Robot charging method, robot and storage medium

Abstract

The embodiment of the invention relates to the field of robots, in particular to a robot charging method, a robot and a computer readable storage medium, a first charging instruction is received, and charging is performed according to the first charging instruction; if it is determined that the robot fails to be charged, the robot is standby in situ; and the state of the robot is monitored, whether the robot meets a preset condition or not is determined based on the state, if the preset condition is met, a second charging instruction is generated, and charging is carried out according to the second charging instruction. The robot can stand by in situ when the robot fails to be charged, the robot tries to be charged again when the state of the robot meets the preset condition, use is not affected when the robot fails to be charged, the robot tries to be charged again at the proper time, and the robot efficiency and the user experience are effectively improved.

Description

Technical Field

[0001] Embodiments of the present invention relate to the field of robots, and in particular, to a robot charging method, a robot, and a computer-readable storage medium. Background Art

[0002] Nowadays, with the continuous innovation and progress of science and technology, the field of artificial intelligence is gradually entering people's daily lives and playing an increasingly important role, quietly affecting people's lives. Many intelligent robots are replacing traditional manual labor and playing a huge role in many fields such as security, unmanned delivery, and unmanned driving, greatly improving people's life and work efficiency.

[0003] In order to save labor costs, robots can be used in service places such as hotels to greet guests, serve meals, and deliver items. However, charging robots is a big problem. At present, whether it is manual charging or automatic charging, as long as there is a problem in one link during the charging process, the robot will not be able to charge and work successfully, which will seriously affect user use and reduce robot efficiency. Summary of the invention

[0004] The embodiment of the present invention provides a robot charging method, which can ensure that the robot's use is not affected when charging fails, thereby improving the robot's efficiency and user experience.

[0005] In a first aspect, an embodiment of the present invention provides a robot charging method, which is applied to a robot, and the method includes:

[0006] receiving a first charging instruction, and charging according to the first charging instruction;

[0007] If it is determined that the robot fails to charge, the robot will wait in place;

[0008] The state of the robot is monitored, and based on the state, it is determined whether the robot meets a preset condition; if the preset condition is met, a second charging instruction is generated, and charging is performed according to the second charging instruction.

[0009] In some embodiments, monitoring the state of the robot and determining whether the robot meets a preset condition based on the state includes:

[0010] Monitoring power consumption and remaining power of the robot;

[0011] If the remaining power is lower than a first preset threshold and the consumed power exceeds a second preset threshold within a preset time, it is determined that the robot meets the preset condition.

[0012] In some embodiments, before the step of generating a second charging instruction and charging according to the second charging instruction, the method further includes:

[0013] Generate a charging station exit instruction, and leave the charging station according to the charging station exit instruction.

[0014] In some embodiments, receiving a first charging instruction and charging according to the first charging instruction includes:

[0015] receiving the first charging instruction, and going to a first location according to the first charging instruction;

[0016] After the robot reaches the first position, obtaining the contour shape of the charging pile, and determining whether the contour shape of the charging pile conforms to a preset contour shape;

[0017] If the contour shape of the charging pile does not conform to the preset contour shape, it is determined that the charging of the robot has failed.

[0018] In some embodiments, the robot includes a traction device, and the receiving a first charging instruction and charging according to the first charging instruction further includes:

[0019] If the contour shape of the charging pile meets the preset contour shape, driving to the second position under the traction of the traction device;

[0020] Determine whether the robot meets the pile-mounting conditions;

[0021] If the charging condition is not met, it is determined that the robot fails to charge.

[0022] In some embodiments, determining whether the robot meets the pile-mounting conditions includes:

[0023] Determining whether the lateral deviation and angular deviation of the robot relative to the charging pile are within a preset threshold;

[0024] If the lateral deviation and the angular deviation are not within the preset thresholds, it is determined that the robot does not meet the pile mounting condition;

[0025] If the lateral deviation and the angular deviation are within the preset thresholds, it is determined that the robot meets the pile-mounting condition.

[0026] In some embodiments, the receiving a first charging instruction and charging according to the first charging instruction further includes:

[0027] If the charging pile conditions are met, the vehicle moves to the charging pile and detects a charging signal;

[0028] If the charging signal is not received within a preset time interval, it is determined that the robot has failed to charge;

[0029] If the charging signal is received within a preset time interval, charging is performed.

[0030] In some embodiments, the receiving a first charging instruction and charging according to the first charging instruction further includes:

[0031] If the robot does not reach the first position within a preset time, detecting the distance between the robot and the first position;

[0032] If the distance is less than a preset distance, it is determined that the robot fails to charge;

[0033] If the distance is greater than the preset distance, re-navigate or issue a warning reminder.

[0034] In a second aspect, an embodiment of the present invention provides a robot, comprising:

[0035] at least one processor, and

[0036] A memory, wherein the memory is communicatively connected to the at least one processor, the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the method described in the first aspect above.

[0037] In a third aspect, a non-volatile computer-readable storage medium is provided in an embodiment of the present invention, characterized in that the computer-readable storage medium stores computer-executable instructions, and when the computer-executable instructions are executed by at least one processor, the at least one processor executes the method described in the first aspect above.

[0038] Beneficial effects of the embodiments of the present invention: Different from the prior art, the robot charging method provided by the embodiments of the present invention receives a first charging instruction and charges according to the first charging instruction; if it is determined that the robot fails to charge, it waits in place; monitors the state of the robot, and determines whether the robot meets the preset conditions based on the state of the robot, and if the preset conditions are met, generates a second charging instruction and charges according to the second charging instruction. The present invention can make the robot wait in place when the robot fails to charge, and make the robot try to charge again when the robot state meets the preset conditions, so that the robot can be used even if the robot fails to charge, and try to charge again at the right time, effectively improving the robot efficiency and user experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] One or more embodiments are exemplarily described by pictures in the corresponding drawings, and these exemplified descriptions do not constitute limitations on the embodiments. Elements with the same reference numerals in the drawings represent similar elements, and unless otherwise stated, the figures in the drawings do not constitute proportional limitations.

[0040] Figure 1 A schematic diagram of an application environment of a robot charging method provided by an embodiment of the present invention;

[0041] Figure 2 A structural block diagram of a robot provided by an embodiment of the present invention;

[0042] Figure 3 A schematic diagram of a flow chart of a robot charging method provided by an embodiment of the present invention;

[0043] Figure 4 A schematic diagram of a flow chart of a robot charging method provided by another embodiment of the present invention;

[0044] Figure 5 A schematic diagram of a flow chart of a robot charging method provided by another embodiment of the present invention;

[0045] Figure 6 A schematic diagram of a flow chart of a robot charging method provided by another embodiment of the present invention;

[0046] Figure 7 A schematic diagram of a flow chart of a robot charging method provided by another embodiment of the present invention;

[0047] Figure 8 A schematic diagram of a flow chart of a robot charging method provided by another embodiment of the present invention;

[0048] Fig. 9 A schematic diagram of a flow chart of a robot charging method provided by another embodiment of the present invention;

[0049] Fig.10 A schematic flow chart of a robot charging method provided in accordance with another embodiment of the present invention. DETAILED DESCRIPTION

[0050] The present invention is described in detail below in conjunction with specific embodiments. The following embodiments will help those skilled in the art to further understand the present invention, but are not intended to limit the present invention in any form. It should be noted that, for those of ordinary skill in the art, several variations and improvements may be made without departing from the concept of the present invention. These all belong to the protection scope of the present invention.

[0051] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0052] It should be noted that, if there is no conflict, the various features in the embodiments of the present invention can be combined with each other, all within the scope of protection of the present application. In addition, although the functional modules are divided in the device schematic diagram and the logical order is shown in the flow chart, in some cases, the steps shown or described can be performed in a different order than the module division in the device or the flow chart. In addition, the words "first", "second", "third", etc. used herein do not limit the data and execution order, but only distinguish the same items or similar items with basically the same functions and effects.

[0053] Unless otherwise defined, all technical and scientific terms used in this specification have the same meaning as those commonly understood by those skilled in the art of the present invention. The terms used in this specification and in the specification of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention. The term "and / or" used in this specification includes any and all combinations of one or more of the related listed items.

[0054] In addition, the technical features involved in the various embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0055] Figure 1 Schematic diagram of the application environment of the robot charging method provided by the embodiment of the present invention. Figure 1 The application environment includes a robot 10 and a charging pile 20. The charging pile 20 can be one or more ( Figure 1 A charging pile 20 is used as an example for illustration).

[0056] In the embodiment of the present application, the robot 10 may be a mobile robot, such as a hotel robot, a delivery robot, a cleaning robot, a pet robot, a transport robot, a care robot, a remote monitoring robot, a sweeping robot, etc. The present application does not limit the shape and function of the robot 10 .

[0057] Exemplarily, the robot includes a host computer, a middle computer, and a chassis. The host computer, the middle computer, and the chassis are connected to each other in communication. The host computer, as the control core of the robot, is used to send instructions to the middle computer and / or the chassis, or receive information sent by the middle computer and / or the chassis to control the robot to perform corresponding actions.

[0058] In the embodiment of the present application, the charging pile 20 is used to charge the robot 10 .

[0059] In some embodiments, the charging pile 20 includes a charging electrode, and the charging pile 20 contacts the electrode sheet in the charging port of the robot 10 through the charging electrode to charge the robot 10.

[0060] In some embodiments, the charging pile 20 includes a charging seat, and the charging pile 20 is connected to the charging port of the robot 10 through the charging seat to charge the robot 10.

[0061] One embodiment of the present invention provides a robot charging method, which can effectively improve the robot efficiency and user experience without affecting the use of the robot when charging fails.

[0062] Before introducing the robot charging method in detail, the hardware structure of the robot provided by another embodiment of the present invention is described.

[0063] In the above Figure 1 Based on the above, another embodiment of the present invention provides a robot 10, such as Figure 2 As shown, the robot 10 includes at least one processor 11 and a memory 12 ( Figure 2 A bus connection and a processor are used as an example). A person skilled in the art can understand that Figure 2 The structure shown is for illustration only and does not limit the structure of the electronic device. Figure 2 More or fewer components as shown, or with Figure 2 Different configurations shown.

[0064] The processor 11 is used to provide computing and control capabilities to control the robot 10 to perform corresponding tasks, for example, to control the robot 10 to perform any one of the robot charging methods provided in the following embodiments of the invention.

[0065] It can be understood that the processor 11 can be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it can also be a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components.

[0066] The memory 12, as a non-transient computer-readable storage medium, can be used to store non-transient software programs, non-transient computer executable programs and modules, such as program instructions / modules corresponding to the robot charging method in the embodiment of the present invention. The processor 11 can implement the robot charging method in any of the following method embodiments by running the non-transient software programs, instructions and modules stored in the memory 12. The memory 12 may include a high-speed random access memory and may also include a non-transient memory, such as at least one disk storage device, a flash memory device, or other non-transient solid-state storage device. In some embodiments, the memory 12 may also include a memory remotely arranged relative to the processor, and these remote memories may be connected to the processor via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network and a combination thereof.

[0067] It is understandable that the robot 10 further includes a transmission device 13, which is used to receive or send data via a network. The above-mentioned specific example of the network may include a wireless network provided by the communication provider of the robot. In one example, the transmission device 13 includes a network adapter (Network Interface Controller, NIC), which can be connected to other network devices through a base station so as to communicate with the Internet. In one example, the transmission device 13 can be a radio frequency (Radio Frequency, RF) module, which is used to communicate with the Internet wirelessly.

[0068] The following is a detailed description of the robot charging method provided by the embodiment of the present invention. Figure 3 The robot charging method includes but is not limited to the following steps S101-S104:

[0069] S101: Receive a first charging instruction, and perform charging according to the first charging instruction.

[0070] Among them, the first charging instruction is used to instruct the robot to charge. For example, the first charging instruction can be automatically generated by the robot, for example, the robot automatically generates the first charging instruction when the battery is low or after completing the task and returning. For example, the first charging instruction can also be sent by the user to the robot through the robot interaction unit, for example, the user sends the first charging instruction through the touch display screen of the robot. For example, the first charging instruction can also be sent by the user to the robot through the user terminal device, for example, the user sends the first charging instruction to the robot through a mobile phone app.

[0071] For example, the first charging instruction may include information such as the charging location, charging time, and charging duration.

[0072] S102: If it is determined that the robot fails to charge, the robot will wait in place.

[0073] In this embodiment, if the robot fails to charge, it will wait in place and will not keep trying to charge so as to fail to work normally.

[0074] It should be understood that when the robot is on standby, if it receives a work instruction, it can work normally according to the work instruction.

[0075] S103: Monitor the state of the robot, and determine whether the robot meets a preset condition based on the state of the robot.

[0076] In this embodiment, after determining that the robot fails to charge, the robot's status is continuously monitored, and based on the robot's status, it is determined whether the robot meets the preset condition. For example, the robot's power is continuously monitored, and the preset condition is set to the robot's power being lower than a set value, such as 20%. Then, when the robot's power is lower than 20%, it is determined that the robot meets the preset condition.

[0077] In some embodiments, see Figure 4 , step S103: monitoring the state of the robot, and determining whether the robot meets the preset conditions based on the state of the robot, including steps S201-S202:

[0078] S201: Monitor the power consumption and remaining power of the robot.

[0079] S202: If the remaining power is lower than a first preset threshold and the power consumption exceeds a second preset threshold within a preset time, it is determined that the robot meets a preset condition.

[0080] Among them, power consumption is the amount of power consumed by the robot, remaining power is the current remaining power of the robot, the first preset threshold and the second preset threshold are power values ​​set in advance, for example, the first preset threshold is 50%, and the second preset threshold is 10%, and the preset time is a period of time set in advance, such as one hour, such as the time from the last successful charging to the present, such as the time from the last charging attempt to the present.

[0081] In this embodiment, if the remaining power of the robot is lower than the first preset threshold, and the power consumption exceeds the second preset threshold within the preset time, the robot is determined to meet the preset condition. For example, the first preset threshold is set to 50%, the second preset threshold is set to 10%, and the preset time is the time from the last attempt to charge to now. If the remaining power of the robot is lower than 50%, and 10% of the power has been consumed since the last attempt to charge, the robot is confirmed to meet the preset condition.

[0082] S104: If the preset condition is met, a second charging instruction is generated, and charging is performed according to the second charging instruction.

[0083] In this embodiment, if the robot meets the preset conditions, a second charging instruction is generated, and charging is attempted again according to the second charging instruction.

[0084] For example, the second charging instruction may include information such as the charging location, charging time, and charging duration.

[0085] It should be understood that if the robot fails to charge according to the second charging instruction, it will continue to wait in place and continue to detect the robot status. When the robot status meets the preset conditions, it will try to charge again until charging is successful.

[0086] In this embodiment, the first charging instruction is received and the robot is charged according to the first charging instruction; if it is determined that the robot fails to charge, the robot waits in place; the robot's state is monitored, and based on the robot's state, it is determined whether the robot meets the preset conditions. If the preset conditions are met, a second charging instruction is generated and the robot is charged according to the second charging instruction. The present invention can make the robot wait in place when the robot fails to charge, and make the robot try to charge again when the robot state meets the preset conditions, so that the robot can be used even when the robot fails to charge, and try to charge again at the right time, effectively improving the robot's efficiency and user experience.

[0087] In some embodiments, in step S104: if the preset condition is met, a second charging instruction is generated, and before charging is performed according to the second charging instruction, step S105 is also included:

[0088] S105: Generate a detachment instruction, and leave the charging pile according to the detachment instruction.

[0089] In this embodiment, if the robot meets the preset conditions, it generates a dismount instruction before attempting to charge again, and leaves the charging pile according to the dismount instruction to avoid the situation where the robot is too close to the charging pile and cannot attempt to charge according to the second charging instruction.

[0090] In some embodiments, see Figure 5 Step S101: receiving a first charging instruction, and charging according to the first charging instruction includes steps S301-S303:

[0091] S301: Receive a first charging instruction, and go to a first location according to the first charging instruction.

[0092] S302: After the robot reaches the first position, obtain the contour shape of the charging pile and determine whether the contour shape of the charging pile conforms to a preset contour shape.

[0093] S303: If the contour shape of the charging pile does not conform to the preset contour shape, it is determined that the robot charging has failed.

[0094] Among them, the first charging instruction includes a first position and a preset contour shape. The first position is the position point in front of the charging pile, for example, the position point 70 cm directly in front of the charging pile. The first position is used to determine whether the robot is suitable for docking with the charging pile; the contour shape of the charging pile is the contour shape of the charging pile obtained by the robot scanning the charging pile, such as a triangle, V-shape, etc.; the preset contour shape is the contour shape of the charging pile set in advance, such as a 110° triangle.

[0095] After receiving the first charging instruction, the robot goes to the first position according to the first charging instruction. When arriving at the first position, the robot scans the charging pile to obtain the contour shape of the charging pile. For example, the robot can detect the contour shape of the charging pile through a laser radar, or obtain the contour shape of the charging pile through a camera. The obtained contour shape of the charging pile is compared with the preset contour shape. If the obtained contour shape of the charging pile is the same as the preset contour shape, the pile scanning is successful, and the next charging operation can be continued. If the obtained contour shape of the charging pile is not the same as the preset contour shape, the pile scanning fails, and it is determined that the robot charging fails.

[0096] In some embodiments, if the contour shape of the charging pile does not conform to the preset contour shape, the robot will rotate 30° to the left and right, obtain the contour shape of the charging pile again, and compare it with the preset contour shape. If the contour shape of the charging pile does not conform to the preset contour shape after multiple sweeps, for example three times, the robot is determined to have failed to charge and will wait on the spot.

[0097] In some embodiments, see Figure 6 Step S101: receiving a first charging instruction, and charging according to the first charging instruction also includes steps S304-S306:

[0098] S304: If the contour shape of the charging pile meets the preset contour shape, driving to the second position under the traction of the traction device.

[0099] S305: Determine whether the robot meets the pile-mounting conditions.

[0100] S306: If the charging conditions are not met, it is determined that the robot charging has failed.

[0101] Among them, the robot includes a traction device, which is a device for guiding the movement of the robot. For example, the traction device can be an infrared guidance navigation device or a radar; the first charging instruction also includes a second position, which is the position in front of the robot. The second position is closer to the charging pile than the first position, for example, the second position is 10 cm in front of the charging pile; the charging pile condition is a condition suitable for docking and charging with the charging pile.

[0102] In this embodiment, if the contour shape of the charging pile meets the preset contour shape, the robot is towed by the traction device to the second position. After reaching the second position, it is determined whether the robot meets the conditions for charging. If the robot does not meet the conditions for charging, it is determined that the robot has failed to charge and is on standby.

[0103] In some embodiments, see Figure 7 Step S305: Determining whether the robot meets the pile-mounting conditions includes steps S401-S403:

[0104] S401: Determine whether the lateral deviation and angular deviation of the robot relative to the charging pile are within a preset threshold.

[0105] S402: If the lateral deviation and the angular deviation are not within the preset thresholds, it is determined that the robot does not meet the pile-mounting conditions.

[0106] S403: If the lateral deviation and the angular deviation are within the preset thresholds, it is determined that the robot meets the pile-mounting conditions.

[0107] Among them, the robot includes an electrode sheet, and the charging pile includes a charging electrode. The charging pile contacts the electrode sheet in the charging port of the robot through the charging electrode to charge the robot; the lateral deviation refers to the lateral distance difference between the robot and the charging pile, and the angular deviation refers to the angular difference between the robot and the charging pile. For example, the lateral deviation and angular deviation can be obtained by scanning the charging pile position by the robot radar; the preset threshold is the lateral deviation threshold and angular deviation threshold set in advance, for example, the preset threshold can be 1°, 2cm.

[0108] In this embodiment, since the robot and the charging pile are charged through the contact of electrode sheets, a certain deviation can be allowed. As long as the electrode sheets are in contact with each other, charging can be carried out. Therefore, the lateral deviation and angular deviation of the robot relative to the charging pile are obtained to determine whether they are within the threshold. If the lateral deviation and the angular deviation are not within the preset threshold, it is determined that the robot does not meet the charging pile conditions and the charging fails; if the lateral deviation and the angular deviation are within the preset threshold, it is determined that the robot meets the charging pile conditions and the next charging operation can be carried out.

[0109] In some embodiments, if the lateral deviation and the angular deviation are not within the preset thresholds, the robot is retreated a preset distance and re-towed to the second position to determine whether the lateral deviation and the angular deviation of the robot relative to the charging pile are within the preset thresholds.

[0110] In this embodiment, if the lateral deviation and the angular deviation are not within the preset threshold, the robot will retreat and be towed to the second position again, for example, the robot retreats 30 cm and drives to a distance of 10 cm from the charging pile again. In some embodiments, when the robot drives to the second position again, the robot radar scans the charging pile position in real time to obtain the lateral deviation and the angular deviation, and corrects and adjusts the moving direction according to the real-time lateral deviation and the angular deviation during the movement.

[0111] In some embodiments, see Figure 8 Step S101: receiving a first charging instruction, and charging according to the first charging instruction also includes steps S307-S309:

[0112] S307: If the charging pile conditions are met, move to the charging pile and detect the charging signal.

[0113] S308: If no charging signal is received within a preset time interval, it is determined that the robot has failed to charge.

[0114] S309: If a charging signal is received within a preset time interval, charging is performed.

[0115] In this embodiment, if the robot meets the charging conditions, it moves to the charging pile to try to charge and detect the charging signal. If the charging signal is not received for more than a preset time interval, for example, more than two minutes, it is determined that the robot has failed to charge and waits in place. If the charging signal is received within the preset time interval, charging is performed.

[0116] In some embodiments, see Fig. 9 , step S101: receiving a first charging instruction, and charging according to the first charging instruction also includes steps S3011-S3013:

[0117] S3011: If the robot does not reach the first position within a preset time, the distance between the robot and the first position is detected.

[0118] S3012: If the distance is less than the preset distance, it is determined that the robot has failed to charge.

[0119] S3013: If the distance is greater than the preset distance, re-navigate or issue a warning reminder.

[0120] In this embodiment, the robot goes to the first position according to the first charging instruction. If it does not reach the first position within a preset time, the distance between the robot and the first position is detected. If the distance is less than the preset distance, for example, 30 cm, the robot may be blocked near the charging pile, and the charging is determined to have failed, and the robot stays on standby. If the distance is greater than the preset distance, the robot is re-navigated. The robot is far away from the charging pile and there may be other paths to the first position, so it is re-navigated or a warning reminder is issued. It should be understood that the warning reminder can be a voice reminder, such as a voice reminder of "Unable to reach the specified location, please check", or by sending a notification reminder to the user app, such as sending a detention notification with the robot's current location information to the user to remind the user to process it.

[0121] The following uses a specific embodiment as an example to illustrate the data processing process of the embodiment of the present invention. Fig.10 The robot charging method includes but is not limited to the following steps S501-S522:

[0122] S501: Start.

[0123] S502: Determine whether the robot is powered on for the first time. If it is not the first time, execute step S503; if it is the first time, execute step S520.

[0124] S503: The robot returns after completing the task.

[0125] S504: Receive a first charging instruction, and go to a first location according to the first charging instruction.

[0126] S505: Determine whether the robot has reached the first position. If it has reached the first position, execute step S506. If the robot has not reached the first position after a preset time, execute step S518.

[0127] S506: After the robot reaches the first position, obtain the outline shape of the charging pile.

[0128] S507: Determine whether the contour shape of the charging pile meets the preset contour shape, if so, execute step S508, if not, execute step S513.

[0129] S508: Driving to the second position under the traction of the traction device.

[0130] S509: Determine whether the lateral deviation and angular deviation of the robot relative to the charging pile are within the preset thresholds. If the lateral deviation and angular deviation are within the preset thresholds, it is determined that the robot meets the conditions for charging the pile, and step S510 is executed; if the lateral deviation and angular deviation are not within the preset thresholds, it is determined that the robot does not meet the conditions for charging the pile, and step S513 is executed.

[0131] S510: Move to the charging station and detect the charging signal.

[0132] S511: Determine whether a charging signal is received within a preset time interval. If a charging signal is received within the preset time interval, execute step S512; if no charging signal is received within the preset time interval, execute step S513

[0133] S512: Charging is performed.

[0134] S513: Charging failed, standby at the same place.

[0135] S514: Monitor the power consumption and remaining power of the robot.

[0136] S515: Determine whether the robot meets the preset conditions. If the remaining power is lower than the first preset threshold and the power consumption exceeds the second preset threshold within the preset time, the robot is determined to meet the preset conditions and execute step S516; otherwise, execute step S517.

[0137] S516: Generate a second charging instruction, and perform charging according to the second charging instruction.

[0138] S517: Wait at the current location.

[0139] S518: Detect the distance between the robot and the first position, and determine whether the distance is greater than a preset distance. If the distance is greater than the preset distance, execute step S519; if the distance is less than the preset distance, execute step S513.

[0140] S519: Re-navigate or issue a warning reminder.

[0141] S520: Determine whether the robot is in a charging state. If the robot is in a charging state, execute step S521; if the robot is not in a charging state, execute step S522.

[0142] S521: Charging is performed.

[0143] S522: Issue a warning reminder.

[0144] In this embodiment, it is first detected whether the robot is turned on for the first time. If it is the first time, it is determined whether it is in a charging state. If it is in a charging state, charging is performed. If it is not in a charging state, a warning reminder is issued to prompt the user to handle it. If the robot is not turned on for the first time, it waits for the robot task to return, receives a first charging instruction, and goes to the first position according to the first charging instruction. If the robot does not reach the first position within a preset time, the distance between the robot and the first position is detected. If it is greater than the preset distance, the robot navigates again or issues a warning reminder. If it is less than the preset distance, the charging fails and the robot waits on the spot. After the robot reaches the first position, the contour shape of the charging pile is obtained to determine whether the contour shape of the charging pile meets the preset contour shape. If not, the charging is performed. If the robot fails to charge, it will wait in place; if it meets the requirements, it will drive to the second position under the traction of the traction device, obtain the lateral deviation and angular deviation of the robot relative to the charging pile, and determine whether the lateral deviation and angular deviation of the robot relative to the charging pile are within the preset threshold. If the lateral deviation and angular deviation exceed the preset threshold, it is determined that the robot does not meet the pile conditions, charging fails, and it will wait in place; if the lateral deviation and angular deviation are within the preset threshold, it is determined that the robot meets the pile conditions, moves to the charging pile, and detects the charging signal; it is determined whether the charging signal is received within the preset time interval. If the charging signal is not received after the preset time interval, the charging fails and it will wait in place; if the charging signal is received within the preset time interval, it will charge. If the robot fails to charge and waits in place, the power consumption and remaining power of the robot are monitored to determine whether the robot meets the preset conditions. If the remaining power is lower than the first preset threshold and the power consumption exceeds the second preset threshold within the preset time, it is determined that the robot meets the preset conditions, generates a second charging instruction, and charges according to the second charging instruction, otherwise it continues to wait in place. The present invention can control the robot to charge or wait in place according to the robot status and action, and retry charging at an appropriate time. It can ensure that the robot's use is not affected when charging fails, thereby improving the robot's efficiency and user experience.

[0145] In summary, the robot charging method provided by the embodiment of the present invention receives a first charging instruction and charges according to the first charging instruction; if it is determined that the robot fails to charge, it waits in place; monitors the state of the robot, and determines whether the robot meets the preset conditions based on the state of the robot, and if the preset conditions are met, generates a second charging instruction and charges according to the second charging instruction. The present invention can make the robot wait in place when the robot fails to charge, and make the robot try to charge again when the robot state meets the preset conditions, so that the normal use of the robot is not affected when the robot fails to charge, and tries to charge again at the right time, effectively improving the robot efficiency and user experience.

[0146] Another embodiment of the present invention further provides a non-volatile computer-readable storage medium, which stores computer-executable instructions. When the computer-executable instructions are executed by at least one processor, the at least one processor executes the robot charging method as described in any one of the above embodiments.

[0147] It should be noted that the device embodiments described above are merely illustrative, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0148] Through the description of the above implementation methods, ordinary technicians in this field can clearly understand that each implementation method can be implemented by means of software plus a general hardware platform, and of course, it can also be implemented by hardware. Ordinary technicians in this field can understand that all or part of the processes in the above-mentioned embodiment method can be completed by instructing related hardware through a computer program, and the program can be stored in a computer-readable storage medium. When the program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, the storage medium can be a disk, an optical disk, a read-only memory (ROM) or a random access memory (RAM), etc.

[0149] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit them. Under the concept of the present invention, the technical features in the above embodiments or different embodiments may also be combined, the steps may be implemented in any order, and there are many other changes in different aspects of the present invention as described above, which are not provided in detail for the sake of simplicity. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they may still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A robot charging method, applied to a robot, characterized in that: The method comprises: receiving a first charging instruction, and charging according to the first charging instruction; If it is determined that the robot fails to charge, the robot will wait in place; The state of the robot is monitored, and based on the state, it is determined whether the robot meets a preset condition; if the preset condition is met, a second charging instruction is generated, and charging is performed according to the second charging instruction.

2. The method according to claim 1, characterized in that: The monitoring the state of the robot and determining whether the robot meets a preset condition based on the state includes: Monitoring power consumption and remaining power of the robot; If the remaining power is lower than a first preset threshold and the consumed power exceeds a second preset threshold within a preset time, it is determined that the robot meets the preset condition.

3. The method according to claim 1, characterized in that Before the step of generating a second charging instruction and charging according to the second charging instruction, the method further includes: Generate a charging station exit instruction, and leave the charging station according to the charging station exit instruction.

4. The method according to any one of claims 1 to 3, characterized in that: The receiving a first charging instruction and charging according to the first charging instruction comprises: receiving the first charging instruction, and going to a first location according to the first charging instruction; After the robot reaches the first position, obtaining the contour shape of the charging pile, and determining whether the contour shape of the charging pile conforms to a preset contour shape; If the contour shape of the charging pile does not conform to the preset contour shape, it is determined that the charging of the robot has failed.

5. The method according to claim 4, characterized in that The robot includes a traction device, and the receiving a first charging instruction and charging according to the first charging instruction further includes: If the contour shape of the charging pile meets the preset contour shape, driving to the second position under the traction of the traction device; Determine whether the robot meets the pile-mounting conditions; If the charging condition is not met, it is determined that the robot fails to charge.

6. The method according to claim 5, characterized in that The determining whether the robot meets the pile mounting conditions includes: Determining whether the lateral deviation and angular deviation of the robot relative to the charging pile are within a preset threshold; If the lateral deviation and the angular deviation are not within the preset thresholds, it is determined that the robot does not meet the pile mounting condition; If the lateral deviation and the angular deviation are within the preset thresholds, it is determined that the robot meets the pile-mounting condition.

7. The method according to claim 6, characterized in that The receiving a first charging instruction and charging according to the first charging instruction further includes: If the charging pile conditions are met, the vehicle moves to the charging pile and detects a charging signal; If the charging signal is not received within a preset time interval, it is determined that the robot has failed to charge; If the charging signal is received within a preset time interval, charging is performed.

8. The method according to claim 4, characterized in that The receiving a first charging instruction and charging according to the first charging instruction further includes: If the robot does not reach the first position within a preset time, detecting the distance between the robot and the first position; If the distance is less than a preset distance, it is determined that the robot fails to charge; If the distance is greater than the preset distance, re-navigate or issue a warning reminder.

9. A robot, characterized in that: include: at least one processor, and A memory, wherein the memory is communicatively connected to the at least one processor, the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the method described in any one of claims 1 to 8.

10. A non-volatile computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer-executable instructions, and when the computer-executable instructions are executed by at least one processor, the at least one processor is caused to execute the method according to any one of claims 1 to 8.

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