Charging method and charging device of humanoid robot and humanoid robot

Abstract

The embodiment of the invention provides a charging method and device of a humanoid robot and the humanoid robot. The method comprises the steps that a charging position is determined from the current environment according to a charging instruction, a charging socket matched with a charging plug and used for providing mains supply is arranged in the area where the charging position is located, and the humanoid robot is moved to the charging position from the current position. And part of the charging wire of the humanoid robot is pulled out from the interior of a charging wire bin of the humanoid robot, a charging plug of the humanoid robot is inserted into a charging socket, the charging plug is pulled out from the charging socket according to the charging ending instruction, and the exposed charging wire is withdrawn into the charging wire bin. According to the method, the efficiency of connecting the humanoid robot to the mains supply can be improved, and the safety of the humanoid robot can also be improved.

Description

Technical Field

[0001] Embodiments of the present disclosure relate to the technical field of humanoid robots, and in particular, to a charging method and a charging device for a humanoid robot and a humanoid robot. Background Art

[0002] With the widespread popularity of humanoid robots, more and more robots are being applied to production and life, for example, they can be used in high-risk industrial production scenarios, or public service scenarios such as hotels, airports, hospitals or banks, or family scenarios such as houses or apartments. The charging plug of the humanoid robot can be directly plugged into a mains socket for charging, for example, a domestic 220V AC mains socket.

[0003] In the prior art, the humanoid robot needs to be manually connected to the mains to ensure that the mains charges the humanoid robot. Therefore, it takes a long time to connect the humanoid robot to the mains, resulting in low efficiency in connecting the humanoid robot to the mains. Summary of the invention

[0004] The embodiments described herein provide a charging method, a charging device, and a humanoid robot for a humanoid robot. The humanoid robot can automatically connect to the mains to improve the efficiency of the humanoid robot connecting to the mains, and can also improve the safety of the humanoid robot.

[0005] In a first aspect, the present disclosure provides a charging method for a humanoid robot, wherein the humanoid robot comprises a charging cable bin, a charging cable, and a charging plug connected to one end of the charging cable, wherein the charging cable is located inside the charging cable bin.

[0006] The charging method includes:

[0007] Determine the charging position from the current environment according to the charging instruction, the area where the charging position is located is provided with a charging socket matching the charging plug, and the charging socket is used to provide AC power; move the humanoid robot from the current position to the charging position; pull out part of the charging cable from the interior of the charging cable bin, and insert the charging plug into the charging socket; unplug the charging plug from the charging socket according to the charging end instruction; retract the exposed charging cable into the interior of the charging cable bin.

[0008] In some embodiments of the present disclosure, pulling out a portion of the charging cable from the interior of the charging cable bin and inserting the charging plug into the charging socket includes:

[0009] Clamp the charging plug and move it to a first target position to drive a portion of the charging cable to be pulled out from the interior of the charging cable bin, wherein the first target position is related to the position of the charging socket; align the charging plug with the socket on the charging socket; and push the charging plug forward to insert it into the socket of the charging socket.

[0010] In some embodiments of the present disclosure, pulling out the charging plug from the charging socket according to the charging end instruction includes:

[0011] Move to a second target position according to the charging end instruction, where the second target position is related to the position of the charging socket or to the position of the charging plug inserted into the charging socket; clamp the charging plug and pull it backward to pull the charging plug out of the charging socket.

[0012] In some embodiments of the present disclosure, before retracting the exposed charging cable into the interior of the charging cable bin, the method further includes:

[0013] Determine whether the charging plug is pulled out from the charging socket according to whether the current position of the charging plug changes; and release the clamping of the charging plug when it is determined that the charging plug is pulled out from the charging socket.

[0014] In some embodiments of the present disclosure, before pulling out the charging plug from the charging socket according to the charging end instruction, the method further includes:

[0015] Determine whether the humanoid robot is connected to the mains power according to whether the remaining power of the humanoid robot increases within a preset time; unplug the charging plug from the charging socket when it is determined that the humanoid robot is not connected to the mains power; update the charging position and return to execute the step of moving the humanoid robot from the current position to the charging position until it is determined that the humanoid robot is connected to the mains power.

[0016] Wherein, another charging socket matching the charging plug is provided in the area where the updated charging position is located.

[0017] In some embodiments of the present disclosure, before moving the humanoid robot from the current position to the charging position according to the charging instruction, the method further includes:

[0018] When the remaining power of the humanoid robot is less than or equal to a first preset power, the charging instruction is generated; when the remaining power of the humanoid robot is greater than the first preset power, the charging instruction is generated in response to the user's charging instruction trigger operation, and the charging instruction trigger operation includes a voice trigger operation and a touch trigger operation.

[0019] In some embodiments of the present disclosure, before pulling out the charging plug from the charging socket according to the charging end instruction, the method further includes:

[0020] When the remaining power of the humanoid robot is greater than or equal to the second preset power, the charging end instruction is generated; when the remaining power of the humanoid robot is greater than the third preset power and less than the second preset power, the charging end instruction is generated in response to other instruction trigger operations of the user.

[0021] Among them, the other instruction triggering operation is an instruction triggering operation other than the charging instruction triggering operation, and the other instruction triggering operation includes a voice triggering operation and a touch triggering operation.

[0022] In some embodiments of the present disclosure, the charging method further includes:

[0023] When the remaining power of the humanoid robot is less than or equal to the third preset power, it does not respond to the other instruction triggering operation, and sends a prompt message that it is charging to the user.

[0024] In a second aspect, the present disclosure provides a charging device for a humanoid robot, wherein the humanoid robot comprises a charging cable bin, a charging cable, and a charging plug connected to one end of the charging cable, wherein the charging cable is located inside the charging cable bin.

[0025] The charging device comprises:

[0026] A control module, used to determine a charging position from a current environment according to a charging instruction, wherein the area where the charging position is located is provided with a charging socket matching the charging plug, and the charging socket is used to provide AC power; a moving mechanism, used to move the humanoid robot from a current position to the charging position; a robotic arm, used to pull out a portion of the charging cable from the interior of the charging cable bin and insert the charging plug into the charging socket; and to pull out the charging plug from the charging socket according to a charging end instruction; and a retracting mechanism, used to retract the exposed charging cable into the interior of the charging cable bin.

[0027] In a third aspect, the present disclosure provides a humanoid robot, comprising:

[0028] A charging cord bin; a charging cord, located inside the charging cord bin; a charging plug, connected to one end of the charging cord; a control module, used to determine a charging position from a current environment according to a charging instruction, wherein the area where the charging position is located is provided with a charging socket matching the charging plug, and the charging socket is used to provide AC power; a moving mechanism, used to move the humanoid robot from a current position to the charging position; a robotic arm, used to pull part of the charging cord out of the interior of the charging cord bin and insert the charging plug into the charging socket; and pull the charging plug out of the charging socket according to a charging end instruction; and a retracting mechanism, used to retract the exposed charging cord into the interior of the charging cord bin.

[0029] In the technical solution provided by the present disclosure, the charging position is determined from the current environment according to the charging instruction, and a charging socket for providing AC power that matches the charging plug is provided in the area where the charging position is located. The humanoid robot is moved from the current position to the charging position, and part of the charging cable of the humanoid robot is pulled out from the inside of the charging cable bin of the humanoid robot, and the charging plug of the humanoid robot is inserted into the charging socket. According to the charging end instruction, the charging plug is unplugged from the charging socket, and the exposed charging cable is retracted into the inside of the charging cable bin. In this way, the humanoid robot can automatically connect to the AC power, which can improve the efficiency of the humanoid robot connecting to the AC power. In addition, after charging is completed, the humanoid robot can automatically disconnect from the AC power and store the exposed charging cable into the inside of the charging cable bin, avoiding safety problems caused by long-term connection to the AC power in a non-charging state and exposed charging plugs and charging cables, thereby improving the safety of the humanoid robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] In order to more clearly illustrate the technical solutions of the embodiments of the present disclosure, the drawings of the embodiments will be briefly described below. It should be noted that the drawings described below only relate to some embodiments of the present disclosure, but are not intended to limit the present disclosure, wherein:

[0031] Figure 1 A schematic diagram of the structure of a humanoid robot provided in an embodiment of the present disclosure;

[0032] Figure 2 A schematic diagram of a charging method provided in an embodiment of the present disclosure;

[0033] Figure 3 A schematic diagram of another charging method provided in an embodiment of the present disclosure;

[0034] Figure 4 A schematic diagram of a flow chart of another charging method provided in an embodiment of the present disclosure;

[0035] Figure 5A schematic diagram of the structure of a charging device provided in an embodiment of the present disclosure. DETAILED DESCRIPTION

[0036] In order to make the purpose, technical solution and advantages of the embodiments of the present disclosure clearer, the technical solution of the embodiments of the present disclosure will be clearly and completely described below in conjunction with the accompanying drawings. Obviously, the described embodiments are part of the embodiments of the present disclosure, rather than all of the embodiments. Based on the described embodiments of the present disclosure, all other embodiments obtained by those skilled in the art without creative work also fall within the scope of protection of the present disclosure.

[0037] Unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by those skilled in the art to which the subject matter of the present disclosure belongs. It will be further understood that terms such as those defined in commonly used dictionaries should be interpreted as having a meaning consistent with their meanings in the context of the specification and the relevant art, and will not be interpreted in an idealized or overly formal form unless otherwise explicitly defined herein. In addition, terms such as "first" and "second" are only used to distinguish one component (or a portion of a component) from another component (or another portion of a component).

[0038] Figure 1 A schematic diagram of the structure of a humanoid robot provided in an embodiment of the present disclosure is shown in FIG. Figure 1 As shown, the humanoid robot 100 can be divided into an industrial production humanoid robot, a public service humanoid robot and a household service humanoid robot, wherein the industrial production humanoid robot can be applied to high-risk industrial production scenarios, the public service humanoid robot can be applied to public service scenarios such as hotels, airports, hospitals and banks, and the household service humanoid robot can be applied to household service scenarios such as residences or apartments.

[0039] The humanoid robot 100 includes a charging wire bin, a charging wire, and a charging plug connected to one end of the charging wire, and the charging wire is located inside the charging wire bin.

[0040] For example, based on the actual working conditions of the humanoid robot, the charging cable can be completely stored inside the charging compartment, or partially stored inside the charging compartment and partially pulled out of the charging compartment. One end of the charging cable is connected to a charging plug, and the other end of the charging cable is connected to the battery of the humanoid robot, wherein the charging plug can be a three-phase plug or a two-phase plug. When the charging plug is connected to the mains, the battery can be charged.

[0041] When the humanoid robot 100 is in an uncharging state, the charging cable and the charging plug are both located inside the charging cable bin to maintain the aesthetics and safety of the humanoid robot 100. When the humanoid robot 100 is in a charging state, part of the charging cable is located outside the charging cable bin to ensure that the charging plug can be inserted into a charging socket at any position that matches the charging plug.

[0042] Continue to see Figure 1 As shown, the humanoid robot 100 provided by the present disclosure further includes a moving mechanism 110, a mechanical arm 120, a control module and a retracting mechanism ( Figure 1 The control module and the retraction mechanism are not shown), and the retraction mechanism is located inside the charging cable bin, wherein the control module is used to determine the charging position from the current environment according to the charging instruction, and a charging socket matching the charging plug is provided in the area where the charging position is located, and the charging socket is used to provide AC power.

[0043] The moving mechanism 110 is used to move the humanoid robot 100 from the current position to the charging position, the robotic arm 120 is used to pull out part of the charging cable from the inside of the charging cable bin and insert the charging plug into the charging socket, and unplug the charging plug from the charging socket according to the charging end instruction. The retraction mechanism is used to retract the exposed charging cable into the inside of the charging cable bin.

[0044] In the embodiment of the present disclosure, the humanoid robot includes a charging cable bin, a charging cable located inside the charging cable bin, a charging plug connected to one end of the charging cable, a control module, a moving mechanism, a robotic arm and a retracting mechanism. The control module determines the charging position from the current environment according to the charging instruction. The area where the charging position is located is provided with a charging socket for providing AC power that matches the charging plug. The moving mechanism moves the humanoid robot from the current position to the charging position. The robotic arm pulls out part of the charging cable from the inside of the charging cable bin and inserts the charging plug into the charging socket. The charging plug is pulled out from the charging socket according to the charging end instruction. The retracting mechanism retracts the exposed charging cable into the inside of the charging cable bin. In this way, the humanoid robot can automatically connect to the AC power, which can improve the efficiency of the humanoid robot connecting to the AC power. In addition, after charging is completed, the humanoid robot can automatically disconnect from the AC power and store the exposed charging cable into the inside of the charging cable bin, avoiding safety problems caused by long-term connection to the AC power in a non-charging state and exposed charging plugs and charging cables, thereby improving the safety of the humanoid robot.

[0045] The present disclosure also provides a charging method, which is applied to the humanoid robot provided by the present disclosure.

[0046] Figure 2 A charging method provided by an embodiment of the present disclosure, such as Figure 2 As shown, the specific steps of the charging method include:

[0047] S101, a control module determines a charging location from a current environment according to a charging instruction.

[0048] Wherein, a charging socket matching with the charging plug is arranged in the area where the charging position is located, and the charging socket is used to provide city power.

[0049] Exemplarily, the control module includes an instruction generating unit and a determining unit, wherein the instruction generating unit can generate a charging instruction based on the remaining power of the humanoid robot, or can generate a charging instruction based on a charging instruction trigger operation of a user, or can generate a charging instruction based on the remaining power of the humanoid robot and a charging instruction trigger operation of a user.

[0050] Among them, the charging instruction trigger operation includes a voice trigger operation and a touch trigger operation. For example, the voice trigger operation of the charging instruction can be a voice that can issue "go charging" or "charge" to instruct the humanoid robot to charge, and the touch trigger operation of the charging instruction can be a touch operation of the charging button.

[0051] A specific description of a possible implementation method of generating a charging instruction is as follows:

[0052] When the remaining power of the humanoid robot is less than or equal to the first preset power, a charging instruction is generated.

[0053] Exemplarily, the first preset power level can be any value from 1% to 20%. The humanoid robot also includes a power monitoring module, which can monitor the remaining power of the battery and transmit the remaining power to the instruction generation unit. When the remaining power of the humanoid robot received by the instruction generation unit is less than or equal to the first preset power level, a charging instruction is generated.

[0054] Another possible implementation of generating a charging instruction is described in detail as follows:

[0055] In response to a charging instruction triggering operation by a user, a charging instruction is generated.

[0056] Exemplarily, the humanoid robot also includes a voice collection module. When the user issues a voice instructing the humanoid robot to charge, the voice collection module can collect the charging voice signal and send the collected charging voice signal to the instruction generation unit. The instruction generation unit generates a charging instruction based on the received charging voice signal.

[0057] In other embodiments, the humanoid robot also includes a touch module. When the user touches the charging button on the touch module, the touch module generates a charging touch signal and sends the charging touch signal to the instruction generation unit. The instruction generation unit generates a charging instruction based on the received charging touch signal.

[0058] A specific description of another possible implementation of generating a charging instruction is as follows:

[0059] When the remaining power of the humanoid robot is less than or equal to the first preset power, a charging instruction is generated. When the remaining power of the humanoid robot is greater than the first preset power, a charging instruction is generated in response to a charging instruction trigger operation by the user.

[0060] Exemplarily, when the remaining power of the humanoid robot received by the instruction generation unit is less than or equal to the first preset power, a charging instruction is generated; when the remaining power of the humanoid robot received by the instruction generation unit is greater than the first preset power, if the user issues a voice instruction to instruct the humanoid robot to charge or touches the charging button, a charging instruction is generated.

[0061] The determination unit may receive the charging instruction sent by the instruction generation unit, and determine the charging position from the current environment according to the received charging instruction.

[0062] A specific description of a possible implementation method when executing S101 is as follows:

[0063] According to the received charging instruction, multiple images of different areas in the current environment are obtained, and the multiple images are matched with the charging plug respectively to determine the image matching the charging plug, and the charging position is determined according to the area corresponding to the image matching the charging plug.

[0064] Exemplarily, the image may be a 2D image acquired by a 2D image acquisition device, in which case the humanoid robot is equipped with a 2D image acquisition device, or the image may be a 3D point cloud image acquired by a 3D image acquisition device, in which case the humanoid robot is equipped with a 3D image acquisition device, such as a binocular camera or a binocular line laser camera.

[0065] The determination unit first determines the charging socket that matches the charging plug according to the specifications of the charging plug. For example, the specifications of the charging plug can be a three-phase plug or a two-phase plug. If the charging plug is a three-phase plug, the charging socket that matches the charging plug is a three-phase socket. If the charging plug is a two-phase plug, the charging socket that matches the charging plug is a two-phase socket.

[0066] The charging socket that matches the charging plug is then matched with multiple images to determine whether the multiple images include the charging socket that matches the charging plug. When it is determined that at least one image among the multiple images includes the charging socket that matches the charging plug, the charging position is determined based on the area of ​​the image that includes the charging socket that matches the charging plug.

[0067] For example, when only one image includes a charging socket that matches the charging plug, the actual position of the charging socket that matches the charging plug in the image is determined, and the charging position is determined according to the actual position of the charging socket that matches the charging plug. When multiple images include charging sockets that match the charging plug, the actual position of the charging socket that matches the charging plug in each image is determined, the actual position of the charging socket that is closest to the current position of the humanoid robot is determined from the actual positions of the multiple charging sockets that match the charging plug, and the charging position is determined according to the actual position of the charging socket that is closest to the current position of the humanoid robot.

[0068] Another possible implementation method for executing S101 is described in detail as follows:

[0069] When the humanoid robot has a charging history in the current application scenario, the historical charging positions are searched according to the received charging instruction, and one of the historical charging positions is determined as the current charging position.

[0070] Exemplarily, the humanoid robot also includes a storage module, which can store a historical charging position in the current scene, wherein the historical charging position can be the charging position of the historical charging closest to the current moment in the current application scene, or can be the charging position that appears most times in all historical charging in the current application scene.

[0071] The determination unit may search for a historical charging position stored in the storage module according to the received charging instruction, obtain a historical charging position, and determine the historical charging position as the current charging position.

[0072] In other embodiments, the storage module may store multiple historical charging positions in the current scenario, wherein the multiple historical charging positions may be the charging positions of all historical charging in the current application scenario, or may be multiple historical charging charging positions whose time difference with the current moment is less than a preset time difference among all historical charging in the current application scenario, or may be multiple charging positions whose occurrence frequency ranks high among all historical charging in the current application scenario.

[0073] The determination unit can search the historical charging positions stored in the storage module according to the received charging instructions to obtain multiple historical charging positions, and determine the current charging position based on the multiple historical charging positions found. For example, the one of all the historical charging positions found that is closest to the current position of the humanoid robot is determined as the current charging position.

[0074] In this way, when the humanoid robot has a charging history in the current application scenario, the determination unit can determine the current charging position based on the historical charging positions, which can shorten the charging position determination time and thus improve the efficiency of the humanoid robot accessing the mains.

[0075] As a specific description of another possible implementation method when executing S101, the following is provided:

[0076] According to the received charging instruction, one of the multiple charging positions is selected as a charging position, wherein the multiple charging positions are determined based on the current environment.

[0077] Exemplarily, when the humanoid robot enters the current application scene, it performs a panoramic scan of the current application scene, and the determination unit can determine a plurality of charging positions based on the panoramic scan result.

[0078] The charging instruction may include the current position of the humanoid robot. The determination unit may determine the distance between the current position of the humanoid robot and each chargeable position based on the received charging instruction, and determine the one closest to the current position of the humanoid robot among all chargeable positions as the charging position.

[0079] In this way, the determination unit can obtain multiple charging positions in advance before receiving the charging instruction, and select one from the multiple charging positions as the charging position according to the charging instruction, which can shorten the response time of the charging instruction and thus improve the efficiency of the humanoid robot connecting to the mains.

[0080] As a specific description of another possible implementation method when executing S101, the following is provided:

[0081] According to the received charging instruction, an identifier matching the charging plug is identified from the current environment, and the charging position is determined according to the position of the identifier matching the charging plug.

[0082] Exemplarily, each charging socket in the current environment is provided with an identifier, different identifiers correspond to different types of charging sockets, and each identifier corresponds to a position. For example, the identifier may be a solid color patch or an optical marking point.

[0083] In this way, by identifying the marker that matches the charging plug in the current environment and determining the charging position based on the position of the marker, the time for determining the charging position can be shortened and the accuracy of the charging position can be improved, thereby improving the efficiency of the humanoid robot connecting to the mains.

[0084] S102, the moving mechanism moves the humanoid robot from the current position to the charging position.

[0085] Exemplarily, the moving mechanism may be a roller-type moving mechanism, a track-type moving mechanism or a walking-type moving mechanism located at the bottom of the humanoid robot, and the moving mechanism is controlled by a control module.

[0086] The control module can generate a mobile mechanism control signal, and the mobile mechanism can move on the ground under the action of the mobile mechanism control signal, so that the mobile mechanism can move from the current position to the charging position, thereby driving the entire humanoid robot to move from the current position to the charging position.

[0087] S103, the robotic arm pulls out part of the charging cable from the interior of the charging cable bin and inserts the charging plug into the charging socket.

[0088] Exemplarily, the robotic arm is controlled by a control module, and the control module can generate a robotic arm control signal. Under the action of the robotic arm control signal, the robotic arm can clamp the charging plug or release the charging plug, and can drive the charging plug to move in the horizontal plane and / or vertical direction when clamping the charging plug.

[0089] A specific description of a possible implementation method when executing S103 is as follows:

[0090] Clamp the charging plug and move it to a first target position to drive part of the charging cable to be pulled out from the inside of the charging cable bin, wherein the first target position is related to the position of the charging socket, align the charging plug with the socket on the charging socket, and push the charging plug forward to insert it into the socket of the charging socket.

[0091] Exemplarily, based on the same Cartesian coordinate system, the coordinates of the charging socket are (xc, 0, zc). If the charging socket is set on the wall, the coordinates of the first target position can be set to (x1, 0, zc), where x1 is determined based on xc. If the charging socket is set on the ground, the coordinates of the first target position can be set to (xc, 0, z1), where z1 is determined based on zc.

[0092] First, the control module generates a robot arm clamping control signal, and the robot arm clamps the charging plug under the action of the robot arm clamping control signal.

[0093] Then, the control module generates a first robotic arm movement control signal. Under the action of the first robotic arm movement control signal, the robotic arm drives the clamped charging plug to move to the first target position. In the process of the charging plug moving to the first target position, the charging plug drives part of the charging cable to be pulled out from the inside of the charging cable bin.

[0094] Subsequently, the control module generates a robotic arm alignment control signal based on the vision of the humanoid robot. Under the action of the robotic arm alignment control signal, the robotic arm drives the charging plug at the first target position to align with the socket on the charging socket.

[0095] Finally, the control module generates a robot arm push control signal, and under the action of the robot arm push control signal, the robot arm drives the aligned charging plug to push forward. For example, if the charging socket is set on the wall, the robot arm can drive the aligned charging plug to move along the x direction. If the charging socket is set on the ground, the robot arm can drive the aligned charging plug to move along the z direction until the charging plug is sent into the socket of the charging socket.

[0096] After the charging plug is connected to the mains, the control module generates a mechanical arm release control signal, and the mechanical arm releases the grip of the charging plug under the action of the mechanical arm release control signal. Subsequently, the control module generates a mechanical arm reset control signal, and the mechanical arm moves to the default position under the action of the mechanical arm reset control signal to wait for the charging to end.

[0097] In this way, by determining the charging position from the current environment according to the charging instructions, the area where the charging position is located is provided with a charging socket for providing AC power that matches the charging plug, the humanoid robot is moved from the current position to the charging position, part of the charging cable of the humanoid robot is pulled out from the inside of the charging cable bin of the humanoid robot, and the charging plug of the humanoid robot is inserted into the charging socket, the humanoid robot can automatically connect to the AC power, which can improve the efficiency of the humanoid robot's access to the AC power.

[0098] S104, the robotic arm pulls out the charging plug from the charging socket according to the charging end instruction.

[0099] Exemplarily, the charging end instruction may be generated by the instruction generation unit according to the remaining power of the humanoid robot, or may be generated by the instruction generation unit based on other instruction trigger operations of the user, or may be generated by the instruction generation unit based on the remaining power of the humanoid robot and other instruction trigger operations of the user.

[0100] Among them, other instruction triggering operations are instruction triggering operations other than charging instruction triggering operations, for example, other instruction triggering operations may be charging end instruction triggering operations, carrying instruction triggering operations, or chatting instruction triggering operations, etc. Other instruction triggering operations include voice triggering operations and touch triggering operations, for example, the voice triggering operations of other instructions may be other voices such as "end charging", "carrying" or "chatting" to instruct the humanoid robot to perform actions other than charging, and the touch triggering operations of other instructions may be touch operations on other buttons other than charging buttons such as charging end button, carrying button or chat button.

[0101] A possible implementation method of generating a charging end instruction is described as follows:

[0102] When the remaining power of the humanoid robot is greater than or equal to the second preset power, a charging end instruction is generated.

[0103] Exemplarily, the second preset power level may be any value between 98% and 100%. When the remaining power level of the humanoid robot received by the instruction generating unit is greater than or equal to the second preset power level, a charging end instruction is generated.

[0104] Another possible implementation method of generating a charging end instruction is described in detail as follows:

[0105] When the remaining power of the humanoid robot is greater than the third preset power, in response to other instruction triggering operations of the user, a charging end instruction is generated.

[0106] Exemplarily, the third preset power level is greater than the first preset power level. For example, the third preset power level may be any value in the interval (20%, 100%).

[0107] When the remaining power of the humanoid robot is greater than the third preset power and the user issues other voice instructions to instruct the humanoid robot to perform actions other than charging, the voice collection module can collect other voice signals and send the collected other voice signals to the instruction generation unit, and the instruction generation unit generates a charging end instruction based on the received other voice signals.

[0108] In other embodiments, when the remaining power of the humanoid robot is greater than a third preset power and the user touches a button other than the charging button, the touch module generates other touch signals and sends the other touch signals to the instruction generation unit, and the instruction generation unit generates a charging end instruction based on the received other touch signals.

[0109] A specific description of another possible implementation of generating a charging end instruction is as follows:

[0110] When the remaining power of the humanoid robot is greater than or equal to the second preset power, a charging end instruction is generated. When the remaining power of the humanoid robot is greater than the third preset power and less than the second preset power, a charging end instruction is generated in response to other instructions triggered by the user.

[0111] Exemplarily, the third preset power level is greater than the first preset power level and less than the second preset power level. For example, the third preset power level may be any value in the interval (20%, 98%).

[0112] Exemplarily, when the remaining power of the humanoid robot received by the instruction generation unit is greater than or equal to the second preset power, the charging end instruction is generated; when the remaining power of the humanoid robot received by the instruction generation unit is greater than the third preset power and less than the second preset power, if the user makes other voice instructions other than instructing the humanoid robot to charge or touches other buttons other than the charging button, the instruction generation unit generates a charging end instruction.

[0113] A specific description of a possible implementation method when executing S104 is as follows:

[0114] Move to a second target position according to a charging end instruction, the second target position is related to the position of the charging socket or to the position of a charging plug inserted into the charging socket, clamp the charging plug and pull it backwards to pull the charging plug out of the charging socket.

[0115] Exemplarily, based on the same Cartesian coordinate system, the coordinates of the charging socket are (xc, 0, zc); if the charging socket is set on the wall, the coordinates of the charging plug inserted into the charging socket are (xh, 0, zc); and the coordinates of the second target position are (x2, 0, zc), where x2 is determined based on xc or xh; if the charging socket is set on the ground, the coordinates of the charging plug inserted into the charging socket are (xc, 0, zh); and the coordinates of the second target position may be (xc, 0, z2), where z2 is determined based on zc or zh.

[0116] First, the control module generates a second robot arm movement control signal based on the charging end instruction, and the robot arm moves to the second target position under the action of the second robot arm movement control signal.

[0117] Then the control module generates a robot arm clamping control signal, and the robot arm clamps the charging plug at the second target position under the action of the robot arm clamping control signal.

[0118] Finally, the control module generates a pull-back control signal for the robotic arm. Under the action of the pull-back control signal, the robotic arm drives the clamped charging plug to pull back. For example, if the charging socket is set on the wall, the robotic arm can drive the clamped charging plug to move along the x direction. If the charging socket is set on the ground, the robotic arm can drive the clamped charging plug to move along the z direction until the charging plug is pulled out of the charging socket.

[0119] In this way, by unplugging the charging plug from the charging socket according to the charging end instruction, the humanoid robot can automatically disconnect from the mains after charging is completed, avoiding long-term connection to the mains in a non-charging state, thereby avoiding safety problems caused by long-term connection to the mains in a non-charging state, and improving the safety of the humanoid robot.

[0120] S105, the retracting mechanism retracts the exposed charging cable into the charging cable compartment.

[0121] Exemplarily, the retraction mechanism may include a rotating shaft, and the charging cord in the charging compartment is wound around the rotating shaft. During the process of the charging plug moving toward the charging socket, the rotating shaft may rotate in a clockwise direction to release part of the charging cord wound around the rotating shaft. As the number of turns of the rotating shaft in the clockwise direction increases, the exposed charging cord increases.

[0122] After the charging plug is unplugged from the charging socket, the control module can control the shaft to rotate counterclockwise to rewind the released charging cable around the shaft. As the number of turns of the shaft in the counterclockwise direction increases, the charging cable wrapped around the shaft increases until all the exposed charging cables are retracted into the charging cable bin and the shaft stops rotating.

[0123] In other embodiments, the rotating shaft may rotate counterclockwise to release part of the charging cable wound around the rotating shaft, and the rotating shaft may rotate clockwise to rewind the released charging cable around the rotating shaft.

[0124] It should be noted that the present disclosure only uses the rotating shaft as an example to illustrate the retraction mechanism, and does not limit the retraction mechanism. In actual applications, the retraction mechanism can be any mechanism that can realize the function of retracting the exposed charging cable into the interior of the charging cable bin, and the present disclosure does not make specific limitations.

[0125] In this way, by retracting the exposed charging cable into the charging cable bin, the humanoid robot can store the exposed charging cable into the charging cable bin after charging is completed, thereby avoiding the charging plug and charging cable being exposed in the non-charging state, thereby avoiding safety issues caused by the exposed charging plug and charging cable in the non-charging state, and improving the safety of the humanoid robot.

[0126] In the embodiment of the present disclosure, the charging position is determined from the current environment according to the charging instruction, and a charging socket for providing AC power that matches the charging plug is provided in the area where the charging position is located. The humanoid robot is moved from the current position to the charging position, part of the charging cable of the humanoid robot is pulled out from the inside of the charging cable bin of the humanoid robot, and the charging plug of the humanoid robot is inserted into the charging socket. According to the charging end instruction, the charging plug is unplugged from the charging socket, and the exposed charging cable is retracted into the inside of the charging cable bin. In this way, the humanoid robot can automatically connect to the AC power, which can improve the efficiency of the humanoid robot connecting to the AC power. In addition, after charging is completed, the humanoid robot can automatically disconnect from the AC power and store the exposed charging cable into the inside of the charging cable bin, so as to avoid safety problems caused by long-term connection to the AC power in the non-charging state and exposed charging plugs and charging cables, thereby improving the safety of the humanoid robot.

[0127] In some embodiments, Figure 3 A schematic diagram of another charging method provided in an embodiment of the present disclosure is provided. Figure 3 for Figure 2 Based on the embodiment shown, before executing S104, the following step is also included:

[0128] S201, the control module determines whether the humanoid robot is connected to the mains according to whether the remaining power of the humanoid robot increases within a preset time.

[0129] Exemplarily, the control module receives a first remaining power SOC1 of the humanoid robot at time T1, and receives a second remaining power SOC2 of the humanoid robot at time T2, wherein T2-T1 is a preset time.

[0130] When the second remaining power SOC2 is greater than the first remaining power SOC1, it is determined that the humanoid robot is connected to the mains, and the humanoid robot starts charging, and S104 is executed until the charging is completed.

[0131] When the second remaining power SOC2 is less than or equal to the first remaining power SOC1, it is determined that the humanoid robot is not connected to the mains, indicating that the charging socket into which the charging plug is currently inserted cannot provide mains power, and the charging plug needs to be inserted into another charging socket that can provide mains power, and S202 is executed at this time.

[0132] S202, the robotic arm pulls out the charging plug from the charging socket.

[0133] Exemplarily, when it is determined that the humanoid robot is not connected to the mains, the control module generates a second robotic arm movement control signal, and the robotic arm moves to the second target position under the action of the second robotic arm movement control.

[0134] Subsequently, the control module generates a robot arm clamping control signal, and the robot arm clamps the charging plug at the second target position under the action of the robot arm clamping control signal.

[0135] Finally, the control module generates a robot arm pull-back control signal, and the robot arm drives the clamped charging plug to pull back under the action of the robot arm pull-back control signal until the charging plug is pulled out of the charging socket.

[0136] S203, the control module updates the charging position.

[0137] Among them, another charging socket matching the charging plug is arranged in the area where the updated charging position is located.

[0138] Exemplarily, the charging position before the update is determined based on an area of ​​one image among multiple images including a charging socket that matches the charging plug. The determination unit may determine a new charging position based on an area of ​​another image among multiple images including the charging socket that matches the charging plug, and replace the charging position before the update with the new charging position.

[0139] In some other implementations, the charging position before the update is one of the multiple historical charging positions found, and the determination unit may use another one of the multiple historical charging positions as the new charging position and replace the charging position before the update with the new charging position.

[0140] In some other embodiments, the charging position before updating is one of a plurality of chargeable positions, and the determining unit may use another one of the plurality of chargeable positions as a new charging position, and replace the charging position before updating with the new charging position.

[0141] The process returns to step S102 and executes until it is determined that the humanoid robot is connected to the mains.

[0142] In the implementation of the present disclosure, whether the humanoid robot is connected to the mains is determined based on whether the remaining power of the humanoid robot increases within a preset time. When it is determined that the humanoid robot is not connected to the mains, the charging plug is unplugged from the charging socket, the charging position is updated, and the execution returns to move the humanoid robot from the current position to the charging position until it is determined that the humanoid robot is connected to the mains, wherein another charging socket matching the charging plug is provided in the area where the updated charging position is located. In this way, when the currently inserted charging socket cannot provide mains power, the humanoid robot automatically searches for a charging socket that can provide mains power, thereby improving the efficiency of the humanoid robot's access to the mains.

[0143] In some embodiments, Figure 4 A schematic diagram of a flow chart of another charging method provided in an embodiment of the present disclosure, Figure 4 for Figure 2 Based on the embodiment shown, before executing S105, the following step is also included:

[0144] S301, the control module determines whether the charging plug is unplugged from the charging socket according to whether the current position of the charging plug changes.

[0145] For example, when the clamping force of the robotic arm is too weak, the clamping position is inappropriate and / or the second target position is inaccurate, the robotic arm may fail to unplug the charging plug from the charging socket. If the exposed charging cable is retracted into the charging cable bin at this time, there will be certain safety hazards. Therefore, before retracting the exposed charging cable into the charging cable bin, it is necessary to ensure that the charging plug is unplugged from the charging socket.

[0146] The determination unit can determine the real-time position of the charging plug based on the vision of the humanoid robot, and determine whether the charging plug is unplugged from the charging socket according to whether the real-time position of the charging plug changes. For example, when the real-time position of the charging plug changes, it is determined that the charging plug is unplugged from the charging socket, and when the real-time position of the charging plug does not change, it is determined that the charging plug is not unplugged from the charging socket.

[0147] S302: When it is determined that the charging plug is pulled out of the charging socket, the robotic arm releases the grip on the charging plug.

[0148] Exemplarily, when it is determined that the charging plug is unplugged from the charging socket, the control module generates a robot arm release clamping control signal, and the robot arm releases its clamping of the charging plug under the action of the robot arm release clamping control signal to ensure that the exposed charging cable can be retracted into the charging cable bin.

[0149] In the embodiment of the present disclosure, whether the charging plug is unplugged from the charging socket is determined based on whether the current position of the charging plug has changed. When it is determined that the charging plug is unplugged from the charging socket, the clamping of the charging plug is released. The clamping of the charging plug can be released when the charging plug is unplugged from the charging socket, ensuring that the exposed charging cable can be retracted into the interior of the charging cable bin, thereby improving the safety of the humanoid robot.

[0150] In some embodiments, the third preset power is the minimum remaining power for the humanoid robot to exit the charging state. When the remaining power of the humanoid robot is less than or equal to the third preset power, the control module does not respond to other instruction trigger operations and sends a charging prompt message to the user.

[0151] Exemplarily, when the remaining power of the humanoid robot received by the instruction generation unit is less than or equal to a third preset power, it does not respond to other instruction trigger operations, but instead generates a prompt message to indicate that the humanoid robot is charging, wherein the prompt message can be used to remind the user in the form of voice playback, indicator light and / or display.

[0152] The present disclosure also provides a charging device, which is applied to the humanoid robot provided by the present disclosure and is used to execute the steps of any of the above method embodiments.

[0153] Figure 5 A schematic diagram of a charging device provided in an embodiment of the present disclosure is shown in FIG. Figure 5 As shown, the charging device includes:

[0154] The control module 210 is used to determine a charging location from the current environment according to a charging instruction, wherein a charging socket matching the charging plug is provided in an area where the charging location is located, and the charging socket is used to provide AC power.

[0155] The moving mechanism 110 is used to move the humanoid robot from the current position to the charging position.

[0156] The robot arm 120 is used to pull part of the charging cable out of the interior of the charging cable bin and insert the charging plug into the charging socket; and pull out the charging plug from the charging socket according to a charging end instruction.

[0157] The retracting module 220 is used to retract the exposed charging cable into the interior of the charging cable bin.

[0158] In some embodiments, the robotic arm 120 is further used to clamp the charging plug and move the charging plug to a first target position to drive a portion of the charging cable to be pulled out from the interior of the charging cable bin, wherein the first target position is related to the position of the charging socket; align the charging plug with the socket on the charging socket; and push the charging plug forward to insert it into the socket of the charging socket.

[0159] In some embodiments, the robotic arm 120 is further used to move to a second target position according to the charging end instruction, wherein the second target position is related to the position of the charging socket or to the position of the charging plug inserted into the charging socket; clamp the charging plug and pull it backward to pull the charging plug out of the charging socket.

[0160] In some embodiments, the control module 210 is further configured to determine whether the charging plug is unplugged from the charging socket according to whether the current position of the charging plug changes.

[0161] The mechanical arm 120 is further used to release the grip on the charging plug when it is determined that the charging plug is pulled out of the charging socket.

[0162] In some embodiments, the control module 210 is further used to determine whether the humanoid robot is connected to the mains power according to whether the remaining power of the humanoid robot increases within a preset time.

[0163] The mechanical arm 120 is also used to unplug the charging plug from the charging socket when it is determined that the humanoid robot is not connected to the mains power.

[0164] The control module 210 is further configured to update the charging position, wherein the area where the updated charging position is located is provided with another charging socket that matches the charging plug.

[0165] In some embodiments, the control module 210 is also used to generate the charging instruction when the remaining power of the humanoid robot is less than or equal to the first preset power; when the remaining power of the humanoid robot is greater than the first preset power, the charging instruction is generated in response to the user's charging instruction trigger operation, and the charging instruction trigger operation includes a voice trigger operation and a touch trigger operation.

[0166] In some embodiments, the control module 210 is also used to generate the charging end instruction when the remaining power of the humanoid robot is greater than or equal to the second preset power; when the remaining power of the humanoid robot is greater than the third preset power and less than the second preset power, in response to other instructions of the user to trigger the operation, generate the charging end instruction.

[0167] Among them, the other instruction triggering operation is an instruction triggering operation other than the charging instruction triggering operation, and the other instruction triggering operation includes a voice triggering operation and a touch triggering operation.

[0168] In some embodiments, the control module 210 is further configured to, when the remaining power of the humanoid robot is less than or equal to the third preset power, not respond to the other instruction triggering operations and send a charging prompt message to the user.

[0169] The device provided in the embodiment of the present disclosure is used to execute the steps provided in any of the above method embodiments, has functional modules corresponding to the method embodiments, and has the beneficial effects of the method embodiments, which will not be repeated here.

[0170] In some embodiments, the humanoid robot 100 provided by the present disclosure further includes a processor, which is used to execute a computer program stored in a memory, and when the computer program is executed by the processor, the steps executed by the control module in the method embodiment of the present disclosure are implemented.

[0171] Components of a humanoid robot may include, but are not limited to, one or more processors, system memory, and a bus connecting different system components (including the system memory and the processor).

[0172] The term "bus" refers to one or more of several types of bus structures, including a memory bus or memory controller, a peripheral bus, an accelerated graphics port, a processor or a local bus using any of a variety of bus architectures. For example, these architectures include, but are not limited to, the Industry Standard Architecture (ISA) bus, the Micro Channel Architecture (MAC) bus, the Enhanced ISA bus, the Video Electronics Standards Association (VESA) local bus, and the Peripheral Component Interconnect (PCI) bus.

[0173] The humanoid robot typically includes a variety of computer system readable media. These media can be any media that can be accessed by the humanoid robot, including volatile and non-volatile media, removable and non-removable media.

[0174] The system memory may include computer system readable media in the form of volatile memory, such as random access memory (RAM) 30 and / or cache memory. The humanoid robot may further include other removable / non-removable, volatile / non-volatile computer system storage media. By way of example only, the storage system may be used to read and write non-removable, non-volatile magnetic media (commonly referred to as "hard drives"). A disk drive for reading and writing removable non-volatile disks (such as "floppy disks"), and an optical disk drive for reading and writing removable non-volatile optical disks (such as CD-ROMs, DVD-ROMs or other optical media) may be provided. In these cases, each drive may be connected to the bus via one or more data medium interfaces. The system memory may include at least one program product having a set (e.g., at least one) of program modules that are configured to perform the functions of the various embodiments of the present disclosure.

[0175] A program / utility having a set (at least one) of program modules may be stored, for example, in a system memory, such program modules including but not limited to an operating system, one or more application programs, other program modules, and program data, each of which or some combination may include an implementation of a network environment. The program modules generally perform the functions and / or methods of the embodiments described in the embodiments of the present disclosure.

[0176] The processor executes various functional applications and data processing by running at least one program among a plurality of programs stored in the system memory, for example, implementing the method embodiment provided in the embodiment of the present disclosure.

[0177] The present disclosure also provides a computer-readable storage medium having a computer program stored thereon, and the computer program implements the steps of the above method embodiment when executed by a processor.

[0178] Any combination of one or more computer-readable media can be used. Computer-readable media can be computer-readable signal media or computer-readable storage media. Computer-readable storage media can be, for example, but not limited to, electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices or devices, or any combination of the above. More specific examples (non-exhaustive list) of computer-readable storage media include: electrical connections with one or more wires, portable computer disks, hard disks, random access memories (RAM), read-only memories (ROM), erasable programmable read-only memories (EPROM or flash memory), optical fibers, portable compact disk read-only memories (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination of the above. In this document, computer-readable storage media can be any tangible medium containing or storing a program, which can be used by an instruction execution system, device or device or used in combination with it.

[0179] Computer-readable signal media may include data signals propagated in baseband or as part of a carrier wave, which carry computer-readable program code. Such propagated data signals may take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. Computer-readable signal media may also be any computer-readable medium other than a computer-readable storage medium, which may send, propagate, or transmit a program for use by or in conjunction with an instruction execution system, apparatus, or device.

[0180] The program code embodied on the computer readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.

[0181] Computer program code for performing the operations of the present disclosure may be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages, such as Java, Smalltalk, C++, and conventional procedural programming languages, such as "C" or similar programming languages. The program code may be executed entirely on the user's computer, partially on the user's computer, as a separate software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN) domain, or may be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0182] The flow chart and block diagram in the accompanying drawings show the possible architecture, function and operation of the device and method according to multiple embodiments of the present disclosure. In this regard, each square box in the flow chart or block diagram can represent a part of a module, a program segment or an instruction, and a part of the module, a program segment or an instruction includes one or more executable instructions for realizing the specified logical function. In some alternative implementations, the functions marked in the square box can also occur in a sequence different from that marked in the accompanying drawings. For example, two continuous square boxes can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each square box in the block diagram and / or flow chart, and the combination of the square boxes in the block diagram and / or flow chart can be implemented with a dedicated hardware-based system that performs a specified function or action, or can be implemented with a combination of special hardware and computer instructions.

[0183] Unless the context clearly indicates otherwise, the singular form of the words used herein and in the appended claims includes the plural and vice versa. Thus, when referring to the singular, the plural form of the corresponding term is generally included. Similarly, the words "comprise" and "include" are to be interpreted as inclusive rather than exclusive. Likewise, the terms "include" and "or" should be interpreted as inclusive unless such interpretation is expressly prohibited herein. Where the term "example" is used herein, particularly when it is located after a group of terms, the "example" is merely exemplary and illustrative and should not be considered exclusive or comprehensive.

[0184] Further aspects and scopes of adaptability become apparent from the description provided herein. It should be understood that various aspects of the present disclosure can be implemented individually or in combination with one or more other aspects. It should also be understood that the description and specific embodiments herein are intended for purposes of illustration only and are not intended to limit the scope of the present disclosure.

[0185] Several embodiments of the present disclosure are described in detail above, but it is obvious that those skilled in the art can make various modifications and variations to the embodiments of the present disclosure without departing from the spirit and scope of the present disclosure. The protection scope of the present disclosure is defined by the attached claims.

Claims

1. A charging method for a humanoid robot, characterized in that: The humanoid robot comprises a charging wire bin, a charging wire and a charging plug connected to one end of the charging wire, wherein the charging wire is located inside the charging wire bin; The method comprises: Determine a charging location from the current environment according to the charging instruction, wherein a charging socket matching the charging plug is provided in the area where the charging location is located, and the charging socket is used to provide mains power; moving the humanoid robot from a current position to the charging position; Pull out part of the charging cable from the interior of the charging cable compartment, and insert the charging plug into the charging socket; Pulling the charging plug out of the charging socket according to a charging end instruction; The exposed charging cable is retracted into the charging cable compartment.

2. The method according to claim 1, characterized in that Pulling out a portion of the charging cable from the interior of the charging cable bin and inserting the charging plug into the charging socket comprises: Clamping the charging plug and moving the charging plug to a first target position to drive a portion of the charging cable to be pulled out from the interior of the charging cable bin, wherein the first target position is related to the position of the charging socket; Aligning the charging plug with the socket on the charging socket; Push the charging plug forward to be inserted into the socket of the charging socket.

3. The method according to claim 1, characterized in that Pulling out the charging plug from the charging socket according to the charging end instruction includes: Move to a second target position according to the charging end instruction, where the second target position is related to the position of the charging socket or to the position of the charging plug inserted into the charging socket; The charging plug is clamped and pulled backwards to remove the charging plug from the charging socket.

4. The method according to claim 1, characterized in that: Before the exposed charging cable is retracted into the charging cable bin, the method further includes: determining whether the charging plug is unplugged from the charging socket according to whether the current position of the charging plug changes; When it is determined that the charging plug is pulled out from the charging socket, the clamping of the charging plug is released.

5. The method according to claim 1, characterized in that Before the charging plug is pulled out from the charging socket according to the charging end instruction, the method further includes: Determining whether the humanoid robot is connected to the mains power supply according to whether the remaining power of the humanoid robot increases within a preset time; When it is determined that the humanoid robot is not connected to the mains power, unplugging the charging plug from the charging socket; updating the charging position and returning to execute the step of moving the humanoid robot from the current position to the charging position until it is determined that the humanoid robot is connected to the mains; Wherein, another charging socket matching the charging plug is provided in the area where the updated charging position is located.

6. The method according to any one of claims 1 to 5, characterized in that: Before moving the humanoid robot from the current position to the charging position according to the charging instruction, the method further comprises: When the remaining power of the humanoid robot is less than or equal to a first preset power, generating the charging instruction; When the remaining power of the humanoid robot is greater than the first preset power, the charging instruction is generated in response to a charging instruction trigger operation of the user, and the charging instruction trigger operation includes a voice trigger operation and a touch trigger operation.

7. The method according to any one of claims 1 to 5, characterized in that: Before the charging plug is pulled out from the charging socket according to the charging end instruction, the method further includes: When the remaining power of the humanoid robot is greater than or equal to a second preset power, generating the charging end instruction; When the remaining power of the humanoid robot is greater than a third preset power and less than the second preset power, in response to other instruction triggering operations of the user, generating the charging end instruction; Among them, the other instruction triggering operation is an instruction triggering operation other than the charging instruction triggering operation, and the other instruction triggering operation includes a voice triggering operation and a touch triggering operation.

8. The method according to claim 7, characterized in that The method further comprises: When the remaining power of the humanoid robot is less than or equal to the third preset power, it does not respond to the other instruction triggering operation, and sends a prompt message that it is charging to the user.

9. A charging device for a humanoid robot, characterized in that: The humanoid robot comprises a charging wire bin, a charging wire and a charging plug connected to one end of the charging wire, wherein the charging wire is located inside the charging wire bin; The charging device comprises: A control module, used for determining a charging position from a current environment according to a charging instruction, wherein an area where the charging position is located is provided with a charging socket matching the charging plug, and the charging socket is used for providing mains power; A moving mechanism, used to move the humanoid robot from a current position to the charging position; A mechanical arm, used to pull part of the charging cable out of the interior of the charging cable bin and insert the charging plug into the charging socket; and pull the charging plug out of the charging socket according to a charging end instruction; The retracting mechanism is used to retract the exposed charging cable into the interior of the charging cable bin.

10. A humanoid robot, characterized in that: include: Charging cable compartment; A charging cable, located inside the charging cable compartment; A charging plug connected to one end of the charging cable; A control module, used for determining a charging position from a current environment according to a charging instruction, wherein an area where the charging position is located is provided with a charging socket matching the charging plug, and the charging socket is used for providing mains power; A moving mechanism, used to move the humanoid robot from a current position to the charging position; A mechanical arm, used to pull part of the charging cable out from the interior of the charging cable bin and insert the charging plug into the charging socket; Pulling the charging plug out of the charging socket according to a charging end instruction; The retracting mechanism is used to retract the exposed charging cable into the interior of the charging cable bin.

Images