A wireless charging control system and method for intelligent robots

Abstract

The present invention proposes a wireless charging control system and method for an intelligent robot. By configuring an authorized activity range, the position information of a second position of a wireless charging device is sensed and obtained, and whether the wireless charging device is within the authorized activity range is determined based on the position information of the second position. When the wireless charging device is within the authorized activity range, scene modeling is performed on the environment within the visible range to obtain a scene model. When the second position is within the visible range, a wireless charging transmitter identifier located at the second position is identified, and a wireless charging action sequence is simulated and generated in the scene model. The wireless charging action sequence includes a moving action sequence and a wireless charging posture adjustment action sequence. Execution of the wireless charging action sequence can enable the intelligent robot to achieve autonomous charging in different environments.

Description

Technical Field

[0001] The present invention relates to the technical field of wireless charging, and in particular to a wireless charging control system and method for an intelligent robot. Background Art

[0002] Intelligent robots refer to robots that integrate artificial intelligence technology and have perception, decision-making and action capabilities. According to different application fields and differences in the degree of intelligence, various intelligent robots have different perception, decision-making and action capabilities. With the development of artificial intelligence technology, intelligent robots with autonomous learning and natural language interaction capabilities have also emerged. Since intelligent robots usually have autonomous action capabilities, their charging method usually chooses wireless charging rather than wired charging to avoid limiting their action capabilities. The current common wireless charging solution for intelligent robots is to configure a special wireless charging compartment or wireless charging base for them, so that the intelligent robot can remember the location of the wireless charging compartment or wireless charging base to generate a navigation path to return to the wireless charging compartment for charging when its power is low. This charging method greatly limits the scope of use of intelligent robots. When the intelligent robot is in an unfamiliar environment, it will not be able to charge autonomously. Summary of the invention

[0003] Based on the above problems, the present invention proposes a wireless charging control system and method for an intelligent robot, which can enable the intelligent robot to realize autonomous charging in different environments.

[0004] In view of this, a first aspect of the present invention proposes a wireless charging control system for an intelligent robot, comprising a background server, a wireless charging device and an intelligent robot that are communicatively connected to the background server, wherein the wireless charging device comprises a wireless charging transmitter for converting electrical energy into radio electromagnetic wave energy, a first Bluetooth communication unit for communicating with the intelligent robot, a first network communication unit for communicating with the background server, and a first control unit for performing communication and charging control; the intelligent robot comprises a wireless charging receiver for converting received radio electromagnetic wave energy into electrical energy, a second Bluetooth communication unit for communicating with the wireless charging device, a second network communication unit for communicating with the background server, and a second control unit for performing communication and charging control, wherein the second control unit is configured as follows:

[0005] Configuring an authorized activity range, wherein the authorized activity range is composed of a first positioning coordinate of a first position and an activity radius, and the authorized activity range is a geographical range formed by a circular area centered on the first position and having the activity radius as a radius;

[0006] Sense and obtain location information of a second location of the wireless charging device, where the location information of the second location includes a relative distance and a relative orientation of the wireless charging device relative to the intelligent robot;

[0007] Determining whether the wireless charging device is within the authorized activity range according to the location information of the second location;

[0008] When the wireless charging device is within the authorized activity range, scene modeling is performed on the environment within the visible range to obtain a scene model;

[0009] Determining whether the second position is within a visible range;

[0010] When the second position is within the visible range, identifying the wireless charging transmitter identifier located at the second position;

[0011] Simulating and generating a wireless charging action sequence in the scenario model, the wireless charging action sequence includes a moving action sequence of the intelligent robot moving to the wireless charging device and a wireless charging posture adjustment action sequence of bringing the wireless charging receiver of the intelligent robot close to the wireless charging transmitter identifier;

[0012] Execute the wireless charging action sequence.

[0013] A second aspect of the present invention provides a wireless charging control method for an intelligent robot, comprising:

[0014] Configuring an authorized activity range, wherein the authorized activity range is composed of a first positioning coordinate of a first position and an activity radius, and the authorized activity range is a geographical range formed by a circular area centered on the first position and having the activity radius as a radius;

[0015] Sense and obtain location information of a second location of the wireless charging device, where the location information of the second location includes a relative distance and a relative orientation of the wireless charging device relative to the intelligent robot;

[0016] Determining whether the wireless charging device is within the authorized activity range according to the location information of the second location;

[0017] When the wireless charging device is within the authorized activity range, scene modeling is performed on the environment within the visible range to obtain a scene model;

[0018] Determining whether the second position is within a visible range;

[0019] When the second position is within the visible range, identifying the wireless charging transmitter identifier located at the second position;

[0020] Simulating and generating a wireless charging action sequence in the scenario model, the wireless charging action sequence includes a moving action sequence of the intelligent robot moving to the wireless charging device and a wireless charging posture adjustment action sequence of bringing the wireless charging receiver of the intelligent robot close to the wireless charging transmitter identifier;

[0021] Execute the wireless charging action sequence.

[0022] Furthermore, in the above-mentioned wireless charging control method for an intelligent robot, before the step of sensing and acquiring the position information of the second position of the wireless charging device, it also includes:

[0023] Obtaining the second positioning coordinates of the fourth position where the intelligent robot is currently located;

[0024] Determining whether the activity range corresponding to the third position is a modeled area according to the second positioning coordinates;

[0025] When the activity range corresponding to the fourth position is a modeled area, acquiring historical position information of the wireless charging device corresponding to the modeled area stored in the database;

[0026] After the step of sensing and acquiring the location information of the second location of the wireless charging device, the method further includes:

[0027] Determining whether the location information of the second location matches the historical location information;

[0028] When the location information of the second location matches the historical location information, performing the steps of simulating and generating a wireless charging action sequence in the scenario model and executing the wireless charging action sequence;

[0029] When the location information of the second location does not match the historical location information, the steps of performing scene modeling on the environment within the visible range to obtain a scene model and identifying the wireless charging transmitter identifier located at the second location are re-executed.

[0030] Furthermore, in the above-mentioned wireless charging control method for an intelligent robot, the step of sensing and acquiring the position information of the second position of the wireless charging device specifically includes:

[0031] Searching for a Bluetooth broadcast signal of a wireless charging device, where the Bluetooth broadcast signal carries the device type and identity information of the wireless charging device;

[0032] Determining whether the wireless charging device is an authorized charging device according to the device type and identity information of the wireless charging device;

[0033] When the wireless charging device is an authorized charging device, calculating the relative distance of the wireless charging device based on RSSI information of the Bluetooth broadcast signal;

[0034] The relative position of the wireless charging device is calculated based on the AoA information or the AoD information of the Bluetooth broadcast signal.

[0035] Furthermore, in the above-mentioned wireless charging control method for an intelligent robot, after the step of determining that the wireless charging device is an authorized charging device, it also includes:

[0036] Get the Bluetooth pairing key of the wireless charging device generated by the background server;

[0037] Pairing with the wireless charging device using the Bluetooth pairing key;

[0038] After the pairing is successful, a Bluetooth communication connection is established with the wireless charging device.

[0039] Furthermore, in the above-mentioned wireless charging control method for an intelligent robot, the step of determining whether the wireless charging device is an authorized charging device according to the device type and identity information of the wireless charging device specifically includes:

[0040] Acquire the wireless charging protocol used by the wireless charging device and its output power and charging voltage according to the device type of the wireless charging device;

[0041] When the wireless charging protocol and the output power and charging voltage used by the wireless charging device match those of the intelligent robot, reading the authorization serial number of the intelligent robot;

[0042] Uploading the authorization serial number and the identity information of the wireless charging device to a backend server for query;

[0043] When the query result returned by the background server is not empty, it is determined that the wireless charging device is an authorized charging device.

[0044] Furthermore, in the above-mentioned wireless charging control method for an intelligent robot, after the step of uploading the authorization serial number and the identity information of the wireless charging device to the background server for query, it also includes:

[0045] When the query result returned by the backend server is empty, determining that the wireless charging device is an unauthorized charging device;

[0046] Get the visual features of the contact associated with the current authorized activity scope;

[0047] Searching by a visual sensor whether there is a person matching the visual features within the visual range;

[0048] When there is a person matching the visual feature within the visible range, determining a fourth position of the contact;

[0049] generating a first navigation path corresponding to the fourth position in the scene model;

[0050] Move to the contact according to the first navigation path;

[0051] Send a request for authorization of the charging device via voice.

[0052] Furthermore, in the above-mentioned wireless charging control method for an intelligent robot, after the step of searching by a visual sensor whether there is a person matching the visual features within the visible range, the method further includes:

[0053] When there is no person matching the visual feature within the visible range, obtaining contact information of a contact person associated with the current authorized activity scope;

[0054] A charging device authorization request is sent to the contact person based on the contact information, where the charging device authorization request includes the authorization serial number of the intelligent robot and the identity information of the wireless charging device.

[0055] Furthermore, in the above-mentioned wireless charging control method for an intelligent robot, the step of simulating and generating a wireless charging action sequence in the scene model specifically includes:

[0056] Determining whether the second position is within a visible range;

[0057] When the second position is within the visible range, generating a second navigation path in the scene model that moves from the current position to the second position;

[0058] Decomposing a movement process of the intelligent robot moving to the second position along the second navigation path into a first movement action sequence;

[0059] When the second position is outside the visible range, determining an intermediate node close to the second position in the visible range;

[0060] generating a third navigation path in the scene model that moves from the current position to the intermediate node;

[0061] Decomposing a movement process of the intelligent robot moving to the intermediate position according to the third navigation path into a second movement action sequence;

[0062] Executing the second movement action sequence and performing scene modeling on the environment within the visual range in real time during the movement;

[0063] Repeat the steps of determining an intermediate node close to the orientation of the second position within the visible range, generating a third navigation path from the current position to the intermediate node in the scene model, decomposing the movement process of the intelligent robot moving to the intermediate position according to the third navigation path into a second movement action sequence, and executing the second movement action sequence and performing scene modeling on the environment within the visible range in real time during the movement until the second position is within the visible range.

[0064] Furthermore, in the above-mentioned wireless charging control method for an intelligent robot, the step of simulating and generating a wireless charging action sequence in the scenario model further includes:

[0065] When the second position is within the visible range, determining a sixth position on a second navigation path or a third navigation path with the second position as an end point, the sixth position having a minimum non-collision distance from the second position;

[0066] Determine a seventh position on the second navigation path or the third navigation path that ends at the second position and is within a wireless charging distance from the second position;

[0067] Generating a wireless charging posture adjustment action sequence of the intelligent robot in the scene model according to the position of the wireless charging transmitter identifier;

[0068] generating a fourth navigation path in the scene model for moving from the sixth position to the seventh position;

[0069] Decomposing a movement process of the intelligent robot moving to the seventh position according to the fourth navigation path into a third movement action sequence;

[0070] The steps of executing the wireless charging action sequence specifically include:

[0071] Executing the first movement action sequence or the second movement action sequence to move the intelligent robot to the sixth position;

[0072] Executing the wireless charging posture adjustment action sequence to enable the intelligent robot to enter the wireless charging posture;

[0073] The third movement action sequence is executed to move the intelligent robot from the sixth position to the seventh position.

[0074] The present invention proposes a wireless charging control system and method for an intelligent robot. By configuring an authorized activity range, the position information of a second position of a wireless charging device is sensed and obtained, and whether the wireless charging device is within the authorized activity range is determined based on the position information of the second position. When the wireless charging device is within the authorized activity range, scene modeling is performed on the environment within the visible range to obtain a scene model. When the second position is within the visible range, a wireless charging transmitter identifier located at the second position is identified, and a wireless charging action sequence is simulated and generated in the scene model. The wireless charging action sequence includes a moving action sequence and a wireless charging posture adjustment action sequence. Execution of the wireless charging action sequence can enable the intelligent robot to achieve autonomous charging in different environments. BRIEF DESCRIPTION OF THE DRAWINGS

[0075] Figure 1 is a schematic diagram of a wireless charging control system for an intelligent robot provided by an embodiment of the present invention;

[0076] Figure 2 The present invention is a flowchart of a wireless charging control method for an intelligent robot provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0077] In order to more clearly understand the above-mentioned purpose, features and advantages of the present invention, the present invention is further described in detail below in conjunction with the accompanying drawings and specific embodiments. It should be noted that the embodiments of the present application and the features in the embodiments can be combined with each other without conflict.

[0078] In the following description, many specific details are set forth to facilitate a full understanding of the present invention. However, the present invention may also be implemented in other ways different from those described herein. Therefore, the protection scope of the present invention is not limited to the specific embodiments disclosed below.

[0079] In the description of the present invention, the term "multiple" refers to two or more. Unless otherwise clearly defined, the orientation or positional relationship indicated by the terms "upper", "lower", etc. is based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present invention and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it cannot be understood as a limitation of the present invention. The terms "connection", "installation", "fixation", etc. should be understood in a broad sense. For example, "connection" can be a fixed connection, a detachable connection, or an integral connection; it can be directly connected or indirectly connected through an intermediate medium. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to the specific circumstances. In addition, the terms "first", "second", etc. are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first", "second", etc. can explicitly or implicitly include one or more of the features. In the description of the present invention, unless otherwise specified, the meaning of "multiple" is two or more.

[0080] In the description of this specification, the description of the terms "one embodiment", "some implementations", "specific embodiments", etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0081] A wireless charging control system and method for an intelligent robot provided according to some embodiments of the present invention will be described below with reference to the accompanying drawings.

[0082] like Figure 1 As shown, the first aspect of the present invention proposes a wireless charging control system for an intelligent robot, including a background server and a wireless charging device and an intelligent robot communicatively connected to the background server, the wireless charging device including a wireless charging transmitter for converting electrical energy into radio electromagnetic wave energy, a first Bluetooth communication unit for communicating with the intelligent robot, a first network communication unit for communicating with the background server, and a first control unit for performing communication and charging control, the intelligent robot including a wireless charging receiver for converting received radio electromagnetic wave energy into electrical energy, a second Bluetooth communication unit for communicating with the wireless charging device, a second network communication unit for communicating with the background server, and a second control unit for performing communication and charging control.

[0083] Specifically, the wireless charging transmitter of the wireless charging device refers to the transmitting coil of the wireless charging device. The wireless charging receiver of the intelligent robot refers to the receiving coil of wireless charging. The first network communication unit can be a wired network communication unit or a wireless network communication unit. Preferably, the first network communication unit is an Internet of Things communication unit such as 5G or NB-IoT (Narrowband Internet of Things), and the wireless charging device communicates with the background server through the first network communication unit. The second network communication unit is a wireless network communication unit.

[0084] In the technical solutions of some embodiments of the present invention, the wireless charging control system for the intelligent robot also includes a charging authorization device, the charging authorization device includes a first NFC (Near Field Communication) communication unit, the intelligent robot includes a second NFC communication unit, the intelligent robot obtains an authorization code from the charging authorization device through the second NFC communication unit and the first NFC communication unit of the charging authorization device, the authorization code is associated with the wireless charging device in the background server, and the background server binds the intelligent robot with the wireless charging device according to the authorization code, that is, the authorization serial number of the intelligent robot is associated with the identity of the wireless charging device and stored. In the background server, an intelligent robot can be bound to multiple wireless charging devices, and a wireless charging device can also be bound to multiple intelligent robots. After binding, the wireless charging device is the authorized charging device of the intelligent robot.

[0085] like Figure 2 As shown, the second control unit is configured as:

[0086] Configuring an authorized activity range, wherein the authorized activity range is composed of a first positioning coordinate of a first position and an activity radius, and the authorized activity range is a geographical range formed by a circular area centered on the first position and having the activity radius as a radius;

[0087] Sense and obtain location information of a second location of the wireless charging device, where the location information of the second location includes a relative distance and a relative orientation of the wireless charging device relative to the intelligent robot;

[0088] Determining whether the wireless charging device is within the authorized activity range according to the location information of the second location;

[0089] When the wireless charging device is within the authorized activity range, scene modeling is performed on the environment within the visible range to obtain a scene model;

[0090] Determining whether the second position is within a visible range;

[0091] When the second position is within the visible range, identifying the wireless charging transmitter identifier located at the second position;

[0092] Simulating and generating a wireless charging action sequence in the scenario model, the wireless charging action sequence includes a moving action sequence of the intelligent robot moving to the wireless charging device and a wireless charging posture adjustment action sequence of bringing the wireless charging receiver of the intelligent robot close to the wireless charging transmitter identifier;

[0093] Execute the wireless charging action sequence.

[0094] Specifically, the first positioning coordinates of the first position are the GPS (Global Positioning System) coordinates of the first position, and the first position is a specific position selected by the user on the map interface provided by the background server, or the coordinate value of the position is directly entered in the coordinate input box provided by the background server. Similarly, the activity radius is determined by the user operating on the map interface or entering a numerical value. The intelligent robot communicates with the background server through a cellular wireless communication network such as 5G or NB-IoT (Narrowband Internet of Things) to obtain data from the background server or upload data to the background server.

[0095] In the technical solutions of some embodiments of the present invention, after the intelligent robot senses the wireless charging device within the authorized activity range, it establishes a Bluetooth communication connection with the wireless charging device, and the steps of starting wireless charging specifically include:

[0096] Sending a charging start signal to the wireless charging device via a Bluetooth communication connection;

[0097] When the wireless charging device detects that the intelligent robot is in a wireless charging posture, it exchanges wireless charging parameters with the intelligent robot, wherein the wireless charging parameters include a maximum charging power and an output voltage;

[0098] When the intelligent robot is in a charging posture, the power of the transmitting coil is turned on to start wireless charging.

[0099] In the technical solutions of some embodiments of the present invention, the wireless charging parameters also include charging mode such as fast charging or slow charging, charging termination voltage, battery capacity, etc.

[0100] The steps of performing scene modeling on the environment within the visible range to obtain the scene model specifically include:

[0101] Acquire the environment image within the visible range through the visual sensor;

[0102] Acquire the position and posture parameters of all objects within the visible range based on the environment image, wherein the position and posture parameters include the position, shape and posture of the objects;

[0103] A three-dimensional model of the object within the visible range is established according to the posture parameters.

[0104] Specifically, the wireless charging device includes a wireless charging transmitter, which refers to the transmitting coil of the wireless charging device. A wireless charging transmitter identifier for identifying the position of the transmitting coil is attached to the wireless charging device, and the wireless charging transmitter identifier is attached to the surface of the corresponding position of the transmitting coil. The intelligent robot can identify the position of the transmitting coil according to the wireless charging transmitter identifier. The intelligent robot includes a wireless charging receiver, which refers to the receiving coil of wireless charging. According to the different installation site environments and usage requirements, the transmitting coil of the wireless charging device may be installed in different positions, such as on the ground, on the wall, etc., and the installation positions are different. Due to the complex and changeable installation positions and installation environments of wireless charging devices in unfamiliar environments, especially for wireless charging devices installed in narrow spaces, the intelligent robot needs to approach the wireless charging device and adjust to a posture suitable for wireless charging while avoiding collisions with surrounding objects. In the technical solution of the present invention, by simulating and generating a wireless charging action sequence for adjusting the wireless charging posture of the intelligent robot in the scene model corresponding to the current visible range environment, the intelligent robot is prevented from colliding with surrounding objects when approaching the wireless charging device.

[0105] Furthermore, in the above-mentioned wireless charging control system for an intelligent robot, before the step of sensing and acquiring the position information of the second position of the wireless charging device, the second control unit is configured as follows:

[0106] Obtaining the second positioning coordinates of the third position where the intelligent robot is currently located;

[0107] Determining whether the activity range corresponding to the fourth position is a modeled area according to the second positioning coordinates;

[0108] When the activity range corresponding to the fourth position is a modeled area, acquiring historical position information of the wireless charging device corresponding to the modeled area stored in the database;

[0109] After the step of sensing and acquiring the location information of the second location of the wireless charging device, the second control unit is configured to:

[0110] Determining whether the location information of the second location matches the historical location information;

[0111] When the location information of the second location matches the historical location information, performing the steps of simulating and generating a wireless charging action sequence in the scenario model and executing the wireless charging action sequence;

[0112] When the location information of the second location does not match the historical location information, the steps of performing scene modeling on the environment within the visible range to obtain a scene model and identifying the wireless charging transmitter identifier located at the second location are re-executed.

[0113] Specifically, the modeled area is an environment where the intelligent robot has been active and for which scene modeling has been completed and a scene model has been generated. It should be known that the position information of the second position of the wireless charging device obtained by the intelligent robot is a relative position, that is, the relative orientation and relative distance of the wireless charging device relative to the intelligent robot, and the historical position information is based on the positioning information of the intelligent robot at that time and the absolute position information converted from the position information of the second position of the wireless charging device at the corresponding time, for example, it is converted into GPS coordinates or coordinates in other coordinate systems, and the step of judging whether the position information of the second position matches the historical position information is specifically to convert the position information of the second position to the same coordinate system as the historical position information, and judge whether the two are the same. If they are the same, it is determined that the two match, otherwise it is considered that the two do not match.

[0114] Furthermore, in the above-mentioned wireless charging control system for an intelligent robot, in the step of sensing and acquiring the position information of the second position of the wireless charging device, the second control unit is configured as follows:

[0115] Searching for a Bluetooth broadcast signal of a wireless charging device, where the Bluetooth broadcast signal carries the device type and identity information of the wireless charging device;

[0116] Determining whether the wireless charging device is an authorized charging device according to the device type and identity information of the wireless charging device;

[0117] When the wireless charging device is an authorized charging device, calculating the relative distance of the wireless charging device based on RSSI information of the Bluetooth broadcast signal;

[0118] The relative position of the wireless charging device is calculated based on the AoA information or the AoD information of the Bluetooth broadcast signal.

[0119] Specifically, the RSSI (Received Signal Strength Indication) information of the Bluetooth broadcast signal is the received signal strength of the Bluetooth broadcast signal. In the step of calculating the relative distance of the wireless charging device based on the RSSI information of the Bluetooth broadcast signal, the second control unit is configured as follows:

[0120] The Bluetooth signal strength at a distance of 1 meter from the wireless charging device is obtained from the wireless charging device through the Bluetooth communication connection as RSSI0;

[0121] Measuring the signal strength RSSI of the Bluetooth broadcast signal of the wireless charging device received by the intelligent robot;

[0122] Calculate the relative distance of the wireless charging device:

[0123]

[0124] The AoA (Angle of Arrival) information of the Bluetooth broadcast signal is the angle at which the Bluetooth broadcast signal propagates from the wireless charging device to the intelligent robot, which is obtained by the phase difference of the Bluetooth broadcast signal received by the Bluetooth antenna array set on the intelligent robot, and the reference direction of the angle relative to the azimuth is the connection direction of the Bluetooth antenna array on the intelligent robot. The AoD (Angle of Departure) information of the Bluetooth broadcast signal is also the angle at which the Bluetooth broadcast signal propagates from the wireless charging device to the intelligent robot, which is obtained by the phase difference of the Bluetooth broadcast signal sent by the Bluetooth antenna array on the wireless charging device received by the Bluetooth antenna on the intelligent robot, and the reference direction of the angle relative to the azimuth is the connection direction of the Bluetooth antenna array on the wireless charging device.

[0125] Further, in the above-mentioned wireless charging control system for an intelligent robot, after the step of determining that the wireless charging device is an authorized charging device, the second control unit is configured as follows:

[0126] Get the Bluetooth pairing key of the wireless charging device generated by the background server;

[0127] Pairing with the wireless charging device using the Bluetooth pairing key;

[0128] After the pairing is successful, a Bluetooth communication connection is established with the wireless charging device.

[0129] In the technical solution of the above-mentioned implementation mode, the wireless charging device accesses the Internet through a wired network or a wireless network to establish a communication connection with the background server, and the background server generates a Bluetooth pairing key and distributes it to the intelligent robot and the wireless charging device, so that the two can perform Bluetooth pairing based on the Bluetooth pairing key, so that the pairing process can be completed automatically while improving the security and efficiency of Bluetooth pairing.

[0130] Further, in the above-mentioned wireless charging control system for an intelligent robot, in the step of determining whether the wireless charging device is an authorized charging device according to the device type and identity information of the wireless charging device, the second control unit is configured as follows:

[0131] Acquire the wireless charging protocol used by the wireless charging device and its output power and charging voltage according to the device type of the wireless charging device;

[0132] When the wireless charging protocol and the output power and charging voltage used by the wireless charging device match those of the intelligent robot, reading the authorization serial number of the intelligent robot;

[0133] Uploading the authorization serial number and the identity information of the wireless charging device to a backend server for query;

[0134] When the query result returned by the background server is not empty, it is determined that the wireless charging device is an authorized charging device.

[0135] In the technical solutions of some embodiments of the present invention, before the step of determining whether the wireless charging device is an authorized charging device according to the device type and identity information of the wireless charging device, the second control unit is configured as follows:

[0136] Obtaining an authorization code provided by a charging authorization device, wherein the authorization code includes an identity identifier of the wireless charging device;

[0137] The authorization serial number of the intelligent robot and the identity information of the wireless charging device are uploaded to the background server so that the background server associates and stores the authorization serial number with the identity information of the wireless charging device.

[0138] Specifically, the charging authorization device can be a portable electronic device or an NFC card, etc. The intelligent robot can establish a communication connection with the charging authorization device through Bluetooth, NFC or other short-range wireless communication methods, and then obtain the authorization code provided by the charging authorization device. The authorization code is associated with the wireless charging device in the background server. The background server binds the intelligent robot with the wireless charging device according to the authorization code, that is, the authorization serial number of the intelligent robot is associated with the identity of the wireless charging device and stored. In the background server, an intelligent robot can be bound to multiple wireless charging devices, and a wireless charging device can also be bound to multiple intelligent robots. After binding, the wireless charging device is the authorized charging device of the intelligent robot.

[0139] Furthermore, in the above-mentioned wireless charging control system for an intelligent robot, after the step of uploading the authorization serial number and the identity information of the wireless charging device to the background server for query, the second control unit is configured as follows:

[0140] When the query result returned by the backend server is empty, determining that the wireless charging device is an unauthorized charging device;

[0141] Get the visual features of the contact associated with the current authorized activity scope;

[0142] Searching by a visual sensor whether there is a person matching the visual features within the visual range;

[0143] When there is a person matching the visual feature within the visible range, determining a fourth position of the contact;

[0144] generating a first navigation path corresponding to the fourth position in the scene model;

[0145] Move to the contact according to the first navigation path;

[0146] Send a request for authorization of the charging device via voice.

[0147] Specifically, the current authorized activity range refers to the authorized activity range where the third position of the intelligent robot is currently located. Obtaining the visual features of the contacts associated with the current authorized activity range may be obtaining a face image of the contacts associated with the current authorized activity range that is pre-photographed and stored in the local database from a local database, or may be obtaining a face image of the contacts associated with the current authorized activity range that is pre-stored from a backend server.

[0148] In the technical solutions of some implementations of the present invention, the step of moving to the contact according to the first navigation path is specifically:

[0149] Get the preset voice communication distance;

[0150] determining a fifth position on the first navigation path that is a distance from the fourth position as the voice communication distance;

[0151] Move to the fifth position along the first navigation path.

[0152] Further, in the above-mentioned wireless charging control system for an intelligent robot, after the step of searching by a visual sensor whether there is a person matching the visual feature within the visible range, the second control unit is configured as follows:

[0153] When there is no person matching the visual feature within the visible range, obtaining contact information of a contact person associated with the current authorized activity scope;

[0154] A charging device authorization request is sent to the contact person based on the contact information, where the charging device authorization request includes the authorization serial number of the intelligent robot and the identity information of the wireless charging device.

[0155] Similarly, the contact information of the contact associated with the current authorized activity scope may be contact information pre-stored in a local database or a background server, and the contact information may be a telephone number or an instant messaging account, etc. The step of sending a charging device authorization request to the contact based on the contact information includes but is not limited to sending text messages, voice messages or other forms of information such as QR code images to the contact information.

[0156] Preferably, the intelligent robot sends a QR code carrying the charging device authorization request information to the contact information. After receiving the QR code, the contact recognizes the QR code to perform the authorization operation through the authorization serial number of the intelligent robot and the identity information of the wireless charging device in the QR code. Specifically, the content in the QR code is a hyperlink that sends an authorization operation instruction to the background server, and the hyperlink contains the encrypted authorization serial number of the intelligent robot and the identity information of the wireless charging device.

[0157] Furthermore, in the above-mentioned wireless charging control system for an intelligent robot, in the step of simulating and generating a wireless charging action sequence in the scenario model, the second control unit is configured as follows:

[0158] Determining whether the second position is within a visible range;

[0159] When the second position is within the visible range, generating a second navigation path in the scene model that moves from the current position to the second position;

[0160] Decomposing a movement process of the intelligent robot moving to the second position along the second navigation path into a first movement action sequence;

[0161] When the second position is outside the visible range, determining an intermediate node close to the second position in the visible range;

[0162] generating a third navigation path in the scene model that moves from the current position to the intermediate node;

[0163] Decomposing a movement process of the intelligent robot moving to the intermediate position according to the third navigation path into a second movement action sequence;

[0164] Executing the second movement action sequence and performing scene modeling on the environment within the visual range in real time during the movement;

[0165] Repeat the steps of determining an intermediate node close to the orientation of the second position within the visible range, generating a third navigation path from the current position to the intermediate node in the scene model, decomposing the movement process of the intelligent robot moving to the intermediate position according to the third navigation path into a second movement action sequence, and executing the second movement action sequence and performing scene modeling on the environment within the visible range in real time during the movement until the second position is within the visible range.

[0166] Specifically, in a general home environment or industrial environment, the location of the wireless charging device is often not within the visible range of the initial position of the intelligent robot. The intelligent robot needs to generate and update the navigation path to the wireless charging device in real time during the process of scene modeling of the environment within the authorized activity range.

[0167] In the technical solution of the above embodiment, the step of generating a second navigation path from the current position to the second position in the scene model specifically includes:

[0168] Identifying an obstacle between the intelligent robot and the wireless charging device in the scene model;

[0169] A second navigation path from the third position where the intelligent robot is currently located to the second position is planned according to the distribution of the obstacles.

[0170] Furthermore, in the above-mentioned wireless charging control system for an intelligent robot, in the step of simulating and generating a wireless charging action sequence in the scenario model, the second control unit is further configured as follows:

[0171] When the second position is within the visible range, determining a sixth position on a second navigation path or a third navigation path with the second position as an end point, the sixth position having a minimum non-collision distance from the second position;

[0172] Determine a seventh position on the second navigation path or the third navigation path that ends at the second position and is within a wireless charging distance from the second position;

[0173] Generating a wireless charging posture adjustment action sequence of the intelligent robot in the scene model according to the position of the wireless charging transmitter identifier;

[0174] generating a fourth navigation path in the scene model for moving from the sixth position to the seventh position;

[0175] Decomposing a movement process of the intelligent robot moving to the seventh position according to the fourth navigation path into a third movement action sequence;

[0176] The steps of executing the wireless charging action sequence specifically include:

[0177] Executing the first movement action sequence or the second movement action sequence to move the intelligent robot to the sixth position;

[0178] Executing the wireless charging posture adjustment action sequence to enable the intelligent robot to enter the wireless charging posture;

[0179] The third movement action sequence is executed to move the intelligent robot from the sixth position to the seventh position.

[0180] Specifically, the minimum non-collision distance is the maximum extension distance of the intelligent robot during the posture adjustment process. The wireless charging distance is the distance between the position of the intelligent robot and the second position when the wireless charging receiver of the intelligent robot after the posture adjustment and the wireless charging transmitter of the wireless charging device are kept at the maximum charging distance.

[0181] In the technical solution of the above implementation, the steps of executing the wireless charging action sequence specifically include:

[0182] In the process of executing the first movement action sequence or the second movement action sequence to move the intelligent robot to the sixth position, updating the scene model in real time through a visual sensor;

[0183] When an obstacle between the intelligent robot and the wireless charging device in the scene model changes, the second navigation path is regenerated.

[0184] Specifically, in the process of moving to the wireless charging device according to the first navigation path, after the scene model is updated in real time through the visual sensor, the step of identifying obstacles between the intelligent robot and the wireless charging device in the scene model is performed in real time. Due to the limitations of the visual sensor itself, the intelligent robot cannot scan all objects within the authorized activity range at the first time. A large number of areas blocked by obstacles need to be scanned in real time during the movement and supplemented to the scene model. Some objects that were not scanned when the first navigation path was planned may affect the movement of the intelligent robot. Therefore, it may be necessary to update the scene model and regenerate the first navigation path.

[0185] The scene model includes a three-dimensional model of the wireless charging device, and the steps of generating a wireless charging posture adjustment action sequence of the intelligent robot in the scene model according to the position of the wireless charging transmitter identifier specifically include:

[0186] Identify a wireless charging transmitter identifier from the three-dimensional model of the wireless charging device;

[0187] Obtaining the location of the wireless charging transmitter identifier;

[0188] The wireless charging posture of the intelligent robot is generated according to the position of the wireless charging transmitter identification, and the wireless charging posture includes the height and direction of the wireless charging receiver of the intelligent robot and the distance from the wireless charging transmitter of the wireless charging device.

[0189] like Figure 2 As shown, the second aspect of the present invention proposes a wireless charging control method for an intelligent robot, comprising:

[0190] Configuring an authorized activity range, wherein the authorized activity range is composed of a first positioning coordinate of a first position and an activity radius, and the authorized activity range is a geographical range formed by a circular area centered on the first position and having the activity radius as a radius;

[0191] Sense and obtain location information of a second location of the wireless charging device, where the location information of the second location includes a relative distance and a relative orientation of the wireless charging device relative to the intelligent robot;

[0192] Determining whether the wireless charging device is within the authorized activity range according to the location information of the second location;

[0193] When the wireless charging device is within the authorized activity range, scene modeling is performed on the environment within the visible range to obtain a scene model;

[0194] Determining whether the second position is within a visible range;

[0195] When the second position is within the visible range, identifying the wireless charging transmitter identifier located at the second position;

[0196] Simulating and generating a wireless charging action sequence in the scenario model, the wireless charging action sequence includes a moving action sequence of the intelligent robot moving to the wireless charging device and a wireless charging posture adjustment action sequence of bringing the wireless charging receiver of the intelligent robot close to the wireless charging transmitter identifier;

[0197] Execute the wireless charging action sequence.

[0198] Specifically, the first positioning coordinates of the first position are the GPS (Global Positioning System) coordinates of the first position, and the first position is a specific position selected by the user on the map interface provided by the background server, or the coordinate value of the position is directly entered in the coordinate input box provided by the background server. Similarly, the activity radius is determined by the user operating on the map interface or entering a numerical value. The intelligent robot communicates with the background server through a cellular wireless communication network such as 5G or NB-IoT (Narrowband Internet of Things) to obtain data from the background server or upload data to the background server.

[0199] In the technical solutions of some embodiments of the present invention, after the intelligent robot senses the wireless charging device within the authorized activity range, it establishes a Bluetooth communication connection with the wireless charging device, and the steps of starting wireless charging specifically include:

[0200] Sending a charging start signal to the wireless charging device via a Bluetooth communication connection;

[0201] When the wireless charging device detects that the intelligent robot is in a wireless charging posture, it exchanges wireless charging parameters with the intelligent robot, wherein the wireless charging parameters include a maximum charging power and an output voltage;

[0202] When the intelligent robot is in a charging posture, the power of the transmitting coil is turned on to start wireless charging.

[0203] In the technical solutions of some embodiments of the present invention, the wireless charging parameters also include charging mode such as fast charging or slow charging, charging termination voltage, battery capacity, etc.

[0204] The steps of performing scene modeling on the environment within the visible range to obtain the scene model specifically include:

[0205] Acquire the environment image within the visible range through the visual sensor;

[0206] Acquire the position and posture parameters of all objects within the visible range based on the environment image, wherein the position and posture parameters include the position, shape and posture of the objects;

[0207] A three-dimensional model of the object within the visible range is established according to the posture parameters.

[0208] Specifically, the wireless charging device includes a wireless charging transmitter, which refers to the transmitting coil of the wireless charging device. A wireless charging transmitter identifier for identifying the position of the transmitting coil is attached to the wireless charging device, and the wireless charging transmitter identifier is attached to the surface of the corresponding position of the transmitting coil. The intelligent robot can identify the position of the transmitting coil according to the wireless charging transmitter identifier. The intelligent robot includes a wireless charging receiver, which refers to the receiving coil of wireless charging. According to the different installation site environments and usage requirements, the transmitting coil of the wireless charging device may be installed in different positions, such as on the ground, on the wall, etc., and the installation positions are different. Due to the complex and changeable installation positions and installation environments of wireless charging devices in unfamiliar environments, especially for wireless charging devices installed in narrow spaces, the intelligent robot needs to approach the wireless charging device and adjust to a posture suitable for wireless charging while avoiding collisions with surrounding objects. In the technical solution of the present invention, by simulating and generating a wireless charging action sequence for adjusting the wireless charging posture of the intelligent robot in the scene model corresponding to the current visible range environment, the intelligent robot is prevented from colliding with surrounding objects when approaching the wireless charging device.

[0209] Furthermore, in the above-mentioned wireless charging control method for an intelligent robot, before the step of sensing and acquiring the position information of the second position of the wireless charging device, it also includes:

[0210] Obtaining the second positioning coordinates of the third position where the intelligent robot is currently located;

[0211] Determining whether the activity range corresponding to the fourth position is a modeled area according to the second positioning coordinates;

[0212] When the activity range corresponding to the fourth position is a modeled area, acquiring historical position information of the wireless charging device corresponding to the modeled area stored in the database;

[0213] After the step of sensing and acquiring the location information of the second location of the wireless charging device, the method further includes:

[0214] Determining whether the location information of the second location matches the historical location information;

[0215] When the location information of the second location matches the historical location information, performing the steps of simulating and generating a wireless charging action sequence in the scenario model and executing the wireless charging action sequence;

[0216] When the location information of the second location does not match the historical location information, the steps of performing scene modeling on the environment within the visible range to obtain a scene model and identifying the wireless charging transmitter identifier located at the second location are re-executed.

[0217] Specifically, the modeled area is an environment where the intelligent robot has been active and for which scene modeling has been completed and a scene model has been generated. It should be known that the position information of the second position of the wireless charging device obtained by the intelligent robot is a relative position, that is, the relative orientation and relative distance of the wireless charging device relative to the intelligent robot, and the historical position information is based on the positioning information of the intelligent robot at that time and the absolute position information converted from the position information of the second position of the wireless charging device at the corresponding time, for example, it is converted into GPS coordinates or coordinates in other coordinate systems, and the step of judging whether the position information of the second position matches the historical position information is specifically to convert the position information of the second position to the same coordinate system as the historical position information, and judge whether the two are the same. If they are the same, it is determined that the two match, otherwise it is considered that the two do not match.

[0218] Furthermore, in the above-mentioned wireless charging control method for an intelligent robot, the step of sensing and acquiring the position information of the second position of the wireless charging device specifically includes:

[0219] Searching for a Bluetooth broadcast signal of a wireless charging device, where the Bluetooth broadcast signal carries the device type and identity information of the wireless charging device;

[0220] Determining whether the wireless charging device is an authorized charging device according to the device type and identity information of the wireless charging device;

[0221] When the wireless charging device is an authorized charging device, calculating the relative distance of the wireless charging device based on RSSI information of the Bluetooth broadcast signal;

[0222] The relative position of the wireless charging device is calculated based on the AoA information or the AoD information of the Bluetooth broadcast signal.

[0223] Specifically, the RSSI (Received Signal Strength Indication) information of the Bluetooth broadcast signal is the received signal strength of the Bluetooth broadcast signal, and the step of calculating the relative distance of the wireless charging device based on the RSSI information of the Bluetooth broadcast signal specifically includes:

[0224] The Bluetooth signal strength at a distance of 1 meter from the wireless charging device is obtained from the wireless charging device through the Bluetooth communication connection as RSSI0;

[0225] Measuring the signal strength RSSI of the Bluetooth broadcast signal of the wireless charging device received by the intelligent robot;

[0226] Calculate the relative distance of the wireless charging device:

[0227]

[0228] The AoA (Angle of Arrival) information of the Bluetooth broadcast signal is the angle at which the Bluetooth broadcast signal propagates from the wireless charging device to the intelligent robot, which is obtained by the phase difference of the Bluetooth broadcast signal received by the Bluetooth antenna array set on the intelligent robot, and the reference direction of the angle relative to the azimuth is the connection direction of the Bluetooth antenna array on the intelligent robot. The AoD (Angle of Departure) information of the Bluetooth broadcast signal is also the angle at which the Bluetooth broadcast signal propagates from the wireless charging device to the intelligent robot, which is obtained by the phase difference of the Bluetooth broadcast signal sent by the Bluetooth antenna array on the wireless charging device received by the Bluetooth antenna on the intelligent robot, and the reference direction of the angle relative to the azimuth is the connection direction of the Bluetooth antenna array on the wireless charging device.

[0229] Furthermore, in the above-mentioned wireless charging control method for an intelligent robot, after the step of determining that the wireless charging device is an authorized charging device, it also includes:

[0230] Get the Bluetooth pairing key of the wireless charging device generated by the background server;

[0231] Pairing with the wireless charging device using the Bluetooth pairing key;

[0232] After the pairing is successful, a Bluetooth communication connection is established with the wireless charging device.

[0233] In the technical solution of the above-mentioned implementation mode, the wireless charging device accesses the Internet through a wired network or a wireless network to establish a communication connection with the background server, and the background server generates a Bluetooth pairing key and distributes it to the intelligent robot and the wireless charging device, so that the two can perform Bluetooth pairing based on the Bluetooth pairing key, so that the pairing process can be completed automatically while improving the security and efficiency of Bluetooth pairing.

[0234] Furthermore, in the above-mentioned wireless charging control method for an intelligent robot, the step of determining whether the wireless charging device is an authorized charging device according to the device type and identity information of the wireless charging device specifically includes:

[0235] Acquire the wireless charging protocol used by the wireless charging device and its output power and charging voltage according to the device type of the wireless charging device;

[0236] When the wireless charging protocol and the output power and charging voltage used by the wireless charging device match those of the intelligent robot, reading the authorization serial number of the intelligent robot;

[0237] Uploading the authorization serial number and the identity information of the wireless charging device to a backend server for query;

[0238] When the query result returned by the background server is not empty, it is determined that the wireless charging device is an authorized charging device.

[0239] In the technical solutions of some embodiments of the present invention, before the step of determining whether the wireless charging device is an authorized charging device according to the device type and identity information of the wireless charging device, the step further includes:

[0240] Obtaining an authorization code provided by a charging authorization device, wherein the authorization code includes an identity identifier of the wireless charging device;

[0241] The authorization serial number of the intelligent robot and the identity information of the wireless charging device are uploaded to the background server so that the background server associates and stores the authorization serial number with the identity information of the wireless charging device.

[0242] Specifically, the charging authorization device can be a portable electronic device or an NFC card, etc. The intelligent robot can establish a communication connection with the charging authorization device through Bluetooth, NFC or other short-range wireless communication methods, and then obtain the authorization code provided by the charging authorization device. The authorization code is associated with the wireless charging device in the background server. The background server binds the intelligent robot with the wireless charging device according to the authorization code, that is, the authorization serial number of the intelligent robot is associated with the identity of the wireless charging device and stored. In the background server, an intelligent robot can be bound to multiple wireless charging devices, and a wireless charging device can also be bound to multiple intelligent robots. After binding, the wireless charging device is the authorized charging device of the intelligent robot.

[0243] Furthermore, in the above-mentioned wireless charging control method for an intelligent robot, after the step of uploading the authorization serial number and the identity information of the wireless charging device to the background server for query, it also includes:

[0244] When the query result returned by the backend server is empty, determining that the wireless charging device is an unauthorized charging device;

[0245] Get the visual features of the contact associated with the current authorized activity scope;

[0246] Searching by a visual sensor whether there is a person matching the visual features within the visual range;

[0247] When there is a person matching the visual feature within the visible range, determining a fourth position of the contact;

[0248] generating a first navigation path corresponding to the fourth position in the scene model;

[0249] Move to the contact according to the first navigation path;

[0250] Send a request for authorization of the charging device via voice.

[0251] Specifically, the current authorized activity range refers to the authorized activity range where the third position of the intelligent robot is currently located. Obtaining the visual features of the contacts associated with the current authorized activity range may be obtaining a face image of the contacts associated with the current authorized activity range that is pre-photographed and stored in the local database from a local database, or may be obtaining a face image of the contacts associated with the current authorized activity range that is pre-stored from a backend server.

[0252] In the technical solutions of some implementations of the present invention, the step of moving to the contact according to the first navigation path is specifically:

[0253] Get the preset voice communication distance;

[0254] determining a fifth position on the first navigation path that is a distance from the fourth position as the voice communication distance;

[0255] Move to the fifth position according to the first navigation path.

[0256] Furthermore, in the above-mentioned wireless charging control method for an intelligent robot, after the step of searching by a visual sensor whether there is a person matching the visual features within the visible range, the method further includes:

[0257] When there is no person matching the visual feature within the visible range, obtaining contact information of a contact person associated with the current authorized activity scope;

[0258] A charging device authorization request is sent to the contact person based on the contact information, where the charging device authorization request includes the authorization serial number of the intelligent robot and the identity information of the wireless charging device.

[0259] Similarly, the contact information of the contact associated with the current authorized activity scope may be contact information pre-stored in a local database or a background server, and the contact information may be a telephone number or an instant messaging account, etc. The step of sending a charging device authorization request to the contact based on the contact information includes but is not limited to sending text messages, voice messages or other forms of information such as QR code images to the contact information.

[0260] Preferably, the intelligent robot sends a QR code carrying the charging device authorization request information to the contact information. After receiving the QR code, the contact recognizes the QR code to perform the authorization operation through the authorization serial number of the intelligent robot and the identity information of the wireless charging device in the QR code. Specifically, the content in the QR code is a hyperlink that sends an authorization operation instruction to the background server, and the hyperlink contains the encrypted authorization serial number of the intelligent robot and the identity information of the wireless charging device.

[0261] Furthermore, in the above-mentioned wireless charging control method for an intelligent robot, the step of simulating and generating a wireless charging action sequence in the scene model specifically includes:

[0262] Determining whether the second position is within a visible range;

[0263] When the second position is within the visible range, generating a second navigation path in the scene model that moves from the current position to the second position;

[0264] Decomposing a movement process of the intelligent robot moving to the second position along the second navigation path into a first movement action sequence;

[0265] When the second position is outside the visible range, determining an intermediate node close to the second position in the visible range;

[0266] generating a third navigation path in the scene model that moves from the current position to the intermediate node;

[0267] Decomposing a movement process of the intelligent robot moving to the intermediate position according to the third navigation path into a second movement action sequence;

[0268] Executing the second movement action sequence and performing scene modeling on the environment within the visual range in real time during the movement;

[0269] Repeat the steps of determining an intermediate node close to the orientation of the second position within the visible range, generating a third navigation path from the current position to the intermediate node in the scene model, decomposing the movement process of the intelligent robot moving to the intermediate position according to the third navigation path into a second movement action sequence, and executing the second movement action sequence and performing scene modeling on the environment within the visible range in real time during the movement until the second position is within the visible range.

[0270] Specifically, in a general home environment or industrial environment, the location of the wireless charging device is often not within the visible range of the initial position of the intelligent robot. The intelligent robot needs to generate and update the navigation path to the wireless charging device in real time during the process of scene modeling of the environment within the authorized activity range.

[0271] In the technical solution of the above embodiment, the step of generating a second navigation path from the current position to the second position in the scene model specifically includes:

[0272] Identifying an obstacle between the intelligent robot and the wireless charging device in the scene model;

[0273] A second navigation path from the third position where the intelligent robot is currently located to the second position is planned according to the distribution of the obstacles.

[0274] Furthermore, in the above-mentioned wireless charging control method for an intelligent robot, the step of simulating and generating a wireless charging action sequence in the scenario model further includes:

[0275] When the second position is within the visible range, determining a sixth position on a second navigation path or a third navigation path with the second position as an end point, the sixth position having a minimum non-collision distance from the second position;

[0276] Determine a seventh position on the second navigation path or the third navigation path that ends at the second position and is within a wireless charging distance from the second position;

[0277] Generating a wireless charging posture adjustment action sequence of the intelligent robot in the scene model according to the position of the wireless charging transmitter identifier;

[0278] generating a fourth navigation path in the scene model for moving from the sixth position to the seventh position;

[0279] Decomposing a movement process of the intelligent robot moving to the seventh position according to the fourth navigation path into a third movement action sequence;

[0280] The steps of executing the wireless charging action sequence specifically include:

[0281] Executing the first movement action sequence or the second movement action sequence to move the intelligent robot to the sixth position;

[0282] Executing the wireless charging posture adjustment action sequence to enable the intelligent robot to enter the wireless charging posture;

[0283] The third movement action sequence is executed to move the intelligent robot from the sixth position to the seventh position.

[0284] Specifically, the minimum non-collision distance is the maximum extension distance of the intelligent robot during the posture adjustment process. The wireless charging distance is the distance between the position of the intelligent robot and the second position when the wireless charging receiver of the intelligent robot after the posture adjustment and the wireless charging transmitter of the wireless charging device are kept at the maximum charging distance.

[0285] In the technical solution of the above implementation, the steps of executing the wireless charging action sequence specifically include:

[0286] In the process of executing the first movement action sequence or the second movement action sequence to move the intelligent robot to the sixth position, updating the scene model in real time through a visual sensor;

[0287] When an obstacle between the intelligent robot and the wireless charging device in the scene model changes, the second navigation path is regenerated.

[0288] Specifically, in the process of moving to the wireless charging device according to the first navigation path, after the scene model is updated in real time through the visual sensor, the step of identifying obstacles between the intelligent robot and the wireless charging device in the scene model is performed in real time. Due to the limitations of the visual sensor itself, the intelligent robot cannot scan all objects within the authorized activity range at the first time. A large number of areas blocked by obstacles need to be scanned in real time during the movement and supplemented to the scene model. Some objects that were not scanned when the first navigation path was planned may affect the movement of the intelligent robot. Therefore, it may be necessary to update the scene model and regenerate the first navigation path.

[0289] The scene model includes a three-dimensional model of the wireless charging device, and the steps of generating a wireless charging posture adjustment action sequence of the intelligent robot in the scene model according to the position of the wireless charging transmitter identifier specifically include:

[0290] Identify a wireless charging transmitter identifier from the three-dimensional model of the wireless charging device;

[0291] Obtaining the location of the wireless charging transmitter identifier;

[0292] The wireless charging posture of the intelligent robot is generated according to the position of the wireless charging transmitter identification, and the wireless charging posture includes the height and direction of the wireless charging receiver of the intelligent robot and the distance from the wireless charging transmitter of the wireless charging device.

[0293] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the statement "comprise a ..." do not exclude the presence of other identical elements in the process, method, article or device including the elements.

[0294] According to the embodiments of the present invention as described above, these embodiments do not describe all the details in detail, nor do they limit the invention to the specific embodiments described. Obviously, many modifications and changes can be made based on the above description. This specification selects and specifically describes these embodiments in order to better explain the principles and practical applications of the present invention, so that those skilled in the art can make good use of the present invention and the modified use based on the present invention. The present invention is limited only by the claims and their full scope and equivalents.

Claims

1. A wireless charging control system for an intelligent robot, characterized in that: The invention comprises a background server and a wireless charging device and an intelligent robot in communication connection with the background server, wherein the wireless charging device comprises a wireless charging transmitter for converting electric energy into radio electromagnetic wave energy, a first Bluetooth communication unit for communicating with the intelligent robot, a first network communication unit for communicating with the background server, and a first control unit for performing communication and charging control; the intelligent robot comprises a wireless charging receiver for converting received radio electromagnetic wave energy into electric energy, a second Bluetooth communication unit for communicating with the wireless charging device, a second network communication unit for communicating with the background server, and a second control unit for performing communication and charging control, wherein the second control unit is configured as follows: Configuring an authorized activity range, wherein the authorized activity range is composed of a first positioning coordinate of a first position and an activity radius, and the authorized activity range is a geographical range formed by a circular area centered on the first position and having the activity radius as a radius; Sense and obtain location information of a second location of the wireless charging device, where the location information of the second location includes a relative distance and relative orientation of the wireless charging device relative to the intelligent robot; Determining whether the wireless charging device is within the authorized activity range according to the location information of the second location; When the wireless charging device is within the authorized activity range, scene modeling is performed on the environment within the visible range to obtain a scene model; Determining whether the second position is within a visible range; When the second position is within the visible range, identifying the wireless charging transmitter identifier located at the second position; Simulating and generating a wireless charging action sequence in the scenario model, the wireless charging action sequence includes a moving action sequence of the intelligent robot moving to the wireless charging device and a wireless charging posture adjustment action sequence of bringing the wireless charging receiver of the intelligent robot close to the wireless charging transmitter identifier; Execute the wireless charging action sequence; In the step of simulating and generating a wireless charging action sequence in the scenario model, the second control unit is configured to: Determining whether the second position is within a visible range; When the second position is within the visible range, generating a second navigation path in the scene model that moves from the current position to the second position; Decomposing a movement process of the intelligent robot moving to the second position along the second navigation path into a first movement action sequence; When the second position is outside the visible range, determining an intermediate node close to the second position in the visible range; generating a third navigation path in the scene model that moves from the current position to the intermediate node; Decomposing the movement process of the intelligent robot moving to the intermediate node according to the third navigation path into a second movement action sequence; Executing the second movement action sequence and performing scene modeling on the environment within the visual range in real time during the movement; Repeat the steps of determining an intermediate node close to the orientation of the second position within the visible range, generating a third navigation path from the current position to the intermediate node in the scene model, decomposing the movement process of the intelligent robot moving to the intermediate node along the third navigation path into a second movement action sequence, and executing the second movement action sequence and performing scene modeling on the environment within the visible range in real time during the movement until the second position is within the visible range.

2. A wireless charging control method for an intelligent robot, characterized in that: include: Configuring an authorized activity range, wherein the authorized activity range is composed of a first positioning coordinate of a first position and an activity radius, and the authorized activity range is a geographical range formed by a circular area centered on the first position and having the activity radius as a radius; Sense and obtain location information of a second location of the wireless charging device, where the location information of the second location includes a relative distance and relative orientation of the wireless charging device relative to the intelligent robot; Determining whether the wireless charging device is within the authorized activity range according to the location information of the second location; When the wireless charging device is within the authorized activity range, scene modeling is performed on the environment within the visible range to obtain a scene model; Determining whether the second position is within a visible range; When the second position is within the visible range, identifying the wireless charging transmitter identifier located at the second position; Simulating and generating a wireless charging action sequence in the scenario model, the wireless charging action sequence includes a moving action sequence of the intelligent robot moving to the wireless charging device and a wireless charging posture adjustment action sequence of bringing the wireless charging receiver of the intelligent robot close to the wireless charging transmitter identifier; Execute the wireless charging action sequence; The steps of simulating and generating a wireless charging action sequence in the scenario model specifically include: Determining whether the second position is within a visible range; When the second position is within the visible range, generating a second navigation path in the scene model that moves from the current position to the second position; Decomposing a movement process of the intelligent robot moving to the second position along the second navigation path into a first movement action sequence; When the second position is outside the visible range, determining an intermediate node close to the second position in the visible range; generating a third navigation path in the scene model that moves from the current position to the intermediate node; Decomposing the movement process of the intelligent robot moving to the intermediate node according to the third navigation path into a second movement action sequence; Executing the second movement action sequence and performing scene modeling on the environment within the visual range in real time during the movement; Repeat the steps of determining an intermediate node close to the orientation of the second position within the visible range, generating a third navigation path from the current position to the intermediate node in the scene model, decomposing the movement process of the intelligent robot moving to the intermediate node along the third navigation path into a second movement action sequence, and executing the second movement action sequence and performing scene modeling on the environment within the visible range in real time during the movement until the second position is within the visible range.

3. The wireless charging control method for an intelligent robot according to claim 2, characterized in that: Before the step of sensing and acquiring the location information of the second location of the wireless charging device, the method further includes: Obtaining the second positioning coordinates of the third position where the intelligent robot is currently located; Determining whether the activity range corresponding to the third position is a modeled area according to the second positioning coordinates; When the activity range corresponding to the third position is a modeled area, acquiring historical position information of the wireless charging device corresponding to the modeled area stored in the database; After the step of sensing and acquiring the location information of the second location of the wireless charging device, the method further includes: Determining whether the location information of the second location matches the historical location information; When the location information of the second location matches the historical location information, performing the steps of simulating and generating a wireless charging action sequence in the scenario model and executing the wireless charging action sequence; When the location information of the second location does not match the historical location information, the steps of performing scene modeling on the environment within the visible range to obtain a scene model and identifying the wireless charging transmitter identifier located at the second location are re-executed.

4. The wireless charging control method for an intelligent robot according to claim 2, characterized in that: The step of sensing and acquiring the location information of the second location of the wireless charging device specifically includes: Searching for a Bluetooth broadcast signal of a wireless charging device, where the Bluetooth broadcast signal carries the device type and identity information of the wireless charging device; Determining whether the wireless charging device is an authorized charging device according to the device type and identity information of the wireless charging device; When the wireless charging device is an authorized charging device, calculating the relative distance of the wireless charging device based on RSSI information of the Bluetooth broadcast signal; The relative position of the wireless charging device is calculated based on the AoA information or the AoD information of the Bluetooth broadcast signal.

5. The wireless charging control method for an intelligent robot according to claim 4, characterized in that: After the step of determining that the wireless charging device is an authorized charging device, the method further includes: Get the Bluetooth pairing key of the wireless charging device generated by the background server; Pairing with the wireless charging device using the Bluetooth pairing key; After the pairing is successful, a Bluetooth communication connection is established with the wireless charging device.

6. The wireless charging control method for an intelligent robot according to claim 4, characterized in that: The step of determining whether the wireless charging device is an authorized charging device according to the device type and identity information of the wireless charging device specifically includes: Acquire the wireless charging protocol used by the wireless charging device and its output power and charging voltage according to the device type of the wireless charging device; When the wireless charging protocol and the output power and charging voltage used by the wireless charging device match those of the intelligent robot, reading the authorization serial number of the intelligent robot; Upload the authorization serial number and the identity information of the wireless charging device to the backend server for query; When the query result returned by the background server is not empty, it is determined that the wireless charging device is an authorized charging device.

7. The wireless charging control method for an intelligent robot according to claim 6, characterized in that: After the step of uploading the authorization serial number and the identity information of the wireless charging device to the backend server for query, the method further includes: When the query result returned by the backend server is empty, determining that the wireless charging device is an unauthorized charging device; Get the visual features of the contact associated with the current authorized activity scope; Searching by visual sensors whether there is a person matching the visual features within the visual range; When there is a person matching the visual feature within the visible range, determining a fourth position of the contact; generating a first navigation path corresponding to the fourth position in the scene model; Move to the contact according to the first navigation path; Send a charging device authorization request via voice.

8. The wireless charging control method for an intelligent robot according to claim 7, characterized in that: After the step of searching by a visual sensor whether there is a person matching the visual features within the visual range, the method further includes: When there is no person matching the visual feature within the visible range, obtaining contact information of a contact person associated with the current authorized activity scope; A charging device authorization request is sent to the contact person based on the contact information, where the charging device authorization request includes the authorization serial number of the intelligent robot and the identity information of the wireless charging device.

9. The wireless charging control method for an intelligent robot according to claim 2, characterized in that: The step of simulating and generating a wireless charging action sequence in the scenario model further includes: When the second position is within the visible range, determining a sixth position on a second navigation path or a third navigation path with the second position as an end point, the sixth position having a minimum non-collision distance from the second position; Determine a seventh position on the second navigation path or the third navigation path that ends at the second position and is within a wireless charging distance from the second position; Generating a wireless charging posture adjustment action sequence of the intelligent robot in the scene model according to the position of the wireless charging transmitter identifier; generating, in the scene model, a fourth navigation path moving from the sixth position to the seventh position; Decomposing a movement process of the intelligent robot moving to the seventh position according to the fourth navigation path into a third movement action sequence; The steps of executing the wireless charging action sequence specifically include: Executing the first movement action sequence or the second movement action sequence to move the intelligent robot to the sixth position; Executing the wireless charging posture adjustment action sequence to enable the intelligent robot to enter the wireless charging posture; The third moving action sequence is executed to move the intelligent robot from the sixth position to the seventh position.

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