threshold.

2. The method according to claim 1, characterized in that, After controlling the charging pile to charge the robot's rechargeable battery at a second current threshold, the method further includes: When the voltage of the rechargeable battery meets a preset condition and the cell temperature of the rechargeable battery is less than or equal to a second temperature, the charging pile is controlled to charge the rechargeable battery with a first pulse current; or, When the voltage of the rechargeable battery meets the preset conditions and the cell temperature of the rechargeable battery is greater than the second temperature, the charging pile is controlled to charge the rechargeable battery with the second pulse current. The peak value of the second pulse current is greater than that of the first pulse current.

3. The method according to claim 1, characterized in that, After controlling the charging pile to charge the robot's rechargeable battery at a first current threshold, the method further includes: When the voltage of the rechargeable battery meets the preset conditions, the charging pile is controlled to charge the rechargeable battery with a third pulse current.

4. The method according to any one of claims 1-3, characterized in that, When the robot is electrically connected to the charging station and the cell temperature of the robot's charging battery fails to be obtained, the method further includes: The system acquires historical battery cell temperatures and the ambient temperature of the robot within a preset time period. The historical battery cell temperatures include the battery cell temperatures of the rechargeable battery collected at least at a historical time point, and the preset time period includes the time period from the historical time point to the current time. Based on the historical cell temperature and the ambient temperature within a preset time period, the cell temperature of the robot's rechargeable battery at the current time is estimated.

5. The method according to claim 4, characterized in that, When the maximum temperature difference of the ambient temperature corresponding to the robot within a preset time period is greater than a preset temperature difference, the method further includes: The charging pile is controlled to charge the robot's battery at a second current threshold.

6. The method according to any one of claims 1-3, characterized in that, When an electrical connection between the robot and the charging station is detected, the method further includes: Obtain the robot's first position information; Based on the first location information, it is determined whether the robot is reliably connected to the charging pile; If so, when the cell temperature of the rechargeable battery is higher than the second temperature, the charging pile is controlled to charge the robot's rechargeable battery with a first current threshold, or when the cell temperature of the rechargeable battery is lower than the first temperature, the charging pile is controlled to charge the robot's rechargeable battery with a second current threshold.

7. A charging current control device, characterized in that, The device includes: A cell temperature acquisition module is used to acquire the cell temperature of the robot's rechargeable battery when an electrical connection between the robot and the charging pile is detected. The first charging control module is used to control the charging pile to charge the robot's rechargeable battery at a first current threshold when the cell temperature of the rechargeable battery is higher than a second temperature. The second charging control module is used to control the charging pile to charge the robot's battery with a second current threshold when the cell temperature of the charging battery is lower than the first temperature. Wherein, the second temperature is higher than the first temperature, and the first current threshold is greater than the second current threshold; The first charge holding module is used to control the charging pile to continue charging the robot's rechargeable battery at the first current threshold after controlling the charging pile to charge the robot's rechargeable battery at the first current threshold, when the cell temperature of the robot's rechargeable battery is between the first temperature and the second temperature. The second charge holding module is used to control the charging pile to continue charging the robot's rechargeable battery at the second current threshold after controlling the charging pile to charge the robot's rechargeable battery at the second current threshold, when the cell temperature of the robot's rechargeable battery is between the first temperature and the second temperature.

8. A charging current control device, characterized in that, include: Memory and at least one processor; The memory stores computer-executed instructions; The at least one processor executes computer execution instructions stored in the memory, causing the at least one processor to perform the charging current control method as described in any one of claims 1-6.

9. A charging pile, characterized in that, It includes the main body of the charging pile, the power module, and the charging current control device as described in claim 8.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer-executable instructions, which, when executed by the processor, implement the charging current control method as described in any one of claims 1-6.

11. A computer program product, comprising a computer program, characterized in that, When the computer program is executed by the processor, it implements the charging current control method as described in any one of claims 1-6.

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