Charging method and device of tunnel robot, electronic equipment and storage medium

Abstract

The invention relates to a charging method and device for a tunnel robot, electronic equipment and a storage medium, and the method comprises the steps: S1, when the tunnel robot moves to a first range where a specified charging position is located, if the tunnel robot is not detected to be in a charging state, controlling the tunnel robot to reduce the advancing speed, controlling the tunnel robot to move for the first time according to a first set distance; s2, whether the tunnel robot receives a first signal or not is judged in real time in the moving process, S3, when the first signal is detected, whether the tunnel robot is in a charging state or not is detected, if the tunnel robot is not in the charging state, the tunnel robot is controlled to move for the second time according to a second set distance, and S2 to S3 are repeated until the tunnel robot moves for the second time. And controlling the tunnel robot to stop moving until the tunnel robot is detected to be in the charging state. By means of the method, the calibration capacity of the tunnel robot can be remarkably improved, and the method is not affected by environment weather, motor slipping and inertia.

Description

Technical Field

[0001] The present invention relates to the technical field of robot charging, and in particular to a charging method, device, electronic equipment and storage medium for a tunnel robot. Background Art

[0002] In the application scenario of tunnel robots, how to move the tunnel robot to the charging pile more quickly and accurately in the case of slipping. Specifically, this technical challenge involves improving the accuracy and efficiency of the tunnel robot's positioning and navigation to ensure that the robot can accurately reach the charging pile for charging. If the robot fails to dock with the charging pile accurately, it may not charge properly, which in turn affects its subsequent working ability and the reliability of the overall system. Therefore, this invention aims to overcome this obstacle through technological innovation and ensure the continuous operation of the tunnel robot. This problem is solved by intelligently finding wireless charging pile algorithms and RFID positioning methods.

[0003] Prior art 1, start and end point calibration method:

[0004] This technology writes the position difference between the starting and ending positions of the wireless charging pile and the two ends of the track and the total length of the track into the tunnel robot system. When the battery power of the tunnel robot drops below the preset safety threshold, the tunnel robot first determines the current position closest to the two ends of the track through the current position feedback from the hub motor, moves towards it and calibrates the current position (for example: the starting point is 0 meters and the end point is 100 meters, and then the current position of the tunnel robot is updated after moving into place), controls the motor to move the pre-written distance, and moves to the wireless charging pile for charging.

[0005] Prior art 2, triangulation positioning calibration method:

[0006] This technology places a SIM card in the tunnel robot to communicate with the two nearest communication base stations near the tunnel robot. It is known that the distance between the two communication base stations is fixed. The SIM card in the tunnel robot communicates with the base station, and the coordinate position is calculated and calibrated through the two returned signal strengths.

[0007] The technical defects of the above two prior arts are:

[0008] The first existing technical solution is that the tunnel robot first moves to the starting point or end point for position calibration, and then moves a fixed length to the wireless charging pile position. Once the wheel hub motor slips and causes idling, the actual moving position will be reduced, resulting in movement errors and failure to align with the wireless charging pile. Secondly, the tunnel robot is more likely to exceed the target moving distance due to inertia.

[0009] The second existing technical solution is greatly affected by the environment, and the signal in the tunnel is usually poor, which seriously affects the calibration accuracy and causes large deviations, resulting in movement errors and the inability to align the wireless charging pile. Summary of the invention

[0010] The technical problem to be solved by the present invention is to provide a charging method, device, electronic device and storage medium for a tunnel robot, aiming to solve at least one of the above technical problems.

[0011] In the first aspect, the technical solution of the present invention to solve the above technical problem is as follows: a charging method for a tunnel robot, the method comprising:

[0012] S1, when the tunnel robot moves to a first range where a designated charging position is located, if it is not detected that the tunnel robot is in a charging state, controlling the tunnel robot to reduce a travel speed, and controlling the tunnel robot to perform a first movement according to a first set distance;

[0013] S2, determining in real time during the movement whether the tunnel robot receives a first signal, wherein the first signal is a signal emitted by any one of the RFID tags set at the charging position and at least one RFID tag within a second range where the charging position is located, and the signal emitted by each RFID tag is different;

[0014] S3, when the first signal is detected, detect whether the tunnel robot is in a charging state. If it is detected that the tunnel robot is not in a charging state, control the tunnel robot to move for a second time according to a second set distance, and repeat the movement process from S2 to S3 until it is detected that the tunnel robot is in a charging state, and control the tunnel robot to stop moving.

[0015] The beneficial effects of the present invention are: in terms of position calibration, compared with the prior art, the calibration capability of the tunnel robot can be significantly improved, and it is not affected by environmental weather, etc. At the same time, based on the signal emitted by the RFID tag, the current position of the tunnel robot is accurately judged and adjusted in real time, so that the tunnel robot can accurately drive to the charging position, and avoid the problem that the tunnel robot cannot accurately drive to the charging position due to motor slippage and inertia exceeding the charging position of the charging pile.

[0016] Based on the above technical solution, the present invention can also be improved as follows.

[0017] Further, the at least one RFID tag within the second range of the charging position includes a first RFID tag set at a first position on the left side of the charging position and a second RFID tag set at a second position on the right side of the charging position, the first position and the second position are both at a third set distance from the charging position, and the third set distance is greater than the first set distance and greater than the second set distance;

[0018] When the number of movements of the tunnel robot is an odd number, the moving direction of the tunnel robot is to the left of the charging position. When the number of movements of the tunnel robot is an even number, the moving direction of the tunnel robot is to the right of the charging position.

[0019] Further, when the first signal is detected, detecting whether the tunnel robot is in a charging state includes:

[0020] When the first signal is detected, determining a current position of the tunnel robot based on the first signal;

[0021] According to the current position and the charging position, it is detected whether the tunnel robot is in a charging state.

[0022] Furthermore, determining in real time whether the tunnel robot receives the first signal during the movement process includes:

[0023] When the tunnel robot receives an initial signal during the movement, determining the signal strength of the initial signal;

[0024] When the signal strength is greater than the set strength, the initial signal corresponding to the strength greater than the set strength is used as the first signal.

[0025] Furthermore, the second set distance is greater than the first set distance.

[0026] In a second aspect, in order to solve the above technical problems, the present invention further provides a charging system for a tunnel robot, comprising a tunnel robot, a charging pile, at least one RFID tag arranged within a second range of the charging pile, and a controller arranged on the tunnel robot, wherein an RFID tag is arranged on the charging pile, and the signals emitted by each RFID tag are different;

[0027] The controller is used for controlling the tunnel robot to reduce the travel speed and to perform a first movement according to a first set distance when the tunnel robot moves to a charging position within a first range where the charging pile is located, if the tunnel robot is not detected to be in a charging state;

[0028] Any one of the at least one RFID tag within the second range and the one RFID tag provided on the charging pile is used to transmit a first signal;

[0029] The controller is also used to determine in real time whether the tunnel robot receives the first signal during the movement process. When the first signal is detected, it detects whether the tunnel robot is in a charging state. If it is detected that the tunnel robot is not in a charging state, the tunnel robot is controlled to move for a second time according to a second set distance until the tunnel robot receives the first signal during the movement and detects that the tunnel robot is in a charging state, then the tunnel robot is controlled to stop moving.

[0030] In a third aspect, in order to solve the above technical problems, the present invention further provides a charging device for a tunnel robot, the device comprising:

[0031] A moving module, used for controlling the tunnel robot to reduce the travel speed and to make a first move according to a first set distance when the tunnel robot moves to a first range where a designated charging position is located if the tunnel robot is not detected to be in a charging state;

[0032] A first signal receiving module, used for determining in real time during the movement whether the tunnel robot receives a first signal, wherein the first signal is a signal emitted by any one of the RFID tags set at the charging position and at least one RFID tag within a second range where the charging position is located, and the signal emitted by each RFID tag is different;

[0033] The charging module is used to detect whether the tunnel robot is in a charging state when the first signal is detected. If the tunnel robot is not in a charging state, the tunnel robot is controlled to move a second time according to a second set distance, and the processing process from the first signal receiving module to the charging module is repeated until the tunnel robot is detected to be in a charging state, and the tunnel robot is controlled to stop moving.

[0034] In a fourth aspect, in order to solve the above-mentioned technical problems, the present invention also provides an electronic device, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor, and when the processor executes the computer program, the charging method of the tunnel robot of the present application is implemented.

[0035] In a fifth aspect, in order to solve the above-mentioned technical problem, the present invention further provides a computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, the charging method of the tunnel robot of the present application is implemented.

[0036] Additional aspects and advantages of the present application will be partially given in the following description, which will become apparent from the following description, or will be understood through the practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings required for describing the embodiments of the present invention are briefly introduced below.

[0038] Figure 1 A schematic flow chart of a charging method for a tunnel robot provided by an embodiment of the present invention;

[0039] Figure 2 A schematic flow chart of another method for charging a tunnel robot provided by an embodiment of the present invention;

[0040] Figure 3 A schematic diagram of a setting method of an RFID tag provided by an embodiment of the present invention;

[0041] Figure 4 A schematic structural diagram of a charging device for a tunnel robot provided by an embodiment of the present invention;

[0042] Figure 5 A schematic diagram of the structure of an electronic device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0043] The principles and features of the present invention are described below. The examples given are only used to explain the present invention and are not used to limit the scope of the present invention.

[0044] The technical solution of the present invention and how the technical solution of the present invention solves the above-mentioned technical problems are described in detail below with specific embodiments. The following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be repeated in some embodiments. The embodiments of the present invention will be described below in conjunction with the accompanying drawings.

[0045] The solution provided by the embodiment of the present invention can be applied to any application scenario where a tunnel robot needs to be controlled for charging. The solution provided by the embodiment of the present invention can be executed by any electronic device that can control a tunnel robot, for example, a user's terminal device, including at least one of the following: a smart phone, a tablet computer, a laptop computer, a desktop computer, a smart speaker, a smart watch, a smart TV, a smart car device, or a controller set on a tunnel robot.

[0046] The embodiment of the present invention provides a possible implementation method, such as Figure 1As shown, a flowchart of a charging method for a tunnel robot is provided. The scheme can be executed by any electronic device. For the convenience of description, the controller set on the tunnel robot is used as an example to illustrate the method provided by the embodiment of the present invention. Figure 1 The method may include the following steps:

[0047] S1, when the tunnel robot moves to a first range where a designated charging position is located, if it is not detected that the tunnel robot is in a charging state, controlling the tunnel robot to reduce a travel speed, and controlling the tunnel robot to perform a first movement according to a first set distance;

[0048] S2, determining in real time during the movement whether the tunnel robot receives a first signal, wherein the first signal is a signal emitted by any one of the RFID tags set at the charging position and at least one RFID tag within a second range where the charging position is located, and the signal emitted by each RFID tag is different;

[0049] S3, when the first signal is detected, detect whether the tunnel robot is in a charging state. If it is detected that the tunnel robot is not in a charging state, control the tunnel robot to move for a second time according to a second set distance, and repeat the movement process from S2 to S3 until it is detected that the tunnel robot is in a charging state, and control the tunnel robot to stop moving.

[0050] The method of the present invention can significantly improve the calibration capability of the tunnel robot in terms of position calibration compared to the prior art, and is not affected by environmental weather, etc. At the same time, based on the signal emitted by the RFID tag, the current position of the tunnel robot is accurately determined and adjusted in real time, so that the tunnel robot can accurately drive to the charging position, and avoids the problem that the tunnel robot cannot accurately drive to the charging position due to motor slippage and inertia exceeding the charging position of the charging pile.

[0051] The scheme of the present invention is further described below in conjunction with the following specific embodiments. In this embodiment, see Figure 2 A charging method for a tunnel robot may include the following steps:

[0052] S1, when the tunnel robot moves to a first range where a designated charging position is located, if it is not detected that the tunnel robot is in a charging state, controlling the tunnel robot to reduce a travel speed, and controlling the tunnel robot to perform a first movement according to a first set distance;

[0053] The charging position is the position of the charging pile, which can be pre-stored in the control system (e.g., controller) of the tunnel robot. The tunnel robot can move to the first range of the designated charging position according to the preset path, wherein the first range refers to the range close to the charging position. Within the first range, it means that the tunnel robot is about to reach the charging position. If the tunnel robot drives to the charging position, the tunnel robot can connect with the charging pile at the charging position, and at this time, the tunnel robot can be in a charging state. The charging pile in the present application solution can be a wireless charging pile.

[0054] Controlling the tunnel robot to move for the first time according to the first set distance means starting to fine-tune the position of the tunnel robot when the tunnel robot moves to the first range. The first movement can also be understood as the first fine-tuning. The first set distance is a pre-set distance, indicating the distance of the first movement of the tunnel robot. Usually, the first set distance is less than the distance between the current position of the tunnel robot and the charging position.

[0055] Optionally, when the tunnel robot moves to a first range where a designated charging position is located, it may remain stationary for a set period of time (eg, 30 seconds), and then detect the charging status of the tunnel robot within the set period of time.

[0056] S2, determining in real time during the movement whether the tunnel robot receives a first signal, wherein the first signal is a signal emitted by any one of the RFID tags set at the charging position and at least one RFID tag within a second range where the charging position is located, and the signal emitted by each RFID tag is different;

[0057] The moving process refers to the process of the tunnel robot moving from the current position of the tunnel robot according to the corresponding set distance each time the tunnel robot moves. The signal emitted by each RFID tag can be used to characterize the identity of the RFID tag. The position of each RFID tag is preset, and the corresponding relationship between the identity of each RFID tag and the respective position is stored in advance in the control system of the tunnel robot. When the tunnel robot receives the first signal, it can determine the position of the RFID tag corresponding to the first signal based on the corresponding relationship, thereby determining the current position of the tunnel robot based on the position, and determining the distance between the tunnel robot and the charging position based on the current position, and then judging whether the tunnel robot has moved to the charging position based on the distance.

[0058] The second range is usually larger than the first range, and the second range is usually determined based on the recognition range of the signal emitted by the RFID tag. Usually, the recognition range of the signal emitted by an RFID tag is 60 cm.

[0059] Optionally, the tunnel robot is provided with an RFID reading / writing device, and the first signal can be received based on the RFID reading / writing device.

[0060] Optionally, the number of RFID tags set within the second range can be set based on actual needs, for example, two. If there are two RFID tags, at least one RFID tag within the second range where the charging position is located includes a first RFID tag set at a first position on the left side of the charging position and a second RFID tag set at a second position on the right side of the charging position, and the first position and the second position are both at a third set distance from the charging position, and the third set distance is greater than the first set distance and greater than the second set distance;

[0061] When the number of movements of the tunnel robot is an odd number, the moving direction of the tunnel robot is to the left of the charging position. When the number of movements of the tunnel robot is an even number, the moving direction of the tunnel robot is to the right of the charging position.

[0062] Among them, the straight line direction perpendicular to the charging pile and the RFID tag within the second range can be used as the reference direction, the left side of the charging position refers to the left side of the reference direction, and the right side of the charging position refers to the right side of the reference direction.

[0063] In the present application, the angle at which the tunnel robot moves to the left can be the same as or different from the angle at which it moves to the right, and can be set based on actual needs. The angle refers to the angle between the tunnel robot's travel direction and the reference direction.

[0064] See also Figure 3 As shown, in Figure 3 In the example, the charging position of the charging pile, the first RFID tag and the second RFID tag ( Figure 3 The RFID identification tag B and the RFID identification tag A shown in the figure are in the same straight line (for the convenience of description, they can be called reference straight line). The third set distance is pre-set and can be set based on the RFID tag identification range. Usually, the third set distance is greater than the RFID tag identification range. For example, if the RFID tag identification range is 60cm, the third set distance can be 1m.

[0065] Optionally, in S2, determining in real time whether the tunnel robot receives the first signal during the movement process includes:

[0066] S21, when the tunnel robot receives an initial signal during the movement, determining the signal strength of the initial signal;

[0067] S22: When the signal strength is greater than the set strength, an initial signal corresponding to the strength greater than the set strength is used as the first signal.

[0068] Among them, the signal strength greater than the set strength indicates that the signal strength is the maximum strength, and the signal with the maximum strength can be used as the first signal. At this time, the current position of the tunnel robot can be determined more accurately. This method helps to significantly reduce the error that may be caused by single reference point positioning, thereby improving the overall positioning accuracy.

[0069] S3, when the first signal is detected, detect whether the tunnel robot is in a charging state. If it is detected that the tunnel robot is not in a charging state, control the tunnel robot to move for a second time according to a second set distance, and repeat the movement process from S2 to S3 until it is detected that the tunnel robot is in a charging state, that is, the tunnel robot moves to the charging position, and control the tunnel robot to stop moving.

[0070] Among them, when the first signal is detected, the essence of detecting whether the tunnel robot is in a charging state is whether the current position of the tunnel robot is a charging position when the first signal is retrieved. If it is a charging position, the tunnel robot may be in a charging state. If it is not a charging position, the tunnel robot cannot be in a charging state.

[0071] The second set distance may be equal to the first set distance, for example, both are 30 cm. The second set distance may also be greater than the first set distance. For example, the first set distance is 30 cm and the second set distance is 40 cm.

[0072] In the present application, after the tunnel robot is within the approximate range (first range) of the charging pile, it moves slowly left and right in a small range and gradually increases the moving range until it moves to the charging pile position, which reflects the strong adaptability and good flexibility of the method.

[0073] Optionally, in S3, when the first signal is detected, detecting whether the tunnel robot is in a charging state includes:

[0074] S31, when the first signal is detected, the current position of the tunnel robot is determined based on the first signal, where the current position refers to the position of the tunnel robot when the first signal is detected, and can be determined based on the position corresponding to the RFID tag corresponding to the first signal.

[0075] S32, based on the current position and the charging position, detecting whether the tunnel robot is in a charging state. That is, based on the current position and the charging position, determining whether the current position of the tunnel robot is a charging position, if it is a charging position, it means that the tunnel robot can be in a charging state, if it is not a charging position, it means that the tunnel robot is not in a charging state, and further fine-tuning of the current position of the tunnel robot is required.

[0076] Optionally, during the movement, when the current position of the tunnel robot is within the specified range of the charging position, a prompt message is issued indicating that the charging position cannot be found.

[0077] The specified range can be set based on actual needs. For example, when the distance beyond the reference straight line is set (for example, 30cm), the corresponding Figure 2 The movement shown exceeds 30cm and no charging location is reported.

[0078] Optionally, after controlling the tunnel robot to stop moving, the tunnel robot starts charging and continuously monitors the power level, and ends charging when the power level reaches a set value.

[0079] Optionally, during the movement of the tunnel robot, when the tunnel robot is located in the third range of the charging position, the third range is smaller than the first range, and it can also move forward and backward in a small range based on its current position and charging position to adjust its current position in real time so that the current position of the tunnel robot can be moved to the charging position as soon as possible.

[0080] Optionally, while continuously monitoring the power until it reaches a fully charged state, an optimal path can be generated and stored based on the current position of the tunnel robot and the charging position of the charging pile. The optimal path refers to the path corresponding to the position when the tunnel robot moves to the designated charging position within the first range, and to the charging position.

[0081] In the present application, the angle at which the tunnel robot moves to the left can be the same as or different from the angle at which it moves to the right, and can be set based on actual needs. The angle refers to the angle between the tunnel robot's travel direction and the reference direction.

[0082] Further, when not driving to the left at odd times and driving to the right at even times, the method further includes:

[0083] If after the first movement, the tunnel robot detects that the tunnel robot is not in a charging state based on the received first signal, it can also determine the offset angle of the current position of the tunnel robot relative to the charging position based on the current position and charging position of the tunnel robot at this time. When performing the second movement, the tunnel robot can be controlled to perform the second movement according to the offset angle and the second set distance. In this way, in the process of fine-tuning the position of the tunnel robot, the driving direction of the tunnel robot can be adjusted in real time based on the offset angle, so that the position of the tunnel robot can be adjusted more quickly and accurately.

[0084] Wherein, when performing the first movement, the driving direction of the tunnel robot may be a preset direction.

[0085] Furthermore, when the first signal received by the tunnel robot at one time includes at least two second signals at the same time, the following scheme may also be included:

[0086] Determine a target signal with the strongest signal strength from the at least two second signals;

[0087] Then in the above S31, based on the first signal, determining the current position of the tunnel robot includes:

[0088] The current position of the tunnel robot is determined by taking the position of the RFID tag corresponding to the target signal as a reference position.

[0089] Furthermore, when there are at least two target signals with the strongest signal strength determined from at least two second signals, a final signal is determined from at least two target signals with the strongest signal strength based on the traveling direction of the tunnel robot, and the final signal is a signal with gradually increasing signal strength as the tunnel robot continues to travel in the traveling direction. Then, among the at least two target signals with the strongest signal strength, except for the final signal, the signal strengths of other target signals gradually weaken as the tunnel robot continues to travel in the traveling direction.

[0090] The above-mentioned determination of the current position of the tunnel robot using the position of the RFID tag corresponding to the target signal as the reference position includes: determining the current position of the tunnel robot using the position of the RFID tag corresponding to the final signal as the reference position.

[0091] The solution of the present invention has the following beneficial effects:

[0092] 1. The location of the wireless charging pile is pre-set in the tunnel and stored in the robot's control system. These location information is fixed. During the movement process, the distance between the actual position feedback from the robot motor and the wireless charging pile is detected in real time, which facilitates the tunnel robot to move to the wireless charging pile more quickly, reducing the time the robot spends looking for the charging pile and improving charging efficiency.

[0093] 2. Install RFID tags on the wireless charging pile, 1 meter to the left and right of the charging pile as auxiliary tags. When the tunnel robot recognizes the auxiliary tags, it slows down and updates the current position of the tunnel robot when the RFID signal is the strongest, which can provide high-precision calibration and is not affected by the environment.

[0094] 3. After the tunnel robot moves to the approximate range of the charging pile, it moves slowly left and right in a small range and gradually increases the moving range until it moves to the charging pile position, which reflects the strong adaptability and good flexibility of the method.

[0095] 4. The present invention integrates advanced radio frequency identification (RFID) methods, pre-set charging positions of wireless charging piles, and intelligent alignment of wireless charging pile algorithms (based on the signal emitted by the RFID tag, the process of fine-tuning the current position of the tunnel robot in real time). Compared with the prior art, firstly, in terms of position calibration, compared with the calibration method at both ends of the track and the triangulation positioning method, the calibration capability of the tunnel robot can be significantly improved. And it is not affected by environmental weather, etc. Secondly, the intelligent alignment of wireless charging pile algorithms is used to avoid the problem that the tunnel robot cannot accurately align the wireless charging pile due to motor slippage and inertia rushing through the charging pile.

[0096] Based on Figure 1 Based on the same principle as the method shown in , an embodiment of the present invention further provides a charging system for a tunnel robot, the system comprising:

[0097] A tunnel robot, a charging pile, at least one RFID tag arranged within a second range of the charging pile, and a controller arranged on the tunnel robot, wherein an RFID tag is arranged on the charging pile, and each RFID tag emits a different signal;

[0098] The controller is used for controlling the tunnel robot to reduce the travel speed and to perform a first movement according to a first set distance when the tunnel robot moves to a charging position within a first range where the charging pile is located, if the tunnel robot is not detected to be in a charging state;

[0099] Any one of the at least one RFID tag within the second range and the one RFID tag provided on the charging pile is used to transmit a first signal;

[0100] The controller is also used to determine in real time whether the tunnel robot receives the first signal during the movement process. When the first signal is detected, it detects whether the tunnel robot is in a charging state. If it is detected that the tunnel robot is not in a charging state, the tunnel robot is controlled to move for a second time according to a second set distance until the tunnel robot receives the first signal during the movement and detects that the tunnel robot is in a charging state, then the tunnel robot is controlled to stop moving.

[0101] Based on Figure 1 The same principle as the method shown in , the embodiment of the present invention also provides a charging device 20 for a tunnel robot, such as Figure 4 As shown in , the charging device 20 of the tunnel robot may include a moving module 210, a first signal receiving module 220 and a charging module 230, wherein:

[0102] The moving module 210 is used for controlling the tunnel robot to reduce the travel speed and to perform a first movement according to a first set distance when the tunnel robot moves to a first range where the designated charging position is located if the tunnel robot is not detected to be in a charging state;

[0103] A first signal receiving module 220 is used to determine in real time whether the tunnel robot receives a first signal during movement, wherein the first signal is a signal emitted by any one of the RFID tags set at the charging position and at least one RFID tag within a second range where the charging position is located, and the signal emitted by each RFID tag is different;

[0104] The charging module 230 is used to detect whether the tunnel robot is in a charging state when the first signal is detected. If it is detected that the tunnel robot is not in a charging state, the tunnel robot is controlled to move a second time according to a second set distance, and the processing process from the first signal receiving module to the charging module is repeated until the tunnel robot is detected to be in a charging state, and the tunnel robot is controlled to stop moving.

[0105] Optionally, the at least one RFID tag within the second range of the charging position includes a first RFID tag set at a first position on the left side of the charging position and a second RFID tag set at a second position on the right side of the charging position, the first position and the second position are both at a third set distance from the charging position, and the third set distance is greater than the first set distance and greater than the second set distance;

[0106] When the number of movements of the tunnel robot is an odd number, the moving direction of the tunnel robot is to the left of the charging position. When the number of movements of the tunnel robot is an even number, the moving direction of the tunnel robot is to the right of the charging position.

[0107] Optionally, when the charging module 230 detects the first signal, when detecting whether the tunnel robot is in a charging state, it is specifically used to:

[0108] When the first signal is detected, determining a current position of the tunnel robot based on the first signal;

[0109] According to the current position and the charging position, it is detected whether the tunnel robot is in a charging state.

[0110] Optionally, when the first signal receiving module 220 determines in real time whether the tunnel robot has received the first signal during the movement, it is specifically used to:

[0111] When the tunnel robot receives an initial signal during the movement, determining the signal strength of the initial signal;

[0112] When the signal strength is greater than the set strength, the initial signal corresponding to the strength greater than the set strength is used as the first signal.

[0113] Optionally, the second set distance is greater than the first set distance.

[0114] The charging device of the tunnel robot in the embodiment of the present invention can execute the charging method of the tunnel robot provided in the embodiment of the present invention, and the implementation principle is similar. The actions performed by each module and unit in the charging device of the tunnel robot in each embodiment of the present invention correspond to the steps in the charging method of the tunnel robot in each embodiment of the present invention. For the detailed functional description of each module of the charging device of the tunnel robot, please refer to the description in the corresponding charging method of the tunnel robot shown in the previous text, which will not be repeated here.

[0115] Among them, the charging device of the above-mentioned tunnel robot can be a computer program (including program code) running in a computer device, for example, the charging device of the tunnel robot is an application software; the device can be used to execute the corresponding steps in the method provided in an embodiment of the present invention.

[0116] In some embodiments, the charging device of the tunnel robot provided by the embodiment of the present invention can be implemented in a combination of software and hardware. As an example, the charging device of the tunnel robot provided by the embodiment of the present invention can be a processor in the form of a hardware decoding processor, which is programmed to execute the charging method of the tunnel robot provided by the embodiment of the present invention. For example, the processor in the form of a hardware decoding processor can adopt one or more application-specific integrated circuits (ASICs), DSPs, programmable logic devices (PLDs), complex programmable logic devices (CPLDs), field programmable gate arrays (FPGAs) or other electronic components.

[0117] In other embodiments, the charging device of the tunnel robot provided by the embodiment of the present invention can be implemented by software. Figure 4 A charging device for a tunnel robot stored in a memory is shown, which may be software in the form of a program and a plug-in, and includes a series of modules, including a moving module 210, a first signal receiving module 220 and a charging module 230, for implementing the charging method for the tunnel robot provided in an embodiment of the present invention.

[0118] The modules involved in the embodiments of the present invention may be implemented by software or hardware, wherein the name of a module does not limit the module itself in some cases.

[0119] Based on the same principle as the method shown in the embodiments of the present invention, an electronic device is also provided in the embodiments of the present invention, which may include but is not limited to: a processor and a memory; the memory is used to store a computer program; the processor is used to execute the method shown in any embodiment of the present invention by calling the computer program.

[0120] In an alternative embodiment, an electronic device is provided, such as Figure 5 As shown, Figure 5The electronic device 4000 shown includes: a processor 4001 and a memory 4003. The processor 4001 and the memory 4003 are connected, such as through a bus 4002. Optionally, the electronic device 4000 may also include a transceiver 4004, which may be used for data interaction between the electronic device and other electronic devices, such as data transmission and / or data reception. It should be noted that in actual applications, the transceiver 4004 is not limited to one, and the structure of the electronic device 4000 does not constitute a limitation on the embodiments of the present invention.

[0121] Processor 4001 may be a CPU (Central Processing Unit), a general-purpose processor, a DSP (Digital Signal Processor), an ASIC (Application Specific Integrated Circuit), an FPGA (Field Programmable Gate Array) or other programmable logic devices, transistor logic devices, hardware components or any combination thereof. It may implement or execute various exemplary logic blocks, modules and circuits described in conjunction with the disclosure of the present invention. Processor 4001 may also be a combination that implements computing functions, such as a combination of one or more microprocessors, a combination of a DSP and a microprocessor, etc.

[0122] The bus 4002 may include a path to transmit information between the above components. The bus 4002 may be a PCI (Peripheral Component Interconnect) bus or an EISA (Extended Industry Standard Architecture) bus. The bus 4002 may be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Figure 5 Only one thick line is used in the diagram, but this does not mean that there is only one bus or only one type of bus.

[0123] The memory 4003 can be a ROM (Read Only Memory) or other types of static storage devices that can store static information and instructions, a RAM (Random Access Memory) or other types of dynamic storage devices that can store information and instructions, or an EEPROM (Electrically Erasable Programmable Read Only Memory), a CD-ROM (Compact Disc Read Only Memory) or other optical disk storage, optical disk storage (including compressed optical disk, laser disk, optical disk, digital versatile disk, Blu-ray disk, etc.), a magnetic disk storage medium or other magnetic storage device, or any other medium that can be used to carry or store the desired program code in the form of instructions or data structures and can be accessed by a computer, but is not limited to this.

[0124] The memory 4003 is used to store the application code (computer program) for executing the solution of the present invention, and the execution is controlled by the processor 4001. The processor 4001 is used to execute the application code stored in the memory 4003 to implement the content shown in the above method embodiment.

[0125] The electronic device may also be a terminal device. Figure 5 The electronic device shown is only an example and should not bring any limitation to the functions and scope of use of the embodiments of the present invention.

[0126] An embodiment of the present invention provides a computer-readable storage medium, on which a computer program is stored. When the computer-readable storage medium is run on a computer, the computer can execute the corresponding contents of the aforementioned method embodiment.

[0127] According to another aspect of the present invention, a computer program product or a computer program is also provided, the computer program product or the computer program comprising computer instructions, the computer instructions being stored in a computer-readable storage medium. A processor of a computer device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions, so that the computer device executes the methods provided in the implementation modes of the above-mentioned various embodiments.

[0128] Computer program code for performing the operations of the present invention may be written in one or more programming languages, or a combination thereof, including object-oriented programming languages, such as Java, Smalltalk, C++, and conventional procedural programming languages, such as "C" or similar programming languages. The program code may be executed entirely on the user's computer, partially on the user's computer, as a separate software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving a remote computer, the remote computer may be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., through the Internet using an Internet service provider).

[0129] It should be understood that the flow charts and block diagrams in the accompanying drawings illustrate the possible implementation architecture, functions and operations of the method and computer program product according to various embodiments of the present invention. In this regard, each box in the flow chart or block diagram can represent a module, a program segment, or a part of a code, and the module, the program segment, or a part of the code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in a sequence different from that marked in the accompanying drawings. For example, two boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram and / or flow chart, and the combination of the boxes in the block diagram and / or flow chart can be implemented with a dedicated hardware-based system that performs a specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0130] The computer-readable storage medium provided by the embodiment of the present invention may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or device, or any combination thereof. More specific examples of computer-readable storage media may include, but are not limited to, an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination thereof. In the present invention, a computer-readable storage medium may be any tangible medium containing or storing a program that may be used by or in conjunction with an instruction execution system, device, or device.

[0131] The computer-readable storage medium carries one or more programs. When the one or more programs are executed by the electronic device, the electronic device executes the method shown in the above embodiment.

[0132] The above description is only a preferred embodiment of the present invention and an explanation of the technical principles used. Those skilled in the art should understand that the disclosure scope involved in the present invention is not limited to the technical solution formed by a specific combination of the above technical features, but should also cover other technical solutions formed by any combination of the above technical features or their equivalent features without departing from the above disclosed concept. For example, the above features are replaced with the technical features with similar functions disclosed in the present invention (but not limited to) by each other.

Claims

1. A charging method for a tunnel robot, characterized in that: The following steps are involved: S1, when the tunnel robot moves to a first range where a designated charging position is located, if it is not detected that the tunnel robot is in a charging state, controlling the tunnel robot to reduce a travel speed, and controlling the tunnel robot to perform a first movement according to a first set distance; S2, determining in real time during the movement whether the tunnel robot receives a first signal, wherein the first signal is a signal emitted by any one of the RFID tags set at the charging position and at least one RFID tag within a second range where the charging position is located, and the signal emitted by each RFID tag is different; S3, when the first signal is detected, detect whether the tunnel robot is in a charging state. If it is detected that the tunnel robot is not in a charging state, control the tunnel robot to move for a second time according to a second set distance, and repeat the movement process from S2 to S3 until it is detected that the tunnel robot is in a charging state, and control the tunnel robot to stop moving.

2. The method according to claim 1, characterized in that The at least one RFID tag within the second range of the charging position includes a first RFID tag disposed at a first position on the left side of the charging position and a second RFID tag disposed at a second position on the right side of the charging position, the first position and the second position are both at a third set distance from the charging position, the third set distance being greater than the first set distance and greater than the second set distance; When the number of movements of the tunnel robot is an odd number, the moving direction of the tunnel robot is to the left of the charging position. When the number of movements of the tunnel robot is an even number, the moving direction of the tunnel robot is to the right of the charging position.

3. The method according to claim 1, characterized in that When the first signal is detected, detecting whether the tunnel robot is in a charging state includes: When the first signal is detected, determining a current position of the tunnel robot based on the first signal; According to the current position and the charging position, it is detected whether the tunnel robot is in a charging state.

4. The method according to any one of claims 1 to 3, characterized in that The step of determining in real time whether the tunnel robot receives the first signal during the movement process includes: When the tunnel robot receives an initial signal during the movement, determining the signal strength of the initial signal; When the signal strength is greater than the set strength, the initial signal corresponding to the strength greater than the set strength is used as the first signal.

5. The method according to any one of claims 1 to 3, characterized in that The second set distance is greater than the first set distance.

6. A charging system for a tunnel robot, characterized in that: It includes a tunnel robot, a charging pile, at least one RFID tag arranged in a second range of the charging pile, and a controller arranged on the tunnel robot, wherein the charging pile is provided with an RFID tag, and each RFID tag emits a different signal; The controller is used for controlling the tunnel robot to reduce the travel speed and to perform a first movement according to a first set distance when the tunnel robot moves to a charging position within a first range where the charging pile is located, if the tunnel robot is not detected to be in a charging state; Any one of the at least one RFID tag within the second range and the one RFID tag provided on the charging pile is used to transmit a first signal; The controller is also used to determine in real time whether the tunnel robot receives the first signal during the movement process. When the first signal is detected, it detects whether the tunnel robot is in a charging state. If it is detected that the tunnel robot is not in a charging state, the tunnel robot is controlled to move for a second time according to a second set distance until the tunnel robot receives the first signal during the movement and detects that the tunnel robot is in a charging state, then the tunnel robot is controlled to stop moving.

7. A charging device for a tunnel robot, characterized in that: include: A moving module, used for controlling the tunnel robot to reduce the travel speed and to make a first move according to a first set distance when the tunnel robot moves to a first range where a designated charging position is located if the tunnel robot is not detected to be in a charging state; A first signal receiving module, used for determining in real time during the movement whether the tunnel robot receives a first signal, wherein the first signal is a signal emitted by any one of the RFID tags set at the charging position and at least one RFID tag within a second range where the charging position is located, and the signal emitted by each RFID tag is different; The charging module is used to detect whether the tunnel robot is in a charging state when the first signal is detected. If the tunnel robot is not in a charging state, the tunnel robot is controlled to move a second time according to a second set distance, and the processing process from the first signal receiving module to the charging module is repeated until the tunnel robot is detected to be in a charging state, and the tunnel robot is controlled to stop moving.

8. The device according to claim 7, characterized in that The at least one RFID tag within the second range of the charging position includes a first RFID tag disposed at a first position on the left side of the charging position and a second RFID tag disposed at a second position on the right side of the charging position, the first position and the second position are both at a third set distance from the charging position, the third set distance being greater than the first set distance and greater than the second set distance; When the number of movements of the tunnel robot is an odd number, the moving direction of the tunnel robot is to the left of the charging position. When the number of movements of the tunnel robot is an even number, the moving direction of the tunnel robot is to the right of the charging position.

9. An electronic device, characterized in that: The method comprises a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the method according to any one of claims 1 to 5 when executing the computer program.

10. 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 5 is implemented.

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