Robot charging method and device, computer device and storage medium

Abstract

The application relates to the field of robot charging, and provides a robot charging method and device, computer equipment and a storage medium. The method comprises the following steps: sending a current charging request of a current robot; acquiring first target charging pile group information allocated to the current robot according to the current charging request; allocating a corresponding first target charging pile to the current robot according to charging pile information of each charging pile in the first target charging pile group information; when the number of times of pile charging initiated to the first target charging pile reaches a preset attempt number and no charging signal is received, acquiring second target charging pile group information according to a scheduling strategy and the current position; and allocating a corresponding second target charging pile to the current robot for pile charging according to charging pile information of each charging pile in the second target charging pile group information. The method can improve the robot charging efficiency.

Description

Technical Field

[0001] This application relates to the field of robot charging technology, and in particular to a robot charging method, apparatus, computer equipment, and storage medium. Background Technology

[0002] When performing tasks, robots require a certain amount of power. If the power is insufficient to support the robot's continued operation, it needs to be recharged. Current robot charging methods primarily involve cloud-based allocation of charging stations. However, the cloud cannot determine the status of the assigned charging stations. If a robot is assigned a faulty, malfunctioning, or prone to charging from a faulty station, it will be unable to complete charging in a timely manner, further impacting its task performance. Summary of the Invention

[0003] Therefore, it is necessary to provide a robot charging method, apparatus, computer equipment, and storage medium that can improve robot charging efficiency in response to the above-mentioned technical problems.

[0004] A robot charging method, applied to a robot, the method comprising:

[0005] Send the current charging request for the current robot; the current charging request carries the current position of the current robot;

[0006] Obtain information about the first target charging station group allocated to the current robot based on the current charging request;

[0007] Based on the charging pile information of each charging pile in the first target charging pile group information, a corresponding first target charging pile is assigned to the current robot;

[0008] When the number of attempts to charge the first target charging pile reaches the preset number and no charging signal is received, the information of the second target charging pile group is obtained according to the scheduling strategy and the current location.

[0009] Based on the charging pile information of each charging pile in the second target charging pile group information, the current robot is assigned a corresponding second target charging pile for charging.

[0010] In one embodiment, the method further includes:

[0011] Respond to the current charging request of the current robot;

[0012] Obtain information about a first target charging pile group within a preset range from the current location; the information about the first target charging pile group includes information about one or more charging piles.

[0013] In one embodiment, obtaining the second target charging pile group information based on the scheduling strategy and the current location includes:

[0014] The cloud communication scheduling will be switched to near-field communication scheduling according to the scheduling strategy.

[0015] The robot obtains information on all available charging stations when it is currently located in the first target charging station group through near-field communication.

[0016] Information on a second target charging pile group is obtained from the candidate charging pile information, which is within a preset range from the current location.

[0017] In one embodiment, the charging pile information includes the charging pile location, charging pile occupancy status, and charging pile rating; the step of allocating a corresponding second target charging pile to the current robot for charging based on the charging pile information of each charging pile in the second target charging pile group includes:

[0018] Based on the charging pile score and occupancy status of each charging pile in the second target charging pile group information, a corresponding second target charging pile is assigned to the current robot;

[0019] Send a query to the second target charging station asking whether to accept the current charging request of the current robot;

[0020] When the second target charging station accepts the current charging request, it broadcasts the charging status of the current robot and the second target charging station to a preset range from the current location.

[0021] In one embodiment, the method further includes:

[0022] Based on the charging information of the second target charging pile, a score is assigned according to a preset scoring rule to obtain the current charging pile score and scoring time of the second target charging pile.

[0023] The current charging station score and score time are broadcast to robots and charging stations within a preset range of the current location.

[0024] In one embodiment, the method further includes:

[0025] Transmit the current charging pile score and score time to the server;

[0026] The server is used to receive the current charging pile score and scoring time of the current robot for the second target charging pile;

[0027] Based on the current charging pile score, the score of the second target charging pile is updated according to the preset score update rule to obtain the updated charging pile score.

[0028] The robot that corresponds to the next scoring time sequence of the second target charging station is taken as the current robot;

[0029] Return to the step of receiving the current charging pile score and scoring time of the current robot for the second target charging pile, until the updated charging pile score meets the charging pile prohibition condition, and process the second target charging pile according to the preset prohibition rule.

[0030] In one embodiment, the charging pile prohibition condition includes a negative charging pile score; the processing of the second target charging pile according to the preset charging prohibition rule includes:

[0031] When the updated rating of the second target charging pile changes from positive to negative, the second target charging pile will be blacklisted.

[0032] When the number of consecutive blacklistings of the second target charging station meets the preset number, the second target charging station will be permanently blacklisted.

[0033] A robot charging device, the device comprising:

[0034] A charging request receiving module is used to send the current charging request of the current robot; the current charging request carries the current position of the current robot;

[0035] The first target charging pile group determination module is used to receive the first target charging pile group information allocated to the current robot according to the current charging request;

[0036] The first target charging pile determination module is used to allocate a corresponding first target charging pile to the current robot based on the charging pile information of each charging pile in the first target charging pile group.

[0037] The second target charging pile group determination module is used to obtain the second target charging pile group information according to the scheduling strategy and the current location when the number of attempts to charge the first target charging pile reaches a preset number and no charging signal is received.

[0038] The second target charging pile determination module is used to allocate a corresponding second target charging pile to the current robot based on the charging pile information of each charging pile in the second target charging pile group information so that the current robot can charge on the charging pile.

[0039] A computer device includes a memory and a processor, the memory storing a computer program, and the processor executing the computer program to implement the steps of the above-described robot charging method.

[0040] A computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of the above-described robot charging method.

[0041] The aforementioned robot charging method, apparatus, computer equipment, and storage medium send a current charging request from the robot, which is then responded to by the server or the robot itself, allocating a first target charging pile group to the robot. The robot then allocates a first target charging pile based on the charging pile information of each pile in the first target charging pile group. The robot initiates charging at the first target charging pile, and if the number of attempts reaches a preset limit and no charging signal is received, a second target charging pile group is obtained based on the scheduling strategy and the robot's current location. A second target charging pile is then allocated based on the charging pile information of each pile in the second target charging pile group for the robot to charge. By acquiring all charging piles near the robot and allocating them based on their ratings, the system avoids the problem of the server blindly allocating faulty charging piles to the robot, thus preventing the robot from charging in a timely manner. Furthermore, when charging piles allocated in the cloud fail to provide charging, the scheduling strategy is switched in a timely manner. Near-field communication (NFC) is used to obtain charging pile information from all charging piles around the robot. Charging pile information acquired through NFC with higher confidence can more accurately schedule suitable charging piles for the robot in the event of cloud-based scheduling failure. Furthermore, this solution also provides a scoring system for evaluating the effectiveness of charging piles. This system evaluates the charging status of charging piles, so that when a robot requests charging, it can select a charging pile with a good charging status that is also close to the robot based on the charging pile's score, thus enabling the robot to obtain an effective charging pile for charging. Attached Figure Description

[0042] Figure 1 A diagram illustrating an application scenario of a robot charging method in one embodiment;

[0043] Figure 2 A flowchart illustrating a robot charging method in one embodiment;

[0044] Figure 3 This is a structural block diagram of a robot charging device in one embodiment;

[0045] Figure 4 This is an internal structural diagram of a computer device in one embodiment. Detailed Implementation

[0046] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0047] The robot charging method provided in this application can be applied to, for example... Figure 1 The application environment shown is illustrated. This robot charging method is applied to a robot charging system. The robot charging system includes a server 102, a robot 104, and a charging pile 106; wherein the robot 104 includes one or more; the charging pile 106 includes one or more; the server 102 communicates with the robot 104 and the charging pile 106 via a network; communication between the robot 104 and the charging pile 106, and between the robot 104 and the robot 104, can be indirectly achieved through the server 102, or directly achieved through near-field communication. That is, the robot 104 directly communicates with the charging pile 106 through near-field communication, and the robot 104 communicates with itself through near-field communication, broadcasting information to the surrounding area to transmit information to other robots 104 and charging piles 106 in the vicinity.

[0048] For example, after completing charging at a charging station, robot 104 scores the current charging station and uploads the score to server 102. Server 102 updates the score based on the latest rating of the charging station for subsequent robots to use when initiating charging requests. Alternatively, robot 104 can broadcast the rating of the current charging station to all robots or IoT devices (such as charging stations) within the site, allowing other robots to access the charging information in real time. Simultaneously, when a robot uses near-field communication to score or charge at a charging station, it also needs to synchronously broadcast the acquired target charging station group information to all robots or IoT devices within the site, enabling robots with charging needs to obtain the charging station's rating.

[0049] The robot sends a charging request, and the server or the robot responds. Based on the current location carried in the charging request, it obtains a first target charging pile group within a preset range of the current location. Then, it assigns a first target charging pile to the robot based on the charging pile information of each charging pile in the first target charging pile group. When the robot attempts to charge at the first target charging pile a preset number of times without receiving a charging signal, it obtains a second target charging pile group based on the scheduling strategy and its current location. It then assigns a second target charging pile to the robot based on the charging pile information in the second target charging pile group. In the event of a failure of the cloud-based scheduling strategy, it promptly uses near-field communication to obtain charging pile information from surrounding charging piles, thereby assigning a more suitable charging pile to the robot and improving its charging efficiency.

[0050] In one embodiment, such as Figure 2 As shown, a robot charging method is provided, which can be applied to... Figure 1 Taking robot 104 as an example, the explanation includes the following steps:

[0051] Step S202: Send the current charging request of the current robot; the current charging request carries the current position of the current robot.

[0052] The current charging request includes information such as the robot's location, battery level, and robot identifier.

[0053] In one embodiment, the current charging request carries the current battery level of the robot; the method further includes: determining whether the robot needs to be recharged based on the current battery level; if so, responding to the current charging request sent by the robot.

[0054] Specifically, the robot initiates a charging request to the server or itself. The server or itself responds to the charging request, determining whether the robot needs additional power based on the current battery level carried in the request, and then deciding whether to respond to the charging request based on the result. The charging request can also carry the robot's next task or current task. The server or the robot determines whether it needs additional power based on the current battery level and the task. If the current battery level is sufficient for the robot to complete the current task, the server or the robot can refuse to respond to the charging request.

[0055] Step S204: Receive the information of the first target charging pile group allocated to the current robot according to the current charging request.

[0056] The first target charging pile group information can refer to the information of all charging piles within a preset range from the current location; or it can refer to the information of all available charging piles within a preset range from the current location, where available charging piles refer to charging piles whose occupancy status is non-occupancy.

[0057] The occupancy status of a charging station includes occupied, reserved, and unoccupied. A charging station in the occupied or reserved state is currently unavailable. Only charging stations in the unoccupied state can be used normally.

[0058] Specifically, the robot initiates a charging request at the current moment. The server or the robot responds to the charging request. The server determines the target location of the robot within the station to which the current location belongs, based on the current location carried in the charging request and a preset range. It further obtains information about a first target charging pile group, which consists of all charging piles within the target location. This first target charging pile group includes at least one charging pile, and the charging pile information for each charging pile includes its location, occupancy status, and charging pile score. The charging pile score is an accumulated score calculated by one or more robots based on the charging information of the charging piles.

[0059] Step S206: Based on the charging pile information of each charging pile in the first target charging pile group information, assign a corresponding first target charging pile to the current robot.

[0060] Specifically, the server determines the first target charging pile corresponding to the current robot based on the charging pile rating and occupancy status of each charging pile in the first target charging pile group. The first target charging pile refers to a robot that is currently available and has a high rating. Alternatively, the server can filter out candidate first target charging piles corresponding to the current robot based on the charging pile rating of each charging pile in the first target charging pile group information. Further, based on the current location, it selects the charging pile closest to the current robot from the candidate first target charging piles as the first target charging pile and sends the information of the first target charging pile to the current robot. The current robot moves to the charging pile location of the first target charging pile, connects to the charging pile, receives the charging signal from the first target charging pile, and charges according to the charging signal. In one embodiment, the server or the current robot can specify a target charging pile to charge the current robot.

[0061] In one embodiment, when the current robot cannot obtain charging pile information from the server, the current robot responds to the current charging request by obtaining charging pile information of all available charging piles in the vicinity via near-field communication as near-field charging pile information; from the near-field charging pile information, charging pile information within a preset range from the current location is filtered according to the charging pile location as the first target charging pile group information; further, the first target charging pile is determined according to the charging pile score and charging pile occupancy status in the first target charging pile group information for the current robot to charge.

[0062] In one embodiment, after the current robot obtains the first target charging pile group from the server, it uses near-field communication to obtain the charging pile information of the corresponding charging pile based on the charging pile identifier. The current robot determines the first target charging pile for charging by using the charging pile score and charging pile occupancy status of the first target charging pile group information obtained through near-field communication.

[0063] Step S208: When the number of attempts to charge the first target charging pile reaches the preset number and no charging signal is received, the information of the second target charging pile group is obtained according to the scheduling strategy and the current location.

[0064] The scheduling strategies include cloud communication scheduling and near-field communication scheduling.

[0065] Specifically, when the robot initiates charging at the first target charging station, if it hasn't received a charging signal from the first target charging station after a preset number of attempts, it indicates that the cloud-scheduled charging has failed, and the cloud scheduling needs to be switched to near-field communication (NFC) scheduling. The robot switches from cloud communication to NFC scheduling according to the scheduling strategy. NFC communication is used to obtain information on all charging stations accessible from the robot's current location within the first target charging station group as candidate charging stations. From the candidate charging stations, information on multiple charging stations within a preset range from the current location is selected as the second charging station group. Essentially, in the event of cloud communication scheduling failure, if charging stations around the robot experience charging malfunctions before the server updates charging station ratings, NFC communication allows the robot to promptly obtain charging station information and schedule the target charging station accordingly.

[0066] In one embodiment, obtaining the second target charging pile group information according to the scheduling strategy and the current location includes: switching cloud communication scheduling to near-field communication scheduling according to the scheduling strategy; obtaining all candidate charging pile information obtained when the current robot is located in the first target charging pile group through near-field communication; and obtaining the second target charging pile group information from the candidate charging pile information within a preset range from the current location.

[0067] Step S210: Based on the charging pile information of each charging pile in the second target charging pile group, assign a corresponding second target charging pile to the current robot for charging.

[0068] In one embodiment, the method further includes: when the current robot fails to charge at the target charging pile, returning to the step of sending the current charging request of the current robot until the current robot completes charging at the charging pile.

[0069] In one embodiment, the charging pile information includes the charging pile location, charging pile occupancy status, and charging pile rating; the step of allocating a corresponding second target charging pile to the current robot for charging based on the charging pile information of each charging pile in the second target charging pile group information includes: allocating a corresponding second target charging pile to the current robot based on the charging pile rating and charging pile occupancy status of each charging pile in the second target charging pile group information; sending an inquiry to the second target charging pile asking whether it accepts the current charging request of the current robot; and when the second target charging pile accepts the current charging request, broadcasting the charging status of the current robot and the second target charging pile within a preset range from the current location.

[0070] Specifically, the robot locally stores charging station information. It acquires charging station information from surrounding robots via near-field communication (NFC). Based on the charging station rating and occupancy status, it determines the nearest, available, and highest-rated charging station as the second target charging station for charging. The robot then sends an inquiry to the second target charging station to inquire whether a connection has been established, such as a handshake. Once the handshake is established, the robot proceeds to the first target charging station to begin charging and broadcasts the charging status of both the robot and the second target charging station to other robots, thus informing them not to choose the second target charging station and preventing multiple robots from competing for the charging station. If an anomaly occurs during charging, such as failing to obtain a charging signal from the second charging station after a preset number of attempts or an interruption in charging, the robot broadcasts its charging status and that of the second target charging station to surrounding robots in real time.

[0071] In one embodiment, the method further includes: scoring the second target charging pile according to a preset scoring rule based on its charging information, to obtain the current charging pile score and scoring time of the second target charging pile; and broadcasting the current charging pile score and scoring time to robots and charging piles within a preset range from the current location. The current robot can score the charging pile based on its charging interaction with the second target charging pile and synchronize the score to surrounding robots or the charging pile itself, so that other robots can use it when interacting with the charging pile.

[0072] In one embodiment, the method further includes: transmitting the current charging pile score and scoring time to a server; the server receiving the current robot's current charging pile score and scoring time for the target charging pile; updating the score of the second target charging pile based on the current charging pile score according to a preset scoring update rule to obtain an updated charging pile score; designating the robot corresponding to the second target charging pile in the next scoring time sequence as the current robot; returning to the step of receiving the current robot's current charging pile score and scoring time for the second target charging pile, until the updated charging pile score meets the charging pile's charging prohibition condition, and processing the second target charging pile according to the preset charging prohibition rule.

[0073] The charging information includes charging signals and charging status; the charging status includes charging interruption and charging hold. When the robot is charging at the charging station, it first receives a charging signal from the charging station, and then starts charging according to the charging signal. If a charging interruption occurs during the charging process, the robot stops charging; if charging hold occurs, the robot continues charging until charging is complete.

[0074] The preset scoring rules are determined in advance based on the historical charging information of the charging piles and the charging status feedback from the robot. The preset scoring rules are related to the charging attempt type, the number of charging attempts, and the charging attempt results. The charging attempt types include small attempts and large attempts. After the robot reaches the location of the second target charging pile, it initiates charging at the second target charging pile; it receives a charging signal from the second target charging pile. If no charging signal is received, the robot initiates a small attempt, returns to the location of the second target charging pile, and initiates charging again; when the number of small attempts exceeds the preset number of attempts, the robot initiates a large attempt. The specific process of the robot initiating a large-scale trial includes: the current robot records a large-scale trial at the second target charging station; the current robot returns to the designated location of the second target charging station group, or returns to its current position; the second target charging station is scored and uploaded to the server for the server to update the score of the second target charging station according to a preset scoring update rule; the current robot sends a current charging request to the server again, and the server receives the current charging request sent by the current robot; information on the second target charging station group within a preset range from the current position is obtained, and a corresponding second target charging station is reassigned to the current robot according to the charging station score and occupancy status of each charging station in the second target charging station group information. At this time, the charging station score is the updated score; the current robot moves to the second target charging station for charging according to the above steps. The second target charging station at this time may be the same as or different from the charging station initially assigned by the server.

[0075] If the current robot receives a charging signal from the second target charging station and starts charging, but the charging signal is interrupted during the charging process, the current robot determines whether the number of small attempts is less than or equal to the preset number of attempts. If it is less, the current robot continues to initiate small attempts; if it is greater, the current robot initiates large attempts and continues charging at the charging station according to the above steps for initiating large attempts.

[0076] Therefore, when the robot does not receive a charging signal, it can initiate a small attempt; when the number of small attempts exceeds the preset number of attempts, it can initiate a large attempt; or when the charging signal is interrupted during the charging process, it can initiate a large attempt.

[0077] Correspondingly, a small attempt is scored as 0 points, meaning that a small attempt is made to the charging station during the robot's charging process, and no points are deducted regardless of the outcome. A large attempt is scored by deducting a preset number of points based on the number of attempts. For example, if a large attempt is made, 1 point is deducted from the corresponding second target charging station, which can be recorded as "-1". If two large attempts are made for the second target charging station, 2 points are deducted from the corresponding second target charging station.

[0078] Specifically, after the current robot completes charging at a designated charging station or fails to charge at a second target charging station, it scores the second target charging station. This score is determined by the current robot based on the charging information of the second target charging station during the charging process, according to a preset scoring rule. The current robot obtains the current charging station score based on the scoring time and uploads it to the server. The server updates the score of the second target charging station according to the received current charging station score and a preset scoring update rule, thus obtaining the updated charging station score. Furthermore, the robot that will be next in the scoring order for the second target charging station is designated as the current robot. The current robot receives the current charging station score and scoring time from the current robot, until the updated charging station score meets the charging station's charging prohibition conditions. The robot then takes appropriate action against the second target charging station according to the preset charging prohibition rules.

[0079] In one embodiment, the charging pile prohibition condition includes a negative charging pile score; the processing of the second target charging pile according to the preset prohibition charging rule includes: when the updated charging pile score of the second target charging pile changes from positive to negative, the second target charging pile is blacklisted; when the number of consecutive blacklistings of the second target charging pile meets the preset number, the second target charging pile is permanently blacklisted.

[0080] Blacklisting refers to setting the charging station's usage status to unavailable. When a charging station's score is 0, its usage status is also unavailable. When a charging station is unavailable, it needs to wait for its score to be updated. The server's score update mechanism can use either automatic or manual updates. When a charging station is blacklisted or permanently blacklisted, its corresponding charging station score is negative. Therefore, the usage status of a charging station can be determined based on its score.

[0081] When the rating of the second target charging station changes from positive to negative, the second target charging station needs to be blacklisted. When the number of consecutive blacklistings of the same charging station meets the preset number, such as the second target charging station being blacklisted 3 times consecutively, the second target charging station will be permanently blacklisted. Charging stations in a permanently blacklisted state can have their ratings restored manually. When the charging station rating becomes positive, the charging station can be restored to use.

[0082] In one embodiment, the preset scoring update rules include automatic scoring update rules and manual scoring update rules. The automatic scoring update rules include: resetting the charging pile score of the second target charging pile when the second target charging pile successfully charges the current robot; and adding points to the second target charging pile according to a preset time interval, a preset number of consecutive blacklistings, and a preset score when the second target charging pile is blacklisted but not permanently blacklisted. The manual scoring update rules include: resetting the charging pile score of the second target charging pile through manual update; wherein, the manual update method includes modifying the charging pile score, simulating charging pile connection, and manually pushing the robot onto the charging pile.

[0083] Successful charging means that the robot did not attempt to charge the charging station and did not incur any penalties during the charging process. In such cases, the charging is considered successful.

[0084] Specifically, when the second target charging pile successfully charges the current robot, the current robot scores it based on the charging information, meaning no points are deducted for the second target charging pile. The server resets the second target charging pile's score to its base score based on the received charging pile score. When the second target charging pile is blacklisted but not permanently blacklisted, it can automatically recover its score. Points are added to the second target charging pile according to preset time intervals, consecutive blacklisting counts, and preset scores. For example, the preset count is 3 times, the preset time interval is 30 minutes, and the preset score is 1 point. Correspondingly, if the second target charging pile's consecutive blacklisting count is less than 3 times, it adds 1 point every 30 minutes.

[0085] In one embodiment, the step of adding points to the second target charging pile according to a preset time interval, a number of consecutive blacklistings, and a preset score includes: when the number of consecutive blacklistings of the second target charging pile is less than a preset number, the product of the preset time interval and the number of consecutive blacklistings is taken as the target time interval; and the second target charging pile is added to the target charging pile according to the preset score in sequence according to the target time interval.

[0086] In one embodiment, the charging pile score of the second target charging pile is reset manually to the base score. The manual update method primarily involves the server backend modifying the charging pile score and setting it to the base score; or the server backend simulating charging pile entry to obtain relevant information, thereby triggering the reset of the second target charging pile's score; or manually pushing a robot to charge at the second target charging pile, thus triggering the reset of the second target charging pile's score.

[0087] The aforementioned robot charging method involves sending a current charging request to the robot, which is then responded to by the server or the robot itself, allocating a first target charging pile group. The robot then assigns a first target charging pile based on the information of each charging pile in the first target charging pile group. The robot initiates charging at the first target charging pile. If the number of charging attempts reaches a preset limit and no charging signal is received, a second target charging pile group is obtained based on the scheduling strategy and the robot's current location. A second target charging pile is then allocated based on the information of each charging pile in the second target charging pile group for the robot to charge. By acquiring all charging piles near the robot and allocating them based on their ratings, the method avoids the problem of the server blindly assigning faulty charging piles to the robot, thus preventing the robot from charging in a timely manner. Furthermore, when charging piles allocated in the cloud fail to provide charging, the scheduling strategy is switched in a timely manner. Near-field communication (NFC) is used to obtain charging pile information from all charging piles around the robot. Charging pile information acquired through NFC with higher confidence can more accurately schedule suitable charging piles for the robot in the event of cloud-based scheduling failure. Furthermore, this solution also provides a scoring system for evaluating the effectiveness of charging piles. This system evaluates the charging status of charging piles, so that when a robot requests charging, it can select a charging pile with a good charging status that is also close to the robot based on the charging pile's score, thus enabling the robot to obtain an effective charging pile for charging.

[0088] It should be understood that, although Figure 2 The steps in the flowchart are shown sequentially as indicated by the arrows, but these steps are not necessarily executed in the order indicated by the arrows. Unless otherwise specified herein, there is no strict order in which these steps are executed, and they can be performed in other orders. Figure 2 At least some of the steps in the process may include multiple sub-steps or multiple stages. These sub-steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these sub-steps or stages is not necessarily sequential, but can be executed in turn or alternately with other steps or at least some of the sub-steps or stages of other steps.

[0089] In one embodiment, such as Figure 3 As shown, a robot charging device 300 is provided, including: a charging request receiving module 302, a first target charging pile group determination module 304, a first target charging pile determination module 306, a second target charging pile group determination module 308, and a second target charging pile determination module 310, wherein:

[0090] The charging request receiving module 302 is used to send the current charging request of the current robot; the current charging request carries the current position of the current robot;

[0091] The first target charging pile group determination module 304 is used to receive the first target charging pile group information allocated to the current robot according to the current charging request;

[0092] The first target charging pile determination module 306 is used to allocate a corresponding first target charging pile to the current robot based on the charging pile information of each charging pile in the first target charging pile group.

[0093] The second target charging pile group determination module 308 is used to obtain the second target charging pile group information according to the scheduling strategy and the current location when the number of times the charging attempt to the first target charging pile reaches the preset number of attempts and no charging signal is received.

[0094] The second target charging pile determination module 310 is used to allocate a corresponding second target charging pile to the current robot for charging based on the charging pile information of each charging pile in the second target charging pile group information.

[0095] In one embodiment, the first target charging pile group determination module is further configured to respond to the current charging request of the current robot; obtain information on the first target charging pile group within a preset range from the current location; the information on the first target charging pile group includes information on one or more charging piles.

[0096] In one embodiment, the second target charging pile group determination module is further configured to switch cloud communication scheduling to near-field communication scheduling according to the scheduling strategy; obtain all candidate charging pile information obtained when the current robot is located in the first target charging pile group through near-field communication; and obtain the second target charging pile group information within a preset range from the candidate charging pile information.

[0097] In one embodiment, the second target charging pile determination module is further configured to allocate a corresponding second target charging pile to the current robot based on the charging pile score and charging pile occupancy status of each charging pile in the second target charging pile group information; send an inquiry to the second target charging pile regarding whether to accept the current charging request of the current robot; and when the second target charging pile accepts the current charging request, broadcast the charging status of the current robot and the second target charging pile within a preset range from the current location.

[0098] In one embodiment, the device further includes a charging pile scoring module, used to score the second target charging pile according to a preset scoring rule based on the charging information of the second target charging pile, to obtain the current charging pile score and scoring time of the second target charging pile; and to broadcast the current charging pile score and scoring time to robots and charging piles within a preset range from the current location.

[0099] In one embodiment, the charging pile rating update module is used to transmit the current charging pile rating and rating time to the server; the server is used to receive the current charging pile rating and rating time of the current robot for the second target charging pile; update the rating of the second target charging pile according to the current charging pile rating and a preset rating update rule to obtain the updated charging pile rating; designate the robot corresponding to the second target charging pile in the next rating time sequence as the current robot; return to the step of receiving the current charging pile rating and rating time of the current robot for the second target charging pile, until the updated charging pile rating meets the charging pile prohibition condition, and process the second target charging pile according to the preset prohibition rule.

[0100] In one embodiment, the charging pile rating update module is further configured to blacklist the second target charging pile when the updated charging pile rating changes from positive to negative; and to permanently blacklist the second target charging pile when the number of consecutive blacklistings of the second target charging pile meets a preset number.

[0101] The aforementioned robot charging device sends a current charging request to the robot, and the server or the robot responds by allocating a first target charging pile group to the robot. The robot then allocates a first target charging pile based on the charging pile information of each pile in the first target charging pile group. The robot initiates charging at the first target charging pile, and if it reaches a preset number of charging attempts without receiving a charging signal, it acquires a second target charging pile group based on the scheduling strategy and its current location. Then, it allocates a second target charging pile based on the charging pile information of each pile in the second target charging pile group for the robot to charge. By acquiring all charging piles near the robot and allocating charging piles based on their ratings, the device avoids the problem of the server blindly allocating faulty charging piles to the robot, thus preventing the robot from charging in a timely manner. Furthermore, when charging piles allocated in the cloud fail to provide charging, the scheduling strategy is switched in a timely manner. Near-field communication (NFC) is used to acquire charging pile information of all charging piles around the robot. Charging pile information acquired through NFC with higher confidence can more accurately schedule suitable charging piles for the robot when cloud-based scheduling fails. Furthermore, this solution also provides a scoring system for evaluating the effectiveness of charging piles. This system evaluates the charging status of charging piles, so that when a robot requests charging, it can select a charging pile with a good charging status that is also close to the robot based on the charging pile's score, thus enabling the robot to obtain an effective charging pile for charging.

[0102] Specific limitations regarding the robot charging device can be found in the limitations of the robot charging method described above, and will not be repeated here. Each module in the aforementioned robot charging device can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in or independent of the processor in a computer device in hardware form, or stored in the memory of a computer device in software form, so that the processor can call and execute the operations corresponding to each module.

[0103] In one embodiment, a computer device is provided, which may be a robot, and its internal structure diagram may be as follows: Figure 4As shown, the computer device includes a processor, memory, network interface, display screen, and input devices connected via a system bus. The processor provides computing and control capabilities. The memory includes non-volatile storage media and internal memory. The non-volatile storage media stores the operating system and computer programs. The internal memory provides an environment for the operation of the operating system and computer programs stored in the non-volatile storage media. The network interface is used to communicate with external terminals via a network connection. When the computer program is executed by the processor, it implements a robot charging method. The display screen can be an LCD screen or an e-ink display screen. The input devices can be a touch layer covering the display screen, buttons, a trackball, or a touchpad mounted on the computer device casing, or an external keyboard, touchpad, or mouse.

[0104] Those skilled in the art will understand that Figure 4 The structure shown is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the computer device to which the present application is applied. Specific computer devices may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.

[0105] A computer device includes a memory and a processor, the memory storing a computer program, characterized in that the processor executes the computer program to implement the steps of the robot charging method provided in any embodiment of this application.

[0106] A computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of the robot charging method provided in any embodiment of this application.

[0107] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium, and when executed, it can include the processes of the embodiments of the above methods. Any references to memory, storage, databases, or other media used in the embodiments provided in this application can include non-volatile and / or volatile memory. Non-volatile memory can include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), or flash memory. Volatile memory can include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in various forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), dual data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link DRAM (SLDRAM), Rambus direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), etc.

[0108] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0109] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the invention patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this patent application should be determined by the appended claims.

Claims

1. A robot charging method, applied to a robot, characterized in that, The method includes: Send the current charging request for the current robot; the current charging request carries the current position of the current robot; Obtain information about the first target charging station group allocated to the current robot based on the current charging request; Based on the charging pile information of each charging pile in the first target charging pile group information, a corresponding first target charging pile is assigned to the current robot; When the number of attempts to charge the first target charging pile reaches the preset number and no charging signal is received, the information of the second target charging pile group is obtained according to the scheduling strategy and the current location. Based on the charging pile information of each charging pile in the second target charging pile group information, the current robot is assigned a corresponding second target charging pile for charging. The method further includes: Based on the charging information of the second target charging pile, a score is assigned according to a preset scoring rule to obtain the current charging pile score and scoring time of the second target charging pile. Broadcast the current charging pile score and score time to robots and charging piles within a preset range of the current location; The method further includes: Transmit the current charging pile score and score time to the server; The server is used to receive the current charging pile score and scoring time of the current robot for the second target charging pile; Based on the current charging pile score, the score of the second target charging pile is updated according to the preset score update rule to obtain the updated charging pile score. The robot that corresponds to the next scoring time sequence of the second target charging station is taken as the current robot; Return to the step of receiving the current charging pile score and scoring time of the current robot for the second target charging pile, until the updated charging pile score meets the charging pile prohibition condition, and process the second target charging pile according to the preset prohibition charging rule; Charging pile charging prohibition conditions include a negative charging pile score; the processing of the second target charging pile according to the preset charging prohibition rules includes: When the updated rating of the second target charging pile changes from positive to negative, the second target charging pile will be blacklisted. When the number of consecutive blacklistings of the second target charging station meets the preset number, the second target charging station will be permanently blacklisted.

2. The method according to claim 1, characterized in that, The method further includes: Respond to the current charging request of the current robot; Obtain information about a first target charging pile group within a preset range from the current location; the information about the first target charging pile group includes information about one or more charging piles.

3. The method according to claim 1, characterized in that, The step of obtaining the second target charging pile group information based on the scheduling strategy and the current location includes: The cloud communication scheduling will be switched to near-field communication scheduling according to the scheduling strategy. The robot obtains information on all available charging stations when it is currently located in the first target charging station group through near-field communication. Information on a second target charging pile group is obtained from the candidate charging pile information, which is within a preset range from the current location.

4. The method according to claim 1, characterized in that, The charging pile information includes the charging pile location, charging pile occupancy status, and charging pile rating; the step of allocating a corresponding second target charging pile to the current robot for charging based on the charging pile information of each charging pile in the second target charging pile group includes: Based on the charging pile score and occupancy status of each charging pile in the second target charging pile group information, a corresponding second target charging pile is assigned to the current robot; Send a query to the second target charging station asking whether to accept the current charging request of the current robot; When the second target charging station accepts the current charging request, it broadcasts the charging status of the current robot and the second target charging station to a preset range from the current location.

5. A robot charging device, characterized in that, The device includes: A charging request receiving module is used to send the current charging request of the current robot; the current charging request carries the current position of the current robot; The first target charging pile group determination module is used to receive the first target charging pile group information allocated to the current robot according to the current charging request; The first target charging pile determination module is used to allocate a corresponding first target charging pile to the current robot based on the charging pile information of each charging pile in the first target charging pile group. The second target charging pile group determination module is used to obtain the second target charging pile group information according to the scheduling strategy and the current location when the number of attempts to charge the first target charging pile reaches a preset number and no charging signal is received. The second target charging pile determination module is used to allocate a corresponding second target charging pile to the current robot according to the charging pile information of each charging pile in the second target charging pile group information so that the current robot can charge on the charging pile. The device also includes a charging pile scoring module, which is used to score the second target charging pile according to a preset scoring rule based on the charging information of the second target charging pile, and obtain the current charging pile score and scoring time of the second target charging pile; and broadcast the current charging pile score and scoring time to robots and charging piles within a preset range from the current location; The charging pile rating update module is used to transmit the current charging pile rating and rating time to the server; the server is used to receive the current charging pile rating and rating time of the current robot for the second target charging pile; update the rating of the second target charging pile according to the current charging pile rating and a preset rating update rule to obtain the updated charging pile rating; designate the robot corresponding to the second target charging pile in the next rating time sequence as the current robot; return to the step of receiving the current charging pile rating and rating time of the current robot for the second target charging pile, until the updated charging pile rating meets the charging pile prohibition condition, and process the second target charging pile according to the preset prohibition rule; The charging pile rating update module is also used to blacklist the second target charging pile when the updated charging pile rating changes from positive to negative; and to permanently blacklist the second target charging pile when the number of consecutive blacklistings meets a preset number.

6. A computer device comprising a memory and a processor, wherein the memory stores a computer program, characterized in that, When the processor executes the computer program, it implements the steps of the method according to any one of claims 1 to 4.

7. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 1 to 4.

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