Foreign matter removing method

Abstract

The invention is suitable for the technical field of wireless charging, and provides a foreign matter removing method, which comprises the following steps: in response to a foreign matter removing instruction for a target parking space, generating a first driving path of a first robot according to a global map of the target parking space and current position information of the first robot; controlling the first robot to drive to a target parking space based on the first driving path, wherein the target parking space at least comprises a target area for providing a wireless charging function; and after the first robot travels to the target parking space, sending a clearing control instruction to a second robot equipped on the first robot to instruct the second robot to clear foreign matters in the target area based on coordinate information of the target area carried in the clearing control instruction. According to the method, the first robot and the second robot cooperatively remove the foreign matters, so that the foreign matter removing means can be enriched on the basis of reducing the removing cost, and the foreign matter removing effect is improved.

Description

Technical Field

[0001] The present application belongs to the field of wireless charging technology, and in particular, relates to a foreign matter removal method. Background Art

[0002] At present, the emergence of wireless power transmission technology has freed new energy vehicles from dependence on wires. However, due to the air gap between the transmitting and receiving ends of the wireless charging area, when foreign objects fall into the air gap, it will cause a certain degree of safety hazard.

[0003] Existing foreign object removal methods usually install a foreign object removal system under the ground in each wireless charging area, use the upper and lower telescopic rotating mechanism in the foreign object removal system to extend upward to a preset height above the ground, and control the extension and rotation of the left and right telescopic arms to achieve the foreign object cleaning effect.

[0004] However, the existing foreign body removal methods have high removal costs and relatively simple removal methods, and are unable to effectively deal with complex foreign body situations, resulting in poor removal effects. Summary of the invention

[0005] The embodiment of the present application provides a foreign matter removal method, which can enrich the means of removing foreign matter on the basis of reducing the removal cost, effectively deal with the situation of complex foreign matter, and improve the foreign matter removal effect.

[0006] In a first aspect, an embodiment of the present application provides a foreign matter removal method, which is applied to a first robot, and the method includes:

[0007] In response to a foreign object removal instruction for a target parking space, generating a first driving path of the first robot according to a global map of the target parking space and current position information of the first robot, wherein the target parking space is a parking space currently providing a wireless charging function for the target vehicle;

[0008] Controlling the first robot to drive to a target parking space based on a first driving path, where the target parking space at least includes a target area for providing a wireless charging function;

[0009] After the first robot drives to the target parking space, a clearing control instruction is sent to the second robot equipped on the first robot to instruct the second robot to clear foreign objects in the target area based on the coordinate information of the target area carried in the clearing control instruction.

[0010] In a second aspect, an embodiment of the present application provides a foreign matter removal method, which is applied to a second robot, where the second robot establishes a communication connection with the first robot, and the method includes:

[0011] receiving a clearing control instruction sent by the first robot, the clearing control instruction being used to instruct the second robot to clear foreign objects in a target area based on coordinate information of the target area carried in the clearing control instruction, where the target area is an area in a target parking space that is providing a wireless charging function for a target vehicle;

[0012] Controlling the second robot to travel to the target area based on the coordinate information;

[0013] After the second robot travels to the target area, a second clearing action corresponding to the foreign matter is performed, and the second clearing action is used to clear the foreign matter into a recovery device of the second robot.

[0014] In a third aspect, an embodiment of the present application provides a foreign matter removal device, which is configured on a first robot, and the device includes:

[0015] a generating module, configured to generate, in response to a foreign object removal instruction for a target parking space, a first driving path of the first robot according to a global map of the target parking space and current position information of the first robot, wherein the target parking space is a parking space currently providing a wireless charging function for the target vehicle;

[0016] A first control module, configured to control the first robot to travel to a target parking space based on a first driving path, wherein the target parking space at least includes a target area for providing a wireless charging function;

[0017] The first sending module is used to send a clearing control instruction to a second robot equipped on the first robot after the first robot drives to a target parking space, so as to instruct the second robot to clear foreign objects in a target area based on the coordinate information of the target area carried in the clearing control instruction.

[0018] In a fourth aspect, an embodiment of the present application provides a foreign matter removal device, which is configured on a second robot, and the device includes:

[0019] A first receiving module is used to receive a clearing control instruction sent by the first robot, where the clearing control instruction is used to instruct the second robot to clear foreign objects in a target area based on coordinate information of the target area carried in the clearing control instruction, where the target area is an area in a target parking space that is providing a wireless charging function for a target vehicle;

[0020] A second control module, used to control the second robot to travel to the target area based on the coordinate information;

[0021] The first execution module is used to execute a second clearing action corresponding to the foreign matter after the second robot drives to the target area, and the second clearing action is used to clear the foreign matter into a recovery device of the second robot.

[0022] In a fifth aspect, an embodiment of the present application provides a robot comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, the method described in any one of the first aspect or the second aspect is implemented.

[0023] In a sixth aspect, an embodiment of the present application provides a foreign matter removal system, comprising:

[0024] The first robot is configured to send a removal control instruction to the second robot after driving to a target parking space according to the foreign object removal instruction, wherein the target parking space is a parking space currently providing a wireless charging function for a target vehicle, the target parking space at least includes a target area for providing a wireless charging function, and the removal control instruction carries coordinate information of the target area;

[0025] The second robot is equipped on the first robot and establishes a communication connection with the first robot, and is used to receive the removal control instruction and remove foreign objects in the target area.

[0026] In a seventh aspect, an embodiment of the present application provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the method described in any one of the first aspect or the second aspect is implemented.

[0027] In an eighth aspect, an embodiment of the present application provides a computer program product, which, when executed on a robot, enables the robot to execute any of the methods described in the first or second aspect above.

[0028] The embodiment of the present application provides a foreign object removal method, which is applied to a first robot. The method responds to a foreign object removal instruction for a target parking space, generates a first driving path for the first robot according to a global map of the target parking space and the current position information of the first robot, wherein the target parking space is a parking space that is currently providing a wireless charging function for a target vehicle; controls the first robot to drive to the target parking space based on the first driving path, wherein the target parking space at least includes a target area for providing a wireless charging function; after the first robot drives to the target parking space, sends a removal control instruction to a second robot equipped on the first robot to instruct the second robot to remove foreign objects in the target area based on the coordinate information of the target area carried in the removal control instruction. By using the above technical solution, by using the equipped first robot and the second robot to collaboratively remove foreign objects, it is possible to enrich the means of removing foreign objects and improve the removal effect of foreign objects on the basis of reducing the removal cost. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0030] Figure 1 It is a flow chart of a foreign matter removal method provided in one embodiment of the present application;

[0031] Figure 2 is a flow chart of a foreign matter removal method provided in another embodiment of the present application;

[0032] Figure 3 This is an overall flow chart of a foreign matter removal method provided by an embodiment of the present application;

[0033] Figure 4 is a side view of a foreign matter removal system provided by an embodiment of the present application;

[0034] Figure 5 is a side view of a second robot provided in one embodiment of the present application;

[0035] Figure 6 is a front view of a second robot provided in one embodiment of the present application;

[0036] Figure 7 is a top view of a second robot provided in one embodiment of the present application;

[0037] Figure 8 is a side view of a first robot provided by an embodiment of the present application;

[0038] Fig. 9 is a front view of a first robot provided in one embodiment of the present application;

[0039] Fig.10 It is a structural block diagram of a foreign matter removal device provided in one embodiment of the present application;

[0040] Fig.11 is a structural block diagram of a foreign matter removal device provided by another embodiment of the present application;

[0041] Fig.12 It is a schematic diagram of the structure of a robot provided in one embodiment of the present application. DETAILED DESCRIPTION

[0042] In the following description, specific details such as specific system structures, technologies, etc. are provided for the purpose of illustration rather than limitation, so as to provide a thorough understanding of the embodiments of the present application. However, it should be clear to those skilled in the art that the present application may also be implemented in other embodiments without these specific details. In other cases, detailed descriptions of well-known systems, devices, circuits, and methods are omitted to prevent unnecessary details from obstructing the description of the present application.

[0043] It should be understood that when used in the present specification and the appended claims, the term "comprising" indicates the presence of described features, wholes, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, wholes, steps, operations, elements, components and / or combinations thereof.

[0044] It should also be understood that the term “and / or” used in the specification and appended claims refers to any and all possible combinations of one or more of the associated listed items, and includes these combinations.

[0045] As used in the specification and appended claims of this application, the term "if" can be interpreted as "when" or "uponce" or "in response to determining" or "in response to detecting", depending on the context. Similarly, the phrase "if it is determined" or "if [described condition or event] is detected" can be interpreted as meaning "uponce it is determined" or "in response to determining" or "uponce [described condition or event] is detected" or "in response to detecting [described condition or event]", depending on the context.

[0046] In addition, in the description of the present application specification and the appended claims, the terms "first", "second", "third", etc. are only used to distinguish the descriptions and cannot be understood as indicating or implying relative importance.

[0047] References to "one embodiment" or "some embodiments" etc. described in the specification of this application mean that one or more embodiments of the present application include specific features, structures or characteristics described in conjunction with the embodiment. Therefore, the statements "in one embodiment", "in some embodiments", "in some other embodiments", "in some other embodiments", etc. that appear in different places in this specification do not necessarily refer to the same embodiment, but mean "one or more but not all embodiments", unless otherwise specifically emphasized in other ways. The terms "including", "comprising", "having" and their variations all mean "including but not limited to", unless otherwise specifically emphasized in other ways.

[0048] It should be noted that the information collection process (such as face image collection process, fingerprint information collection process, etc.) / feature extraction process involved in this application is performed with the user's knowledge and permission, that is, the information collection process / feature extraction process complies with the requirements of laws and regulations and does not constitute an act that harms the public interest.

[0049] At present, new energy vehicles are mainly charged by wired charging, that is, the electric vehicle is connected to the charging pile through a charging gun, which makes this kind of wired charging method have certain safety risks when operated manually or in rainy weather or humid environment. In addition, the wired charging method also faces technical problems such as range anxiety, large battery pack investment, and inconsistent standards. Therefore, the emergence of wireless power transmission technology has freed new energy vehicles from dependence on wires.

[0050] Wireless charging methods can be mainly divided into the following types: magnetic field coupling wireless charging, microwave wireless charging, ultrasonic charging, etc. Among them, magnetic coupling wireless charging can be considered as the most reliable, efficient and suitable technology for high-power wireless charging applications of electric vehicles. However, there is a large air gap between the transmitter and the receiver in the magnetic coupling wireless charging system, which means that if foreign objects fall into the charging area, there will inevitably be certain safety hazards.

[0051] For example, if metal foreign objects (such as nails, cans, etc.) in the surrounding environment accidentally fall into the charging area, the strong alternating magnetic field will produce eddy current effects and quickly heat up, which will not only reduce the charging efficiency, but also burn the transmitting coil panel, scald people or animals who accidentally touch it, and even cause fires. At the same time, the electromagnetic field generated during wireless charging poses a potential electromagnetic hazard to organisms entering the charging area.

[0052] Existing foreign object removal methods usually utilize a foreign object removal system installed under the ground at the center of the wireless charging area. The structure of the foreign object removal system includes an upper and lower telescopic rotating mechanism, a cleaning workbench and a foreign object removal control circuit. After receiving a foreign object removal instruction, the foreign object removal system can control the upper and lower telescopic rotating mechanism to extend upward to a preset height from the ground, control the left and right telescopic arms to extend, and control the rotating mechanism to rotate at the same time, thereby achieving the effect of cleaning foreign objects.

[0053] However, with the continuous expansion of wireless charging parking spaces, the installation and maintenance costs of existing foreign object removal systems are high, and the system is difficult to maintain and foreign objects are difficult to clean in a centralized manner. At the same time, the foreign object cleaning mechanism of existing foreign object removal systems is relatively simple. When there are difficult cleaning situations, such as thin metal foreign objects or foreign objects adhering to the charging area, the cleaning effect of existing foreign object removal systems is poor; at the same time, existing foreign object removal systems cannot effectively remove living things.

[0054] Based on this, this embodiment provides a foreign object removal method with an adaptive foreign object removal function, which can ensure the efficiency of removal in multiple parking spaces; at the same time, considering that the height of an actual car chassis is generally between 110mm and 250mm, this embodiment provides a foreign object removal system of a mother-and-child robot, which can have greater advantages in actual application environments, ensure the rapid deployment and flexible movement of the foreign object removal system in different situations, and reduce the cost of removal.

[0055] Figure 1 1 is a flow chart of a foreign matter removal method provided in one embodiment of the present application. As an example but not a limitation, the method can be applied to the first robot.

[0056] S101. In response to a foreign object removal instruction for a target parking space, generating a first driving path of a first robot according to a global map of the target parking space and current position information of the first robot, wherein the target parking space is a parking space that is currently providing a wireless charging function for a target vehicle.

[0057] In this embodiment, the foreign object removal system can be composed of a first robot and at least one second robot equipped on the first robot, wherein the first robot can be understood as a robot that receives a foreign object removal instruction and instructs the second robot to perform a removal action according to the foreign object removal instruction. Under normal circumstances, the second robot can be considered as the robot that actually performs the foreign object removal action. In other cases, the first robot can also perform the foreign object removal action.

[0058] The source of the foreign object removal instruction is not limited. For example, in this embodiment, each parking space may include a target area for providing a wireless charging function, and the surface of each parking space may be configured with a wireless charging foreign object detection circuit. The wireless charging foreign object detection circuit may be used to detect whether there is a foreign object in the target area of ​​the corresponding parking space. When a foreign object is detected, a foreign object removal instruction is sent to the first robot. Alternatively, the foreign object removal system may be set to an inspection mode. In the inspection mode, the first robot may inspect the entire charging area. At this time, the foreign object removal instruction may come from the first robot's own sensor to automatically trigger the foreign object removal method.

[0059] It should be noted that when the foreign object removal system is configured in a new working environment (such as a large parking lot equipped with wireless charging parking spaces), the first robot can first analyze the overall environment and complete the construction of the global map. For example, it can use laser simultaneous localization and mapping (SLAM) or visual SLAM and other mapping technologies to establish the layout of the global map, which may include the locations and numbers of multiple parking spaces, and assign numbers to each parking space; then, the coordinate range of the base station and the wireless charging area can be delineated in the global map, such as remote control to the set area and then coordinate calculation can be used to achieve the positioning of the set area, and finally, the improved global map can be stored in the processing unit.

[0060] Initially, the foreign object removal system can be located in the base station and is generally in sleep mode to ensure endurance. During this period, the first / second robot can be charged; most of the functions of the first / second robot can also be turned off, and the main power consumption comes from the task of real-time monitoring of foreign object removal instructions. After receiving the foreign object removal instruction, it can respond to specific operations. For example, the first robot can respond to the foreign object removal instruction for the target parking space, confirm the source of the foreign object removal instruction by pre-setting the charging area number or area coordinates, and then, when it is confirmed that the second robot is located inside the first robot, according to the global map and the current position information of the first robot, a similar path planning algorithm such as the A* algorithm is used to generate a first driving path for the first robot to go to the target parking space.

[0061] In some embodiments, if the foreign matter removal system currently has other removal tasks to be completed, the first robot can postpone the removal instruction.

[0062] At the same time, the foreign object removal instruction may include a corresponding priority, so that the first robot may respond according to different priorities. For example, a high priority represents a high degree of danger, and the first robot will be given priority to handle it.

[0063] S102: Control the first robot to drive to a target parking space based on a first driving path, where the target parking space at least includes a target area for providing a wireless charging function.

[0064] In this step, the first robot can be controlled to drive to the target parking space based on the generated first driving path. For example, the first robot can be controlled to drive directly according to the first driving path, or the first driving path can be updated in real time through the built-in sensor during the process of going to the target parking space to control the first robot to drive to the target parking space according to the updated first driving path.

[0065] In some embodiments, controlling the first robot to drive to the target parking space based on the first driving path includes:

[0066] During driving based on the first driving path, collecting first environmental data of the first robot;

[0067] generating a local driving map of the first robot based on the first environment data;

[0068] The first driving path is updated according to the local driving map of the first robot, so as to control the first robot to drive to the target parking space according to the updated first driving path.

[0069] The first environmental data may refer to environmental data collected when the first robot travels along the first driving path. The specific content of the first environmental data may be determined according to the type of built-in sensor, which is not limited in this embodiment.

[0070] In a specific implementation, while the first robot is driving based on the first driving path, first environmental data of the first robot can be collected. For example, data collected by a lidar or a vision module can be used to generate a local cost map (i.e., a local driving map) around the robot, complete real-time obstacle avoidance, and call the path planning algorithm again to update the path, so that the first robot can be controlled to drive to the target parking space along the updated first driving path.

[0071] S103: After the first robot drives to the target parking space, a clearing control instruction is sent to the second robot equipped on the first robot to instruct the second robot to clear foreign objects in the target area based on the coordinate information of the target area carried in the clearing control instruction.

[0072] The clearing control instruction may carry coordinate information of the target area, that is, coordinate information of the target area in the target parking space for providing the wireless charging function.

[0073] After the above steps allow the first robot to drive to the target parking space, the first robot can send a clearing control instruction to the second robot equipped on the first robot. If the first robot can be equipped with one or more second robots, the first robot can send a clearing control instruction to any second robot to make the second robot land and start to perform the task of clearing foreign objects in the target area based on the coordinate information of the target area.

[0074] In some embodiments, before sending the clearing control instruction to the second robot equipped on the first robot, the method further includes:

[0075] Sending a landing control instruction to the second robot, where the landing control instruction is used to instruct the second robot to drive out of the first robot;

[0076] receiving the relative position coordinates sent by the second robot;

[0077] Calculate the initial position coordinates of the second robot according to the relative position coordinates and the global map;

[0078] Sending a clearing control instruction to a second robot equipped on the first robot includes:

[0079] A clearing control instruction carrying the coordinate information of the initial position and the target area is sent to the second robot.

[0080] The landing control instruction may be used to instruct the second robot to drive out of the first robot; and the relative position coordinates may be relative coordinates between the second robot and the first robot.

[0081] In a specific implementation, after the first robot reaches the target parking space and before sending a clearing control instruction to the second robot equipped on the first robot, the first robot can select a suitable area to stay temporarily and first send a landing control instruction to the second robot to instruct the second robot to drive out of the first robot, such as opening the rear trap door and forming a slope to assist the second robot to drive out of the first robot, so that the second robot can complete the position coordinate calculation and correction with the first robot after landing, such as sending relative position coordinates to the first robot to request the first robot to calculate the initial position coordinates of the second robot based on the relative position coordinates and the global map, specifically, the robot's sensor can be used to measure the distance of a specific part to complete the coordinate calculation of the second robot, so that the first robot can send a clearing control instruction carrying the initial position coordinates and the coordinate information of the target area to the second robot.

[0082] A foreign body removal method provided in this embodiment is applied to a first robot, in response to a foreign body removal instruction for a target parking space, generating a first driving path of the first robot according to a global map of the target parking space and the current position information of the first robot, wherein the target parking space is a parking space that is currently providing a wireless charging function for a target vehicle; controlling the first robot to drive to the target parking space based on the first driving path, wherein the target parking space at least includes a target area for providing a wireless charging function; after the first robot drives to the target parking space, sending a removal control instruction to a second robot equipped on the first robot to instruct the second robot to remove foreign bodies in the target area based on the coordinate information of the target area carried in the removal control instruction. By using this method, by using the equipped first robot and the second robot to collaboratively remove foreign bodies, it is possible to enrich the means of removing foreign bodies and improve the removal effect of foreign bodies on the basis of reducing the removal cost.

[0083] In some embodiments, after sending the clearing control instruction to the second robot equipped on the first robot, the method further includes:

[0084] receiving a request for removing foreign matter sent by the second robot;

[0085] Based on the cleaning request, a first cleaning action is performed on the foreign matter, and the first cleaning action is used to clean the foreign matter into a recovery device of the first robot.

[0086] It can be considered that the result of the second robot performing the foreign object removal in the target area is not limited. For example, in some special cases (such as thinner metal foreign objects, etc.), the second robot may fail to remove the foreign objects. At this time, the second robot can send a removal request for the foreign objects to the first robot, so that the first robot can perform the corresponding first removal action on the foreign objects based on the removal request to achieve the effect of removing the foreign objects into the recovery device of the first robot. On this basis, the first robot can assist in the removal of foreign objects and improve the efficiency and effect of foreign object removal.

[0087] Figure 2 It is a flow chart of a foreign matter removal method provided in another embodiment of the present application. As an example but not a limitation, the method can be applied to the second robot.

[0088] S201. Receive a clearing control instruction sent by a first robot, where the clearing control instruction is used to instruct a second robot to clear foreign objects in a target area based on coordinate information of the target area carried in the clearing control instruction, where the target area is an area in a target parking space that is providing a wireless charging function for a target vehicle.

[0089] S202: Control the second robot to travel to the target area based on the coordinate information.

[0090] In this embodiment, the second robot can receive the clearing control instruction sent by the first robot, and realize the subsequent clearing of foreign objects only through the coordinate information of the target area carried by the clearing control instruction, or can also combine other information to comprehensively execute the subsequent clearing process.

[0091] In some embodiments, before receiving the clearing control instruction sent by the first robot, the method further includes:

[0092] receiving a landing control instruction sent by the first robot;

[0093] In response to the landing control instruction, controlling the second robot to drive out of the first robot;

[0094] After the second robot lands, the relative position coordinates are sent to the first robot to request the first robot to calculate the initial position coordinates of the second robot based on the relative position coordinates, where the relative position coordinates are the relative coordinates between the second robot and the first robot;

[0095] Receiving the clearing control instruction sent by the first robot, including:

[0096] A clearing control instruction returned by the first robot based on the relative position coordinates is received, where the clearing control instruction carries the initial position coordinates of the second robot and coordinate information of the target area.

[0097] In some embodiments, controlling the second robot to travel to the target area based on the coordinate information includes:

[0098] Based on the initial position coordinates and the coordinate information, generating a second driving path for the second robot;

[0099] The second robot is controlled to travel to the target area based on the second travel path.

[0100] In a specific implementation, after the second robot confirms its initial position coordinates in the global map, the second driving path of the second robot is generated according to the above-mentioned path planning algorithm, so that the second robot can be controlled to directly drive to the charging abnormality area (i.e., the target area) at the bottom of the vehicle along the second driving path; local obstacle avoidance and path updating can also be completed through data sent back by sensors such as vision modules.

[0101] For example, the top of the second sensor can be equipped with an array ranging module, so that the second environment data and distance data of the second robot can be collected in real time during the driving process based on the second driving path, and the local driving map of the second robot can be generated based on the collected second environment data and distance data to update the second driving path, so as to control the second robot to drive to the target area according to the updated second driving path. For example, when traveling to the target area, the array ranging module can be used to monitor the closest distance from the highest point of the second robot to the bottom of the charging vehicle in real time to ensure that the second robot will not scratch the target vehicle during operation.

[0102] S203: After the second robot drives to the target area, a second clearing action corresponding to the foreign matter is performed, where the second clearing action is used to clear the foreign matter into a recovery device of the second robot.

[0103] After the second robot drives to the target area through the above steps, the second robot can perform different second cleaning actions according to the different foreign objects in the target area. For example, it can perform the second cleaning action corresponding to the type of foreign object, and can also combine other parameters to distinguish different second cleaning actions.

[0104] In some embodiments, performing a second clearing action corresponding to the foreign matter includes:

[0105] Collect image data of foreign matter;

[0106] Processing the image data to obtain foreign body parameters of the foreign body, the foreign body parameters at least including the size and type of the foreign body;

[0107] According to the size and type of the foreign matter, a second cleaning action is performed on the foreign matter.

[0108] In a specific implementation, an optical three-dimensional measurement method can be used to calculate the specific location and size of the foreign object through the image data collected by the visual module. At the same time, traditional image processing methods or large models such as YOLO (You Only Look Once) can be used to identify the type of foreign object, so that the second removal action of the foreign object can be completed in a targeted manner according to the specific parameters of the foreign object. For example, when the foreign object is a metal foreign object, the foreign object can be collected into the recovery device of the second robot through storage actions such as clamping; and when the foreign object is a large living thing, the foreign object can be recovered into the recovery device of the second robot through appropriate whole vehicle movement.

[0109] Furthermore, if there are foreign objects in the second robot, the foreign objects can be dumped into a foreign object recovery device in front of the second robot and in front of the first robot.

[0110] Furthermore, the second robot can pass through the trapdoor ramp, and can collect information from the visual module and infrared detection module to assist the second robot to return to the first robot correctly. After completing all the removal operations, the foreign object removal system can return to the base station. If the first robot receives a new foreign object removal instruction on the way back, it can respond immediately and go to the next target parking space; if the return trip is smooth, it can enter the sleep mode and wait for subsequent instructions.

[0111] During the operation of the overall foreign body removal method, if there is a dangerous situation such as the robot being blocked at a certain position or the path being wrong, an alarm signal can be sent to the background server. At this time, human intervention can be carried out to escape danger through remote control or on-site processing.

[0112] A foreign body removal method provided in this embodiment is applied to a second robot, receiving a removal control instruction sent by a first robot, the removal control instruction is used to instruct the second robot to remove foreign bodies in a target area based on the coordinate information of the target area carried in the removal control instruction, the target area being an area in a target parking space that is providing a wireless charging function for a target vehicle; controlling the second robot to drive to the target area based on the coordinate information; after the second robot drives to the target area, executing a second removal action corresponding to the foreign body, the second removal action is used to remove the foreign body into a recovery device of the second robot. By using this method, by using the second robot to execute the second removal action corresponding to the foreign body, it is possible to perform targeted removal work on the foreign body, effectively deal with the situation of complex foreign bodies, and improve the removal effect of foreign bodies.

[0113] In some embodiments, after performing a second clearing action corresponding to the foreign matter, the method further includes:

[0114] If the execution result of the second clearing action fails, a third clearing action is performed on the foreign object, and the third clearing action is used to temporarily clear the foreign object from the target area to an area outside the target parking space;

[0115] A removal request for the foreign matter is sent to the first robot to request the first robot to remove the foreign matter into a recovery device of the first robot based on the removal request.

[0116] In a specific implementation, if the second robot still fails to successfully remove the foreign object after executing the second clearing action a specified number of times, it can be considered that the execution result of the second clearing action has failed. Then the second robot can perform a third clearing action on the foreign object, and temporarily remove the foreign object from the target area to an area outside the target parking space, such as carrying the foreign object away from the area under the vehicle or dragging the foreign object out from under the vehicle. If the foreign object needs further grasping to complete the storage operation, the first robot can be requested to remove the foreign object, and the first robot can store the foreign object in an open recovery device through modules such as a robotic arm.

[0117] Figure 3 is an overall flow chart of a foreign body removal method provided by an embodiment of the present application, such as Figure 3 As shown, first, the mother robot (i.e., the first robot) can complete the overall analysis and global mapping of the environment in advance to determine the location of all charging areas. When the mother-child robot is located at the base station, it can be in sleep mode, waiting for the triggering of the foreign object removal instruction. If the triggering of the foreign object removal instruction is detected, the source of the foreign object removal instruction is determined, and under the set traffic constraint rules, the driving trajectory of the foreign object removal system from the current position (such as the base station) to the target area is planned, and the motor controls the tire to start the driving task to the target parking space according to the driving trajectory.

[0118] During driving, the vehicle can monitor the surrounding environment in real time, complete real-time obstacle avoidance and path updates. For example, it can obtain path correction information contained in the surrounding environment to correct driving actions and ensure that it operates within traffic constraints. It can also obtain its own driving monitoring data and complete synchronous updates of its own location.

[0119] After arriving near the target area, the sub-robot (i.e. the second robot) can drive out of the mother robot and perform sub-parent positioning calibration. The sub-robot can then go to the charging position under the vehicle and complete real-time obstacle avoidance through real-time monitoring of the surrounding environment. After the sub-robot arrives at the charging area, it can detect foreign objects and remove / store them; it can also determine the shape and position of the foreign objects and transfer them outside the charging area through the corresponding module.

[0120] After the cleaning action is completed, the foreign matter can be recovered to the recovery device, the sub-robot returns to the mother robot, and the sub-robot and the mother robot can return to the base station. On the way back, they can keep monitoring the behavior of the foreign matter cleaning instruction in real time. If the triggering of the foreign matter cleaning instruction is detected, the source of the foreign matter cleaning instruction is determined, and the robot continues to move to the new target location and repeats the above operation. If the triggering of the foreign matter cleaning instruction is not detected on the way, the robot drives to the base station.

[0121] Optionally, the mother-and-child robot can be equipped with modules of different models, shapes and mechanisms to complete the removal / gripping of foreign objects.

[0122] Optionally, after returning to the base station, the foreign object removal system may enter a sleep mode, retaining only the function of monitoring foreign object removal instructions.

[0123] Optionally, the foreign object removal system can be wirelessly charged within the base station to improve the endurance of the device while ensuring that the response speed is not affected.

[0124] The foreign matter removal system provided in this embodiment is described below as an example. For example, the foreign matter removal system may include:

[0125] The first robot is configured to send a removal control instruction to the second robot after driving to a target parking space according to the foreign object removal instruction, wherein the target parking space is a parking space currently providing a wireless charging function for a target vehicle, the target parking space at least includes a target area for providing a wireless charging function, and the removal control instruction carries coordinate information of the target area;

[0126] The second robot is equipped on the first robot and establishes a communication connection with the first robot, and is used for receiving a clearing control instruction and clearing foreign objects in a target area.

[0127] Optionally, the first robot comprises at least: a first processing unit, a first motor and a first tire,

[0128] A first processing unit, configured to generate a first driving path for the first robot according to a foreign object removal instruction;

[0129] The first motor is used to drive the first tire of the first robot to travel to the target parking space based on the first driving path.

[0130] Optionally, the first robot further comprises a first sensor unit,

[0131] A first sensor unit, used to collect first environmental data of the first robot;

[0132] The first processing unit is further used to update the first driving path based on the first environmental data;

[0133] The first motor is also used to drive the first tire of the first robot to travel to the target parking space according to the updated first driving path.

[0134] Optionally, the first sensor unit includes at least: a first image acquisition device and a first laser radar,

[0135] A first image acquisition device, used to acquire first environment image data of the first robot;

[0136] The first laser radar is used to collect first radar data of the first robot.

[0137] Optionally, the first robot comprises at least: a first steering gear, a first foreign matter removing unit and a first recovery device.

[0138] a first steering engine, configured to control the first foreign matter removing unit to perform a first removing action after receiving a removing request from the second robot;

[0139] The first foreign matter removing unit is used to remove the foreign matter into the first recovery device of the first robot.

[0140] Optionally, the second robot comprises at least: a second processing unit, a second motor and a second tire.

[0141] A second processing unit, used for generating a second driving path for the second robot according to the coordinate information;

[0142] The second motor is used to drive the second tire of the second robot to travel to the target area based on the second driving path.

[0143] Optionally, the second robot further comprises a second sensor unit,

[0144] A second sensor unit, used for collecting second environment data of the second robot;

[0145] The second processing unit is further used to update the second driving path based on the second environmental data;

[0146] The second motor is also used to drive the second tire of the second robot to travel to the target area along the updated second driving path.

[0147] Optionally, the second sensor unit at least includes: a second image acquisition unit, a second laser radar and an array ranging unit.

[0148] A second image acquisition unit, used for acquiring second environment image data of a second robot;

[0149] A second laser radar, used to collect second radar data of the second robot;

[0150] The array distance measuring unit is used to collect distance data of the second robot, and the distance data is used to characterize the distance between the highest point of the second robot and the bottom of the target vehicle.

[0151] Optionally, the second robot further includes: a second steering gear, a second foreign matter removal unit and a second recovery device.

[0152] a second steering engine, used for controlling the second foreign matter removing unit to perform a second removing action;

[0153] The second foreign matter removing unit is used to remove the foreign matter into the second recovery device of the second robot.

[0154] Optionally, the first robot comprises at least: a movable door panel,

[0155] The movable door panel is used to form a slope for the second robot to drive out of the first robot.

[0156] Optionally, the first robot further includes a first communication unit, and the second robot further includes a second communication unit, and the first communication unit communicates with the second communication unit using a wireless network connection.

[0157] Figure 4 is a side view of a foreign body removal system provided by an embodiment of the present application, such as Figure 4As shown, it may include a first robot and a second robot equipped on the first robot, and the second robot may establish a communication connection with the first robot. Specifically, when the foreign object removal system is located at the base station or in the process of heading to the target parking space, the second robot may be equipped in the storage area of ​​the first robot, and the size of the second robot is smaller than the size of the storage area; when the foreign object removal system reaches the target parking space, the second robot in the storage area may drive out of the first robot from the rear of the first robot and go to perform specific cleaning actions. The hardware specifically configured in the first robot and the second robot can be installed separately according to the established functions and task allocations, and the appearance design and assembly can be performed according to the required hardware and actual needs.

[0158] Figure 5 is a side view of a second robot provided in one embodiment of the present application, such as Figure 5 As shown, the second robot may include a visual module 1 (i.e., a second image acquisition unit), an array ranging module 2 (i.e., an array ranging unit), a computing and processing unit 3 (i.e., a second processing unit), a communication module 4 (i.e., a second communication unit), a second power supply 5, a tire and a motor 6 (i.e., a second motor and a second tire), a sub-robot foreign object storage mechanism 7 (i.e., a second foreign object removal unit), a servo 8 (i.e., a second servo), and a light source 9.

[0159] Among them, the visual module 1 can be used to obtain the main characteristics of foreign matter (such as life characteristics and morphological characteristics); the array ranging module 2 can be used to monitor the distance from the highest point of the second robot to the bottom of the vehicle; the computing processing unit 3 can be used to process the signals of each sensor to complete the functions of real-time path planning, position correction and command reception and transmission; the communication module 4 can realize communication with the first robot; the motor in the tire and motor 6 can be used to drive the tire of the second robot to travel according to the driving path; the servo 8 can be used to control the sub-robot foreign matter storage mechanism 7 to perform specific cleaning actions; the light source 9 can be used to ensure that the second robot can work normally in a dark environment.

[0160] Optionally, the second robot may be added with an odometer module to obtain the current driving data of the second robot to achieve position update and correction.

[0161] Optionally, the visual module can also be used to obtain depth information around the second robot to achieve real-time obstacle avoidance.

[0162] Optionally, the second robot may also be equipped with a radar module (i.e., a second laser radar) to assist the visual module in performing real-time obstacle avoidance during driving.

[0163] Optionally, the second robot may also be provided with a foreign matter recovery device (ie, a second recovery device) for recovering foreign matter of the second robot.

[0164] Figure 6 is a front view of a second robot provided in one embodiment of the present application, such as Figure 6 As shown, it is a front view of the second robot when it is working. The height of the second robot can be configured according to empirical values, so that the second robot can travel to the bottom of the target vehicle to remove foreign objects in the target area.

[0165] Figure 7 is a top view of a second robot provided in one embodiment of the present application, such as Figure 7 As shown, the size and position of each component in the second robot can be arranged according to actual conditions. For example, the visual module 1, the array ranging module 2, the computing and processing unit 3 and the communication module 4 can be arranged on the top of the second robot, and the second robot is equipped with 4 tires, etc.

[0166] Figure 8 is a side view of a first robot provided in one embodiment of the present application, such as Figure 8 As shown, the first robot may include a vision module 10 (i.e., a first image acquisition unit), a computing and processing unit 11 (i.e., a first processing unit), a communication module 12 (i.e., a first communication unit), a tire and a motor 13 (i.e., a first motor and a first tire), a touch display module 14, a servo motor module 15 (i.e., a first servo), a trap door 16 (i.e., a movable door panel), a position limiting bracket 17, a first power supply 18, a foreign matter recovery device 19 (i.e., a first recovery device), a robotic arm module 20 (i.e., a first foreign matter removal unit), and a laser radar module 21 (i.e., a first laser radar).

[0167] Among them, the computing processing unit 11 can be used to store and process sensor data to realize functions such as perception and mapping of the environment, navigation, and command sending and receiving; the visual module 10 and the laser radar module 21 can be used for mapping the overall environment and real-time perception of the local environment; the communication module 12 can realize communication with the second robot and the foreign object detection circuit; the touch display module 14 can be used to provide status information and image information to users / maintenance personnel, and provide a debugging interface; the motor in the tire and motor 13 can be used to drive the tire of the first robot to travel along the driving path; the servo motor module 15 can be used to control the foreign object storage mechanism to perform specific cleaning actions, and the foreign object grasping mechanism can be used to assist the second robot to complete the storage of foreign objects, such as a robotic arm module 20, etc.; the foreign object recovery device 19 can be used for temporary storage of foreign objects.

[0168] In addition, the trap door 16 can be used to open and form a slope to assist the second robot to drive out of the first robot; the position limiting bracket 17 can be used to support the second robot, and can be equipped with multiple second robot storage areas to realize a multi-child-one-mother expansion system and improve the efficiency of foreign object handling.

[0169] Fig. 9 is a front view of a first robot provided in one embodiment of the present application, such as Fig. 9 As shown, the first robot may be added with a split infrared sensor 22 , so that the first robot can assist the second robot to correctly return to the inside of the first robot based on the information of the split infrared sensor 22 .

[0170] Optionally, the first robot may be added with an odometer module for calculating the real-time position of the mother robot;

[0171] Optionally, both the second robot and the first robot may be remotely controlled.

[0172] Optionally, the appearance design and assembly are carried out according to actual needs, including the distribution, structure, proportion, etc. of the hardware.

[0173] Optionally, touch buttons or mechanical buttons are added for user interaction with the device.

[0174] From the above description, it can be found that the foreign matter removal method and system provided in this embodiment, in the form of a mother-and-child robot, integrates technologies including autonomous mapping, autonomous navigation, vehicle positioning and recovery, real-time obstacle avoidance, foreign matter processing and storage, etc., and realizes the function of discovering and removing safety hazards that are prone to occur during wireless charging of new energy vehicles. At the same time, it can help complete the safety and hygiene analysis of the surrounding environment and ensure the environmental safety of wireless charging.

[0175] Corresponding to the foreign matter removal method of the above embodiment, Fig.10 This is a structural block diagram of a foreign matter removal device provided in one embodiment of the present application. For ease of explanation, only the parts related to the embodiment of the present application are shown.

[0176] Reference Fig.10 , the device comprises:

[0177] A generating module 301 is used to generate a first driving path of the first robot in response to a foreign object removal instruction for a target parking space, according to a global map of the target parking space and current position information of the first robot, wherein the target parking space is a parking space currently providing a wireless charging function for the target vehicle;

[0178] A first control module 302, configured to control the first robot to drive to a target parking space based on a first driving path, wherein the target parking space at least includes a target area for providing a wireless charging function;

[0179] The first sending module 303 is used to send a clearing control instruction to the second robot equipped on the first robot after the first robot drives to the target parking space, so as to instruct the second robot to clear foreign objects in the target area based on the coordinate information of the target area carried in the clearing control instruction.

[0180] The foreign object removal device provided in this embodiment is configured on a first robot, and generates a first driving path of the first robot in response to a foreign object removal instruction for a target parking space through a generating module, according to a global map of the target parking space and the current position information of the first robot, wherein the target parking space is a parking space that is currently providing a wireless charging function for a target vehicle; controls the first robot to drive to the target parking space based on the first driving path through a first control module, and the target parking space at least includes a target area for providing a wireless charging function; and sends a removal control instruction to a second robot equipped on the first robot after the first robot drives to the target parking space through a sending module, so as to instruct the second robot to remove foreign objects in the target area based on the coordinate information of the target area carried in the removal control instruction. By using the device, by using the equipped first robot and the second robot to collaboratively remove foreign objects, it is possible to enrich the means of removing foreign objects and improve the removal effect of foreign objects on the basis of reducing the removal cost.

[0181] Optionally, the foreign matter removing device provided in this embodiment further includes:

[0182] A second sending module is used to send a landing control instruction to the second robot equipped on the first robot before sending a clearing control instruction to the second robot, wherein the landing control instruction is used to instruct the second robot to drive out of the first robot;

[0183] A second receiving module is used to receive the relative position coordinates sent by the second robot before sending a clearing control instruction to the second robot equipped on the first robot;

[0184] A calculation module, used for calculating the initial position coordinates of the second robot according to the relative position coordinates and the global map before sending a clearing control instruction to the second robot equipped on the first robot;

[0185] The first sending module is specifically used for:

[0186] A clearing control instruction carrying the coordinate information of the initial position and the target area is sent to the second robot.

[0187] Optionally, the first control module is specifically used to:

[0188] During driving based on the first driving path, collecting first environmental data of the first robot;

[0189] generating a local driving map of the first robot based on the first environment data;

[0190] The first driving path is updated according to the local driving map of the first robot, so as to control the first robot to drive to the target parking space according to the updated first driving path.

[0191] Optionally, the foreign matter removing device provided in this embodiment further includes:

[0192] A third receiving module is used to receive a request for clearing foreign objects sent by the second robot after sending a clearing control instruction to the second robot equipped on the first robot;

[0193] The second execution module is used to perform a first cleaning action on the foreign matter based on the cleaning request, and the first cleaning action is used to clean the foreign matter into a recovery device of the first robot.

[0194] Corresponding to the foreign matter removal method of the above embodiment, Fig.11 This is a structural block diagram of a foreign matter removal device provided in another embodiment of the present application. For ease of explanation, only the parts related to the embodiment of the present application are shown.

[0195] Reference Fig.11 , the device comprises:

[0196] The first receiving module 401 is used to receive a clearing control instruction sent by the first robot, where the clearing control instruction is used to instruct the second robot to clear foreign objects in a target area based on coordinate information of the target area carried in the clearing control instruction, where the target area is an area in a target parking space that is providing a wireless charging function for a target vehicle;

[0197] The second control module 402 is used to control the second robot to travel to the target area based on the coordinate information;

[0198] The first execution module 403 is used to execute a second clearing action corresponding to the foreign matter after the second robot drives to the target area, and the second clearing action is used to clear the foreign matter into a recovery device of the second robot.

[0199] The foreign body removal device provided in this embodiment is configured on the second robot, and receives the removal control instruction sent by the first robot through the first receiving module. The removal control instruction is used to instruct the second robot to remove foreign bodies in the target area based on the coordinate information of the target area carried in the removal control instruction. The target area is the area in the target parking space that is providing wireless charging function for the target vehicle; the second control module controls the second robot to drive to the target area based on the coordinate information; the first execution module executes the second removal action corresponding to the foreign body after the second robot drives to the target area, and the second removal action is used to remove the foreign body into the recovery device of the second robot. By using this device, by using the second robot to execute the second removal action corresponding to the foreign body, it is possible to carry out targeted removal of foreign bodies, effectively deal with the situation of complex foreign bodies, and improve the removal effect of foreign bodies.

[0200] Optionally, the foreign matter removing device provided in this embodiment further includes:

[0201] a fourth receiving module, configured to receive a landing control instruction sent by the first robot before receiving a clearing control instruction sent by the first robot;

[0202] a third control module, configured to control the second robot to move out of the first robot in response to a landing control instruction;

[0203] a third sending module, configured to send relative position coordinates to the first robot after the second robot lands, so as to request the first robot to calculate the initial position coordinates of the second robot based on the relative position coordinates, where the relative position coordinates are relative coordinates between the second robot and the first robot;

[0204] The first receiving module is specifically used for:

[0205] A clearing control instruction returned by the first robot based on the relative position coordinates is received, where the clearing control instruction carries the initial position coordinates of the second robot and coordinate information of the target area.

[0206] Optionally, the third control module includes:

[0207] A generating unit, configured to generate a second driving path of the second robot based on the initial position coordinates and the coordinate information;

[0208] The control unit is used to control the second robot to travel to the target area based on the second travel path.

[0209] Optionally, the control unit is specifically used for:

[0210] In the process of driving based on the second driving path, collecting second environment data and distance data of the second robot, where the distance data is used to characterize the distance between the highest point of the second robot and the bottom of the target vehicle;

[0211] generating a local driving map of the second robot based on the second environment data and the distance data;

[0212] The second driving path is updated according to the local driving map of the second robot, so as to control the second robot to drive to the target area according to the updated second driving path.

[0213] Optionally, the first execution module is specifically used to:

[0214] Collect image data of foreign matter;

[0215] Processing the image data to obtain foreign body parameters of the foreign body, the foreign body parameters at least including the size and type of the foreign body;

[0216] According to the size and type of the foreign matter, a second cleaning action is performed on the foreign matter.

[0217] Optionally, the foreign matter removing device provided in this embodiment further includes:

[0218] A third execution module is used for executing a third clearing action for the foreign object after executing the second clearing action corresponding to the foreign object, if the execution result of the second clearing action fails, wherein the third clearing action is used for temporarily clearing the foreign object from the target area to an area outside the target parking space;

[0219] The fourth sending module is used to send a removal request for foreign objects to the first robot, so as to request the first robot to remove the foreign objects into a recovery device of the first robot based on the removal request.

[0220] It should be noted that the information interaction, execution process, etc. between the above-mentioned devices / units are based on the same concept as the method embodiment of the present application. Their specific functions and technical effects can be found in the method embodiment part and will not be repeated here.

[0221] The technicians in the relevant field can clearly understand that for the convenience and simplicity of description, only the division of the above-mentioned functional units and modules is used as an example for illustration. In practical applications, the above-mentioned function allocation can be completed by different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiment can be integrated in a processing unit, or each unit can exist physically separately, or two or more units can be integrated in one unit. The above-mentioned integrated unit can be implemented in the form of hardware or in the form of software functional units. In addition, the specific names of the functional units and modules are only for the convenience of distinguishing each other, and are not used to limit the scope of protection of this application. The specific working process of the units and modules in the above-mentioned system can refer to the corresponding process in the aforementioned method embodiment, which will not be repeated here.

[0222] The embodiment of the present application further provides a robot, which can be any robot in the foreign matter removal system. Fig.12 is a schematic diagram of the structure of a robot provided in one embodiment of the present application, such as Fig.12 As shown, the robot includes: at least one processor 501, a memory 502, an input device 503, an output device 504, and a computer program stored in the memory 502 and executable on at least one processor 501. When the processor 501 executes the computer program, the steps in any of the above-mentioned method embodiments are implemented.

[0223] The input device 503 may be used to receive input digital or character information and generate key signal input related to user settings and function control of the robot. The output device 504 may include display devices such as a display screen.

[0224] The embodiment of the present application further provides a computer-readable storage medium, which stores a computer program. When the computer program is executed by the processor 501, the steps in the above-mentioned method embodiments can be implemented.

[0225] An embodiment of the present application provides a computer program product. When the computer program product runs on a mobile terminal, the mobile terminal can implement the steps in the above-mentioned method embodiments when executing the computer program product.

[0226] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the present application implements all or part of the processes in the above-mentioned embodiment method, which can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a computer-readable storage medium, and the computer program can be executed by the processor 501. The steps of the above-mentioned various method embodiments can be implemented. Among them, the computer program includes computer program code, and the computer program code can be in source code form, object code form, executable file or some intermediate form. The computer-readable medium may at least include: any entity or device that can carry the computer program code to the device / robot, a recording medium, a computer memory, a read-only memory (ROM, Read-Only Memory), a random access memory (RAM, Random Access Memory), an electric carrier signal, a telecommunication signal, and a software distribution medium. For example, a USB flash drive, a mobile hard disk, a magnetic disk or an optical disk. In some jurisdictions, according to legislation and patent practice, computer-readable media cannot be electric carrier signals and telecommunication signals.

[0227] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described or recorded in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0228] Those of ordinary skill in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0229] In the embodiments provided in the present application, it should be understood that the disclosed devices / robots and methods can be implemented in other ways. For example, the device / robot embodiments described above are merely schematic. For example, the division of modules or units is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0230] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0231] The above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. These modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application, and should all be included in the protection scope of the present application.

Claims

1. A foreign matter removal method, characterized in that: Applied to a first robot, the method comprises: In response to a foreign object removal instruction for a target parking space, generating a first driving path of the first robot according to a global map of the target parking space and current position information of the first robot, wherein the target parking space is a parking space currently providing a wireless charging function for a target vehicle; Controlling the first robot to drive to the target parking space based on the first driving path, wherein the target parking space at least includes a target area for providing a wireless charging function; After the first robot drives to the target parking space, a clearing control instruction is sent to a second robot equipped on the first robot to instruct the second robot to clear foreign objects in the target area based on the coordinate information of the target area carried in the clearing control instruction.

2. The foreign matter removal method according to claim 1, characterized in that: Before sending the clearing control instruction to the second robot equipped on the first robot, the method further includes: sending a landing control instruction to the second robot, wherein the landing control instruction is used to instruct the second robot to drive out of the first robot; receiving the relative position coordinates sent by the second robot; Calculating the initial position coordinates of the second robot according to the relative position coordinates and the global map; The sending of the clearing control instruction to the second robot equipped on the first robot comprises: A clearing control instruction carrying the coordinate information of the initial position and the target area is sent to the second robot.

3. The foreign matter removing method according to claim 1, characterized in that: The controlling the first robot to drive to the target parking space based on the first driving path includes: In a process of driving based on the first driving path, collecting first environmental data of the first robot; generating a local driving map of the first robot based on the first environmental data; The first driving path is updated according to the local driving map of the first robot, so as to control the first robot to drive to the target parking space according to the updated first driving path.

4. The foreign matter removing method according to claim 1, characterized in that: After sending the clearing control instruction to the second robot equipped on the first robot, the method further includes: receiving a request for removing the foreign object sent by the second robot; Based on the removal request, a first removal action is performed on the foreign object, where the first removal action is used to remove the foreign object into a recovery device of the first robot.

5. A foreign matter removal method, characterized in that: Applied to a second robot, the second robot establishing a communication connection with the first robot, the method comprising: receiving a clearing control instruction sent by the first robot, wherein the clearing control instruction is used to instruct the second robot to clear foreign objects in a target area based on coordinate information of the target area carried in the clearing control instruction, wherein the target area is an area in a target parking space that is providing a wireless charging function for a target vehicle; Controlling the second robot to travel to the target area based on the coordinate information; After the second robot travels to the target area, a second clearing action corresponding to the foreign matter is performed, where the second clearing action is used to clear the foreign matter into a recovery device of the second robot.

6. The foreign matter removing method according to claim 5, characterized in that: Before receiving the clearing control instruction sent by the first robot, the method further includes: receiving a landing control instruction sent by the first robot; In response to the landing control instruction, controlling the second robot to drive out of the first robot; After the second robot lands, send relative position coordinates to the first robot to request the first robot to calculate the initial position coordinates of the second robot based on the relative position coordinates, where the relative position coordinates are the relative coordinates between the second robot and the first robot; The receiving the clearing control instruction sent by the first robot includes: A clearing control instruction returned by the first robot based on the relative position coordinates is received, wherein the clearing control instruction carries the initial position coordinates of the second robot and the coordinate information of the target area.

7. The foreign matter removing method according to claim 6, characterized in that: The controlling the second robot to travel to the target area based on the coordinate information includes: Based on the initial position coordinates and the coordinate information, generating a second driving path of the second robot; The second robot is controlled to travel to the target area based on the second travel path.

8. The foreign matter removing method according to claim 7, characterized in that: The controlling the second robot to travel to the target area based on the second travel path includes: In the process of driving based on the second driving path, collecting second environment data and distance data of the second robot, wherein the distance data is used to represent the distance between the highest point of the second robot and the bottom of the target vehicle; generating a local driving map of the second robot based on the second environment data and the distance data; The second driving path is updated according to the local driving map of the second robot, so as to control the second robot to drive to the target area according to the updated second driving path.

9. The foreign matter removing method according to claim 5, characterized in that: The performing of a second clearing action corresponding to the foreign matter comprises: Collecting image data of the foreign object; Processing the image data to obtain foreign body parameters of the foreign body, wherein the foreign body parameters at least include the size and type of the foreign body; A second clearing action is performed on the foreign matter according to the size of the foreign matter and the type of the foreign matter.

10. The foreign matter removing method according to claim 5, characterized in that: After performing the second clearing action corresponding to the foreign matter, the method further includes: If the execution result of the second clearing action fails, a third clearing action is performed on the foreign object, wherein the third clearing action is used to temporarily clear the foreign object from the target area to an area outside the target parking space; A removal request for the foreign object is sent to the first robot to request the first robot to remove the foreign object into a recovery device of the first robot based on the removal request.

Images