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: receiving a current charging request sent by a current robot, wherein the current charging request carries a current position of the current robot; acquiring target charging pile group information within a preset range from the current position, wherein the target charging pile group information comprises one or more charging pile information, each charging pile information comprises a charging pile position, a charging pile occupation state and a charging pile score; and according to the charging pile score and the charging pile occupation state of each charging pile in the target charging pile group information, a corresponding target charging pile is allocated to the current robot for pile charging. The method can improve the charging effectiveness of the robot.

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 the effectiveness of robot charging in response to the above-mentioned technical problems.

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

[0005] Receive the current charging request sent by the current robot, the current charging request carrying the current position of the current robot;

[0006] Obtain target charging pile group information within a preset range from the current location. The target charging pile group information includes one or more charging pile information, and each charging pile information includes charging pile location, charging pile occupancy status, and charging pile rating.

[0007] Based on the charging pile score and occupancy status of each charging pile in the target charging pile group information, a corresponding target charging pile is assigned to the current robot for charging.

[0008] In one embodiment, the method further includes:

[0009] If the current robot fails to charge at the target charging station, the process returns to the step of receiving the current charging request sent by the current robot until the current robot completes charging at the charging station.

[0010] In one embodiment, the current charging request carries the current battery level of the robot; the method further includes:

[0011] Determine whether the robot needs to be recharged based on the current battery level.

[0012] If so, then respond to the current charging request sent by the current robot.

[0013] In one embodiment, the method further includes:

[0014] The system receives the current charging pile score and scoring time of the target charging pile from the current robot; the current charging pile score is determined by the current robot according to the charging information of the target charging pile and a preset scoring rule.

[0015] Based on the current charging pile score, the score of the target charging pile is updated according to a preset score update rule to obtain the updated charging pile score.

[0016] The robot corresponding to the next scoring time sequence of the target charging station is taken as the current robot;

[0017] Return to the step of receiving the current charging pile score and scoring time of the current robot for the target charging pile, until the updated charging pile score meets the charging pile prohibition conditions, and process the target charging pile according to the preset prohibition rules.

[0018] In one embodiment, the charging pile prohibition condition includes a negative charging pile score; the processing of the target charging pile according to the preset charging prohibition rule includes:

[0019] When the updated rating of the target charging pile changes from positive to negative, the target charging pile will be blacklisted.

[0020] When the number of consecutive blacklistings of the target charging station meets the preset number, the target charging station will be permanently blacklisted.

[0021] In one embodiment, the preset score update rules include automatic score update rules and manual score update rules;

[0022] The automatic score update rules include: when the target charging pile completes charging, the charging pile score of the target charging pile is reset; when the target charging pile is blacklisted but not permanently blacklisted, the target charging pile is given extra points according to a preset time interval, the number of consecutive blacklistings, and a preset score.

[0023] The manual update rules for the rating include: resetting the rating of the target charging pile through manual update; wherein, the manual update methods include modifying the charging pile rating, simulating charging pile installation, and manually pushing a robot onto the charging pile.

[0024] In one embodiment, the process of adding points to the target charging station according to a preset time interval, a number of consecutive blacklistings, and a preset score includes:

[0025] When the number of consecutive blacklistings of the target charging station is less than the preset number, the product of the preset time interval and the number of consecutive blacklistings is used as the target time interval.

[0026] The target charging piles are scored sequentially according to the target time intervals, with a preset score added to each pile.

[0027] A robot charging device, the device comprising:

[0028] A charging request receiving module is used to receive a current charging request sent by the current robot, wherein the current charging request carries the current position of the current robot;

[0029] The charging pile information acquisition module is used to acquire target charging pile group information within a preset range from the current location. The target charging pile group information includes one or more charging pile information, and each charging pile information includes charging pile location, charging pile occupancy status, and charging pile rating.

[0030] The target charging pile determination module is used to allocate a corresponding target charging pile to the current robot for charging based on the charging pile score and occupancy status of each charging pile in the target charging pile group information.

[0031] 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.

[0032] 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.

[0033] The aforementioned robot charging method, apparatus, computer equipment, and storage medium receive the current charging request sent by the robot and obtain target charging pile group information within a preset range based on the robot's current location carried in the current charging request. Then, based on the rating of each charging pile in the charging pile group information, the system allocates a corresponding target charging pile to the robot for charging. By obtaining all charging piles near the robot and allocating charging piles according to their ratings, the system avoids the problem of the server blindly allocating problematic charging piles to the robot, which could lead to the robot not being able to charge in a timely manner.

[0034] 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

[0035] Figure 1 A diagram illustrating an application scenario of a robot charging method in one embodiment;

[0036] Figure 2 A flowchart illustrating a robot charging method in one embodiment;

[0037] Figure 3 A flowchart illustrating the robot charging steps in one embodiment;

[0038] Figure 4 This is a structural block diagram of a robot charging device in one embodiment;

[0039] Figure 5 This is an internal structural diagram of a computer device in one embodiment. Detailed Implementation

[0040] 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.

[0041] 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; the communication between the robot 104 and the charging pile 106 can be indirectly achieved through the server 102, or directly achieved through near-field communication.

[0042] For example, after completing charging at a charging station, robot 102 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 102 can broadcast the score 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 of the current charging station 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 score.

[0043] The robot initiates a charging request to the server. The server receives this request, which includes the robot's current location. The server then retrieves information on target charging stations within a preset range of the current location and assigns appropriate charging stations to the robot based on the station's rating. The server sends this information to the robot, which then moves to the target station, connects to it, and receives its charging signal. After charging, the robot rates the target station and transmits this rating back to the server to update the rating.

[0044] In one embodiment, such as Figure 2 As shown, a robot charging method is provided, which can be applied to... Figure 1 Taking server 102 as an example, the explanation includes the following steps:

[0045] Step 202: Receive the current charging request sent by the current robot, the current charging request carrying the current position of the current robot.

[0046] The current charging request includes information such as the robot's location, battery level, and robot identifier.

[0047] 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.

[0048] Specifically, the robot initiates a charging request to the server via the network. The server receives the request, determines whether the robot needs additional power based on the current battery level, and then decides whether to respond to the charging request. The charging request can also include the robot's next task or current task. The server determines whether the robot needs additional power based on the current battery level and the task. If the current battery level is sufficient for the robot to complete its current task, the server may refuse to respond to the charging request.

[0049] Step 204: Obtain information on target charging pile groups within a preset range from the current location. The target charging pile group information includes one or more charging pile information, and each charging pile information includes the charging pile location, charging pile occupancy status, and charging pile rating.

[0050] The 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 not occupied.

[0051] Specifically, the robot initiates a charging request to the server via the network. The server receives and responds to the charging request, and determines the robot's target location within the station based on the current location and a preset range carried in the charging request. It then obtains information on all charging stations within the target location as target charging station group information. This target charging station group information includes information on at least one charging station. Each charging station's information includes its location, occupancy status, and rating. The occupancy status includes occupied, reserved, and unoccupied. Charging stations in an occupied or reserved state are currently unavailable; only unoccupied charging stations are usable. The charging station rating is an accumulated score calculated by one or more robots based on the charging information of each charging station.

[0052] Step 206: Based on the charging pile score and occupancy status of each charging pile in the target charging pile group information, assign a corresponding target charging pile to the current robot for charging.

[0053] Specifically, the server determines the target charging pile for the current robot based on the charging pile rating and occupancy status of each charging pile in the acquired target charging pile group information; the target charging pile refers to a robot that is currently available and has a high rating. Furthermore, the server can also filter out candidate target charging piles for the current robot based on the charging pile rating of each charging pile in the acquired target charging pile group information; further, based on the current location information, it selects the charging pile closest to the current robot from the candidate target charging piles as the target charging pile and sends the target charging pile information to the current robot; the current robot moves to the location of the target charging pile, connects to the charging pile, receives the charging signal from the target charging pile, and the target charging pile charges the current robot according to the charging signal. In one embodiment, the server or the current robot can specify the target charging pile to charge the current robot.

[0054] In one embodiment, the method further includes: when the current robot fails to charge at the target charging pile, returning to the step of receiving the current charging request sent by the current robot, until the current robot completes charging at the charging pile.

[0055] In one embodiment, the method further includes: receiving the current robot's current charging pile score and scoring time for the target charging pile; the current charging pile score is determined by the current robot according to a preset scoring rule based on the charging information of the target charging pile; updating the target charging pile score 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 next scoring time sequence of the target charging pile as the current robot; returning to the step of receiving the current robot's current charging pile score and scoring time for the target charging pile, until the updated charging pile score meets the charging pile's charging prohibition condition, and processing the target charging pile according to the preset charging prohibition rule.

[0056] 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.

[0057] 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 target charging pile, it initiates charging at the target charging pile; it receives a charging signal from the target charging pile. If no charging signal is received, the robot initiates a small attempt, returns to the target charging pile's location, 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 target charging station; the current robot returns to the designated location of the target charging station group, or returns to its current location; the target charging station is scored and uploaded to the server for the server to update the score of the 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; the target charging station group information within a preset range of the current location is obtained, and a corresponding target charging station is reassigned to the current robot according to the charging station score and occupancy status of each charging station in the target charging station group information, at which point the charging station score is the updated score; the current robot moves to the target charging station for charging according to the above steps, and the target charging station at this time may be the same as or different from the charging station initially assigned by the server.

[0058] If the robot receives a charging signal from the target charging station and starts charging, but the charging signal is interrupted during the charging process, the robot determines whether the number of small attempts is less than or equal to the preset number of attempts. If it is less, the robot continues to initiate small attempts; if it is greater, the robot initiates large attempts and continues charging at the charging station according to the above steps for initiating large attempts.

[0059] 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.

[0060] 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 target charging station, which can be recorded as "-1". If two large attempts are made for the target charging station, 2 points are deducted from the target charging station.

[0061] Specifically, after the current robot completes charging at a target charging station or fails to charge at the target charging station, it scores the target charging station. That is, the current robot scores the target charging station according to the charging information during the charging process and according to the preset scoring rules, and uploads the current charging station score based on the scoring time to the server. The server updates the target charging station score according to the received current charging station score and according to the preset scoring update rules, thus obtaining the updated charging station score. Further, the robot in the next scoring order corresponding to the target charging station is designated as the current robot, and the current robot's current charging station score and scoring time are received, until the updated charging station score meets the charging station's charging prohibition conditions, and the target charging station is processed accordingly according to the preset charging prohibition rules.

[0062] In one embodiment, the charging pile prohibition condition includes a negative charging pile score; the processing of the target charging pile according to the preset prohibition rules includes: when the updated charging pile score of the target charging pile changes from positive to negative, the target charging pile is blacklisted; when the number of consecutive blacklistings of the target charging pile meets a preset number, the target charging pile is permanently blacklisted.

[0063] 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.

[0064] When the rating of a target charging station changes from positive to negative, the target charging station needs to be blacklisted. When the number of consecutive blacklistings of the same charging station meets the preset number, such as when the target charging station is blacklisted 3 times consecutively, the target charging station will be permanently blacklisted. Charging stations in a permanently blacklisted state can have their ratings restored manually. When the rating of the charging station becomes positive, the charging station can be restored to use.

[0065] 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 target charging pile when the target charging pile successfully charges the current robot; and adding points to the target charging pile according to a preset time interval, a preset number of consecutive blacklistings, and a preset score when the target charging pile is blacklisted but not permanently blacklisted. The manual scoring update rules include: resetting the charging pile score of the target charging pile through manual update methods; wherein, the manual update methods include modifying the charging pile score, simulating charging pile connection, and manually pushing the robot onto the charging pile.

[0066] 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 process is considered successful.

[0067] Specifically, when a target charging station successfully charges the current robot, the robot scores it based on the charging information, meaning no points are deducted from the target charging station. The server resets the target charging station's score to its base score based on the received score. When a target charging station is blacklisted but not permanently blacklisted, it can automatically recover its score. Points are added to the target charging station 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 target charging station's consecutive blacklisting count is less than 3 times, it adds 1 point every 30 minutes.

[0068] In one embodiment, the step of adding points to the 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 target charging pile is less than a preset number, the product of the preset time interval and the number of consecutive blacklistings is used as the target time interval; and the target charging pile is added to the target charging pile according to the preset score in sequence according to the target time interval.

[0069] In one embodiment, the charging pile score of the 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 operation to obtain relevant information about the charging pile operation, thereby triggering the reset of the target charging pile score; or manually pushing a robot to the target charging pile for charging, thereby triggering the reset of the target charging pile score.

[0070] like Figure 3 The diagram illustrates a flowchart of a robot charging process. As shown, the robot, at its current location, initiates a charging request to the server. The server responds to the request and retrieves information on target charging stations within a preset range from the current location. It then filters the target charging station information based on their occupancy status, selecting unoccupied charging stations as available ones. If no available charging stations are found, the server instructs the robot to wait at a designated point. Once an available charging station becomes available, the server notifies the robot to initiate the charging request again. If available charging stations are found, the server further filters based on their ratings and the current location to obtain a target charging station. Optionally, the robot can also select a charging station group based on its current location, retrieve charging station group information from the server, and determine if there are available charging stations based on their occupancy status. If so, the charging station group is directly accessible and can charge the robot. The target charging station is then determined based on the charging station ratings within the charging station group information.

[0071] Then, after identifying the target charging station, the robot moves to the target charging station and initiates the charging operation, receiving the charging signal from the target charging station. If no signal is received, the robot initiates a small attempt through its local strategy. The robot re-initiates the charging operation. If the number of small attempts is within the preset number of attempts, the robot receives the charging signal and begins charging. If the number of small attempts exceeds the preset number of attempts, the robot initiates a large attempt to the server, returns to the designated location in the target charging station group, and waits for the server to reassign a target charging station for charging.

[0072] If the charging signal is not interrupted during the charging process, the robot will complete charging and exit the charging station. If the charging signal is interrupted, the robot will initiate a new attempt to return to the designated location in the target charging station group and wait for the server to reassign a target charging station for charging.

[0073] In the above-mentioned robot charging method, the current charging request sent by the current robot is received, and the target charging pile group information within a preset range is obtained based on the current location of the robot carried in the current charging request. Then, the corresponding target charging pile is assigned to the current robot for charging based on the rating of each charging pile in the charging pile group information. By obtaining all charging piles in the vicinity of the robot and assigning charging piles according to the rating of the charging piles, the problem of the server blindly assigning problematic charging piles to the robot for charging, which would otherwise lead to the robot not being able to charge in time, is avoided.

[0074] 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.

[0075] It should be understood that, although Figure 2-3 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 2-3 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.

[0076] In one embodiment, such as Figure 4 As shown, a robot charging device 400 is provided, including: a charging request receiving module 402, a charging pile information acquisition module 404, and a target charging pile determination module 406, wherein:

[0077] The charging request receiving module 402 is used to receive the current charging request sent by the current robot, wherein the current charging request carries the current position of the current robot.

[0078] The charging pile information acquisition module 404 is used to acquire target charging pile group information within a preset range from the current location. The target charging pile group information includes one or more charging pile information, and each charging pile information includes charging pile location, charging pile occupancy status, and charging pile rating.

[0079] The target charging pile determination module 406 is used to allocate a corresponding target charging pile to the current robot for charging based on the charging pile score and charging pile occupancy status of each charging pile in the target charging pile group information.

[0080] In one embodiment, the device further includes a cyclic charging module, which is used to return to the step of receiving the current charging request sent by the current robot after the current robot fails to charge at the target charging pile, until the current robot completes charging at the pile.

[0081] In one embodiment, the device further includes a power level determination module, used to determine whether the current robot needs to be recharged based on the current power level; if so, it responds to a current charging request sent by the current robot.

[0082] In one embodiment, the device further includes a charging pile rating update module, configured to receive the current charging pile rating and rating time of the target charging pile from the current robot; the current charging pile rating is determined by the current robot according to the charging information of the target charging pile and a preset rating rule; the rating of the target charging pile is updated based on the current charging pile rating according to the preset rating update rule to obtain an updated charging pile rating; the robot corresponding to the next rating time sequence of the target charging pile is designated as the current robot; the process returns to the step of receiving the current charging pile rating and rating time of the target charging pile from the current robot, until the updated charging pile rating meets the charging pile prohibition condition, and the target charging pile is processed according to the preset prohibition rule.

[0083] In one embodiment, the charging pile rating update module is further configured to blacklist the target charging pile when the updated charging pile rating changes from positive to negative; and to permanently blacklist the target charging pile when the number of consecutive blacklistings of the target charging pile meets a preset number.

[0084] 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 target charging pile when it completes charging; and adding points to the target charging pile according to a preset time interval, a preset number of consecutive blacklistings, and a preset score when the target charging pile is blacklisted but not permanently blacklisted. The manual scoring update rules include: resetting the charging pile score of the target charging pile through manual update methods; wherein, the manual update methods include modifying the charging pile score, simulating charging at the pile, and manually pushing a robot to the pile.

[0085] In one embodiment, the charging pile scoring update module is further configured to, when the number of consecutive blacklistings of the target charging pile is less than a preset number, use the product of the preset time interval and the number of consecutive blacklistings as the target time interval; and sequentially add points to the target charging pile according to the preset score based on the target time interval.

[0086] The aforementioned robot charging device receives the current charging request from the robot and, based on the robot's current location carried in the request, obtains information on target charging pile groups within a preset range. Then, it assigns a suitable target charging pile to the robot based on the rating of each charging pile in the charging pile group information. By acquiring all charging piles near the robot and assigning them according to their ratings, it avoids the problem of the server blindly assigning faulty charging piles to the robot, thus preventing the robot from not being able to charge in a timely manner. Furthermore, this solution also provides a rating system for evaluating the effectiveness of charging piles. This system assesses the charging status of the charging piles, allowing the robot to select a charging pile with good charging status and close proximity to the robot when it requests charging, ensuring that the robot can access a valid charging pile.

[0087] 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.

[0088] In one embodiment, a computer device is provided, which may be a server, and its internal structure diagram may be as follows: Figure 5As shown, the computer device includes a processor, memory, network interface, and database connected via a system bus. The processor provides computational and control capabilities. The memory includes non-volatile storage media and internal memory. The non-volatile storage media stores the operating system, computer programs, and database. The internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage media. The database stores robot charging data. The network interface communicates with external terminals via a network connection. When the processor executes the computer program, it implements a robot charging method.

[0089] Those skilled in the art will understand that Figure 5 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.

[0090] 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.

[0091] 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.

[0092] 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.

[0093] 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.

[0094] 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 method for charging a robot, characterized in that, The method includes: Receive the current charging request sent by the current robot, the current charging request carrying the current position of the current robot; Obtain target charging pile group information within a preset range from the current location. The target charging pile group information includes one or more charging pile information, and each charging pile information includes charging pile location, charging pile occupancy status, and charging pile rating. Based on the charging pile score and occupancy status of each charging pile in the target charging pile group information, a corresponding target charging pile is assigned to the current robot for the current robot to charge. The method further includes: The system receives the current charging pile score and scoring time of the target charging pile from the current robot; the current charging pile score is determined by the current robot according to the charging information of the target charging pile and a preset scoring rule. Based on the current charging pile score, the score of the target charging pile is updated according to a preset score update rule to obtain the updated charging pile score. The robot corresponding to the next scoring time sequence of the 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 target charging pile, until the updated charging pile score meets the charging pile prohibition conditions, and process the target charging pile according to the preset prohibition rules; The preset scoring update rules include automatic scoring update rules and manual scoring update rules; The automatic score update rules include: when the target charging pile completes charging, the charging pile score of the target charging pile is reset; when the target charging pile is blacklisted but not permanently blacklisted, the target charging pile is given extra points according to a preset time interval, the number of consecutive blacklistings, and a preset score. The manual update rules for the rating include: resetting the rating of the target charging pile through manual update; wherein, the manual update methods include modifying the charging pile rating, simulating charging pile installation, and manually pushing a robot onto the charging pile.

2. The method according to claim 1, characterized in that, The method further includes: If the current robot fails to charge at the target charging station, the process returns to the step of receiving the current charging request sent by the current robot until the current robot completes charging at the charging station.

3. The method according to claim 1, characterized in that, The current charging request carries the current battery level of the robot; the method further includes: Determine whether the robot needs to be recharged based on the current battery level. If so, then respond to the current charging request sent by the current robot.

4. The method according to claim 1, characterized in that, The conditions for prohibiting charging at a charging station include a negative charging station score; the process of handling the target charging station according to the preset prohibition rules includes: When the updated rating of the target charging pile changes from positive to negative, the target charging pile will be blacklisted. When the number of consecutive blacklistings of the target charging station meets the preset number, the target charging station will be permanently blacklisted.

5. The method according to claim 1, characterized in that, The process of adding points to the target charging pile according to a preset time interval, the number of consecutive blacklistings, and a preset score includes: When the number of consecutive blacklistings of the target charging station is less than the preset number, the product of the preset time interval and the number of consecutive blacklistings is used as the target time interval. The target charging piles are scored sequentially according to the target time intervals, with a preset score added to each pile.

6. A robot charging device, characterized in that, The device includes: A charging request receiving module is used to receive a current charging request sent by the current robot, wherein the current charging request carries the current position of the current robot; The charging pile information acquisition module is used to acquire target charging pile group information within a preset range from the current location. The target charging pile group information includes one or more charging pile information, and each charging pile information includes charging pile location, charging pile occupancy status, and charging pile rating. The target charging pile determination module is used to allocate a corresponding target charging pile to the current robot for charging based on the charging pile score and charging pile occupancy status of each charging pile in the target charging pile group information. The device further includes a charging pile rating update module, used to receive the current charging pile rating and rating time of the target charging pile from the current robot; the current charging pile rating is determined by the current robot according to the charging information of the target charging pile and a preset rating rule; the rating of the target charging pile is updated based on the current charging pile rating according to the preset rating update rule to obtain the updated charging pile rating; the robot corresponding to the next rating time sequence of the target charging pile is designated as the current robot; the device returns to the step of receiving the current charging pile rating and rating time of the target charging pile from the current robot, until the updated charging pile rating meets the charging pile prohibition condition, and the target charging pile is processed according to the preset prohibition rule; 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 target charging pile when it completes charging; and adding points to the target charging pile according to a preset time interval, the number of consecutive blacklistings, and a preset score when the target charging pile is blacklisted but not permanently blacklisted. The manual scoring update rules include: resetting the charging pile score of the target charging pile through manual update methods; wherein, the manual update methods include modifying the charging pile score, simulating charging pile installation, and manually pushing a robot onto the charging pile.

7. 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 5.

8. 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 5.

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