Charging method and device, mobile device and computer readable storage medium

Abstract

The application is suitable for the field of charging technology, and provides a charging method, a charging device, a mobile device and a computer readable storage medium. The method comprises: acquiring radar data collected by a radar device; determining a shape included in the radar data; in the case that the shape is a shape corresponding to a charging pile, acquiring depth information of the charging pile collected by a depth camera; determining a pile position on the charging pile according to the depth information, the pile position on the charging pile being a position of the mobile device when the charging pile is used to charge the mobile device; and controlling the mobile device to move to the pile position. Through the above method, the accuracy of the determined pile position can be improved, and the probability of mis-piling can be reduced.

Description

Technical Field

[0001] This application belongs to the field of charging technology, and in particular relates to charging methods, devices, mobile devices and computer-readable storage media. Background Technology

[0002] With the development of new energy technologies, more and more new energy devices are being powered by electricity. When the battery power of these devices is low, it needs to be recharged to improve the device's range. Taking mobile devices (such as robots) as an example, when charging a mobile device, it needs to be moved to a designated location on a charging station. Once the mobile device is moved to that location, the charging station can begin charging it.

[0003] In existing charging methods, radar data reflecting the surrounding environment of the mobile device is acquired by radar installed on the device. This radar data is then analyzed to determine the location of charging stations and the correct charging station location for the mobile device. However, this method has low accuracy, leading to a high probability of accidentally charging the wrong station. Summary of the Invention

[0004] This application provides a charging method, apparatus, mobile device, and computer-readable storage medium, which can solve the problem of excessively high probability of accidentally driving onto a charging station.

[0005] In a first aspect, embodiments of this application provide a charging method applied to a processor of a rechargeable mobile device, the charging method comprising:

[0006] Acquire radar data collected by a radar device, which is mounted on the mobile device;

[0007] Determine the shape included in the radar data;

[0008] When the shape corresponds to the shape of the charging pile, the depth information of the charging pile collected by the depth camera is obtained, wherein the depth camera is mounted on the mobile device;

[0009] Based on the depth information, the charging pile position is determined, which is a pre-set position of the mobile device when the charging pile charges the mobile device.

[0010] Control the mobile device to move towards the upper pile position.

[0011] Secondly, embodiments of this application provide a charging device applied to a processor of a rechargeable mobile device, the charging device comprising:

[0012] A radar data acquisition module is used to acquire radar data collected by a radar device, which is mounted on the mobile device.

[0013] A shape determination module is used to determine the shape included in the radar data;

[0014] A depth information acquisition module is used to acquire depth information of the charging pile collected by a depth camera when the shape corresponds to the shape of the charging pile, wherein the depth camera is mounted on the mobile device.

[0015] The charging pile position determination module is used to determine the charging pile position based on the depth information. The charging pile position is a pre-set position of the mobile device when the charging pile charges the mobile device.

[0016] The mobile control module is used to control the mobile device to move towards the upper pile position.

[0017] Thirdly, embodiments of this application provide a mobile device including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the method described in the first aspect.

[0018] Fourthly, embodiments of this application provide a computer-readable storage medium storing a computer program that, when executed by a processor, implements the method described in the first aspect. This includes:

[0019] Fifthly, embodiments of this application provide a computer program product that, when run on a mobile device, causes the mobile device to execute the method described in the first aspect above.

[0020] The beneficial effects of the embodiments of this application compared with the prior art are:

[0021] In this embodiment, the presence of a charging pile is first determined by checking if the shape included in the radar data matches that of a charging station. If a charging station is found, depth information is collected using a depth camera, and the location of the charging station is determined based on this depth information. Since radar can accurately detect targets over a large area, it can more quickly determine whether a charging station is nearby. Furthermore, because a depth camera has higher accuracy than radar, and the depth information collected by the depth camera reflects information such as height, the location of the charging station can be determined more accurately. Attached Figure Description

[0022] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments or the prior art will be briefly introduced below.

[0023] Figure 1 This is a schematic flowchart of a charging method provided in an embodiment of this application;

[0024] Figure 2 This is a schematic diagram of the structure of a charging device provided in one embodiment of this application;

[0025] Figure 3 This is a schematic diagram of the structure of a mobile device provided in an embodiment of this application. Detailed Implementation

[0026] In the following description, specific details such as particular system architectures and techniques are set forth for illustrative purposes and not for limitation, in order to provide a thorough understanding of the embodiments of this application. However, those skilled in the art will understand that this application may also be implemented in other embodiments without these specific details. In other instances, detailed descriptions of well-known systems, apparatuses, circuits, and methods have been omitted so as not to obscure the description of this application with unnecessary detail.

[0027] It should be understood that, when used in this application specification and the appended claims, the term "comprising" indicates the presence of the described features, integrals, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, integrals, steps, operations, elements, components and / or a collection thereof.

[0028] It should also be understood that the term “and / or” as used in this application specification and the appended claims means any combination of one or more of the associated listed items and all possible combinations, and includes such combinations.

[0029] Furthermore, in the description of this application and the appended claims, the terms "first," "second," etc., are used only to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0030] References to "one embodiment" or "some embodiments" in this specification mean that one or more embodiments of this application include a specific feature, structure, or characteristic described in connection with that embodiment. Therefore, the phrases "in one embodiment," "in some embodiments," "in other embodiments," "in still other embodiments," etc., appearing in different parts of this specification do not necessarily refer to the same embodiment, but rather mean "one or more, but not all, embodiments," unless otherwise specifically emphasized.

[0031] When a mobile device needs to be charged, it first needs to determine its position on the charging station, then move towards that position. Once the mobile device reaches the charging station, the charging station will charge the mobile device.

[0032] When a mobile device determines the location of a pile, the radar data includes the distance between the radar device and the scanned target, as well as the deflection angle between the target and the radar device. Therefore, if the location of a pile is determined solely based on the radar data collected by the radar device on the mobile device, the accuracy will be low, resulting in a higher probability of mistakenly hitting the pile.

[0033] To improve the accuracy of determining the charging pile location, this application provides a charging method. In this charging method, radar data is first used to determine whether there is a charging pile around the mobile device. If so, depth information is collected using a depth camera, and the charging pile location (i.e., the charging pile position) is determined based on the collected depth information.

[0034] The charging method provided in the embodiments of this application is described below with reference to the accompanying drawings.

[0035] Figure 1 The diagram illustrates a charging method according to an embodiment of this application. This charging method is applied to the processor of a rechargeable mobile device, which can be a robot, such as a robot with disinfection and sterilization functions. The charging method is described in detail below:

[0036] S11, acquire radar data collected by the radar device, which is mounted on the mobile device.

[0037] The radar equipment is installed on the mobile device. The transmitter of the radar equipment sends electromagnetic wave energy into a certain direction in space through the antenna. An object in this direction reflects the electromagnetic wave it encounters, generating a corresponding reflected wave. The antenna of the radar equipment receives this reflected wave, processes it, and obtains the corresponding radar data. That is, the radar data can reflect the distance between the radar equipment and the object, as well as the relative angle between the radar equipment and the other equipment.

[0038] In this embodiment, the radar device can be notified to collect radar data only after the processor receives the charging command from the mobile device, thereby saving the radar device's resources.

[0039] In some embodiments, considering that the charging pile may not be directly in front of the radar device when a charging command is received, radar data related to the charging pile can be acquired at multiple rotation angles (e.g., 360° around the radar device) to ensure timely and accurate acquisition of radar data. For example, when the radar device is collecting data, the mobile device can rotate at a certain angular frequency. At this time, the radar device fixed to the mobile device also rotates, thus enabling it to collect radar data corresponding to different rotation angles, thereby increasing the probability of acquiring radar data corresponding to the charging pile.

[0040] Of course, in some embodiments, the radar device can also be controlled to rotate autonomously and collect radar data during the rotation process to obtain radar data corresponding to different rotation angles; this is not limited here.

[0041] S12, determine the shape included in the aforementioned radar data.

[0042] Specifically, shape features can be extracted from radar data acquired at the same time or at adjacent time points, and the shape of the target body corresponding to the radar data can be determined based on the extracted shape features. It should be noted that the radar data in the same frame may contain the shape of one target body or the shapes of multiple target bodies, depending on the number of target bodies present around the radar equipment.

[0043] S13, when the shape corresponds to the shape of the charging pile, the depth information of the charging pile collected by the depth camera is obtained, wherein the depth camera is mounted on the mobile device.

[0044] Specifically, based on the charging stations compatible with the mobile device, the shapes of these charging stations are pre-stored. After the shape is determined from radar data, it is compared with the pre-stored shapes of the charging stations. If the determined shape matches any of the pre-stored shapes of the charging stations, it is determined that a charging station exists around the mobile device. Then, depth information obtained by a depth camera from photographing the charging station is acquired. This depth information includes the height of the charging station and its two-dimensional coordinates in the two-dimensional image.

[0045] In some embodiments, the pre-stored shape of the charging pile includes the shape of the front of the charging pile and may also include the shape of the back of the charging pile. When the shape of the front of the charging pile is stored, the depth information of the charging pile collected by the depth camera is obtained. When the shape of the back of the charging pile is stored, the mobile device is first controlled to move to the front of the charging pile before the depth information of the charging pile collected by the depth camera is obtained, so as to reduce the probability of accidentally driving onto the charging pile.

[0046] S14. Based on the depth information, determine the charging pile position. The charging pile position is the pre-set position of the mobile device when the charging pile charges the mobile device.

[0047] The location of the upper pile can be represented by three-dimensional coordinates in space.

[0048] Since depth information includes not only the distance between a point in the 2D image and the camera of the depth camera (height information), but also the coordinate information of that point in the 2D image, the actual position of the charging pile corresponding to the position of the charging pile in the 2D image can be accurately determined based on this depth information.

[0049] S15, control the aforementioned mobile device to move towards the aforementioned pile position.

[0050] Specifically, the mobile device calculates its direction of movement and distance of movement based on its current location and the determined pile position, and then controls the mobile device to move towards the pile position based on this direction of movement and distance of movement. For example, when the mobile device moves via a track, its processor sends information including the direction of movement and distance of movement to the track controller, so that the controller can control the track to move the mobile device to the aforementioned pile position.

[0051] In this embodiment, the presence of a charging pile is first determined by checking if the shape included in the radar data matches that of a charging station. If a charging station is found, depth information is collected using a depth camera, and the location of the charging station is determined based on this depth information. Since radar can accurately detect targets over a large area, it can more quickly determine whether a charging station is nearby. Furthermore, because a depth camera has higher accuracy than radar, and the depth information collected by the depth camera reflects information such as height, the location of the charging station can be determined more accurately.

[0052] In some embodiments, considering the limited shooting distance of the depth camera, that is, the clarity of the depth information acquired by the depth camera can only meet the requirements when the distance between the depth camera and the target is less than a certain distance, in order to obtain depth information with satisfactory clarity, before acquiring the depth information of the charging pile acquired by the depth camera in S13 above, the method further includes:

[0053] The distance between the mobile device and the charging station is determined based on the radar data.

[0054] Correspondingly, the depth information of the charging pile acquired by the depth camera includes:

[0055] When the distance is less than or equal to a first preset distance threshold, the depth information of the charging pile collected by the depth camera is obtained, wherein the first preset distance threshold is the maximum distance value corresponding to the accuracy of the depth information collected by the depth camera meeting the preset accuracy requirements.

[0056] The first preset distance threshold is related to the depth camera. For example, if the accuracy of the depth information acquired by depth camera A at a distance greater than 1.5 meters does not meet the preset accuracy requirement, but the accuracy of the depth information acquired at a distance equal to or equal to 1.5 meters meets the preset accuracy requirement, then the first preset distance threshold for depth camera A is 1.5 meters. Similarly, if the accuracy of the depth information acquired by depth camera B at a distance greater than 2 meters does not meet the preset accuracy requirement, but the accuracy of the depth information acquired at a distance equal to or equal to 2 meters meets the preset accuracy requirement, then the first preset distance threshold for depth camera B is 2 meters.

[0057] In this embodiment, distance information is extracted from radar data. Since the radar device is installed on the mobile device and the radar data corresponds to the charging pile, the distance information reflects the distance between the mobile device and the charging pile. That is, the distance between the mobile device and the charging pile can be accurately determined from the radar data. This distance is compared with a preset first distance threshold. If the distance is greater than the first distance threshold, it indicates that the distance between the mobile device and the charging pile is still relatively far. Based on the relative angle between the mobile device and the charging pile, the mobile device is controlled to move towards the direction of the charging pile. During or after the movement, radar data collected by the radar device is continuously acquired. The shape included in the newly acquired radar data is then determined. If the shape is the same as the shape of the charging pile, the distance between the charging pile and the mobile device is determined based on the newly acquired radar data. If so, the depth camera is notified to collect depth information; or, after the depth camera has already performed its collection action, the depth information currently collected by the depth camera is acquired.

[0058] In some embodiments, considering that when the depth camera is close to the object to be photographed, the depth camera may not be able to capture a portion of the object, i.e., there is a blind spot in the field of view of the depth camera, in order to obtain more comprehensive depth information of the charging pile, the above-mentioned acquisition of the depth information of the charging pile collected by the depth camera when the distance is less than or equal to a first preset distance threshold includes:

[0059] When the distance is less than or equal to the first preset distance threshold and greater than or equal to the second preset distance threshold, the depth information of the charging pile collected by the depth camera is obtained, wherein the second preset distance threshold is the maximum distance value corresponding to the blind spot in the field of view of the depth camera.

[0060] The second preset distance threshold is related to the depth camera. For example, if the distance between depth camera A and the object is less than 0.2 meters, depth camera A cannot collect the depth information of the object, but when the distance between depth camera A and the object is greater than 0.2 meters, depth camera A can collect the depth information of the object. In this case, the second preset distance threshold of depth camera A can be set to 0.2 meters.

[0061] In this embodiment, a second preset distance threshold for the depth camera is pre-stored. After determining the distance between the mobile device and the charging pile from radar data, this distance is compared with both the first preset distance threshold and the second preset distance threshold. If the distance is greater than or equal to the second preset distance threshold and less than or equal to the first preset distance threshold, the depth information collected by the depth camera from the charging pile is obtained, thereby ensuring that more comprehensive and accurate depth information is obtained.

[0062] In some embodiments, considering the limited field of view of the depth camera—for example, the depth camera can only acquire depth information of objects within a preset angle range directly in front of it and to its left and right—and the charging pile has a certain volume, in order to obtain more comprehensive depth information of the charging pile, depth information from different fields of view can be acquired. In this case, acquiring the depth information of the charging pile acquired by the depth camera includes:

[0063] A1. Obtain the depth information collected by the depth camera in different shooting fields.

[0064] Specifically, after determining that a charging station is present around the mobile device, the mobile device can be rotated so that the depth camera mounted on it also rotates with the mobile device. This allows the depth camera to collect depth information of the field of view corresponding to the rotation angle, i.e., it can obtain depth information of different field of view. In some embodiments, the depth camera can also be set to rotate autonomously and collect depth information during the rotation process, or it can stop rotating after each rotation angle and collect depth information until depth information of multiple field of view is collected. For example, assuming that the direction directly in front of the mobile device is 0°, the left direction of the direction directly in front is the negative direction, and the right direction of the direction directly in front is the positive direction, then after determining that a charging station is present around the mobile device, the depth information collected by the depth camera in the range of [-N°, N°] can be obtained. Here, N can be a value between 0 and 180. For example, when N = 60, the above [-N°, N°] is [-60°, 60°].

[0065] A2. Determine the depth information of the charging pile based on the depth information from different shooting perspectives.

[0066] Specifically, the depth information of different shooting fields acquired at times adjacent to the time when the charging pile was determined is analyzed to obtain all the depth information of the charging pile.

[0067] In this embodiment of the application, since the depth information obtained is from different shooting fields, and the depth information of a charging pile may be scattered in two or more shooting fields, the depth information of the charging pile can be determined from the depth information of different shooting fields, which can improve the accuracy of the obtained depth information of the charging pile.

[0068] In some embodiments, considering that different mobile devices may be suited to different charging stations, in order to reduce the probability of accidentally charging at the wrong station, after acquiring the depth information of the charging station collected by the depth camera, the method further includes:

[0069] Based on the aforementioned depth information and preset depth information, it is determined whether the aforementioned charging pile is the target charging pile, wherein the aforementioned preset depth information is the depth information corresponding to the aforementioned target charging pile, and the aforementioned target charging pile is a charging pile capable of charging the aforementioned mobile device.

[0070] Correspondingly, determining the charging pile location based on the aforementioned depth information includes:

[0071] If the aforementioned charging pile is the target charging pile, the aforementioned mounting position is determined based on the aforementioned depth information at the target charging pile.

[0072] In this embodiment, the depth information of the charging pile matched with the mobile device is stored in advance. After the depth information of the charging pile is obtained by the depth camera, the depth information of the charging pile is compared with the pre-stored depth information. If the matching degree of the two meets the requirements (such as the matching score is greater than 98 points), the depth information of the current charging pile is determined to be the depth information of the charging pile matched with the mobile device (i.e., the target charging pile). Then, the charging pile position of the mobile device is determined according to the depth information of the currently obtained charging pile.

[0073] In some embodiments, when a mobile device needs to be charged, it needs to reach a designated location on a charging station so that the electrodes of the mobile device coincide with the electrodes of the charging station, allowing the charging station to charge the mobile device. That is, the location of the electrodes of the charging station needs to be determined first before the charging station mounting position can be determined based on the electrode location. In this case, determining the charging station mounting position based on the aforementioned depth information includes:

[0074] B1. Based on the depth information above, determine the position of the electrodes of the charging pile.

[0075] B2. Determine the position of the upper pile based on the position of the electrodes.

[0076] Specifically, the depth information can be analyzed to find objects whose shapes match the shape of the electrodes, and then the position of the object can be used as the position of the electrodes.

[0077] In this embodiment, since the accuracy of the charging pile placement depends on whether the electrodes of the mobile device and the charging pile overlap, determining the charging pile placement position based on the position of the electrodes can improve the accuracy of the final determined charging pile placement position.

[0078] In some embodiments, if the charging pile has two electrodes and the mobile device also has two electrodes, and the two electrodes of the mobile device correspond and match the two electrodes of the charging pile, then the position between the two electrodes of the charging pile (such as the center position between the two electrodes) is determined as the charging pile mounting position. This mounting position can be represented using three-dimensional coordinates. Since the position between the two electrodes of the charging pile is determined as the charging pile mounting position, and the two electrodes of the mobile device are respectively located on both sides of the mobile device, when the mobile device arrives at the charging pile mounting position, the two electrodes of the mobile device are also located on both sides of the charging pile mounting position. This increases the probability that the two electrodes of the mobile device coincide with the two electrodes of the charging pile, thereby increasing the probability that the mobile device accurately mounts the charging pile.

[0079] In some embodiments, after controlling the mobile device to move toward the pile position, the method further includes:

[0080] C1. Check if the above-mentioned mobile devices have any charging abnormalities.

[0081] Charging anomalies include: the mobile device not detecting the charging pile input power, or the mobile device detecting the charging pile input power, but the input power is greater than or less than the power that the mobile device should input.

[0082] C2. If it is determined that the above-mentioned mobile device has a charging abnormality, issue a prompt.

[0083] The prompts issued are related to the events corresponding to the charging abnormality. For example, assuming the event corresponding to the charging abnormality is that no power input is detected at the charging station (e.g., the charging station cannot charge mobile devices if it is out of power), the prompt issued could be: The charging station is out of power, please find a different charging station.

[0084] In this embodiment, since a prompt is issued when a charging abnormality is detected in the mobile device, it is beneficial for the user to be informed of the corresponding abnormal information in a timely manner.

[0085] In some embodiments, considering that there are usually multiple charging piles, after acquiring radar data, the shapes of multiple charging piles may be identified in the radar data. At this time, the positions of the multiple charging piles can be recorded. Based on the recorded position information and the position information of the mobile device, the distance between each charging pile and the mobile device is determined and arranged in ascending order. The information of each charging pile (such as position information and the identifier of the charging pile) is recorded to obtain a charging pile list.

[0086] When the first charging station (i.e. the charging station closest to the mobile device) is determined from the list, the above-mentioned S13, when acquiring the depth information of the charging station collected by the depth camera, specifically includes: acquiring the depth information of the first charging station collected by the depth camera.

[0087] It should be noted that if the mobile device fails to connect to the charging station based on the depth information of the first charging station, the information of the first charging station in the charging station list is deleted. Then, the first charging station (i.e., the second closest charging station to the mobile device) is determined from the charging station list again to obtain the depth information of the newly determined first charging station. The above steps are repeated until the connection is successful, or until there is no charging station information left in the charging station list.

[0088] In this embodiment of the application, when multiple charging piles are detected, the corresponding charging piles are selected in order from near to far to determine the charging pile position corresponding to the selected charging pile. Therefore, it can be ensured that the determined charging pile position is closest to the mobile device, thereby improving the charging pile speed.

[0089] It should be understood that the sequence number of each step in the above embodiments does not imply the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of this application.

[0090] Corresponding to the charging method described in the above embodiments, Figure 2 This diagram illustrates a structural block diagram of a charging device according to an embodiment of this application. For ease of explanation, only the parts related to the embodiment of this application are shown.

[0091] Reference Figure 2 The charging device 2 is applied to the processor of a rechargeable mobile device, and the charging device 2 includes:

[0092] The radar data acquisition module 21 is used to acquire radar data collected by the radar device, which is installed on the mobile device.

[0093] Shape determination module 22 is used to determine the shape included in the radar data.

[0094] The depth information acquisition module 23 is used to acquire the depth information of the charging pile collected by the depth camera when the shape is the shape corresponding to the charging pile, wherein the depth camera is mounted on the mobile device.

[0095] The charging pile position determination module 24 is used to determine the charging pile position based on the depth information. The charging pile position is a pre-set position of the mobile device when the charging pile charges the mobile device.

[0096] The mobile control module 25 is used to control the mobile device to move to the above-mentioned pile position.

[0097] In this embodiment, the presence of a charging pile is first determined by checking if the shape included in the radar data matches that of a charging station. If a charging station is found, depth information is collected using a depth camera, and the location of the charging station is determined based on this depth information. Since radar can accurately detect targets over a large area, it can more quickly determine whether a charging station is nearby. Furthermore, because a depth camera has higher accuracy than radar, and the depth information collected by the depth camera also includes height information, the location of the charging station can be determined more accurately based on this depth information.

[0098] In some embodiments, the charging device 2 further includes:

[0099] The distance determination module is used to determine the distance between the mobile device and the charging pile based on the radar data before acquiring the depth information of the charging pile collected by the depth camera.

[0100] Correspondingly, when the depth information acquisition module 23 acquires the depth information of the charging pile collected by the depth camera, it specifically includes:

[0101] When the distance is less than or equal to a first preset distance threshold, the depth information of the charging pile collected by the depth camera is obtained, wherein the first preset distance threshold is the maximum distance value corresponding to the accuracy of the depth information collected by the depth camera meeting the preset accuracy requirements.

[0102] In some embodiments, when the distance is less than or equal to a first preset distance threshold, acquiring the depth information of the charging pile collected by the depth camera includes:

[0103] When the distance is less than or equal to the first preset distance threshold and greater than or equal to the second preset distance threshold, the depth information of the charging pile collected by the depth camera is obtained, wherein the second preset distance threshold is the maximum distance value corresponding to the blind spot in the field of view of the depth camera.

[0104] In some embodiments, obtaining the depth information of the charging pile acquired by the depth camera includes:

[0105] Obtain the depth information collected by the depth camera at different shooting fields.

[0106] The depth information of the charging pile is determined based on the depth information obtained from different shooting views.

[0107] In some embodiments, the charging device 2 further includes:

[0108] The depth information comparison module is used to determine whether the charging pile is a target charging pile based on the depth information collected by the depth camera and preset depth information after acquiring the depth information of the charging pile. The preset depth information is the depth information corresponding to the target charging pile, and the target charging pile is a charging pile that can charge the mobile device.

[0109] Correspondingly, the above-mentioned pile position determination module 24 is specifically used for:

[0110] If the aforementioned charging pile is the target charging pile, the aforementioned mounting position is determined based on the aforementioned depth information at the target charging pile.

[0111] In some embodiments, the above-mentioned pile position determination module 24 includes:

[0112] The electrode position determination unit is used to determine the position of the electrodes of the charging pile based on the aforementioned depth information.

[0113] The pile position determination unit is used to determine the pile position based on the position of the electrodes.

[0114] In some embodiments, the charging device 2 includes:

[0115] The charging anomaly detection module is used to detect whether there is a charging anomaly in the mobile device after the mobile device is moved to the above-mentioned pile position.

[0116] The prompting module is used to issue a prompt when it is determined that the aforementioned mobile device has a charging abnormality.

[0117] It should be noted that the information interaction and execution process between the above-mentioned devices / units are based on the same concept as the method embodiments of this application. For details on their specific functions and technical effects, please refer to the method embodiments section, and they will not be repeated here.

[0118] Figure 3 This is a schematic diagram of the structure of a mobile device provided in an embodiment of this application. Figure 3 As shown, the mobile device 3 in this embodiment includes: at least one processor 30 ( Figure 3 The diagram shows only one processor, a memory 31, and a computer program 32 stored in the memory 31 and executable on the at least one processor 30, wherein the processor 30 executes the computer program 32 to implement the steps in any of the above method embodiments.

[0119] The mobile device 3 can be a rechargeable mobile device such as a robot. This mobile device may include, but is not limited to, a processor 30 and a memory 31. Those skilled in the art will understand that... Figure 3 This is merely an example of mobile device 3 and does not constitute a limitation on mobile device 3. It may include more or fewer components than shown in the figure, or combine certain components, or different components, such as input / output devices, network access devices, etc.

[0120] The processor 30 may be a Central Processing Unit (CPU), or it may be other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or any conventional processor.

[0121] In some embodiments, the memory 31 may be an internal storage unit of the mobile device 3, such as a hard drive or memory of the mobile device 3. In other embodiments, the memory 31 may be an external storage device of the mobile device 3, such as a plug-in hard drive, smart media card (SMC), secure digital card (SD), flash card, etc., equipped on the mobile device 3. Furthermore, the memory 31 may include both internal and external storage units of the mobile device 3. The memory 31 is used to store the operating system, applications, bootloader, data, and other programs, such as the program code of the computer program. The memory 31 can also be used to temporarily store data that has been output or will be output.

[0122] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the above-described division of functional units and modules is merely an example. In practical applications, the above functions can be assigned to different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiments can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit. Furthermore, the specific names of the functional units and modules are only for easy differentiation and are not intended to limit the scope of protection of this application. The specific working process of the units and modules in the above system can be referred to the corresponding process in the foregoing method embodiments, and will not be repeated here.

[0123] This application also provides a network device, which includes: at least one processor, a memory, and a computer program stored in the memory and executable on the at least one processor, wherein the processor executes the computer program to implement the steps in any of the above method embodiments.

[0124] This application also provides a computer-readable storage medium storing a computer program that, when executed by a processor, can implement the steps in the above-described method embodiments.

[0125] This application provides a computer program product that, when run on a mobile device, enables the mobile device to implement the steps described in the various method embodiments above.

[0126] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, all or part of the processes in the methods of the above embodiments of this application can be implemented by a computer program instructing related hardware. The computer program can be stored in a computer-readable storage medium, and when executed by a processor, it can implement the steps of the various method embodiments described above. The computer program includes computer program code, which can be in the form of source code, object code, executable files, or certain intermediate forms. The computer-readable medium can include at least: any entity or device capable of carrying computer program code to a camera / mobile device, a recording medium, a computer memory, a read-only memory (ROM), a random access memory (RAM), an electrical carrier signal, a telecommunication signal, and a software distribution medium. Examples include USB flash drives, portable hard drives, magnetic disks, or optical disks. In some jurisdictions, according to legislation and patent practice, computer-readable media cannot be electrical carrier signals or telecommunication signals.

[0127] In the above embodiments, the descriptions of each embodiment have different focuses. For parts that are not described in detail or recorded in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0128] Those skilled in the art will recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0129] In the embodiments provided in this application, it should be understood that the disclosed apparatus / network devices and methods can be implemented in other ways. For example, the apparatus / network device embodiments described above are merely illustrative. For instance, the division of modules or units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between devices or units may be electrical, mechanical, or other forms.

[0130] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0131] The above-described embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application, and should all be included within the protection scope of this application.

Claims

1. A charging method, characterized in that, A processor applied to a rechargeable mobile device, the charging method comprising: Acquire radar data collected by a radar device, which is mounted on the mobile device; Determine the shape included in the radar data; If the shape included in the radar data is the same as the shape of any of the pre-stored charging piles, and if the stored shape is the front shape of the charging pile, then the depth information of the charging pile collected by the depth camera is obtained; if the stored shape is the back shape of the charging pile, then the mobile device is first moved to the front of the charging pile, and then the depth information of the charging pile collected by the depth camera is obtained, wherein the depth camera is set on the mobile device. Based on the depth information, the charging pile position is determined, which is a pre-set position of the mobile device when the charging pile charges the mobile device. Control the mobile device to move towards the upper pile position.

2. The charging method as described in claim 1, characterized in that, Before acquiring the depth information of the charging pile collected by the depth camera, the method further includes: The distance between the mobile device and the charging station is determined based on the radar data; The acquisition of depth information of the charging pile collected by the depth camera includes: When the distance is less than or equal to a first preset distance threshold, the depth information of the charging pile collected by the depth camera is obtained, wherein the first preset distance threshold is the maximum distance value corresponding to the accuracy of the depth information collected by the depth camera meeting the preset accuracy requirements.

3. The charging method as described in claim 2, characterized in that, When the distance is less than or equal to a first preset distance threshold, acquiring the depth information of the charging pile collected by the depth camera includes: When the distance is less than or equal to a first preset distance threshold and greater than or equal to a second preset distance threshold, the depth information of the charging pile collected by the depth camera is obtained, wherein the second preset distance threshold is the maximum distance value corresponding to the blind spot in the field of view of the depth camera.

4. The charging method according to any one of claims 1 to 3, characterized in that, The acquisition of depth information of the charging pile collected by the depth camera includes: Acquire depth information collected by the depth camera at different shooting fields of view; The depth information of the charging pile is determined based on the depth information from different shooting views.

5. The charging method as described in claim 1, characterized in that, After acquiring the depth information of the charging pile collected by the depth camera, the method further includes: Based on the depth information and preset depth information, it is determined whether the charging pile is the target charging pile, wherein the preset depth information is the depth information corresponding to the target charging pile, and the target charging pile is a charging pile that can charge the mobile device; Determining the charging pile position based on the depth information includes: If the charging pile is the target charging pile, the position of the upper pile is determined based on the depth information.

6. The charging method as described in claim 1, characterized in that, Determining the charging pile position based on the depth information includes: Based on the depth information, the positions of the electrodes of the charging pile are determined; The position of the upper pile is determined based on the position of the electrode.

7. The charging method according to any one of claims 1, 2, 3, 5, or 6, characterized in that, After controlling the mobile device to move towards the pile position, the method further includes: Detect whether the mobile device is experiencing any charging abnormalities; If a charging malfunction is detected in the mobile device, a prompt will be issued.

8. A charging device, characterized in that, A processor for use in a rechargeable mobile device, the charging device comprising: A radar data acquisition module is used to acquire radar data collected by a radar device, which is mounted on the mobile device. A shape determination module is used to determine the shape included in the radar data; The depth information acquisition module is used to acquire the depth information of the charging pile collected by the depth camera when the shape included in the radar data is the same as the shape of any of the pre-stored charging piles. If the stored shape is the front shape of the charging pile, the module first controls the mobile device to move to the front of the charging pile and then acquires the depth information of the charging pile collected by the depth camera. The depth camera is mounted on the mobile device. The charging pile position determination module is used to determine the charging pile position based on the depth information. The charging pile position is a pre-set position of the mobile device when the charging pile charges the mobile device. The mobile control module is used to control the mobile device to move towards the upper pile position.

9. A mobile device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the computer program, it implements the method as described in any one of claims 1 to 7.

10. A computer-readable storage medium storing a computer program, characterized in that, When the computer program is executed by a processor, it implements the method as described in any one of claims 1 to 7.

Images