Equipment charging method and device

Abstract

The embodiment of the invention provides an equipment charging method and device, and the method comprises the steps: obtaining the position of a charging head based on a charging head position sensor, and enabling the position of the charging head to be adjusted according to the position relation between equipment and a charging pile; under the condition that the position is the first position, supplying power to the charging head, so that the charging pile charges the equipment; and when the position is the second position, stopping supplying power to the charging head. Whether power is supplied to the charging head or not is determined according to the position of the charging head, the safe equipment charging method is achieved by supplying power to the charging head when the charging head is located at the first position, and the stable equipment charging method is achieved by stopping electrifying the charging head when the charging head is located at the second position.

Description

Technical Field

[0001] The embodiments of the present specification relate to the field of computer technology, and more particularly to a device charging method. Background Art

[0002] With the rapid development of communication technology, the application of smart products in daily life is becoming more and more common, and a variety of service robots have emerged. When service robots need to be charged during work, they will autonomously find the corresponding charging piles and complete the charging through effective docking of electrodes on both sides.

[0003] However, due to the presence of moving parts such as motors inside the robot and the extrusion stress between the robot and the charging pile, the robot is very likely to move over a short distance. Existing, even if the positive and negative electrodes are in good contact, when the robot moves over a short distance, the charging pile will mistakenly think that the robot has left on its own initiative, which will cause the charging pile to disconnect the power supply. Therefore, a safe and stable device charging method is needed. Summary of the invention

[0004] In view of this, an embodiment of this specification provides a device charging method. One or more embodiments of this specification also involve a device charging pile, a computing device, a computer-readable storage medium and a computer program to solve the technical defects existing in the prior art.

[0005] According to a first aspect of an embodiment of this specification, a device charging method is provided, including:

[0006] Acquiring the position of the charging head based on the charging head position sensor, wherein the position of the charging head is adjusted according to the positional relationship between the device and the charging pile;

[0007] When the position is the first position, supplying power to the charging head so that the charging pile charges the device;

[0008] When the position is the second position, power supply to the charging head is stopped.

[0009] According to a second aspect of an embodiment of this specification, a device charging pile is provided, including:

[0010] A position acquisition module, configured to acquire the position of the charging head based on the charging head position sensor, wherein the position of the charging head is adjusted according to the positional relationship between the device and the charging pile;

[0011] a power supply module, configured to supply power to the charging head when the position is the first position, so that the charging pile charges the device;

[0012] The power-off module is configured to stop supplying power to the charging head when the position is the second position.

[0013] According to a third aspect of an embodiment of this specification, a computing device is provided, including:

[0014] Memory and processor;

[0015] The memory is used to store computer executable instructions, and the processor is used to execute the computer executable instructions. When the computer executable instructions are executed by the processor, the steps of the above-mentioned device charging method are implemented.

[0016] According to a fourth aspect of the embodiments of this specification, a computer-readable storage medium is provided, which stores computer-executable instructions, and when the instructions are executed by a processor, the steps of the above-mentioned device charging method are implemented.

[0017] According to a fifth aspect of the embodiments of this specification, a computer program is provided, wherein when the computer program is executed in a computer, the computer is caused to execute the steps of the above-mentioned device charging method.

[0018] An embodiment of the present specification realizes device charging, and determines whether to power on the charging head by the position of the charging head, that is, determines whether to charge the device by the position of the charging head, and supplies power to the charging head when the charging head is in a first position, thereby avoiding safety problems that may be caused by powering on the charging head when the device is not connected to a charging pile, thereby realizing a safe device charging method, and stops supplying power to the charging head when the charging head is in a second position, thereby avoiding unstable device charging caused by interruption of charging when the device is displaced a short distance, thereby realizing a stable device charging method. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 is a flow chart of a device charging method provided by an embodiment of this specification;

[0020] Figure 2 is a schematic diagram of a structure of a device using two photoelectric sensors provided by an embodiment of this specification;

[0021] Figure 3 is a schematic diagram of a structure of a device using a single photoelectric sensor provided by an embodiment of this specification;

[0022] Figure 4 is a schematic diagram of a structure of a device using a pressure sensor provided by an embodiment of this specification;

[0023] Figure 5 is a process flow chart of a device charging method provided by an embodiment of this specification;

[0024] Figure 6 It is a structural schematic diagram of a device charging pile provided by an embodiment of this specification;

[0025] Figure 7 It is a structural block diagram of a computing device provided by an embodiment of this specification. DETAILED DESCRIPTION

[0026] Many specific details are described in the following description to facilitate a full understanding of this specification. However, this specification can be implemented in many other ways than those described herein, and those skilled in the art can make similar generalizations without violating the connotation of this specification, so this specification is not limited to the specific implementation disclosed below.

[0027] The terms used in one or more embodiments of this specification are only for the purpose of describing specific embodiments, and are not intended to limit one or more embodiments of this specification. The singular forms of "a", "said" and "the" used in one or more embodiments of this specification and the appended claims are also intended to include plural forms, unless the context clearly indicates other meanings. It should also be understood that the term "and / or" used in one or more embodiments of this specification refers to and includes any or all possible combinations of one or more associated listed items.

[0028] It should be understood that although the terms first, second, etc. may be used to describe various information in one or more embodiments of this specification, this information should not be limited to these terms. These terms are only used to distinguish the same type of information from each other. For example, without departing from the scope of one or more embodiments of this specification, the first may also be referred to as the second, and similarly, the second may also be referred to as the first. Depending on the context, the word "if" as used herein may be interpreted as "at the time of" or "when" or "in response to determining".

[0029] In addition, it should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, stored data, displayed data, etc.) involved in one or more embodiments of this specification are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of relevant data must comply with the relevant laws, regulations and standards of the relevant countries and regions, and provide corresponding operation entrances for users to choose to authorize or refuse.

[0030] First, the terms involved in one or more embodiments of this specification are explained.

[0031] Optocoupler (also known as photoelectric coupler, optical isolator or photoelectric isolator) is an electronic device used to isolate two circuits to prevent electrical signals from propagating between them. Optocoupler devices are usually composed of a light emitter and a photosensitive element. When current passes through the light emitter, the light emitted by the light emitter shines on the photosensitive element, thereby generating a current or voltage signal in the photosensitive element. This optical transmission process can achieve isolation between circuits because the optical signal does not cause current to flow directly through the physical circuit connection between the two circuits. This isolation can be used in a variety of applications, including electrical isolation, signal isolation, noise suppression, and circuit protection.

[0032] Light emitter (LED): This is a semiconductor light source, usually an infrared light emitting diode (IR LED), which emits infrared light. When an electric current passes through the LED, the LED emits light.

[0033] Photosensitive element (photodiode, phototransistor or phototransistor): This is a semiconductor device that receives light signals. When light shines on the photosensitive element, it produces a current or voltage output.

[0034] In response to the demand for service robots to automatically dock with charging piles, some innovative solutions have emerged in the prior art. For example, the common solutions involving optocouplers are single-stage optocouplers (a single optocoupler is set at the opening of the charging head groove to detect whether the robot is in the preset position). When the optocoupler is not triggered, the charging pile believes that the robot is not docked properly, and will not supply power to the reeds on the positive and negative contact surfaces; when the optocoupler is triggered, the charging pile believes that the robot has good contact and supplies power normally, and then the robot's battery is charged. Other similar methods include multiple optocoupler redundancy (multiple optocouplers are set at a certain position at the opening of the charging head groove to detect whether the robot is in the preset position, avoiding the problem of misjudgment caused by the failure of a certain optocoupler) and the use of methods to improve reliability also belong to single-stage optocouplers, because their triggering source is the same moving position of the same object.

[0035] However, due to the presence of moving parts such as motors inside the robot and the squeezing stress between the robot and the charging pile, the robot is very prone to short-distance displacement. Therefore, when the robot is accidentally jittered over a short distance during charging, the above-mentioned single-stage optocoupler solution will cause the optocoupler to disengage (from triggered to untriggered), which will be mistaken by the charging pile as the robot actively leaving, causing the charging pile to disconnect the power supply, even if the positive and negative poles are in good contact at this time.

[0036] Based on the single-pole solution, to solve the above problems, complex software interaction logic is required between the robot and the charging pile to re-enter the normal charging process. The complex software interaction logic between the robot and the charging pile will greatly increase the cost of implementing the robot's automatic charging function.

[0037] In this specification, a device charging method is provided. This specification also relates to a device charging pile, a computing device, and a computer-readable storage medium, which are described in detail one by one in the following embodiments.

[0038] The device charging method can be applied to the charging pile corresponding to the service robot such as the cleaning robot to operate the device charging. For example, if the service robot is a cleaning robot, the charging pile is its corresponding charging pile. The device in the embodiment of the present application can be used for automatic service tasks such as automatic cleaning and transporting items. The device charging method includes:

[0039] See also Figure 1 , Figure 1 A flow chart of a device charging method provided according to an embodiment of the present specification is shown, which specifically includes the following steps.

[0040] Step 102: Acquire the position of the charging head based on the charging head position sensor, wherein the position of the charging head is adjusted according to the positional relationship between the device and the charging pile.

[0041] In practical applications, the charging pile includes a charging head groove, the charging head is in the charging head groove, and the position sensor includes any one of a photoelectric sensor and a pressure sensor. The charging head position sensor is used to detect the position of the charging head, and the position of the charging head indicates the position of the charging head in the charging head groove.

[0042] like Figure 2 As shown, Figure 2 is a schematic diagram of a structure of a device using two photoelectric sensors provided by an embodiment of this specification, Figure 2 The charging head is displaced in the charging head groove, wherein the position of the charging head in the charging head groove is the position of the charging head. Specifically, when the service robot is low on power, the service robot approaches the corresponding charging pile, and after the device is aligned with the charging pile, the device docks with the charging pile, that is, squeezes the charging head of the charging pile, so that the charging head is displaced in the charging head groove toward the closed end of the charging head groove. After the above-mentioned device is charged and leaves the charging pile, the charging head is displaced toward the opening of the charging head groove (the direction connected to the above-mentioned device) as the distance between the above-mentioned device and the charging pile increases.

[0043] Furthermore, since the charging head groove is narrow and the charging head is powered on during use, it is preferred to use a photoelectric sensor or a pressure sensor to detect the position of the charging head in the charging head groove, wherein the photoelectric sensor can be an optical coupler, a reflective photoelectric sensor, or the like that can detect the position of an object, and the pressure sensor is a pressure sensor that can detect the current pressure of an object.

[0044] Considering the safety accidents such as electric shock injury, short circuit fire, etc. caused by the slight displacement of the charging head towards the closed end of the charging head groove caused by other objects or the device passing through the charging pile accidentally touching the charging head; and the charging pile misjudgment caused by the slight displacement of the charging head towards the opening of the charging head groove (i.e. the direction of contact with the robot) when the device is accidentally shaken over a short distance during charging, which leads to the instability problem of interrupting the charging process of the device. Therefore, the above problems can be avoided by obtaining the position of the charging head in the charging head groove and judging whether to supply power to the charging head based on the obtained position.

[0045] Preferably, in order to reduce the cost as much as possible while ensuring the accuracy of the charging head position detection, the charging head position sensor includes a first photoelectric sensor and a second photoelectric sensor, and each photoelectric sensor is arranged along the extension direction of the charging head groove based on a preset distance;

[0046] Further, obtaining the position of the charging head based on the charging head position sensor includes:

[0047] Acquire a sensing value of the first photoelectric sensor as a first sensing value;

[0048] Acquire a sensing value of the second photoelectric sensor as a second sensing value;

[0049] The position of the charging head is determined according to the first sensor value and the second sensor value.

[0050] In actual applications, the first photoelectric sensor is the photoelectric sensor among the two photoelectric sensors that is closer to the closed end of the charging head groove than the other photoelectric sensor, and the second photoelectric sensor is the photoelectric sensor among the two photoelectric sensors that is closer to the opening of the charging head groove than the other photoelectric sensor. The first sensor value is the sensor value obtained by the first sensor value, and the second sensor value is the sensor value obtained by the second sensor value.

[0051] Specifically, each photoelectric sensor is arranged along the extension direction of the charging head groove based on a preset distance. It can be understood that each photoelectric sensor can be arranged on the same side of the charging head groove, or on different sides of the charging head groove, and the horizontal spacing between the photoelectric sensors is ensured to be a preset distance. The first photoelectric sensor value can be understood as an information value representing whether there is an object in front of the first photoelectric sensor, and the second photoelectric sensor value can be understood as an information value representing whether there is an object in front of the second photoelectric sensor. The first sensor value and the second sensor value can be understood as judging whether there is an object in front of the first photoelectric sensor and the second photoelectric sensor.

[0052] It should be noted that since the two sensors are separated by a preset distance, it can be understood that the allowable displacement distance of the charging head, that is, the allowable jitter distance of the device, is the preset distance, thereby realizing the use of clear numerical regulations to allow the device to be displaced by accidental jitters, thereby simplifying the logic of subsequent software design.

[0053] By using two photoelectric sensors separated by a preset distance, the device can maintain a normal charging state during the charging process as long as its distance from the charging pile does not exceed the preset distance, ensuring continuous charging characteristics without the need for complex interactive communication between the device and the charging pile at the software level.

[0054] Furthermore, determining the position of the charging head according to the first sensor value and the second sensor value includes:

[0055] When the first sensor value is triggered, determining the position of the charging head as a first position;

[0056] When the second sensor value is not triggered, the position of the charging head is determined to be the second position.

[0057] In actual applications, the first position is the position of the charging head in the charging head groove when the power-on requirement is met, and the second position is the position of the charging head in the charging head groove when the power-off requirement is met.

[0058] Specifically, the first sensor value being triggered can be understood as there is an object in front of the first sensor, that is, the charging head has moved to the position of the first sensor. Since the first sensor is closer to the closed end of the charging head groove than the second sensor, it also means that the device corresponding to the charging pile is closer to the charging pile. Therefore, only when there is an object in front of the first sensor, the current position of the charging head is set to the first position to enable the charging pile to power on the charging head. This can avoid abnormal power-on of the charging head due to slight displacement of the charging head caused by accidental touch.

[0059] The fact that the second sensor is not triggered can be understood as there is no object in front of the second sensor, which can indicate that the charging head has moved more than a preset distance to the opening of the charging head groove before reaching the first sensor. Although there is no object in front of the second sensor, it can also indicate that the charging head has not reached the second sensor yet. However, since in this embodiment, the charging head is powered on first and then stopped, and the power supply to the charging head only occurs after the charging head reaches the first sensor, the judgment of the second sensor in this embodiment is only used to determine whether the charging head has reached the first sensor and then moved more than a preset distance to the opening of the charging head groove. In addition, whether the charging head has not reached the second sensor position or the charging head has moved past the second sensor position, it indicates that the position of the charging head has not reached the power-on state. Considering the safety issues caused by abnormal power-on of the charging head, the current position of the charging head is set to the second position, and the charging head is powered off to avoid safety issues caused by powering the charging head when the charging head is in a relatively protruding position.

[0060] It should be noted that when the charging head reaches the front of the first sensor, that is, the position of the charging head is at the first position, the charging head is powered on. During the power-on process, it is detected that the sensor value of the second sensor is in an untriggered state, that is, the charging head has moved toward the opening direction of the charging head groove and passed the second sensor, which means that the position of the charging head is at the second position, and the charging head is powered off.

[0061] Taking into account the possibility that the charging head may be slightly displaced after reaching the first position, the first sensor and the second sensor are set at a preset distance, and the power supply to the charging head is stopped when the charging head is in the second position. That is to say, even if the first sensor is not triggered and the second sensor is still in the triggered state, the charging head continues to charge, and even if the charging head is displaced by no more than the preset distance after reaching the first position, the power supply to the charging head is not interrupted, so as to achieve continuous charging characteristics and improve the efficiency of device charging.

[0062] It should be added that since the second sensor is closer to the opening of the charging head groove than the first sensor, at a certain moment in the process of the device squeezing the charging head or the charging head moving from the opening of the charging head groove to the closed end of the charging head groove caused by other means, the states of the two sensors will be that the first sensor is in an untriggered state and the second sensor is in a triggered state. Because the charging head does not trigger the first sensor during this process, and the charging head is always in a power-off state after the power is cut off and before the charging head moves to the position that triggers the first sensor, it can be determined that in the process of the charging head moving from the opening of the charging head groove to the closed end of the charging head groove, the state of the sensor is that when the first sensor is in an untriggered state and the second sensor is in a triggered state, the charging head is in a power-off state.

[0063] By applying the above-mentioned technical solution of setting a displacement distance between the first sensor and the second sensor and stopping supplying power to the charging head when the charging head is in the second position, it can be achieved that when the robot approaches the charging pile, it squeezes the charging head in the groove of the charging head until the first sensor and the second sensor are triggered. At this moment, it is considered that the device to be charged is in full contact with the charging pile and supplies power to the charging head. When the robot accidentally moves away from the charging pile for a short distance (less than the preset distance), the first sensor is in an untriggered state at this moment, and the second sensor remains triggered. At this moment, the charging pile will not cut off the power supply. When the robot continues to move away, causing the second sensor to also be in an untriggered state, it is considered that the device to be charged has left normally and the power supply is cut off. Therefore, when the robot is charging, as long as its distance from the charging pile does not exceed the preset distance, it can maintain a normal charging state, ensuring continuous charging characteristics, and no complex interactive communication between the robot and the charging pile at the software level is required.

[0064] It can be understood that since the first sensor and the second sensor are arranged based on a preset distance along the extension direction of the charging head groove, and the first sensor is the photoelectric sensor that is closer to the closed end of the charging head groove than the other photoelectric sensor among the two photoelectric sensors, when the charging head moves toward the closed end of the charging head groove until it moves to the detection position of the first sensor (in front of the first sensor), so that the first sensor value is triggered, the charging head must have passed the detection position of the second sensor (in front of the second sensor), that is, when the first sensor value is triggered, there must be an object in front of the second sensor so that the second sensor value is also triggered, that is, when the first sensor value is triggered, the second sensor value must be triggered. Similarly, since the second photoelectric sensor is the photoelectric sensor that is closer to the opening of the charging head groove than the other photoelectric sensor among the two photoelectric sensors, when the charging head moves toward the opening of the charging head until it moves to the detection position of the second sensor so that the second sensor value is not triggered, there must be no charging head at the detection position of the second sensor, so that the first sensor value is also not triggered, that is, when the second sensor value is not triggered, the first sensor value must be not triggered.

[0065] like Figure 2 As shown, Figure 2 There is a preset distance of 3 cm between the first sensor and the second sensor. When the corresponding charging device squeezes the charging head toward the closed part of the charging head groove to make the charging head move in front of the first sensor, when the first sensor is in a triggered state, the current position of the charging head is recorded as the first position. When the corresponding device moves to the opposite position of the charging pile, the charging head moves toward the opening of the charging head groove, so that the charging head moves past the front of the second sensor. When the second sensor is in an untriggered state, the current position of the charging head is recorded as the second position.

[0066] By using two photoelectric sensors separated by a preset distance, the device can maintain a normal charging state during the charging process as long as its distance from the charging pile does not exceed the preset distance, ensuring continuous charging characteristics without the need for complex interactive communication between the device and the charging pile at the software level.

[0067] Considering the technical effect of achieving a slight movement of the device without power failure at a lower cost in a scenario where accuracy is not required, the charging head position sensor includes a photoelectric sensor, which is arranged on one side of the charging head groove;

[0068] Further, obtaining the position of the charging head based on the charging head position sensor includes:

[0069] Obtaining a photoelectric sensing value of the photoelectric sensor;

[0070] When the photoelectric sensor value is triggered, determining the position of the charging head to be a first position;

[0071] When the photoelectric sensor value is not triggered, the position of the charging head is determined to be the second position.

[0072] In actual applications, the photoelectric sensor is set at a position preset distance away from the charging head groove, and the photoelectric sensor value is a sensor value representing whether there is an object in front of the above-mentioned photoelectric sensor.

[0073] Specifically, when the photoelectric sensor value is triggered, it means that there is an object in front of the photoelectric sensor, which means that the charging head has moved in front of the photoelectric sensor, that is, the charging head is in the charging position, which is the first position. When the photoelectric sensor value is not triggered, it means that there is no object in front of the photoelectric sensor, which means that the charging head has moved in front of the photoelectric sensor, that is, the charging head is in the power-off position, which is the second position.

[0074] It should be noted that when the charging head reaches the front of the optical sensor, that is, the position of the charging head is the first position, the charging head is powered on, and during the power-on process, the sensor value of the photoelectric sensor is detected to be in an untriggered state, that is, the charging head has moved toward the opening direction of the charging head groove and passed the photoelectric sensor, representing that the position of the charging head is the second position, and the charging head is powered off. Taking into account the possibility of slight displacement of the charging head after reaching the first position, preferably, in the device charging software, when the device starts charging, the charging head is powered on and then displaced a distance toward the charging pile, that is, the charging head is displaced a distance toward the closed end of the charging head groove after reaching the photoelectric sensor. Since the photoelectric sensor is spaced a distance from the position of the charging head after displacement, it is achieved that after the charging head is displaced to the first position, a slight displacement is performed without powering off the charging head, thereby avoiding problems such as long charging time and discontinuous charging caused by accidental termination of the charging process due to slight movement after the device starts charging.

[0075] like Figure 3 As shown, Figure 3 is a schematic diagram of a structure of a device using a single photoelectric sensor provided by an embodiment of this specification, Figure 3 There is a preset distance of 4 cm between the photoelectric sensor and the closed end of the charging head groove. When the corresponding charging device squeezes the charging head toward the closed end of the charging head groove to cause the charging head to move in front of the photoelectric sensor, the current position of the charging head is recorded as the first position when the photoelectric sensor is in a triggered state. When the corresponding device moves to the opposite position of the charging pile, the charging head moves toward the opening of the charging head groove to cause the charging head to move past the front of the photoelectric sensor. When the photoelectric sensor is in an untriggered state, the current position of the charging head is recorded as the second position.

[0076] Through the photoelectric sensor at a preset distance from the closed end of the charging head groove, the device can maintain a normal charging state during the charging process as long as its distance from the charging pile does not exceed the preset distance, ensuring continuous charging characteristics without the need for complex interactive communication between the device and the charging pile at the software level.

[0077] Considering that the cost can be increased in scenarios where higher accuracy is required, the charging head position sensor includes a pressure sensor, the charging head is connected to the closed end of the charging head groove through a spring, and the pressure sensor is used to detect the pressure of the spring;

[0078] Further, obtaining the position of the charging head based on the charging head position sensor includes:

[0079] Acquiring a pressure sensing value of the pressure sensor;

[0080] The position of the charging head is determined based on a preset pressure threshold and the pressure sensing value.

[0081] In actual applications, the pressure sensing value is a sensing value representing the degree of compression of the spring. The pressure threshold includes a first pressure threshold and a second pressure threshold. The first pressure threshold is the pressure value of the spring when the charging head reaches the first position, and the second pressure threshold is the pressure value of the spring when the charging head reaches the second position.

[0082] Specifically, when a pressure sensor for detecting spring pressure is used, the charging head is connected to the closed end of the charging head groove through a spring. When the charging head moves toward the closed end of the charging head groove in the charging head groove, the spring connecting the charging head and the closed end of the charging head groove will be compressed, increasing the pressure of the spring. In other words, the closer the charging head is to the closed end of the charging head groove, the greater the pressure of the spring. When the above-mentioned device leaves the charging pile after charging is completed, the charging head moves toward the opening of the charging head groove (the direction connected to the above-mentioned device) as the distance between the above-mentioned device and the charging pile increases, which will restore the compressed spring and reduce the pressure of the spring. In other words, the farther the charging head is from the closed end of the charging head groove, the smaller the pressure of the spring.

[0083] By detecting the pressure of the spring connecting the charging head and the closed end of the charging head groove, the position of the charging head can be determined more accurately.

[0084] Furthermore, determining the position of the charging head based on a preset pressure threshold and the pressure sensing value includes:

[0085] When the pressure sensing value is greater than or equal to a first pressure threshold, determining that the position of the charging head is a first position;

[0086] When the pressure sensing value is less than a second pressure threshold, the position of the charging head is determined to be the second position.

[0087] Specifically, the pressure sensing value being greater than or equal to the first pressure threshold can be understood as the current pressure of the spring being greater than or equal to the first pressure threshold when the charging head is in the first position, that is, the charging head has moved to the position corresponding to the first position. Since the pressure value of the first pressure threshold is larger than that of the second pressure threshold, it means that the device corresponding to the charging pile is closer to the charging pile. Only when the pressure sensing value is greater than or equal to the first pressure threshold, the current position of the charging head is set to the first position, so that the charging pile starts to power on the charging head. This can avoid abnormal power-on of the charging head due to slight displacement of the charging head caused by accidental touch. The pressure sensing value being less than the second pressure threshold can be understood as the current pressure of the spring being less than the second pressure threshold when the charging head is in the second position, that is, the charging head has moved to the position corresponding to the second position. Since the second pressure threshold is smaller than the pressure value of the first pressure threshold, it means that the device corresponding to the charging pile is farther away from the charging pile. When the pressure sensing value is less than the second pressure threshold, the current position of the charging head is set to the second position, which means that the distance between the device and the charging pile is a slight displacement distance, so that the charging pile starts to stop powering the charging head, which can avoid safety problems caused by abnormal power supply of the charging head and cut off the power to the charging head.

[0088] It should be noted that when the pressure sensing value of the spring is greater than or equal to the first pressure threshold, that is, when the position of the charging head is the first position (the position of the charging head is the first position), the charging head is powered on. During the power-on process, it is detected that the pressure sensing value of the spring is less than the second pressure threshold, that is, the charging head has displaced in the direction of the opening of the charging head groove so that the pressure value of the spring is less than the second pressure threshold, that is, when the position of the charging head is the second position (the position of the charging head is the second position), the charging head is powered off. Taking into account the possibility that the charging head is slightly displaced after reaching the first position, since there is a difference between the first pressure threshold and the second pressure threshold, that is, the compression degree of the spring is different when the pressure is at the first pressure threshold and the second pressure threshold, that is, there is a distance between the positions of the charging head when the pressure of the spring is at the first threshold and the second pressure threshold, and the charging head is powered off when the charging head is in the second position, so that the charging head will not be powered off if it is slightly displaced after it is displaced to the first position, thereby avoiding problems such as long charging time and discontinuous charging caused by accidental termination of the charging process due to slight movement after the device starts charging.

[0089] like Figure 4 As shown, Figure 4This is a structural schematic diagram of a device using a pressure sensor provided by an embodiment of the present specification. In this embodiment, when the pressure value of the spring is between the first pressure threshold and the second pressure, the positions of the charging heads are spaced at a preset distance of 3 cm. When the corresponding charging device squeezes the charging head toward the closed end of the charging head groove to cause the charging head to displace and squeeze the spring, so that the spring is greater than or equal to the first pressure threshold, the current position of the charging head is recorded as the first position. When the corresponding device is displaced to the opposite position of the charging pile, the charging head is displaced toward the opening of the charging head groove, so that the spring is restored along with the displacement of the charging head, so that when the pressure of the spring is less than the second pressure threshold, the current position of the charging head is recorded as the second position.

[0090] By detecting the pressure of the connecting spring between the charging head and the closed end of the charging head groove, the device can maintain a normal charging state during the charging process as long as its distance from the charging pile does not exceed the preset distance, ensuring continuous charging characteristics without the need for complex interactive communication between the device and the charging pile at the software level.

[0091] Step 104: When the position is the first position, supply power to the charging head so that the charging pile charges the device.

[0092] Specifically, the position of the charging head is in the first position, which can be understood as the current position of the charging head is closer to the closed end of the charging head groove, and the device corresponding to the charging pile is closer to the charging pile, which distinguishes the slight displacement of the charging head caused by accidental touch from the displacement of the charging head caused by squeezing the charging head when the device needs to be charged.

[0093] By starting the charging pile to supply power to the charging head only when the position of the charging head satisfies the first charging position, abnormal power supply of the charging head caused by slight displacement of the charging head due to accidental touch can be avoided.

[0094] Step 106: When the position is the second position, stop supplying power to the charging head.

[0095] Specifically, the position of the charging head is the second position, which can be understood as that the current position of the charging head is closer to the opening of the charging head groove, and the device corresponding to the charging pile is farther away from the charging pile. That is to say, when the position of the charging head is the second position, it means that the current displacement of the charging head is a slight displacement of the charging head caused by accidental touch. In order to avoid safety problems caused by abnormal power-on of the charging head, the charging head is powered off.

[0096] It can be understood that when the position of the charging head is the first position (the position of the charging head is the first position), the charging head is powered on, and when it is detected that the position of the charging head is the second position (the position of the charging head is the second position) during the power-on process, the charging head is powered off, taking into account the possibility of slight displacement of the charging head after reaching the first position, and the charging head is powered off when the charging head is in the second position, it is achieved that the charging head will not be powered off when it is slightly displaced after moving to the first position, thereby avoiding problems such as long charging time and discontinuous charging caused by accidental termination of the charging process due to slight movement after the device starts charging.

[0097] By setting the second position and cutting off the power to the charging head when the charging head is in the second position, safety problems caused by abnormal power-on of the charging head can be avoided. This can also avoid problems such as long charging time and discontinuous charging caused by accidental termination of the charging process due to slight movement after the device starts charging.

[0098] The solution of the above embodiment is applied, considering the cost and accuracy issues, to realize the use of different solutions to judge the position of the charging head in the charging head groove according to different needs, and then decide whether to power on the charging head according to the judgment result, that is, to judge whether to charge the device according to the position of the charging head, and to supply power to the charging head when the charging head is in the first position, thereby avoiding the safety problem that may be caused by powering on the charging head when the device is not connected to the charging pile, thereby realizing a safe device charging method; and by stopping the supply of power to the charging head when the charging head is in the second position, avoiding the unstable charging of the device caused by interruption of charging when the device is displaced over a short distance, thereby realizing a stable device charging method. In addition, a safe and stable device charging method that takes both cost and accuracy into consideration is realized.

[0099] The following combination Figure 5 Taking the application of the device charging method provided in this specification in a cleaning device charging pile as an example, the device charging method is further described. Figure 5 A process flow chart of a device charging method provided in an embodiment of the present specification is shown, which specifically includes the following steps.

[0100] Step 502: Acquire the sensing values ​​of two photoelectric sensors with a distance of 2 cm on one side of the charging head groove set on the charging pile.

[0101] Step 504: Determine whether the first photoelectric sensor is triggered.

[0102] Step 506: If the first photoelectric sensor is triggered, power is supplied to the charging head.

[0103] Step 508: Determine whether the second photoelectric sensor is triggered.

[0104] Step 510: If the second photoelectric sensor is not triggered, stop supplying power to the charging head.

[0105] The solution of the above embodiment is applied, and the position of the charging head in the charging head groove is judged by two photoelectric sensors, and then it is decided whether to power on the charging head of the charging pile according to the judgment result, that is, whether to charge the cleaning device is judged by the position of the charging head, and by supplying power to the charging head when the charging head is in the first position, the safety problem that may be caused by supplying power to the charging head when the cleaning device is not connected to the charging pile is avoided, thereby realizing a safe device charging method; and by stopping supplying power to the charging head when the charging head is in the second position, the unstable charging of the device caused by interruption of charging when the device is displaced over a short distance is avoided, thereby realizing a stable device charging method. Because two photoelectric sensors are used, the cost of judging the position of the charging head is reduced while ensuring accuracy, thereby realizing a low-cost, high-precision, safe and stable device charging method.

[0106] Embodiment 1:

[0107] In the first embodiment provided in the present application, the device charging method provided in the present application is further explained by taking the charging pile corresponding to the cleaning robot in the shopping mall as an example to automatically charge the cleaning robot.

[0108] There is a charging head groove on the charging pile body, and there is a charging head in the charging head groove. The charging head is retracted in the charging head groove, and the end face of the front end of the charging head has positive and negative metal reeds. When charging the cleaning robot, they contact the positive and negative poles of the cleaning robot battery respectively. The design of the retractable charging head can keep the robot and the charging pile in good contact during the retractable stroke of the charging head.

[0109] There are two optical couplers in the groove of the charging head. These two optical couplers are placed parallel to the main body along the telescopic stroke. The one close to the outside (i.e. close to the positive and negative poles) is the second-level optical coupler, and the one close to the inside is the first-level optical coupler. The distance between the two is 3cm. When the charging head is squeezed by the cleaning robot, the shielding strip fixed on the charging head will pass through the gap of the optical coupler, thereby triggering the optical coupler; as the squeezing deepens, the second-level optical coupler is triggered first, followed by the first-level optical coupler.

[0110] When the first-level optocoupler is triggered (that is, the cleaning robot fully squeezes the charging head and the charging head is in the first position), power is supplied to the charging head. When the first-level optocoupler is not triggered and the second-level optocoupler is in the triggered state, the charging pile sends a disengagement notification to the cleaning robot. The cleaning robot makes a judgment based on the charging status. If the cleaning robot is not fully charged, it moves toward the charging pile and squeezes the charging head to move the charging head toward the closed end of the charging head groove until the first-level optocoupler is triggered; if the cleaning robot is fully charged, it continues to move away from the charging pile until the second-level optocoupler is not triggered. When the second-level optocoupler is not triggered (that is, the distance between the cleaning robot and the charging pile is too far and the charging head is in the second position), power is stopped from being supplied to the charging head.

[0111] By applying the solution of the above-mentioned embodiment, the position of the charging head in the charging head groove is judged by two photoelectric sensors, and then it is decided whether to power on the charging head of the charging pile according to the judgment result, that is, whether to charge the cleaning device is judged by the position of the charging head, and by supplying power to the charging head when the charging head is in the first position, the safety problem that may be caused by supplying power to the charging head when the cleaning device is not connected to the charging pile is avoided, thereby realizing a safe device charging method; and by stopping supplying power to the charging head when the charging head is in the second position, the unstable charging of the device caused by interruption of charging when the device is displaced a short distance is avoided, thereby realizing a stable device charging method.

[0112] Furthermore, when the charging head is between the first position and the second position, a separation notification is sent to the device. When the robot is in an uncharged state, it moves toward the charging pile after receiving the separation notification, so that the charging head moves toward the closed end of the charging head groove, thereby avoiding the situation where the device and the charging pile are too far apart during the charging process, causing the charging to be interrupted, resulting in unstable charging of the device. In addition, because two photoelectric sensors are used to determine the position of the charging head, the cost of determining the position of the charging head is reduced while ensuring accuracy, thereby realizing a low-cost, high-precision, safe and stable device charging method.

[0113] Embodiment 2:

[0114] In the second embodiment provided in the present application, taking the automatic charging of the cleaning robot by the charging pile corresponding to the cleaning robot in the shopping mall as an example, the device charging method provided in the present application is further explained.

[0115] The optocoupler setting method of the above-mentioned embodiment 1 is applied to supply power to the charging head when the first-level optocoupler is triggered (that is, the cleaning robot fully squeezes the charging head and the charging head is in the first position), and stop supplying power to the charging head when the second-level optocoupler is not triggered (that is, the distance between the cleaning robot and the charging pile is too far and the charging head is in the second position).

[0116] The solution of the above embodiment is applied, and the position of the charging head in the charging head groove is judged by two photoelectric sensors, and then it is decided whether to power on the charging head of the charging pile according to the judgment result, that is, whether to charge the cleaning device is judged by the position of the charging head, and by supplying power to the charging head when the charging head is in the first position, the safety problem that may be caused by supplying power to the charging head when the cleaning device is not connected to the charging pile is avoided, thereby realizing a safe device charging method; and by stopping supplying power to the charging head when the charging head is in the second position, the unstable charging of the device caused by interruption of charging when the device is displaced over a short distance is avoided, thereby realizing a stable device charging method. Since two photoelectric sensors are used to determine the position of the charging head, the cost of determining the position of the charging head is reduced while ensuring accuracy, thereby realizing a low-cost, high-precision, safe and stable device charging method.

[0117] Embodiment three:

[0118] In the third embodiment provided in the present application, taking the automatic charging of the delivery robot by the charging pile corresponding to the delivery robot in the shopping mall as an example, the device charging method provided in the present application is further explained.

[0119] There is a charging head groove on the charging pile body, and there is a charging head in the charging head groove. The charging head is retracted in the charging head groove, and the end face of the front end of the charging head has positive and negative metal reeds. When charging the delivery robot, they contact the positive and negative poles of the delivery robot battery respectively. The design of the retractable charging head can keep the robot and the charging pile in good contact during the retractable travel of the charging head.

[0120] The charging head is connected to the closed end of the charging head groove through a spring, and a pressure sensor for detecting the spring pressure is provided at the bottom of the groove. When the charging head is squeezed by the delivery robot, the charging head will squeeze the above-mentioned spring, thereby increasing the pressure of the spring; as the squeezing deepens, the pressure of the spring becomes greater and greater. When the pressure of the spring is greater than or equal to the first pressure threshold (that is, the delivery robot fully squeezes the charging head and the charging head is in the first position), power is supplied to the charging head, and when the pressure of the spring is less than the first pressure threshold (that is, the distance between the delivery robot and the charging pile is too far and the charging head is in the second position), power is stopped from being supplied to the charging head.

[0121] The solution of the above embodiment is applied, the position of the charging head in the charging head groove is judged by the pressure sensor, and then it is decided whether to power on the charging head of the charging pile according to the judgment result, that is, whether to charge the cleaning device is judged by the position of the charging head, and by supplying power to the charging head when the charging head is in the first position, the safety problem that may be caused by supplying power to the charging head when the cleaning device is not connected to the charging pile is avoided, thereby realizing a safe device charging method; and by stopping supplying power to the charging head when the charging head is in the second position, the unstable charging of the device caused by interruption of charging when the device is displaced over a short distance is avoided, thereby realizing a stable device charging method. Since the pressure sensor is used to judge the position of the charging head, the accuracy of the judgment of the charging head position is guaranteed, thereby realizing a high-precision, safe and stable device charging method.

[0122] Corresponding to the above method embodiment, this specification also provides a device charging pile embodiment, Figure 6 The structure diagram of a device charging pile provided by an embodiment of this specification is shown. Figure 6 As shown, the device comprises:

[0123] A position acquisition module 602 is configured to acquire the position of the charging head based on the charging head position sensor, wherein the position of the charging head is adjusted according to the positional relationship between the device and the charging pile;

[0124] The power supply module 604 is configured to supply power to the charging head when the position is the first position, so that the charging pile charges the device;

[0125] The power-off module 606 is configured to stop supplying power to the charging head when the position is the second position.

[0126] Optionally, the charging pile includes a charging head groove, the charging head is in the charging head groove, and the position sensor includes any one of a photoelectric sensor and a pressure sensor.

[0127] Optionally, the charging head position sensor includes a first photoelectric sensor and a second photoelectric sensor, and each photoelectric sensor is arranged along the extending direction of the charging head groove based on a preset distance;

[0128] The location acquisition module 602 is further configured to:

[0129] Acquire a sensing value of the first photoelectric sensor as a first sensing value;

[0130] Acquire a sensing value of the second photoelectric sensor as a second sensing value;

[0131] The position of the charging head is determined according to the first sensor value and the second sensor value.

[0132] The location acquisition module 602 is further configured to:

[0133] When the first sensor value is triggered, determining the position of the charging head as a first position;

[0134] When the second sensor value is not triggered, the position of the charging head is determined to be the second position.

[0135] Optionally, the charging head position sensor includes a photoelectric sensor, and the photoelectric sensor is arranged on one side of the charging head groove;

[0136] The location acquisition module 602 is further configured to:

[0137] Obtaining a photoelectric sensing value of the photoelectric sensor;

[0138] When the photoelectric sensor value is triggered, determining the position of the charging head to be a first position;

[0139] When the photoelectric sensor value is not triggered, the position of the charging head is determined to be the second position.

[0140] Optionally, the charging head position sensor includes a pressure sensor, the charging head is connected to the closed end of the charging head groove via a spring, and the pressure sensor is used to detect the pressure of the spring;

[0141] The location acquisition module 602 is further configured to:

[0142] Acquiring a pressure sensing value of the pressure sensor;

[0143] The position of the charging head is determined based on a preset pressure threshold and the pressure sensing value.

[0144] Optionally, the pressure threshold includes a first pressure threshold and a second pressure threshold;

[0145] The location acquisition module 602 is further configured to:

[0146] When the pressure sensing value is greater than or equal to a first pressure threshold, determining that the position of the charging head is a first position;

[0147] When the pressure sensing value is less than a second pressure threshold, the position of the charging head is determined to be the second position.

[0148] The solution of the above embodiment is applied, considering the cost and accuracy issues, to realize the use of different solutions to judge the position of the charging head in the charging head groove according to different needs, and then decide whether to power on the charging head according to the judgment result, that is, to judge whether to charge the device according to the position of the charging head, and to supply power to the charging head when the charging head is in the first position, thereby avoiding the safety problem that may be caused by powering on the charging head when the device is not connected to the charging pile, thereby realizing a safe device charging method; and by stopping the supply of power to the charging head when the charging head is in the second position, avoiding the unstable charging of the device caused by interruption of charging when the device is displaced over a short distance, thereby realizing a stable device charging method. In addition, a safe and stable device charging method that takes both cost and accuracy into consideration is realized.

[0149] The above is a schematic scheme of a device charging pile of this embodiment. It should be noted that the technical scheme of the device charging pile and the technical scheme of the device charging method described above belong to the same concept, and the details not described in detail in the technical scheme of the device charging pile can be referred to the description of the technical scheme of the device charging method described above.

[0150] Figure 7 The block diagram of a computing device 700 according to an embodiment of the present specification is shown. The components of the computing device 700 include but are not limited to a memory 710 and a processor 720. The processor 720 is connected to the memory 710 via a bus 730, and the database 750 is used to store data.

[0151] The computing device 700 also includes an access device 740 that enables the computing device 700 to communicate via one or more networks 760. Examples of these networks include a public switched telephone network (PSTN), a local area network (LAN), a wide area network (WAN), a personal area network (PAN), or a combination of communication networks such as the Internet. The access device 740 may include one or more of any type of network interface (e.g., a network interface card (NIC)) that is wired or wireless, such as an IEEE 802.11 wireless local area network (WLAN) wireless interface, a world-wide interoperability for microwave access (Wi-MAX) interface, an Ethernet interface, a universal serial bus (USB) interface, a cellular network interface, a Bluetooth interface, and a near field communication (NFC).

[0152] In one embodiment of the present specification, the above components of the computing device 700 and Figure 7 Other components not shown in the figure may also be connected to each other, for example, via a bus. It should be understood that Figure 7 The computing device structure block diagram shown is only for the purpose of illustration, and is not intended to limit the scope of this specification. Those skilled in the art can add or replace other components as needed.

[0153] The computing device 700 may be any type of stationary or mobile computing device, including a mobile computer or mobile computing device (e.g., a tablet computer, a personal digital assistant, a laptop computer, a notebook computer, a netbook, etc.), a mobile phone (e.g., a smart phone), a wearable computing device (e.g., a smart watch, smart glasses, etc.), or other types of mobile devices, or a stationary computing device such as a desktop computer or a personal computer (PC). The computing device 700 may also be a mobile or stationary server.

[0154] The processor 720 is used to execute the following computer executable instructions, which, when executed by the processor, implement the steps of the above-mentioned device charging method.

[0155] The above is a schematic scheme of a computing device of this embodiment. It should be noted that the technical scheme of the computing device and the technical scheme of the above-mentioned device charging method belong to the same concept, and the details of the technical scheme of the computing device that are not described in detail can all be referred to the description of the technical scheme of the above-mentioned device charging method.

[0156] An embodiment of the present specification also provides a computer-readable storage medium storing computer-executable instructions, which, when executed by a processor, implement the steps of the above-mentioned device charging method.

[0157] The above is a schematic scheme of a computer-readable storage medium of this embodiment. It should be noted that the technical scheme of the storage medium and the technical scheme of the above-mentioned device charging method belong to the same concept, and the details not described in detail in the technical scheme of the storage medium can be referred to the description of the technical scheme of the above-mentioned device charging method.

[0158] An embodiment of the present specification further provides a computer program, wherein when the computer program is executed in a computer, the computer is caused to execute the steps of the above-mentioned device charging method.

[0159] The above is a schematic scheme of a computer program of this embodiment. It should be noted that the technical scheme of the computer program and the technical scheme of the above-mentioned device charging method belong to the same concept, and the details not described in detail in the technical scheme of the computer program can be referred to the description of the technical scheme of the above-mentioned device charging method.

[0160] The above is a description of a specific embodiment of the specification. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recorded in the claims can be performed in an order different from that in the embodiments and still achieve the desired results. In addition, the processes depicted in the drawings do not necessarily require the specific order or continuous order shown to achieve the desired results. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0161] The computer instructions include computer program codes, which may be in source code form, object code form, executable files or some intermediate forms, etc. The computer-readable medium may include: any entity or device capable of carrying the computer program code, recording medium, USB flash drive, mobile hard disk, magnetic disk, optical disk, computer memory, read-only memory (ROM), random access memory (RAM), electric carrier signal, telecommunication signal and software distribution medium, etc. It should be noted that the content contained in the computer-readable medium may be appropriately increased or decreased according to the requirements of patent practice. For example, in some regions, according to patent practice, computer-readable media do not include electric carrier signals and telecommunication signals.

[0162] It should be noted that, for the above-mentioned method embodiments, for the sake of simplicity of description, they are all expressed as a series of action combinations, but those skilled in the art should be aware that the embodiments of this specification are not limited by the order of the actions described, because according to the embodiments of this specification, some steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should also be aware that the embodiments described in the specification are all preferred embodiments, and the actions and modules involved are not necessarily required by the embodiments of this specification.

[0163] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0164] The preferred embodiments of this specification disclosed above are only used to help explain this specification. The optional embodiments do not describe all the details in detail, nor do they limit the invention to only the specific implementation methods described. Obviously, many modifications and changes can be made according to the content of the embodiments of this specification. This specification selects and specifically describes these embodiments in order to better explain the principles and practical applications of the embodiments of this specification, so that technicians in the relevant technical field can well understand and use this specification. This specification is only limited by the claims and their full scope and equivalents.

Claims

1. A device charging method, characterized in that: Applied to a charging pile, the charging pile includes a charging head and a charging head position sensor, including: Acquiring the position of the charging head based on the charging head position sensor, wherein the position of the charging head is adjusted according to the positional relationship between the device and the charging pile; When the position is the first position, supplying power to the charging head so that the charging pile charges the device; When the position is the second position, power supply to the charging head is stopped.

2. The method according to claim 1, characterized in that The charging pile comprises a charging head groove, the charging head is in the charging head groove, and the position sensor comprises any one of a photoelectric sensor and a pressure sensor.

3. The method according to claim 2, characterized in that The charging head position sensor includes a first photoelectric sensor and a second photoelectric sensor, each of which is arranged along the extending direction of the charging head groove based on a preset distance; Acquiring the position of the charging head based on the charging head position sensor includes: Acquire a sensing value of the first photoelectric sensor as a first sensing value; Acquire a sensing value of the second photoelectric sensor as a second sensing value; The position of the charging head is determined according to the first sensor value and the second sensor value.

4. The method according to claim 3, characterized in that Determining the position of the charging head according to the first sensor value and the second sensor value includes: When the first sensor value is triggered, determining the position of the charging head as a first position; When the second sensor value is not triggered, the position of the charging head is determined to be the second position.

5. The method according to claim 2, characterized in that The charging head position sensor comprises a photoelectric sensor, and the photoelectric sensor is arranged on one side of the charging head groove; Acquiring the position of the charging head based on the charging head position sensor includes: Obtaining a photoelectric sensing value of the photoelectric sensor; When the photoelectric sensor value is triggered, determining the position of the charging head to be a first position; When the photoelectric sensor value is not triggered, the position of the charging head is determined to be the second position.

6. The method according to claim 2, characterized in that The charging head position sensor includes a pressure sensor, the charging head is connected to the closed end of the charging head groove through a spring, and the pressure sensor is used to detect the pressure of the spring; Acquiring the position of the charging head based on the charging head position sensor includes: Acquiring a pressure sensing value of the pressure sensor; The position of the charging head is determined based on a preset pressure threshold and the pressure sensing value.

7. The method according to claim 6, characterized in that The pressure threshold comprises a first pressure threshold and a second pressure threshold; Determining the position of the charging head based on a preset pressure threshold and the pressure sensing value includes: When the pressure sensing value is greater than or equal to a first pressure threshold, determining that the position of the charging head is a first position; When the pressure sensing value is less than a second pressure threshold, the position of the charging head is determined to be the second position.

8. A device charging pile, characterized in that: include: A position acquisition module, configured to acquire the position of the charging head based on the charging head position sensor, wherein the position of the charging head is adjusted according to the positional relationship between the device and the charging pile; a power supply module, configured to supply power to the charging head when the position is the first position, so that the charging pile charges the device; The power-off module is configured to stop supplying power to the charging head when the position is the second position.

9. A computing device, characterized in that include: Memory and processor; The memory is used to store computer-executable instructions, and the processor is used to execute the computer-executable instructions. When the computer-executable instructions are executed by the processor, the steps of the device charging method described in any one of claims 1 to 7 are implemented.

10. A computer-readable storage medium, characterized in that: It stores computer executable instructions, which, when executed by a processor, implement the steps of the device charging method described in any one of claims 1 to 7.

Images