Charging method and device of mobile robot and electronic equipment

Abstract

The embodiment of the invention provides a charging method and device of a mobile robot and electronic equipment, and relates to the technical field of mobile robots. The method comprises the steps of monitoring whether a target mobile robot meets a charging condition or not under the condition that the target mobile robot executing an operation task is located in a designated area; if yes, distributing a target charging pile in an available state to the target mobile robot; controlling the target mobile robot to perform a specified control operation about charging; in response to completion of execution of the specified control operation, docking the target mobile robot to the target charging pile for charging; and controlling the target mobile robot to continuously execute the operation task in response to the fact that the preset charging ending condition is met. According to the scheme, the charging requirement of the mobile robot and the utilization rate of the mobile robot can be considered.

Description

Technical Field

[0001] The present application relates to the technical field of mobile robots, and in particular to a charging method, device and electronic equipment for a mobile robot. Background Art

[0002] With the development of industrial technology, more and more automated equipment is being used in various production environments such as factories, warehouses and logistics. Among them, mobile robots, such as AGV (Automated Guided Vehicle), are relatively common automated equipment in the above production scenarios. In the above production scenarios, mobile robots can carry shelves during operation to carry objects through the shelves, thereby realizing the transportation of objects. In order to ensure the normal operation of the mobile robot, it is necessary to charge the mobile robot in a timely manner; at the same time, the utilization rate of the mobile robot is a more concerned issue in production scenarios.

[0003] Therefore, how to charge the mobile robot to take into account both the charging demand of the mobile robot and the utilization rate of the mobile robot has become a technical problem that urgently needs to be solved. Summary of the invention

[0004] The purpose of the embodiments of the present application is to provide a charging method, device and electronic device for a mobile robot, so as to realize charging of the mobile robot while taking into account the charging demand of the mobile robot and the utilization rate of the mobile robot. The specific technical solution is as follows:

[0005] In a first aspect, an embodiment of the present application provides a charging method for a mobile robot, the method comprising:

[0006] When a target mobile robot performing a work task is located in a designated area, monitoring whether the target mobile robot meets a charging condition; wherein the designated area is a loading waiting area for objects indicated by the work task, and the charging condition includes a stay time in the designated area exceeding a predetermined time;

[0007] If the conditions are met, assigning a target charging pile in an available state to the target mobile robot;

[0008] Controlling the target mobile robot to perform a designated control operation regarding charging; wherein the designated control operation includes controlling the target mobile robot to move to a charging docking area of ​​a target charging pile and performing a regulation operation on the placement posture of a shelf carried by the target mobile robot, wherein the regulation operation is an operation for enabling the target mobile robot to perform charging docking with the target charging pile;

[0009] In response to the designated control operation being executed, docking the target mobile robot to the target charging pile for charging;

[0010] In response to a predetermined charging end condition being met, the target mobile robot is controlled to continue to perform the work task.

[0011] Optionally, in an implementation, the method for determining whether a predetermined charging end condition is satisfied includes:

[0012] Determine whether any of the predetermined conditions is met, and if so, determine that the charging end condition is met;

[0013] Among them, each predetermined condition includes: a first condition that represents reaching a predetermined charging power after charging and a second condition that represents reaching the timing for the target mobile robot to load an object.

[0014] Optionally, in an implementation manner, the method further includes:

[0015] During the process of controlling the target mobile robot to perform designated control operations regarding charging, if the time comes for the target mobile robot to load an object, the designated control operations are stopped, and the target mobile robot is controlled to continue to perform the task.

[0016] Optionally, in one implementation, the charging condition also includes that the target mobile robot is located in a predetermined position in a robot waiting queue; wherein the robot waiting queue is a robot queue within the designated area for loading cargo according to the position in the queue.

[0017] Optionally, in one implementation, performing a control operation on the placement posture of the shelf carried by the target mobile robot includes:

[0018] Performing target control operations on the shelf carried by the target mobile robot;

[0019] Among them, the target control operation is one of the first type of control operation, the second type of control operation and the third type of control operation; the first type of control operation is an operation to adjust the placement direction of the shelf on the target mobile robot; the second type of control operation is an operation to adjust the placement height of the shelf on the target mobile robot; the third type of control operation is an operation to unload the shelf to a predetermined temporary storage area.

[0020] Optionally, in an implementation, if the first type of control operation is used as the target control operation, performing the target control operation on the shelf carried by the target mobile robot includes:

[0021] Performing a placement direction adjustment operation on the shelf carried by the target mobile robot to match the target relationship;

[0022] Wherein, the target relationship is the relationship between the size of the target side of the shelf and the specified size; if the target relationship is that the size of the target side is not greater than the specified size, the matching placement direction adjustment operation is the first sub-operation; if the target relationship is that the size of the target side is greater than the specified size, the matching placement direction adjustment operation includes the first sub-operation and the second sub-operation;

[0023] The target side is a short side of the shelf, and the specified size is a length of the target side adjacent to the side of the target mobile robot having a charging port;

[0024] The first sub-operation includes performing a target adjustment process on the placement direction of the shelf by rotating a lifting plate of the target mobile robot for carrying the shelf so that the target edge is parallel to the target side surface;

[0025] The second operation includes, in response to the completion of the execution of the first sub-operation, performing predetermined optimization processing on the placement position of the shelf on the target mobile robot so that the center of the shelf is offset by a predetermined distance in a direction away from the charging port of the target mobile robot, and the predetermined distance is greater than half of the difference between the size of the target edge and the specified size.

[0026] Optionally, in an implementation, if the second type of control operation is used as the target control operation, performing the target control operation on the shelf carried by the target mobile robot includes:

[0027] Adjust the lifting height of the lifting plate of the target mobile robot for carrying the shelf to a target height; wherein the target height is such that the bottom surface of the shelf is higher than the height of the target charging pile.

[0028] Optionally, in an implementation, if the third type of control operation is used as the target control operation, performing the target control operation on the shelf carried by the target mobile robot includes:

[0029] Unloading the shelf to a predetermined temporary storage area;

[0030] Before controlling the target mobile robot to continue to perform the operation task, the method further includes:

[0031] The target mobile robot is controlled to carry the shelf again from the predetermined temporary storage area.

[0032] Optionally, in an implementation, the target control operation is specifically an operation selected from the first type of control operations, the second type of control operations and the third type of control operations according to a predetermined selection strategy;

[0033] Wherein, the predetermined selection strategy includes:

[0034] In a case where the lifting plate of the target mobile robot for carrying the shelf has a rotation function, taking the first type of control operation as the target control operation;

[0035] In the case that the lifting plate of the target mobile robot used to carry the shelf does not have a rotation function, if the lifting plate of the target mobile robot has a lifting function and can lift to a target height, the second type of control operation will be used as the target control operation; otherwise, the third type of control operation will be used as the target control operation; wherein, the target height is such that the bottom surface of the shelf is higher than the height of the target charging pile.

[0036] In a second aspect, an embodiment of the present application provides a charging device for a mobile robot, the device comprising:

[0037] A monitoring module, configured to monitor whether the target mobile robot performing the operation task meets the charging condition when the target mobile robot is located in a designated area; wherein the designated area is a loading waiting area for the object indicated by the operation task, and the charging condition includes that the length of stay in the designated area exceeds a predetermined length of time;

[0038] An allocation module, configured to allocate a target charging pile in an available state to the target mobile robot when conditions are met;

[0039] A control module, used to control the target mobile robot to perform a designated control operation on charging; wherein the designated control operation includes controlling the target mobile robot to move to a charging docking area of ​​a target charging pile and performing a regulation operation on a placement posture of a shelf carried by the target mobile robot, wherein the regulation operation is an operation for enabling the target mobile robot to perform charging docking with a target charging pile;

[0040] A charging module, configured to dock the target mobile robot with the target charging pile for charging in response to completion of the execution of the designated control operation;

[0041] The charging end module is used to control the target mobile robot to continue to perform the operation task in response to meeting a predetermined charging end condition.

[0042] Optionally, in an implementation, the method for determining whether a predetermined charging end condition is satisfied includes:

[0043] Determine whether any of the predetermined conditions is met, and if so, determine that the charging end condition is met;

[0044] Among them, each predetermined condition includes: a first condition that represents reaching a predetermined charging power after charging and a second condition that represents reaching the timing for the target mobile robot to load an object.

[0045] Optionally, in an implementation manner, the device further includes:

[0046] The stop module is used to stop executing the designated control operation and control the target mobile robot to continue to execute the operation task if the target mobile robot reaches the time to load an object during the process of controlling the target mobile robot to perform the designated control operation regarding charging.

[0047] Optionally, in one implementation, the charging condition also includes that the target mobile robot is located in a predetermined position in a robot waiting queue; wherein the robot waiting queue is a robot queue within the designated area for loading cargo according to the position in the queue.

[0048] Optionally, in one implementation, performing a control operation on the placement posture of the shelf carried by the target mobile robot includes:

[0049] Performing target control operations on the shelf carried by the target mobile robot;

[0050] Among them, the target control operation is one of the first type of control operation, the second type of control operation and the third type of control operation; the first type of control operation is an operation to adjust the placement direction of the shelf on the target mobile robot; the second type of control operation is an operation to adjust the placement height of the shelf on the target mobile robot; the third type of control operation is an operation to unload the shelf to a predetermined temporary storage area.

[0051] Optionally, in an implementation, if the first type of control operation is used as the target control operation, performing the target control operation on the shelf carried by the target mobile robot includes:

[0052] Performing a placement direction adjustment operation on the shelf carried by the target mobile robot to match the target relationship;

[0053] Among them, the target relationship is the relationship between the size of the target side of the shelf and the specified size; if the target relationship is that the size of the target side is not greater than the specified size, the matching placement direction adjustment operation is the first sub-operation, and if the target relationship is that the size of the target side is greater than the specified size, the matching placement direction adjustment operation includes a first sub-operation and a second sub-operation; the target side is the short side of the shelf, and the specified size is the length of the target side adjacent to the side of the target mobile robot having a charging interface; the first sub-operation includes performing a target adjustment process on the placement direction of the shelf by rotating the lifting plate of the target mobile robot for carrying the shelf so that the target side is parallel to the target side; the second operation includes, in response to the completion of the first sub-operation, performing a predetermined optimization process on the placement position of the shelf on the target mobile robot so that the center of the shelf is offset by a predetermined distance in the direction away from the charging interface of the target mobile robot, and the predetermined distance is greater than half of the difference between the size of the target side and the specified size.

[0054] Optionally, in an implementation, if the second type of control operation is used as the target control operation, performing the target control operation on the shelf carried by the target mobile robot includes:

[0055] Adjust the lifting height of the lifting plate of the target mobile robot for carrying the shelf to a target height; wherein the target height is such that the bottom surface of the shelf is higher than the height of the target charging pile.

[0056] Optionally, in an implementation, if the third type of control operation is used as the target control operation, performing the target control operation on the shelf carried by the target mobile robot includes:

[0057] Unloading the shelf to a predetermined temporary storage area;

[0058] Before controlling the target mobile robot to continue to perform the operation task, the method further includes:

[0059] The target mobile robot is controlled to carry the shelf again from the predetermined temporary storage area.

[0060] Optionally, in an implementation, the target control operation is specifically an operation selected from the first type of control operations, the second type of control operations and the third type of control operations according to a predetermined selection strategy;

[0061] Wherein, the predetermined selection strategy includes:

[0062] In a case where the lifting plate of the target mobile robot for carrying the shelf has a rotation function, taking the first type of control operation as the target control operation;

[0063] In the case that the lifting plate of the target mobile robot used to carry the shelf does not have a rotation function, if the lifting plate of the target mobile robot has a lifting function and can lift to a target height, the second type of control operation will be used as the target control operation; otherwise, the third type of control operation will be used as the target control operation; wherein, the target height is such that the bottom surface of the shelf is higher than the height of the target charging pile.

[0064] In a third aspect, an embodiment of the present application provides an electronic device, comprising: a memory for storing computer programs; and a processor for implementing any of the above-described mobile robot charging methods when executing the programs stored in the memory.

[0065] In a fourth 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, it implements any of the above-described mobile robot charging methods.

[0066] An embodiment of the present application also provides a computer program product comprising instructions, which, when executed on a computer, enables the computer to execute any of the above-described methods for charging a mobile robot.

[0067] Beneficial effects of the embodiments of the present application:

[0068] As can be seen from the above, by applying the solution provided by the embodiment of the present application, when the target mobile robot performing the operation task is located in the designated area, the target mobile robot is monitored to see whether it meets the charging condition, which includes the duration of stay in the designated area exceeding the predetermined duration; if the condition is met, the target mobile robot is assigned a target charging pile in an available state. Then, the target mobile robot is controlled to perform the designated control operation on charging, so that the target mobile robot and the target charging pile can be docked for charging, and in response to the completion of the designated control operation, the target mobile robot is docked with the target charging pile for charging, and after the predetermined charging end condition is met, the target mobile robot is controlled to continue to perform the operation task.

[0069] Based on this, the scheme provided by the embodiment of the present application is applied. By setting the charging conditions for starting charging and the charging end conditions for ending charging, the mobile robot can use the gaps while waiting for objects to be loaded to charge during the execution of the operation task. In addition, the mobile robot performs the operation task while carrying the shelf on its back. Therefore, it can be understood that when the mobile robot uses the waiting gap to charge, the mobile robot is also in the state of carrying the shelf on its back. The scheme provided by the embodiment of the present application, by adjusting the placement posture of the shelf carried by the mobile robot, enables the mobile robot to still perform charging docking operations with the target charging pile while carrying the shelf on its back. It can be seen that the charging method provided by this scheme can take into account both the charging needs of the mobile robot and the utilization rate of the mobile robot.

[0070] Of course, implementing any product or method of the present application does not necessarily require achieving all of the advantages described above at the same time. BRIEF DESCRIPTION OF THE DRAWINGS

[0071] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, 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, and for ordinary technicians in this field, other embodiments can also be obtained based on these drawings.

[0072] Figure 1 A schematic diagram of a charging method for a mobile robot provided in an embodiment of the present application;

[0073] Figure 2 A schematic diagram of a shelf placement method provided in an embodiment of the present application;

[0074] Figure 3 For Figure 2 A schematic diagram of the shelf placement after the first sub-operation is performed on the basis of;

[0075] Figure 4 A schematic diagram of another shelf placement method provided in an embodiment of the present application;

[0076] Figure 5 for Figure 4 A schematic diagram of the shelf placement after the second sub-operation is performed on the basis of

[0077] Figure 6 A schematic diagram of a fixed lifting height of a mobile robot when carrying a shelf;

[0078] Figure 7 This is a schematic diagram of the scenario when the height of the charging pile is higher than the fixed lifting height;

[0079] Figure 8 For Figure 7 Schematic diagram of the shelf placement height after adjusting the lifting height based on the

[0080] Fig. 9 A schematic diagram of the operation and charging process of an AGV provided by the prior art;

[0081] Fig.10 Another schematic diagram of the operation and charging process of an AGV provided by the prior art;

[0082] Fig.11 A schematic diagram of the structure of a charging device for a mobile robot provided in an embodiment of the present application;

[0083] Fig.12 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0084] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field based on the present application belong to the scope of protection of the present application.

[0085] In order to take into account the charging demand and utilization rate of a mobile robot, an embodiment of the present application provides a charging method, device and electronic device for a mobile robot.

[0086] The mobile robot charging method provided in the present application can be applied to an electronic device used to control the mobile robot. For example, the electronic device can be a management server of the mobile robot, or other forms of equipment capable of controlling the mobile robot. Of course, the mobile robot charging method can also be applied to the mobile robot itself. For the convenience of description, the device to which the charging method is applied is referred to as an electronic device.

[0087] In addition, illustratively, the mobile robot involved in this application may be an AGV, and of course, it may also be other movable automated equipment that carries objects through shelves. Furthermore, the shelves mentioned in this application are tools used to carry objects indicated by the work tasks, and there is no limitation on the specific form of the shelves. In specific applications, the shelves may also be referred to as: carrying tools, carriers, carrier tools or material boxes, etc.; and the objects mentioned in this application may be goods, or other objects that are transported through shelves, and this application does not limit this. Furthermore, the scenarios to which the charging method for the mobile robot provided in this application is applicable may be factory scenarios, logistics scenarios, etc., and this application does not limit the specific scenarios.

[0088] A charging method for a mobile robot provided in an embodiment of the present application may include:

[0089] When a target mobile robot performing a work task is located in a designated area, monitoring whether the target mobile robot meets a charging condition; wherein the designated area is a loading waiting area for objects indicated by the work task, and the charging condition includes a stay time in the designated area exceeding a predetermined time;

[0090] If the conditions are met, assigning a target charging pile in an available state to the target mobile robot;

[0091] Controlling the target mobile robot to perform a designated control operation regarding charging; wherein the designated control operation includes controlling the target mobile robot to move to a charging docking area of ​​a target charging pile and performing a regulation operation on the placement posture of a shelf carried by the target mobile robot, wherein the regulation operation is an operation for enabling the target mobile robot to perform charging docking with the target charging pile;

[0092] In response to the designated control operation being executed, docking the target mobile robot to the target charging pile for charging;

[0093] In response to a predetermined charging end condition being met, the target mobile robot is controlled to continue to perform the work task.

[0094] As can be seen from the above, by applying the solution provided by the embodiment of the present application, when the target mobile robot performing the operation task is located in the designated area, the target mobile robot is monitored to see whether it meets the charging condition, and the charging condition includes that the length of stay in the designated area exceeds the predetermined length of time; thus, if the condition is met, the target mobile robot is assigned a target charging pile in an available state. Then, the target mobile robot is controlled to perform the designated control operation on charging, so that the target mobile robot and the target charging pile can be docked for charging, and in response to the completion of the designated control operation, the target mobile robot is docked with the target charging pile for charging, and after the predetermined charging end condition is met, the target mobile robot is controlled to continue to perform the operation task.

[0095] Based on this, the scheme provided by the embodiment of the present application is applied. By setting the charging conditions for starting charging and the charging end conditions for ending charging, the mobile robot can use the gaps while waiting for objects to be loaded to charge during the execution of the operation task. In addition, the mobile robot performs the operation task while carrying the shelf on its back. Therefore, it can be understood that when the mobile robot uses the waiting gap to charge, the mobile robot is also in the state of carrying the shelf on its back. The scheme provided by the embodiment of the present application, by adjusting the placement posture of the shelf carried by the mobile robot, enables the mobile robot to still perform charging docking operations with the target charging pile while carrying the shelf on its back. It can be seen that the charging method provided by this scheme can achieve a balance between the charging needs of the mobile robot and the utilization rate of the mobile robot.

[0096] In the following, in conjunction with the accompanying drawings, a charging method for a mobile robot provided in an embodiment of the present application is exemplarily introduced.

[0097] like Figure 1 FIG. 1 is a flow chart of a charging method for a mobile robot provided in an embodiment of the present application. The method may include the following steps:

[0098] S101: When a target mobile robot performing a task is located in a designated area, monitoring whether the target mobile robot meets a charging condition;

[0099] The designated area is a loading waiting area for objects indicated by the work task, and the charging condition includes that the length of stay in the designated area exceeds a predetermined time.

[0100] In this application, when a mobile robot performs a task, it usually carries an empty shelf and moves to the loading waiting area of ​​the object indicated by the task, and after waiting for the shelf to be loaded with the object indicated by the task, it carries the shelf into the warehouse or unloads it to the predetermined unloading area. Considering that there may be multiple mobile robots in the same production scene, and each time an object is loaded, it can only be loaded on the shelf carried by one mobile robot, which results in a certain period of time when other mobile robots are idle and do not move after arriving at the above-mentioned loading waiting area.

[0101] Therefore, in view of the time gap when the mobile robot is waiting for objects to be loaded in the loading waiting area during the execution of the work task, charging conditions are set for the mobile robot. The charging conditions include: the stay time in the loading waiting area of ​​the objects indicated by the work task exceeds the predetermined time.

[0102] That is to say, the above-mentioned loading waiting area can be used as a designated area, and when the target mobile robot performing the working task is located in the designated area, at least by determining whether the target mobile robot stays in the designated area for more than a predetermined time, it is determined whether the target mobile robot meets the charging conditions to perform the charging task.

[0103] Optionally, in one implementation, the charging condition also includes that the target mobile robot is located in a predetermined position in a robot waiting queue; wherein the robot waiting queue is a robot queue within a designated area for loading cargo according to the position in the queue.

[0104] Considering that in some scenarios, the movement of mobile robots follows a pre-planned route, and there are multiple mobile robots in the same scenario, and each loading of objects can only be carried out on the shelf carried by a mobile robot, that is, one object loading position can only load goods on one shelf at a time. Therefore, there may be multiple robots waiting in the designated area. In order not to affect the movement of other mobile robots, in addition to the mobile robots that are loading objects, the mobile robots waiting to load objects can wait for loading objects in the robot waiting queue in the designated area according to their positions in the queue.

[0105] At this time, when the target mobile robot stays in the designated area for longer than the preset time, it indicates that the target mobile robot can be charged. However, if the target mobile robot is located at the first position in the robot waiting queue, that is, the target mobile robot is the next robot to load objects, in order not to delay the efficiency of the task performed by the target mobile robot, the target mobile robot cannot be charged even if it stays in the designated area for longer than the preset time.

[0106] Therefore, based on the ranking position of the robot in the robot waiting queue, a predetermined position is set. That is, when the target mobile robot stays in the designated area for longer than the predetermined time and the target mobile robot is located in the predetermined position in the robot waiting queue, it indicates that within a certain time range, the target mobile robot will not load objects. At this time, it can be determined that the target mobile robot meets the charging conditions and can be charged.

[0107] In summary, in this implementation method, by adding restrictions on the charging conditions that the target mobile robot needs to meet when charging in the process of performing the work task, that is, the target mobile robot stays in the designated area for more than a predetermined time, and the target mobile robot is located in a predetermined position in the robot waiting queue, the timing for the target mobile robot to charge in the process of performing the work task is clarified, thereby, the target mobile robot can be charged without affecting the completion efficiency of the work task currently performed by the target mobile robot.

[0108] S102: If the conditions are met, allocate a target charging pile in an available state to the target mobile robot.

[0109] In the present application, after determining that the target mobile robot meets the charging conditions, a target charging pile in an available state can be allocated to the target mobile robot.

[0110] Among them, the above-mentioned target charging pile in an available state refers to a charging pile whose charging interface specifications match the charging interface specifications of the target mobile robot, and the charging interface of the charging pile is currently in an unused state.

[0111] Optionally, in one implementation, a charging pile that is closest to the current position of the target mobile robot and is in an available state is determined as the target charging pile, thereby reducing the time cost consumed by the target mobile robot to move back and forth between the designated area and the area where the target charging pile is located, thereby improving the utilization rate of the target mobile robot.

[0112] S103: Controlling the target mobile robot to perform a designated control operation regarding charging;

[0113] The designated control operation includes controlling the target mobile robot to move to the charging docking area of ​​the target charging pile and performing a control operation on the placement posture of the shelf carried by the target mobile robot, and the control operation is an operation for enabling the target mobile robot to perform charging docking with the target charging pile;

[0114] S104: In response to the designated control operation being executed, the target mobile robot is docked with the target charging pile for charging.

[0115] In the present application, when the body projection area of ​​the target mobile robot is included in the projection area of ​​the carried shelf, the carried shelf may affect the charging docking between the target mobile robot and the target charging pile. At this time, after determining the target charging pile, the shelf carried by the target mobile robot can be regulated regarding the placement posture, so that the target mobile robot and the target charging pile can be charged and docked, and the target mobile robot can be controlled to move to the charging docking area of ​​the target charging pile, so as to control the target mobile robot to complete the designated control operation regarding charging, and then, in response to the completion of the designated control operation, the target mobile robot is docked to the target charging pile for charging.

[0116] Optionally, after determining the target charging pile, first, the placement posture of the shelf carried by the target mobile robot is adjusted. In this way, after controlling the target mobile robot to move to the charging docking area of ​​the target charging pile, the charging interface of the target mobile robot can be directly controlled to dock with the charging interface of the target charging pile for charging.

[0117] Optionally, after determining the target charging pile, while controlling the target mobile robot to move to the charging docking area of ​​the target charging pile, the placement posture of the shelf carried by the target mobile robot is adjusted. In this way, after the target mobile robot reaches the charging docking area, the charging interface of the target mobile robot can be directly controlled to dock with the charging interface of the target charging pile for charging.

[0118] Optionally, considering that the target mobile robot may have the risk of tipping over during the movement of the shelf due to reasons such as the center of gravity of the shelf shifting during the movement after the adjustment operation. Therefore, in order to reduce the possibility of the risk of tipping over during the movement of the shelf, after determining the target charging pile, first, control the target mobile robot to move to the charging docking area of ​​the target charging pile, and then, after adjusting the placement posture of the shelf carried by the target mobile robot, control the charging interface of the target mobile robot to dock with the charging interface of the target charging pile for charging.

[0119] Optionally, considering that the projected area of ​​the shelf carried by the target mobile robot may not be larger than the projected area of ​​the target mobile robot's body, in this case, the carried shelf will not affect the charging docking between the target mobile robot and the target charging pile. At this time, after determining the target charging pile, there is no need to adjust the placement of the shelf carried by the target mobile robot. The target mobile robot can be directly controlled to move to the charging docking area of ​​the target charging pile, and the charging interface of the target mobile robot can be controlled to dock with the charging interface of the target charging pile for charging.

[0120] Optionally, an embodiment of the present application provides a charging method for a mobile robot, further comprising the following steps:

[0121] Step A: During the process of controlling the target mobile robot to perform a designated control operation regarding charging, if the target mobile robot reaches a time when it is time to load an object, the designated control operation is stopped, and the target mobile robot is controlled to continue to perform the task.

[0122] In this embodiment, during the process of controlling the target mobile robot to perform designated control operations regarding charging, the target mobile robot may reach a time when it is time to load objects. At this time, in order not to delay the completion efficiency of the current work task performed by the target mobile robot, the above-mentioned designated control operations are stopped, and the target mobile robot is controlled to continue to perform the work task.

[0123] Optionally, when the time comes for the target mobile robot to load objects, if the target mobile robot is on the way to the above-mentioned charging docking area, the target mobile robot is directly controlled to return; if the target mobile robot is performing an operation to adjust the placement posture of the shelf it is carrying, the placement posture of the shelf carried by the target mobile robot is restored to the initial posture.

[0124] In this embodiment, when the target mobile robot reaches the time to load an object, the designated control operation that has been performed can be interrupted to reduce the impact of the added charging task on the completion efficiency of the work task performed by the target mobile robot.

[0125] S105: In response to the predetermined charging end condition being met, controlling the target mobile robot to continue to perform the working task.

[0126] In the present application, the target mobile robot is charged during the execution of the operation task, using the gaps while waiting for objects to be loaded. In order not to delay the operation task currently executed by the target mobile robot, the charging end conditions are pre-set. In this way, after the predetermined charging end conditions are met, the target mobile robot can be controlled to continue to execute the operation task in response to the above-mentioned charging end conditions being met, that is, the objects indicated by the operation task are loaded from the designated area and moved to the predetermined unloading area for unloading. Thus, while meeting the charging needs of the mobile robot, the operation time of the mobile robot is increased by timely charging the mobile robot, thereby improving the utilization rate of the robot.

[0127] Optionally, in one implementation, a method for determining whether a predetermined charging end condition is met includes the following steps:

[0128] Step B: determining whether any of the predetermined conditions is met, and if so, determining that the charging end condition is met;

[0129] The predetermined conditions include: a first condition indicating that a predetermined charging amount is reached after charging and a second condition indicating that a target mobile robot is at a timing to load an object.

[0130] In this implementation, when the target mobile robot is charging during the interval of waiting for objects to be loaded, if the target mobile robot reaches the time to load objects but charging is not completed, then if charging is not completed, the efficiency of the target mobile robot's current task will be delayed; if the target mobile robot has not reached the time to load objects, then if the target mobile robot continues to charge, it will affect other mobile robots that need to be charged at the target charging pile. Based on the above two situations, each predetermined condition is pre-set, wherein each set condition includes: a first condition that characterizes reaching a predetermined charging power after charging, and a second condition that characterizes reaching the time for the target mobile robot to load objects. In this way, by judging whether any of the above predetermined conditions is met, it can be determined whether the predetermined charging end condition is met.

[0131] That is, when it is determined that the target mobile robot has reached the time to load the object, it indicates that the target mobile robot meets the charging end condition, and at this time, the charging should be terminated and the operation task should be continued, for example, returning to the designated area and loading the object. Alternatively, when it is determined that the predetermined charging power is reached after charging, it indicates that the target mobile robot meets the charging end condition, and at this time, the charging should be terminated and the operation task should be continued, for example, returning to the designated area and continuing to wait in the robot waiting queue.

[0132] In this implementation, by pre-setting various predetermined conditions for determining whether the charging termination conditions are met, when it is determined that the target mobile robot meets any of the conditions, the charging task of the target mobile robot is terminated, so as not to delay the charging process.

[0133] While improving the efficiency of completing the task performed by the target mobile robot, it also provides charging needs for other mobile robots in the entire production scene, thereby improving the utilization rate of each mobile robot in the entire production scene.

[0134] As can be seen from the above, by applying the solution provided by the embodiment of the present application, when the target mobile robot performing the operation task is located in the designated area, the target mobile robot is monitored to see whether it meets the charging condition, which includes the duration of stay in the designated area exceeding the predetermined duration; if the condition is met, the target mobile robot is assigned a target charging pile in an available state. Then, the target mobile robot is controlled to perform the designated control operation on charging, so that the target mobile robot and the target charging pile can be docked for charging, and in response to the completion of the designated control operation, the target mobile robot is docked with the target charging pile for charging, and after the predetermined charging end condition is met, the target mobile robot is controlled to continue to perform the operation task.

[0135] Based on this, the scheme provided by the embodiment of the present application is applied. By setting the charging conditions for starting charging and the charging end conditions for ending charging, the mobile robot can use the gaps while waiting for objects to be loaded to charge during the execution of the operation task. In addition, the mobile robot performs the operation task while carrying the shelf on its back. Therefore, it can be understood that when the mobile robot uses the waiting gap to charge, the mobile robot is also in the state of carrying the shelf on its back. The scheme provided by the embodiment of the present application, by adjusting the placement posture of the shelf carried by the mobile robot, enables the mobile robot to still perform charging docking operations with the target charging pile while carrying the shelf on its back. It can be seen that the charging method provided by this scheme can take into account both the charging needs of the mobile robot and the utilization rate of the mobile robot.

[0136] Optionally, in one implementation, performing a control operation on the placement posture of the shelf carried by the target mobile robot may include the following steps:

[0137] Step C: performing target control operations on the shelf carried by the target mobile robot;

[0138] Among them, the target control operation is one of the first, second and third control operations; the first type of control operation is the operation of adjusting the placement direction of the shelf on the target mobile robot; the second type of control operation is the operation of adjusting the placement height of the shelf on the target mobile robot; the third type of control operation is the operation of unloading the shelf to a predetermined temporary storage area.

[0139] In this implementation, the target mobile robot performs target control operations on the shelf carried by the target mobile robot to adjust the placement posture of the shelf carried by the target mobile robot.

[0140] When the above-mentioned target control operation is a first type of control operation, the placement direction of the shelf on the target mobile robot can be adjusted.

[0141] When the above-mentioned target control operation is the second type of control operation, the placement height of the shelf on the target mobile robot can be adjusted.

[0142] When the above-mentioned target control operation is a third type of control operation, the shelf can be unloaded to a predetermined temporary storage area.

[0143] Among them, the above-mentioned predetermined temporary storage area can be an area within a predetermined distance range of the target charging pile, or it can be a fixed area in the scene where the target mobile robot performs the working task. This embodiment of the present application does not make specific limitations on this.

[0144] That is to say, after the above-mentioned first and second types of control operations, the target mobile robot is charged at the target charging pile while carrying the shelf; and after the third type of control operation, the target mobile robot is charged with an empty vehicle at the target charging pile after unloading the shelf.

[0145] In this implementation, through the three types of control operations set up, the target mobile robot adjusts the placement posture of the shelf it carries, and provides multiple adjustment strategies to improve the applicability of a mobile robot charging method provided in an embodiment of the present application.

[0146] Optionally, in one implementation, the target control operation is specifically an operation selected from the first type of control operations, the second type of control operations, and the third type of control operations according to a predetermined selection strategy;

[0147] The predetermined selection strategy includes the following steps:

[0148] Step D1: when the lifting plate of the target mobile robot for carrying the shelf has a rotation function, the first type of control operation is used as the target control operation;

[0149] Step D2: In the case where the lifting plate of the target mobile robot for carrying the shelf does not have a rotation function, if the lifting plate of the target mobile robot has a lifting function and can be lifted to a target height, the second type of control operation is used as the target control operation; otherwise, the third type of control operation is used as the target control operation;

[0150] The target height is such that the bottom surface of the shelf is higher than the height of the target charging pile.

[0151] In this implementation, it is considered that when the mobile robot is carrying a shelf, it can use the lifting plate on the top to lift the shelf for transportation, that is, the shelf is lifted by controlling the lifting height of the lifting plate, and the shelf is put down by controlling the lifting height of the lifting plate. In other words, in general, the lifting plate of the mobile robot has a lifting function. In addition, in order to adapt to more scene requirements, the lifting plates of some mobile robots have a rotating function.

[0152] The multiple types of control operations involved in the embodiments of the present application involve different functions of the lifting plate. Therefore, based on the functions of the lifting plate of the robot, the target control operation can be selected from the first type of control operation, the second type of control operation and the third type of control operation according to a predetermined selection strategy. Specifically:

[0153] In the case that the lifting plate of the target mobile robot has a rotation function, the first type of control operation related to the rotation of the lifting plate can be used as the target control operation.

[0154] In the case that the lifting platform of the target mobile robot does not have a rotation function, at this time, taking into account the different heights of charging piles of different models, therefore, if the lifting platform of the target mobile robot has a lifting function, and can lift the height to make the bottom surface of the shelf higher than the height of the target charging pile, then the second type of control operation related to the lifting platform can be used as the target control operation.

[0155] In the case that the lifting plate of the target mobile robot does not have a rotating function, at this time, if the lifting plate of the target mobile robot has a lifting function, but the maximum lifting height of the lifting plate cannot make the bottom surface of the shelf higher than the target charging pile, at this time, the third type of control operation can be selected as the target control operation.

[0156] In this implementation, combined with the functions of the mobile robot and the functional parameters of the functions, the control operations suitable for different models of mobile robots are selected as the target control operations performed by the mobile robot when performing control operations on the shelves it carries, so as to execute a charging method for a mobile robot provided in an embodiment of the present application in a variety of application scenarios, thereby improving the applicability of the charging method.

[0157] Optionally, in one implementation, if the first type of control operation is used as a target control operation, the above step C, performing the target control operation on the shelf carried by the target mobile robot, may include the following steps:

[0158] Step C1: performing a placement direction adjustment operation on the shelf carried by the target mobile robot to match the target relationship;

[0159] Among them, the target relationship is the relationship between the size of the target edge of the shelf and the specified size;

[0160] If the target relationship is that the size of the target edge is not greater than the specified size, the matching placement direction adjustment operation is the first sub-operation; if the target relationship is that the size of the target edge is greater than the specified size, the matching placement direction adjustment operation includes the first sub-operation and the second sub-operation;

[0161] Wherein, the target side is the short side of the shelf, and the specified size is the length of the target side adjacent to the side of the target mobile robot having the charging port;

[0162] The first sub-operation includes performing a target adjustment process on the placement direction of the shelf by rotating a lifting plate of the target mobile robot for carrying the shelf so that the target edge is parallel to the target side surface;

[0163] The second operation includes, in response to the completion of the first sub-operation, performing predetermined optimization processing on the placement position of the shelf on the target mobile robot so that the center of the shelf is offset a predetermined distance away from the charging port of the target mobile robot, and the predetermined distance is greater than half of the difference between the size of the target edge and the specified size.

[0164] In this implementation, in order to reduce the space occupied by the mobile robot carrying the shelf during movement, the shelf is usually placed behind the lifting plate of the mobile robot in such a way that the short side of the shelf is parallel to the short side of the body of the mobile robot. Figure 2 A schematic diagram of a shelf placement method provided in an embodiment of the present application, wherein: Figure 2 The shelf placement method shown is the placement method of the shelves carried by the mobile robot during its movement.

[0165] It should be noted that during the operation of the mobile robot, the shelf is located above the mobile robot. In order to facilitate the understanding of the size and position relationship between the shelf and the mobile robot, Figure 2-Figure 5 The schematic diagram shown is a top view, in which the mobile robot X is represented by a white area, the shelf Y is represented by a gray area, and the overlapping portion of the mobile robot X and the shelf Y is represented by a dotted frame.

[0166] If the charging port of the mobile robot X is set on the E surface of the vehicle body, according to the above Figure 2 The placement of the shelf Y shown in the figure will cause the charging interface of the mobile robot X to be unable to dock with the charging interface of the charging pile.

[0167] Therefore, when the first type of control operation is used as the target control operation, the short side of the shelf is determined as the target side, and the length of the target side adjacent to the side of the target mobile robot with the charging port is used as the specified size; thus, by determining the target relationship between the size of the target side and the specified size, the shelf carried by the target mobile robot is adjusted in a placement direction that matches the target relationship, specifically:

[0168] If the target relationship is that the size of the target side is not greater than the specified size, the matching placement direction adjustment operation is the first sub-operation, that is, by rotating the lifting plate of the target mobile robot, the placement direction of the shelf is adjusted to make the target side parallel to the target side. The above target adjustment process can be a rotation of 90 degrees, etc., which is not specifically limited in the embodiments of the present application.

[0169] For example, Figure 3 For Figure 2 A schematic diagram of the shelf placement after the first sub-operation is performed based on Figure 3 As shown, after the first sub-operation, the shelf Y is placed in such a way that the body E surface provided with the charging interface is not blocked by the shelf, and the charging interface of the mobile robot X can be connected with the charging interface of the charging pile.

[0170] If the target relationship is that the size of the target side is greater than the specified size, the matching placement direction adjustment operation is the first sub-operation and the second sub-operation, that is, firstly, by rotating the lifting plate of the target mobile robot, the placement direction of the shelf is adjusted to make the target side parallel to the target side, and then, in response to the completion of the first sub-operation, the placement position of the shelf on the target mobile robot is optimized to make the center of the shelf offset by a predetermined distance away from the charging interface of the target mobile robot. In order to ensure that the charging interface of the target mobile robot can be docked with the charging interface of the charging pile after adjustment, the above-mentioned predetermined distance is greater than half of the difference between the size of the target side and the specified size.

[0171] For example, Figure 4 A schematic diagram of another shelf placement method provided in an embodiment of the present application, wherein: Figure 4The shelf placement method shown is the placement method of shelf Y after executing the first sub-operation when the size of the target edge is larger than the specified size. That is, after the first sub-operation, when the shelf center P of shelf Y is aligned with the body center Q of mobile robot X, shelf Y still blocks the body surface E provided with the charging interface, resulting in the charging interface of mobile robot X being unable to dock with the charging interface of the charging pile. At this time, after the first sub-operation is completed, by adjusting the placement position of shelf Y on mobile robot X, the shelf center P is moved a predetermined distance L to the right of the body center Q, that is, by offsetting the shelf center P a predetermined distance L in the direction away from the charging interface of mobile robot X, so that the body surface E provided with the charging interface is not blocked by the shelf, and the charging interface of mobile robot X can dock with the charging interface of the charging pile. Exemplarily, Figure 5 for Figure 4 A schematic diagram of the shelf placement method after performing the second sub-operation based on the above.

[0172] Optionally, considering that the lifting plates of different types of mobile robots have different structures, if there is a moving device at the bottom of the lifting plate for controlling the lateral translation of the lifting plate, for example, a device such as a roller that can make the lifting plate lateral translation, then the above-mentioned predetermined optimization processing of the placement position of the shelf on the target mobile robot may include the following steps:

[0173] Step E1: By manipulating the moving device located at the bottom of the lifting plate of the target mobile robot, the center of the shelf is moved a predetermined distance in a direction away from the charging port of the target mobile robot.

[0174] If the lifting platform does not have the above-mentioned moving device, the above-mentioned predetermined optimization processing of the placement position of the shelf on the target mobile robot may include the following steps:

[0175] Step E2: Unload the shelf by manipulating the lifting plate of the target mobile robot, and then re-carry the shelf by moving the center of the shelf away from the center of the vehicle body by a predetermined distance in the direction away from the charging port of the target mobile robot.

[0176] In this implementation, based on the different lifting plate structures of the mobile robot, different optimization processing methods are set for different lifting plate structures to improve the applicability of a charging method provided in an embodiment of the present application.

[0177] Optionally, in one implementation, if the second type of control operation is used as the target control operation, the above step C, performing the target control operation on the shelf carried by the target mobile robot, may include the following operations:

[0178] Step C2: adjusting the lifting height of the lifting plate of the target mobile robot for carrying the shelf to a target height;

[0179] The target height is such that the bottom surface of the shelf is higher than the height of the target charging pile.

[0180] In this implementation, when the target mobile robot is carrying a shelf and moving, in order to reduce the risk of the shelf tipping over due to the high center of gravity during the movement, the shelf is usually lifted to a fixed lifting height before moving. Figure 6 A schematic diagram of a mobile robot with a fixed lifting height when carrying a shelf.

[0181] It should be noted that during the operation of the mobile robot, the shelf is located above the mobile robot. In order to facilitate the understanding of the size and position relationship between the shelf and the mobile robot, Figure 6-Figure 8 The schematic diagram shown is a side view, in which the white area represents the mobile robot X and the gray area represents the shelf Y.

[0182] However, different types of charging piles have different overall heights. Therefore, if the height of the charging pile is higher than the fixed lifting height, when the side size of the carried shelf is larger than the side length of the mobile robot, the charging port of the mobile robot cannot be docked with the charging port of the charging pile. For example, Figure 7 The figure shows a scenario diagram when the height of the charging pile is higher than the fixed lifting height.

[0183] Therefore, when the second type of control operation is used as the target control operation, the lifting height of the lifting plate of the target mobile robot for carrying the shelf can be adjusted to a target height where the bottom surface of the shelf is higher than the target charging pile.

[0184] In this way, the carried shelf will not affect the docking of the charging interface of the mobile robot with the charging interface of the charging pile, and the mobile robot can dock and charge at the target charging pile. Figure 8 For Figure 7 Schematic diagram of the shelf placement height after adjusting the lifting height based on , wherein the black area 800 is the lifting plate of the mobile robot X.

[0185] Optionally, in one implementation, if the third type of control operation is used as the target control operation, the above step C, performing the target control operation on the shelf carried by the target mobile robot, may include the following steps:

[0186] Step C3: Unloading the shelf to a predetermined temporary storage area;

[0187] Accordingly, in a charging method for a mobile robot provided in an embodiment of the present application, before the above step S105, in which the target mobile robot is controlled to continue to perform the operation task, the following steps are also included:

[0188] Step F: Control the target mobile robot to carry the shelf again from the predetermined temporary storage area.

[0189] In this implementation, taking into account that the lifting height of the target mobile robot may not reach the target height, that is, when the height of the target charging pile is too high, the third type of control operation is used as the target control operation. At this time, the target mobile robot is controlled to unload the shelf into the predetermined temporary storage area, and in response to meeting the predetermined charging end conditions, the target mobile robot is controlled to carry the shelf again from the predetermined temporary storage area and continue to perform the work task.

[0190] Optionally, a designated mark for identifying the work task is set on the shelf, and the target mobile robot is equipped with a visual sensor; when controlling the target mobile robot to carry the shelf again from the predetermined temporary storage area, the target mobile robot identifies the designated mark on the shelf through the visual sensor to determine whether the identified shelf is the shelf for its own temporary storage.

[0191] In this implementation, by combining the size of the side of the target mobile robot body, the size of the side of the carried shelf, the lifting height of the lifting plate of the target mobile robot, and the height of the target charging pile, the shelf carried by the target mobile robot is subjected to multi-dimensional control operations on the placement posture in different adjustment scenarios, so that the adjusted target mobile robot can be docked at the target charging pile for charging, so as to improve the charging efficiency and utilization rate of the mobile robot, and further achieve the purpose of charging the mobile robot while taking into account the charging needs of the mobile robot and the utilization rate of the mobile robot.

[0192] In order to facilitate understanding of a charging method for a mobile robot provided in an embodiment of the present application, an AGV is taken as an example and introduced in combination with a specific embodiment.

[0193] With the widespread application of AGV in the manufacturing industry, the requirements for AGV response efficiency are getting higher and higher. AGVs usually need to operate at full capacity and charge when they are completely idle. After charging, the AGV is assigned to perform tasks, which shortens the operation time of the AGV and reduces the utilization rate of the AGV.

[0194] For example, Fig. 9 The figure is a schematic diagram of the operation and charging process of a mobile robot provided by the prior art. In order to facilitate the understanding of the size relationship and position relationship between the shelf and the mobile robot, Fig. 9 The schematic diagram shown is a bottom view.

[0195] After the mobile robot X starts its shift (begins to perform operations), it moves empty shelves from the inventory area through waiting position 2, waiting position 1, and reaches the next loading position (the area of ​​waiting position 1, waiting position 2 and the next loading position together constitute the loading waiting area in the embodiment of this application). After reaching the next loading position, the mobile robot X releases the shelf and goes to the charging pile next to it for charging. During this period, the mobile robots at waiting position 1 and waiting position 2 wait in sequence. After the shelf at the next loading position is fully loaded with objects, the mobile robot X receives an instruction to return to the next loading position from the charging pile, and carries the full shelf into the warehouse. After that, the mobile robot at waiting position 1 enters the next loading position, and the mobile robot at waiting position 2 enters waiting position 1, and they proceed in sequence.

[0196] Among them, in the production scenario, there is usually a charging pile only next to the unloading loading position, and, in the case of system customization, the charging pile is locked so that it can be used by the mobile robot that loads the shelf at the unloading loading position, but cannot be used by the mobile robot that loads the shelf at other unloading loading positions.

[0197] The triggering method for the AGV to charge and return (meeting the charging end condition) includes: the operator at the offline workstation sends a call command to the AGV to interrupt the AGV charging, and the AGV ends charging after receiving the above call command and returns to the next loading position; or, when the number of objects loaded on the shelf carried by the AGV counted by the production line PLC (Programmable Logic Controller) counter reaches a predetermined number, a specified signal is sent to interrupt the AGV charging, and the AGV ends charging after receiving the above specified signal and returns to the next loading position; or, a fixed time is set (for example, a predetermined time interval such as 3 minutes or 5 minutes), and the AGV ends charging after the charging time reaches the above fixed time and returns to the next loading position.

[0198] Another example, Fig.10 Another mobile robot operation and charging process diagram provided by the prior art. The mobile robot performs tasks in a loop. Fig.10 In the scene shown, there are 6 mobile robots participating in the loop cycle task, and the total cycle time of all robots does not exceed 492 seconds. In addition, there are charging positions 1 and 2 in the scene; charging position 1 is the charging docking area of ​​the first charging pile in the scene, and charging position 2 is the charging docking area of ​​the second charging pile in the scene.

[0199] In the above scenario, the charging process of the mobile robot is as follows: after the mobile robot arrives at the charging position 2, it determines whether there are other mobile robots waiting at the front floor waiting position 1. If there are other mobile robots waiting at the front floor waiting position 1, the mobile robot rotates the body and moves backward to find the charging interface for charging. After other mobile robots at the front floor waiting position 1 leave, the mobile robot interrupts the charging and enters the front floor waiting position 1; if there are no other mobile robots at the front floor waiting position 1, it does not charge and directly enters the front floor waiting position 1; wherein, the front floor waiting position is the loading waiting area in the embodiment of the present application.

[0200] Afterwards, the mobile robot moves to the upper threshold waiting position, waiting to move to the upper threshold and the engraving exception processing position, and after moving to the upper threshold and the engraving exception processing position, at the upper threshold and the engraving exception processing position, determines the specific operation or inspection that it needs to perform; then, it enters the front floor waiting position 2 and waits to enter the front floor upper loading position (the front floor loading position is the object loading position in the embodiment of the present application, and can also be called the lower loading position). After arriving at the front floor loading position, the object is loaded.

[0201] Then, it continues to move to the unloading waiting position according to the route and waits to enter the unloading position, and unloads the object after reaching the unloading position; the above-mentioned unloading position is the unloading area in the embodiment of the present application. It can be understood that there may be multiple mobile robots that move to the same unloading position to unload objects. Therefore, there is a corresponding loading waiting area for an object loading position, and there is also a corresponding unloading waiting area for an unloading position.

[0202] When the mobile robot moves from the loading position on the front floor to the unloading waiting position, the mobile robot will also pass by the charging position 1. During this period, if the mobile robot is out of power and cannot continue to operate, the mobile robot can be charged at the above-mentioned charging position 1.

[0203] The so-called upper threshold refers to the threshold at which the AGV transitions from one area or stage to another. When the AGV reaches this threshold, it may be necessary to perform specific operations or checks, such as deceleration, scanning a QR code, communicating with the central control system, etc., to ensure that the AGV can continue to perform its tasks safely and accurately. It should be noted that the above threshold can be a physical threshold (for example, a threshold, door or obstacle on the ground) or a virtual threshold (for example, a boundary or limit that the AGV can recognize through software setting), which is reasonable.

[0204] The so-called engraving refers to a certain marking or printing operation involved in the process of AGV performing a task. For example, marking on products, parts or the AGV itself, such as QR codes, barcodes, serial numbers or other identifiers. Marking anomalies refer to problems such as missing, wrong, unclear or unrecognizable markings by the AGV's visual sensors. These problems cause the AGV to be unable to properly identify the product or part, and thus unable to proceed to the next step; marking anomalies can also refer to failures or errors that occur when the AGV performs engraving or marking tasks, such as failure of the engraving head, insufficient ink, inaccurate marking position, etc.

[0205] From the above, it can be seen that the layout of charging facilities in AGV loop operations often needs to be set according to the AGV's moving route and task requirements. Ground charging equipment (charging piles) are usually installed in fixed locations to facilitate AGV charging during movement. However, this layout makes it difficult to expand and change the AGV operation scene, and there are certain limitations in use. In addition, in the prior art, AGVs can only be charged when they are completely idle, and tasks are assigned to the AGV after charging is completed, which shortens the AGV's operating time and reduces the AGV's utilization rate.

[0206] Based on this, in order to solve the above problem, this specific embodiment uses the AGV to directly charge the shelf during the waiting period of the operation, which effectively avoids the time consumed by rescheduling the AGV. Specifically:

[0207] When the AGV is performing a work task, if the current AGV (target mobile robot) is carrying a shelf and is located in a queue, waiting point, etc. (the designated area in the embodiment of the present application), while waiting to perform the work task, if the waiting time (the stay time in the embodiment of the present application) exceeds the pre-set predetermined time, the AGV triggers the charging service.

[0208] At this time, the AGV can search for an available charging pile nearby as the target charging pile. At this time, the following adjustments are made to the target charging pile being searched:

[0209] Adjustment strategy 1: If the shelf carried by the AGV is adjusted, it will not affect the AGV's direct docking with the charging pile.

[0210] For example, if the short side of the shelf is shorter than the length of the AGV body (specified size), the AGV can select any charging pile for charging, and before charging, adjust the shelf to a direction perpendicular to the body (in which the target side is parallel to the target side) to reserve space for charging, and then start charging. Among them, the steps of the above adjustment strategy one are the relevant steps of the first sub-operation in the first type of control operation provided in the embodiment of the present application. Among them, the above charging space is the space that enables the target mobile robot and the target charging pile to perform charging docking operations in the embodiment of the present application, and the above charging space can also be understood as the physical space required for docking charging piles.

[0211] Adjustment strategy two: if the shelf carried by the AGV cannot meet the physical space required for docking with the charging pile after adjustment by the above adjustment strategy one, that is, after the AGV and the shelf are adjusted to a vertical state, the required charging space is still not met, and the charging interface of the AGV still cannot dock with the charging interface of the charging pile. At this time, a secondary judgment is required, that is, to determine whether the center of the shelf, if not aligned with the center of the AGV body, can meet the charging space required for charging. If it can be met, the AGV adjusts the shelf to a vertical state with the body before charging, and then puts the shelf on the ground first, and then controls the AGV to retreat outside the shelf, and according to the space required for charging, the shelf is picked up again in a way that the center of the shelf is not aligned with the center of the body. Among them, the steps of the above adjustment strategy two are the relevant steps of the first sub-operation and the second sub-operation in the first type of control operation provided in the embodiment of the present application.

[0212] Adjustment strategy three: If the charging space required by the AGV is still not met after the above adjustment strategies one and two, the AGV is controlled to adjust the lifting height of the lifting plate (i.e., perform a two-stage lift, where the first stage lift is the fixed lifting height of the AGV), lift the shelf to a height higher than the charging pile, and then charge. The steps of the above adjustment strategy three are the relevant steps of the second type of control operation provided in the embodiment of the present application.

[0213] Adjustment strategy 4: If the charging space required by the AGV cannot be met after the above adjustment strategies 1, 2 and 3, the AGV is controlled to place the shelf in a certain position in front of the charging pile or a certain designated position (i.e., the predetermined temporary storage area in the embodiment of the present application), and then charge the empty vehicle. After the charging is completed, the shelf is carried back to operate. Among them, the steps of the above adjustment strategy 4 are the relevant steps of the third type of control operation provided in the embodiment of the present application.

[0214] In this specific embodiment, different adjustment strategies are called for different scenarios to adjust the placement of the shelves carried by the mobile robot, so that the adjusted mobile robot can dock with the determined charging pile and charge, thereby reducing the dependence of loop operations on ground charging, making the operating scenarios of the mobile robot easier to expand and change, and enriching the diversity of operating scenarios that the mobile robot charging can adapt to. In addition, during the operation of the mobile robot, the time gaps of waiting in line are used to control the mobile robot to carry the shelves for charging, which can improve the charging efficiency of the mobile robot and the utilization rate of the mobile robot.

[0215] Based on the above method embodiment, the present application embodiment also provides a charging device for a mobile robot, such as Fig.11 FIG. 1 is a schematic diagram of a charging device for a mobile robot provided in an embodiment of the present application, wherein the device comprises:

[0216] The monitoring module 1110 is used to monitor whether the target mobile robot performing the operation task meets the charging condition when the target mobile robot is located in a designated area; wherein the designated area is a loading waiting area for the object indicated by the operation task, and the charging condition includes that the length of stay in the designated area exceeds a predetermined length of time;

[0217] An allocation module 1120 is used to allocate a target charging pile in an available state to the target mobile robot when the conditions are met;

[0218] A control module 1130 is used to control the target mobile robot to perform a designated control operation on charging; wherein the designated control operation includes controlling the target mobile robot to move to a charging docking area of ​​a target charging pile and performing a regulation operation on a placement posture of a shelf carried by the target mobile robot, wherein the regulation operation is an operation for enabling the target mobile robot to perform charging docking with a target charging pile;

[0219] A charging module 1140 is used for docking the target mobile robot to the target charging pile for charging in response to the completion of the execution of the designated control operation;

[0220] The charging end module 1150 is used to control the target mobile robot to continue to perform the operation task in response to satisfying a predetermined charging end condition.

[0221] As can be seen from the above, by applying the solution provided by the embodiment of the present application, when the target mobile robot performing the operation task is located in the designated area, the target mobile robot is monitored to see whether it meets the charging condition, which includes the duration of stay in the designated area exceeding the predetermined duration; if the condition is met, the target mobile robot is assigned a target charging pile in an available state. Then, the target mobile robot is controlled to perform the designated control operation on charging, so that the target mobile robot and the target charging pile can be docked for charging, and in response to the completion of the designated control operation, the target mobile robot is docked with the target charging pile for charging, and after the predetermined charging end condition is met, the target mobile robot is controlled to continue to perform the operation task.

[0222] Based on this, the scheme provided by the embodiment of the present application is applied. By setting the charging conditions for starting charging and the charging end conditions for ending charging, the mobile robot can use the gaps while waiting for objects to be loaded to charge during the execution of the operation task. In addition, the mobile robot performs the operation task while carrying the shelf on its back. Therefore, it can be understood that when the mobile robot uses the waiting gap to charge, the mobile robot is also in the state of carrying the shelf on its back. The scheme provided by the embodiment of the present application, by adjusting the placement posture of the shelf carried by the mobile robot, enables the mobile robot to still perform charging docking operations with the target charging pile while carrying the shelf on its back. It can be seen that the charging method provided by this scheme can take into account both the charging needs of the mobile robot and the utilization rate of the mobile robot.

[0223] Optionally, in an implementation, the method for determining whether a predetermined charging end condition is satisfied includes:

[0224] Determine whether any of the predetermined conditions is met, and if so, determine that the charging end condition is met;

[0225] Among them, each predetermined condition includes: a first condition that represents reaching a predetermined charging power after charging and a second condition that represents reaching the timing for the target mobile robot to load an object.

[0226] Optionally, in an implementation manner, the device further includes:

[0227] The stop module is used to stop executing the designated control operation and control the target mobile robot to continue to execute the operation task if the target mobile robot reaches the time to load an object during the process of controlling the target mobile robot to perform the designated control operation regarding charging.

[0228] Optionally, in one implementation, the charging condition also includes that the target mobile robot is located in a predetermined position in a robot waiting queue; wherein the robot waiting queue is a robot queue within the designated area for loading cargo according to the position in the queue.

[0229] Optionally, in one implementation, performing a control operation on the placement posture of the shelf carried by the target mobile robot includes:

[0230] Performing target control operations on the shelf carried by the target mobile robot;

[0231] Among them, the target control operation is one of the first type of control operation, the second type of control operation and the third type of control operation; the first type of control operation is an operation to adjust the placement direction of the shelf on the target mobile robot; the second type of control operation is an operation to adjust the placement height of the shelf on the target mobile robot; the third type of control operation is an operation to unload the shelf to a predetermined temporary storage area.

[0232] Optionally, in an implementation, if the first type of control operation is used as the target control operation, performing the target control operation on the shelf carried by the target mobile robot includes:

[0233] Performing a placement direction adjustment operation on the shelf carried by the target mobile robot to match the target relationship;

[0234] Among them, the target relationship is the relationship between the size of the target side of the shelf and the specified size; if the target relationship is that the size of the target side is not greater than the specified size, the matching placement direction adjustment operation is the first sub-operation, and if the target relationship is that the size of the target side is greater than the specified size, the matching placement direction adjustment operation includes a first sub-operation and a second sub-operation; the target side is the short side of the shelf, and the specified size is the length of the target side adjacent to the side of the target mobile robot having a charging interface; the first sub-operation includes performing a target adjustment process on the placement direction of the shelf by rotating the lifting plate of the target mobile robot for carrying the shelf so that the target side is parallel to the target side; the second operation includes, in response to the completion of the first sub-operation, performing a predetermined optimization process on the placement position of the shelf on the target mobile robot so that the center of the shelf is offset by a predetermined distance in the direction away from the charging interface of the target mobile robot, and the predetermined distance is greater than half of the difference between the size of the target side and the specified size.

[0235] Optionally, in an implementation, if the second type of control operation is used as the target control operation, performing the target control operation on the shelf carried by the target mobile robot includes:

[0236] Adjust the lifting height of the lifting plate of the target mobile robot for carrying the shelf to a target height; wherein the target height is such that the bottom surface of the shelf is higher than the height of the target charging pile.

[0237] Optionally, in an implementation, if the third type of control operation is used as the target control operation, performing the target control operation on the shelf carried by the target mobile robot includes:

[0238] Unloading the shelf to a predetermined temporary storage area;

[0239] Before controlling the target mobile robot to continue to perform the operation task, the method further includes:

[0240] The target mobile robot is controlled to carry the shelf again from the predetermined temporary storage area.

[0241] Optionally, in an implementation, the target control operation is specifically an operation selected from the first type of control operations, the second type of control operations and the third type of control operations according to a predetermined selection strategy;

[0242] Wherein, the predetermined selection strategy includes:

[0243] In a case where the lifting plate of the target mobile robot for carrying the shelf has a rotation function, taking the first type of control operation as the target control operation;

[0244] In the case that the lifting plate of the target mobile robot used to carry the shelf does not have a rotation function, if the lifting plate of the target mobile robot has a lifting function and can lift to a target height, the second type of control operation will be used as the target control operation; otherwise, the third type of control operation will be used as the target control operation; wherein, the target height is such that the bottom surface of the shelf is higher than the height of the target charging pile.

[0245] The present application also provides an electronic device, such as Fig.12 As shown, including:

[0246] Memory 1201, used for storing computer programs;

[0247] The processor 1202 is used to implement any mobile robot charging method provided in the above-mentioned embodiments of the present application when executing the program stored in the memory 1201.

[0248] Furthermore, the electronic device may further include a communication bus and / or a communication interface, and the processor 1202, the communication interface, and the memory 1201 communicate with each other via the communication bus.

[0249] The communication bus mentioned in the above electronic device can be a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus, etc. The communication bus can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, only one thick line is used in the figure, but it does not mean that there is only one bus or one type of bus.

[0250] The communication interface is used for communication between the above electronic device and other devices.

[0251] The memory may include a random access memory (RAM) or a non-volatile memory (NVM), such as at least one disk memory. Optionally, the memory may also be at least one storage device located away from the aforementioned processor.

[0252] The above-mentioned processor 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.

[0253] In another embodiment provided in the present application, a computer-readable storage medium is provided, in which a computer program is stored. When the computer program is executed by a processor, the steps of any of the above-mentioned charging methods for mobile robots are implemented.

[0254] In another embodiment provided in the present application, a computer program product including instructions is also provided, which, when executed on a computer, enables the computer to execute the charging method for a mobile robot in any one of the above embodiments.

[0255] In the above embodiments, it can be implemented in whole or in part by software, hardware, firmware or any combination thereof. When implemented using software, it can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, the process or function described in the embodiment of the present application is generated in whole or in part. The computer may be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions may be stored in a computer-readable storage medium, or transmitted from one computer-readable storage medium to another computer-readable storage medium. For example, the computer instructions may be transmitted from a website site, computer, server or data center to another website site, computer, server or data center by wired (e.g., coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) means. The computer-readable storage medium may be any available medium that a computer can access or a data storage device such as a server or data center that includes one or more available media integrated. The available medium may be a magnetic medium (e.g., a floppy disk, a hard disk, a tape), an optical medium (e.g., a DVD), or a solid-state hard disk (SSD), etc.

[0256] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0257] Each embodiment in this specification is described in a related manner, and the same or similar parts between the embodiments can be referred to each other, and each embodiment focuses on the differences from other embodiments. In particular, for the device embodiment, electronic device embodiment, computer-readable storage medium embodiment, and computer program product embodiment, since they are basically similar to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiment.

[0258] The above description is only a preferred embodiment of the present application and is not intended to limit the protection scope of the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application are included in the protection scope of the present application.

Claims

1. A charging method for a mobile robot, characterized in that: The method comprises: When the target mobile robot performing the operation task is located in a designated area, monitoring whether the target mobile robot meets the charging condition; wherein the designated area is a loading waiting area for the object indicated by the operation task, and the charging condition includes that the length of stay in the designated area exceeds a predetermined length of time; If the conditions are met, assigning a target charging pile in an available state to the target mobile robot; Controlling the target mobile robot to perform a designated control operation regarding charging; wherein the designated control operation includes controlling the target mobile robot to move to a charging docking area of ​​a target charging pile and performing a regulation operation on the placement posture of a shelf carried by the target mobile robot, wherein the regulation operation is an operation for enabling the target mobile robot to perform charging docking with the target charging pile; In response to the designated control operation being executed, docking the target mobile robot to the target charging pile for charging; In response to a predetermined charging end condition being met, the target mobile robot is controlled to continue to perform the work task.

2. The method according to claim 1, characterized in that The method for determining whether the predetermined charging end condition is met includes: Determine whether any of the predetermined conditions is met, and if so, determine that the charging end condition is met; Among them, each predetermined condition includes: a first condition indicating that a predetermined charging amount is reached after charging and a second condition indicating that a timing is reached for the target mobile robot to load an object.

3. The method according to claim 1, characterized in that The method further comprises: During the process of controlling the target mobile robot to perform designated control operations regarding charging, if the time comes for the target mobile robot to load an object, the designated control operations are stopped, and the target mobile robot is controlled to continue to perform the task.

4. The method according to claim 1, characterized in that: The charging condition also includes that the target mobile robot is located at a predetermined position in a robot waiting queue; wherein the robot waiting queue is a robot queue within the designated area for loading cargo according to the position in the queue.

5. The method according to any one of claims 1 to 4, characterized in that: The shelf carried by the target mobile robot is controlled to adjust its placement posture, including: Performing target control operations on the shelf carried by the target mobile robot; Among them, the target control operation is one of the first type of control operation, the second type of control operation and the third type of control operation; the first type of control operation is an operation to adjust the placement direction of the shelf on the target mobile robot; the second type of control operation is an operation to adjust the placement height of the shelf on the target mobile robot; the third type of control operation is an operation to unload the shelf to a predetermined temporary storage area.

6. The method according to claim 5, characterized in that If the first type of control operation is used as the target control operation, the target control operation is performed on the shelf carried by the target mobile robot, including: Performing a placement direction adjustment operation on the shelf carried by the target mobile robot to match the target relationship; Wherein, the target relationship is the relationship between the size of the target side of the shelf and the specified size; if the target relationship is that the size of the target side is not greater than the specified size, the matching placement direction adjustment operation is the first sub-operation; if the target relationship is that the size of the target side is greater than the specified size, the matching placement direction adjustment operation includes the first sub-operation and the second sub-operation; The target side is a short side of the shelf, and the specified size is a length of the target side adjacent to the side of the target mobile robot having a charging port; The first sub-operation includes performing a target adjustment process on the placement direction of the shelf by rotating a lifting plate of the target mobile robot for carrying the shelf so that the target edge is parallel to the target side surface; The second operation includes, in response to the completion of the execution of the first sub-operation, performing predetermined optimization processing on the placement position of the shelf on the target mobile robot so that the center of the shelf is offset by a predetermined distance in a direction away from the charging port of the target mobile robot, and the predetermined distance is greater than half of the difference between the size of the target edge and the specified size.

7. The method according to claim 5, characterized in that If the second type of control operation is used as the target control operation, the target control operation is performed on the shelf carried by the target mobile robot, including: Adjust the lifting height of the lifting plate of the target mobile robot for carrying the shelf to a target height; wherein the target height is such that the bottom surface of the shelf is higher than the height of the target charging pile.

8. The method according to claim 5, characterized in that If the third type of control operation is used as the target control operation, the target control operation is performed on the shelf carried by the target mobile robot, including: Unloading the shelf to a predetermined temporary storage area; Before controlling the target mobile robot to continue to perform the operation task, the method further includes: The target mobile robot is controlled to carry the shelf again from the predetermined temporary storage area.

9. The method according to claim 5, characterized in that The target control operation is specifically an operation selected from the first type of control operation, the second type of control operation and the third type of control operation according to a predetermined selection strategy; Wherein, the predetermined selection strategy includes: In a case where the lifting plate of the target mobile robot for carrying the shelf has a rotation function, taking the first type of control operation as the target control operation; In the case that the lifting plate of the target mobile robot used to carry the shelf does not have a rotation function, if the lifting plate of the target mobile robot has a lifting function and can lift to a target height, the second type of control operation will be used as the target control operation; otherwise, the third type of control operation will be used as the target control operation; wherein, the target height is such that the bottom surface of the shelf is higher than the height of the target charging pile.

10. A charging device for a mobile robot, characterized in that: The device comprises: A monitoring module, configured to monitor whether the target mobile robot performing the operation task meets the charging condition when the target mobile robot is located in a designated area; wherein the designated area is a loading waiting area for the object indicated by the operation task, and the charging condition includes that the length of stay in the designated area exceeds a predetermined length of time; An allocation module, configured to allocate a target charging pile in an available state to the target mobile robot when conditions are met; A control module, used to control the target mobile robot to perform a designated control operation on charging; wherein the designated control operation includes controlling the target mobile robot to move to a charging docking area of ​​a target charging pile and performing a regulation operation on a placement posture of a shelf carried by the target mobile robot, wherein the regulation operation is an operation for enabling the target mobile robot to perform charging docking with a target charging pile; A charging module, configured to dock the target mobile robot with the target charging pile for charging in response to completion of the execution of the designated control operation; The charging end module is used to control the target mobile robot to continue to perform the operation task in response to meeting a predetermined charging end condition.

11. The device according to claim 10, characterized in that The method for determining whether the predetermined charging end condition is met includes: Determine whether any of the predetermined conditions is met, and if so, determine that the charging end condition is met; The predetermined conditions include: a first condition indicating that a predetermined charging amount is reached after charging and a second condition indicating that a time has come for the target mobile robot to load an object; and / or, The device also includes: a stop module, used for stopping the designated control operation and controlling the target mobile robot to continue to perform the operation task if the target mobile robot reaches a time to load an object during the process of controlling the target mobile robot to perform the designated control operation on charging; and / or, The charging condition also includes that the target mobile robot is located at a predetermined position in a robot waiting queue; wherein the robot waiting queue is a robot queue within the designated area for loading cargo according to the position in the queue; and / or, The shelf carried by the target mobile robot is controlled to adjust its placement posture, including: Performing target control operations on the shelf carried by the target mobile robot; The target control operation is one of the first type of control operation, the second type of control operation and the third type of control operation; the first type of control operation is an operation for adjusting the placement direction of the shelf on the target mobile robot; the second type of control operation is an operation for adjusting the placement height of the shelf on the target mobile robot; the third type of control operation is an operation for unloading the shelf to a predetermined temporary storage area; and / or, If the first type of control operation is used as the target control operation, the target control operation is performed on the shelf carried by the target mobile robot, including: Performing a placement direction adjustment operation on the shelf carried by the target mobile robot to match the target relationship; Wherein, the target relationship is the relationship between the size of the target side of the shelf and the specified size; if the target relationship is that the size of the target side is not greater than the specified size, the matching placement direction adjustment operation is the first sub-operation; if the target relationship is that the size of the target side is greater than the specified size, the matching placement direction adjustment operation includes a first sub-operation and a second sub-operation; the target side is the short side of the shelf, and the specified size is the length of the target side adjacent to the side of the target mobile robot having a charging interface; the first sub-operation includes performing a target adjustment process on the placement direction of the shelf by rotating the lifting plate of the target mobile robot for carrying the shelf so that the target side is parallel to the target side; the second operation includes, in response to the completion of the first sub-operation, performing a predetermined optimization process on the placement position of the shelf at the target mobile robot so that the center of the shelf is offset by a predetermined distance in a direction away from the charging interface of the target mobile robot, and the predetermined distance is greater than half of the difference between the size of the target side and the specified size; and / or, If the second type of control operation is used as the target control operation, the target control operation is performed on the shelf carried by the target mobile robot, including: Adjusting the lifting height of the lifting plate of the target mobile robot for carrying the shelf to a target height; wherein the target height is such that the bottom surface of the shelf is higher than the height of the target charging pile; and / or, If the third type of control operation is used as the target control operation, the target control operation is performed on the shelf carried by the target mobile robot, including: Unloading the shelf to a predetermined temporary storage area; Before controlling the target mobile robot to continue to perform the operation task, the method further includes: Controlling the target mobile robot to carry the shelf again from the predetermined temporary storage area; and / or, The target control operation is specifically an operation selected from the first type of control operation, the second type of control operation and the third type of control operation according to a predetermined selection strategy; Wherein, the predetermined selection strategy includes: In a case where the lifting plate of the target mobile robot for carrying the shelf has a rotation function, taking the first type of control operation as the target control operation; In the case that the lifting plate of the target mobile robot used to carry the shelf does not have a rotation function, if the lifting plate of the target mobile robot has a lifting function and can lift to a target height, the second type of control operation will be used as the target control operation; otherwise, the third type of control operation will be used as the target control operation; wherein, the target height is such that the bottom surface of the shelf is higher than the height of the target charging pile.

12. An electronic device, characterized in that: include: Memory, used to store computer programs; A processor, for implementing any of the methods described in claims 1-9 when executing a program stored in a memory.

13. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the method according to any one of claims 1 to 9 is implemented.

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