Robot charging management method, device, equipment, medium and product

Abstract

The invention discloses a robot charging management method, device and equipment, a medium and a product. After a charging request sent by a target robot is received, charging piles included in an environment area where the target robot is located are determined, and working state information of the charging piles is obtained; determining reachable charging piles of the target robot from the charging piles; if it is determined that idle charging piles exist in the reachable charging piles based on the working state information, determining a target charging pile from the idle charging piles according to the position information of the target robot and the idle charging piles, and distributing the target charging pile to the target robot; and if it is determined that no idle charging pile exists in the reachable charging piles based on the working state information, screening a target charging pile from the reachable charging piles according to a set screening condition. The method improves the distribution efficiency of the charging piles, adjusts the distribution strategy of the charging piles according to the actual situation, improves the charging efficiency of the robot, and guarantees the normal work of the robot.

Description

Technical Field

[0001] The present invention relates to the field of robot technology, and in particular to a robot charging management method, device, equipment, medium and product. Background Art

[0002] With the continuous advancement of science and technology, robots are increasingly used in various fields, especially in industrial automation, service industry, etc. Robots will move and operate a lot when performing tasks, which requires a lot of energy support, so charging piles come into being as the "gas station" for robots.

[0003] In existing solutions, the charging piles of robots are usually allocated manually or through simple rules, such as manually intervening to allocate a charging pile for the robot when the robot needs to be charged, or setting a fixed charging pile for each robot.

[0004] However, with the need for large-scale application scenarios, the number of robots has also increased. The existing solutions consume a lot of manpower and are inefficient through manual intervention, and cannot meet the demand. In addition, the automatic allocation method based on simple rules cannot optimize the allocation plan according to the actual situation, which may lead to a large demand for charging piles and low utilization rate, and untimely charging of robots. Summary of the invention

[0005] The present invention provides a robot charging management method, device, equipment, medium and product to solve the problem that the existing solution cannot well realize the reasonable allocation of multiple robots and multiple charging piles, thereby resulting in low allocation efficiency, low charging pile utilization and untimely robot charging.

[0006] In a first aspect, an embodiment of the present invention provides a robot charging management method, the method comprising:

[0007] After receiving the charging request sent by the target robot, determining the charging piles included in the environment area where the target robot is located, and obtaining the working status information of each of the charging piles;

[0008] Determining a reachable charging pile for the target robot from the charging piles;

[0009] If it is determined based on each of the working status information that there is an idle charging pile among the reachable charging piles, then according to the position information of the target robot and the idle charging piles, a target charging pile is determined from the idle charging piles and allocated to the target robot;

[0010] If it is determined based on each of the working status information that there is no idle charging pile among the reachable charging piles, a reachable charging pile of the target robot is determined from each of the charging piles, and a target charging pile is screened from the reachable charging piles according to set screening conditions.

[0011] In a second aspect, an embodiment of the present invention provides a robot charging management device, the device comprising:

[0012] A charging pile determination module in the environment area, configured to determine the charging piles included in the environment area where the target robot is located after receiving a charging request sent by the target robot, and obtain working status information of each of the charging piles;

[0013] A reachable charging pile determination module, used to determine a reachable charging pile of the target robot from each of the charging piles;

[0014] An idle charging pile allocation module, configured to determine a target charging pile from the idle charging piles and allocate it to the target robot according to the position information of the target robot and the idle charging piles if it is determined based on each of the working status information that there is an idle charging pile among the reachable charging piles;

[0015] A reachable charging pile screening module is used to determine the reachable charging pile of the target robot from each of the charging piles if it is determined based on each of the working status information that there is no idle charging pile among the reachable charging piles, and to screen the target charging pile from the reachable charging piles according to the set screening conditions.

[0016] In a third aspect, an embodiment of the present invention provides an electronic device, the electronic device comprising:

[0017] at least one processor;

[0018] and a memory communicatively coupled to the at least one processor;

[0019] The memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the robot charging management method described in any embodiment of the present invention.

[0020] In a fourth aspect, an embodiment of the present invention further provides a computer-readable storage medium, characterized in that the computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the robot charging management method described in any embodiment of the present invention when executed.

[0021] In a fifth aspect, an embodiment of the present invention further provides a computer program product, characterized in that the computer program product comprises a computer program, and when the computer program is executed by a processor, the robot charging management method according to any embodiment of the present invention is implemented.

[0022] The technical solution of the embodiment of the present invention determines the charging piles included in the environment area where the target robot is located after receiving the charging request sent by the target robot, and obtains the working status information of each charging pile; determines the reachable charging pile of the target robot from each charging pile; if it is determined based on each working status information that there is an idle charging pile in the reachable charging pile, then according to the position information of the target robot and the idle charging pile, the target charging pile is determined from the idle charging pile and allocated to the target robot; if it is determined based on each working status information that there is no idle charging pile in the reachable charging pile, then the target charging pile is screened from the reachable charging pile according to the set screening conditions. The method determines the reachable charging pile corresponding to the target robot after receiving the charging request sent by the target robot, and determines whether there is an idle charging pile in the reachable charging pile based on the working status information. If there is, the target charging pile is determined from the idle charging pile and allocated to the target robot, if not, the target charging pile is screened according to the set screening conditions and allocated to the target robot, providing an optimal charging solution for the robot, effectively solving the problem that the manual intervention method cannot meet the demand due to the large number of robots in the prior art, improving the charging pile allocation efficiency, and adjusting the charging pile allocation strategy according to the actual situation, improving the robot charging efficiency, and ensuring the normal operation of the robot.

[0023] It should be understood that the contents described in this section are not intended to identify the key or important features of the embodiments of the present invention, nor are they intended to limit the scope of the present invention. Other features of the present invention will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0025] Figure 1 A flowchart of a robot charging management method provided by an embodiment of the present invention;

[0026] Figure 2 A schematic diagram of the structure of a robot charging management device provided by an embodiment of the present invention;

[0027] Figure 3A schematic diagram of the structure of an electronic device that can be used to implement an embodiment of the present invention is shown. DETAILED DESCRIPTION

[0028] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0029] It should be noted that the terms "original", "target", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0030] It should be noted that in the existing robot charging pile allocation scheme, allocation is often done manually or by simple rules, such as manually intervening to allocate charging piles to robots when they need to be charged, or setting a fixed charging pile for each robot. However, with the needs of large-scale application scenarios, the number of robots has also increased. The existing scheme consumes a lot of manpower and is inefficient through manual intervention, and cannot meet the needs; in addition, the automatic allocation method based on simple rules cannot optimize the allocation scheme according to the actual situation, which may lead to a large number of charging piles with low utilization, and untimely charging of robots, which in turn affects the work efficiency of the robots.

[0031] Based on this, an embodiment of the present invention provides a robot charging management method. Figure 1 A flowchart of a robot charging management method provided in an embodiment of the present invention. The embodiment of the present invention can be applied to the scenario of allocating suitable charging piles to the robot to meet its charging needs. The method can be executed by a robot charging management device, which can be implemented in the form of software and / or hardware, and optionally, by an electronic device, which is preferably a cloud server.

[0032] like Figure 1As shown, the robot charging management method provided by the embodiment of the present invention may specifically include:

[0033] S101. After receiving a charging request sent by a target robot, determine the charging piles included in the environment area where the target robot is located, and obtain the working status information of each charging pile.

[0034] The target robot can be understood as a robot with charging requirements. The working status information can be understood as information reflecting the real-time working status of each charging pile, which may include idle / occupied status, power status, health status, etc.

[0035] In this embodiment, a charging request sent by each robot when the remaining power reaches a set threshold is received in real time. After receiving the charging request sent by the target robot, all charging piles included in the environmental area (such as a warehouse, factory, service area, etc.) where the target robot is located are determined, and the working status information of each charging pile is obtained.

[0036] Exemplarily, the target robot may send a charging request to a robot charging management device via a protocol such as HTTP, and the robot charging management device may be applied to electronic devices such as cloud servers.

[0037] Exemplarily, following the above example description, the working status information can be stored in a cloud database, the idle / occupied status of each charging pile in the initial working status information can be set to idle, and the idle / occupied status of each charging pile can be updated in real time according to the allocation in use.

[0038] S102: Determine a reachable charging pile for the target robot from among the charging piles.

[0039] Among them, the reachable charging pile can be understood as the charging pile that the target robot’s current remaining power can support reaching.

[0040] In this embodiment, the path distance for the target robot to reach each charging pile is determined based on the position information of each charging pile and the position information of the target robot, and the reachable charging pile that the target robot can reach with the remaining power can be determined from each charging pile based on a preset correspondence table or function expression between the path distance and the power consumption.

[0041] It should be noted that the location information of each charging pile is obtained based on the actual charging pile location information collected in advance; the location information of the target robot is obtained by receiving the target robot's own location information sent periodically (such as every 5 seconds). Since the robot and the electronic device that implements the robot charging management device share the same map data, the location information of the target robot and the location information of the charging pile are at the same position coordinates.

[0042] S103: If it is determined based on the work status information that there is an idle charging pile among the reachable charging piles, a target charging pile is determined from the idle charging piles and allocated to the target robot according to the position information of the target robot and the idle charging piles.

[0043] Among them, the target charging pile can be understood as the charging pile determined to be allocated to the target robot.

[0044] In this embodiment, based on each working status information, it is determined whether there is an idle charging pile among the reachable charging piles. If so, the target charging pile is determined and assigned to the target robot based on the location information of the target robot and the location information of the idle charging pile.

[0045] Exemplarily, the reachable idle charging pile closest to the target robot can be determined as the target charging pile based on the location information of the target robot and the location information of the idle charging piles; or, the charging pile with the fastest charging speed or the lowest charging cost among the reachable idle charging piles that are closer to the target robot (such as the three nearest ones) can be allocated as the target charging pile based on the location information of the target robot and the location information of the idle charging piles.

[0046] Exemplarily, a target charging pile may be assigned to a target robot by sending the ID information of the target charging pile to the robot, and the robot determines the location information of the target charging pile based on the ID information of the target charging pile and plans an arrival path; a target charging pile may also be assigned to a target robot by directly sending the ID information, location information and at least two of the arrival path of the target charging pile to the robot.

[0047] It should be noted that the robot and the electronic device that implements the robot charging management device share the same map data and the same path planning algorithm. The map data includes the ID information and location information of the charging pile. Therefore, the robot can determine the target charging pile location information and the path to reach it that are consistent with the electronic device based on the ID information of the target charging pile.

[0048] S104: If it is determined based on each working status information that there is no idle charging pile among the reachable charging piles, a target charging pile is selected from the reachable charging piles according to a set selection condition.

[0049] In this embodiment, if it is determined based on the working status information that there is no idle charging pile among the reachable charging piles, the reachable charging piles are evaluated and sorted according to the set filtering conditions to determine the target charging pile that best meets the filtering conditions, so as to dispatch the robot to wait near the target charging pile.

[0050] Exemplarily, the screening conditions may be the estimated idle time of the charging pile, the charging speed of the charging pile, the health status of the charging pile, and the specific charging pile preference of the charging robot, etc.

[0051] A robot charging management method provided by an embodiment of the present invention determines the charging piles included in the environment area where the target robot is located after receiving a charging request sent by a target robot, and obtains the working status information of each charging pile; determines the reachable charging pile of the target robot from each charging pile; if it is determined based on each working status information that there is an idle charging pile among the reachable charging piles, then according to the position information of the target robot and the idle charging piles, determines a target charging pile from the idle charging piles and allocates it to the target robot; if it is determined based on each working status information that there is no idle charging pile among the reachable charging piles, then filters the target charging pile from the reachable charging piles according to the set filtering conditions. The method determines the reachable charging pile corresponding to the target robot after receiving a charging request sent by the target robot, and determines whether there is an idle charging pile among the reachable charging piles based on the working status information. If yes, the target charging pile is determined from the idle charging piles and allocated to the target robot; if no, the target charging pile is selected according to the set selection conditions and allocated to the target robot, thereby providing an optimal charging solution for the robot, effectively solving the problem in the prior art that the manual intervention method cannot meet the demand due to the large number of robots, and improving the charging pile allocation efficiency. At the same time, the charging pile allocation strategy is adjusted according to the actual situation, thereby improving the robot charging efficiency and ensuring the normal operation of the robot.

[0052] As a first optional embodiment of this embodiment, on the basis of the above embodiment, the step of determining the reachable charging pile of the target robot from the charging piles can be specifically implemented as the following steps:

[0053] a1) determining a travelable distance of the target robot according to the remaining power of the target robot.

[0054] In this embodiment, the current remaining power of the target robot is obtained, and the travelable distance of the target robot can be determined according to the travelable distance supported by the unit power or a preset corresponding association table between the power and the travelable distance.

[0055] b1) determining a charging pile whose path distance to the target robot is less than or equal to the walkable distance as a reachable charging pile.

[0056] In this embodiment, a path planning algorithm, such as a simultaneous localization and mapping (SLAM) algorithm, can be used to determine the path and path distance from the target robot to each charging pile, and the walkable distance of the target robot is compared with each path distance to determine a path distance that is less than or equal to the walkable distance, and each charging pile corresponding to the path distance is determined as a reachable charging pile.

[0057] The above technical solution of this embodiment determines the reachable charging pile according to the remaining power of the target robot, thereby ensuring that the target robot can reach the charging pile for charging before the power is exhausted, thereby improving the use efficiency of the charging pile.

[0058] As a second optional embodiment of this embodiment, on the basis of the above embodiment, the step of determining the target charging pile from the idle charging piles according to the position information of the target robot and the idle charging piles can be specifically implemented as the following steps:

[0059] a2) determining a walking path of the target robot to each of the idle charging piles according to the position information of the target robot and the idle charging piles.

[0060] In this embodiment, based on the position information sent periodically by the target robot and the position information of the idle charging piles, a path planning algorithm such as the SLAM algorithm, the Dijkstra algorithm, the A* algorithm, etc. is used to determine the walking path of the target robot to each charging pile. The walking path will take into account factors such as actual terrain, obstacles, and road conditions.

[0061] b2) determining the walking time of the target robot to each of the idle charging piles according to the walking speed of the target robot.

[0062] In this embodiment, the preset walking speed of the target robot is obtained, and the walking speed may include the speed of the target robot when walking at a constant speed, and the acceleration when starting and stopping. According to the walking speed of the target robot and the walking path length to each idle charging pile, the walking time of the target robot to each idle charging pile is estimated and determined.

[0063] c2) determining the idle charging pile corresponding to the shortest walking time as the target charging pile of the target robot.

[0064] In this embodiment, by comparing the walking time of the target robot to each idle charging pile, the shortest walking time is determined, and the idle charging pile corresponding to the shortest walking time is determined as the target charging pile for ultimately charging the target robot.

[0065] The above technical scheme of this embodiment, by comparing the walking time of the target robot to each of the idle charging piles, determines the idle charging pile corresponding to the shortest walking time as the target charging pile of the target robot, thereby ensuring that the target robot can be efficiently allocated to the idle charging pile with the shortest walking time to realize charging as early as possible, reducing the power and time consumed by searching for charging piles, thereby improving the overall charging efficiency, charging pile utilization and robot operation efficiency.

[0066] As a third optional embodiment of this embodiment, the step of selecting a target charging pile from the reachable charging piles according to the set screening condition may be specifically optimized into the following steps:

[0067] a2) Obtaining the charging queue quantity and current charging progress of each of the accessible charging piles.

[0068] The waiting-to-charge queue can be understood as the number of robots waiting to be charged using the currently accessible charging piles. The current charging progress can be understood as the current power level of the robot being charged.

[0069] It should be noted that during the charging process, the robot will periodically send power information to the electronic device for storage and recording, and synchronously associate it with the working status information of the corresponding charging pile; in addition, when the robot arrives at the target charging pile, it will promptly send the queuing information to the electronic device, so that the electronic device can maintain a queue waiting for charging by recording the queuing information.

[0070] In this embodiment, the queues waiting for charging corresponding to each reachable charging pile determined according to the recorded queuing information in the electronic device can be searched to obtain the number of charging queues of each reachable charging pile, and the latest power information regularly sent by each charging robot can be obtained, that is, the current charging progress of each reachable charging pile.

[0071] b2) determining a first charging pile whose waiting-to-be-charged queue quantity is less than a set queue threshold from among the reachable charging piles, and determining a second charging pile with the maximum current charging progress from among the first charging piles as the target charging pile for the target robot.

[0072] The first charging pile can be understood as a charging pile with a charging queue volume less than a set queue threshold, and the set queue threshold can be a fixed value or a value that changes dynamically according to the waiting queue volume of each accessible charging pile, such as taking the minimum value of the waiting queue volume of each accessible charging pile as the set queue threshold. The second charging pile can be understood as the charging pile with the largest current charging progress among the first charging piles.

[0073] In this embodiment, a first charging pile whose charging queue is less than a queue threshold is determined from each reachable charging pile, and then a second charging pile with the maximum current charging progress is determined from each first charging pile, and the second charging pile is used as the target charging pile of the target robot.

[0074] Exemplarily, currently all reachable charging piles have robots being charged, but there are no robots in the queue, and the queue threshold can be the minimum value of the waiting-for-charging queue of each reachable charging pile, that is, the queue threshold is 0, and at this time all reachable charging piles are the first charging piles; then the current charging progress of each reachable charging pile is determined, and the first charging pile with the largest current charging progress (that is, the first to finish charging the charging robot) is determined as the second charging pile, and the second charging pile is used as the target charging pile for the target robot.

[0075] It should be noted that if there are multiple second charging piles, the second charging pile corresponding to the shortest walking time can be selected as the target charging pile.

[0076] The above technical scheme of this embodiment obtains the number of charging queues and current charging progress of each of the reachable charging piles, determines the second charging pile whose number of charging queues is less than the set queue threshold and whose current charging progress is the largest, and uses the second charging pile as the target charging pile of the target robot to reduce the waiting time of the robot at the charging pile, avoids the situation where some charging piles are overcrowded while other charging piles are idle, and realizes the balanced allocation of charging resources, thereby improving the overall charging efficiency and the operating efficiency of the robot.

[0077] As a fourth optional embodiment of this embodiment, it also includes:

[0078] a3) When it is detected that the target charging pile is charging the target robot and the charging progress reaches a predetermined charging progress threshold, a charging disconnection notification is sent to the target robot so that the target robot releases the target charging pile.

[0079] In this embodiment, the charging progress of the target robot by the target charging pile is monitored by the power information sent periodically by the target robot. When it is detected that the charging progress of the target robot by the target charging pile reaches a predetermined charging progress threshold, it is considered that the target robot has been charged with sufficient power. At this time, a disconnection notification is sent to the target robot by adopting methods such as message queue telemetry transmission MQTT communication, so that the target robot releases the target charging pile.

[0080] It should be noted that the charging progress threshold can be dynamically adjusted according to the preset scheduling rules based on the number of charging queues to be charged at each charging pile. For example, when the number of charging queues to be charged is 2, the charging progress threshold is 90%, that is, when the target robot's power reaches 90%, a disconnection charging notification is issued to release the target charging pile; when the number of charging queues to be charged is 4, the charging progress threshold is 85%; when the number of charging queues to be charged is 6, the charging progress threshold is 75%; when the number of charging queues to be charged is greater than 6, the charging progress threshold is 70%, to ensure that the target robot has sufficient power to perform subsequent tasks.

[0081] It is understandable that if the waiting charging queue is 0 or a small value, the charging progress threshold may not be set, that is, when the robot is fully charged (ie, the charging progress is 100%), the target charging pile is automatically released.

[0082] b3) When there is a robot to be charged relative to the target charging pile, a charging notification is sent to the next robot after the target robot, so that the next robot is charged through the target charging pile.

[0083] In this embodiment, after the target robot releases the target charging pile, the queue of the target charging pile waiting for charging recorded in the electronic device is searched. If it is determined that there is a robot to be charged relative to the target charging pile, a charging notification can be sent to the next robot after the target robot (i.e., the first robot in the queue) through the MQTT communication method, so that the next robot can connect to the target charging pile for charging as soon as possible.

[0084] It should be noted that the number of robots waiting to be charged and the charging progress of the target robot at the target charging pile are updated dynamically in real time.

[0085] The above technical scheme of this embodiment, when detecting that the charging progress of the target robot reaches a predetermined charging progress threshold, sends a charging disconnection notification to the target robot and notifies the next robot to charge on the target charging pile after the target charging pile is released. By dynamically adjusting the charging progress threshold according to actual conditions to adapt to different charging needs, and combining automated charging management and scheduling to adjust the allocation strategy of the charging pile, manual intervention is reduced, the efficiency of charging pile allocation is improved, the idle time of the charging pile and the waiting time of the robot are reduced, and the efficient utilization of the charging pile and the normal operation of the robot are ensured.

[0086] As a fifth optional embodiment of this embodiment, it also includes:

[0087] a4) When it is detected that there is a charging pile in a charging state, the charging pile is marked as being in an occupied state, and the occupied state is determined as the working state information of the charging pile.

[0088] In this embodiment, when it is detected that a charging pile is in a charging state (i.e., the charging pile is assigned to the target robot), the charging pile is marked as occupied to indicate that the charging pile is currently in use and is unavailable, and the occupied state is recorded and updated in real time to the working status information of the charging pile for storage.

[0089] b4) After receiving a charging release request sent by any robot, release the charging pile associated with the robot, mark the associated charging pile as an idle state, and determine the idle state as the working state information of the associated charging pile.

[0090] In this embodiment, after completing charging and leaving the charging pile, the robot will actively send a charging release request to the electronic device through a communication protocol such as HTTP. After receiving the charging release request sent by any robot, the associated charging pile previously occupied by the robot for charging will be released, and the associated charging pile will be updated to an idle state to indicate that the charging pile can now provide charging services for other robots, and the idle state will be recorded and updated in real time to the working status information of the associated charging pile for storage.

[0091] It is understandable that if the electronic device is a cloud server, the working status information and associated storage items (such as the number of charging piles waiting to be charged and the current charging progress) can be adaptively stored in the cloud database.

[0092] The above technical scheme of this embodiment, by marking the charging pile detected to be in the charging state as occupied state, and determining the occupied state as the working state information of the charging pile; at the same time, releasing the charging pile corresponding to the received charging release request and marking the charging pile as idle state, and determining the idle state as the working state information of the associated charging pile, so as to automatically, efficiently and accurately determine the idle charging pile, thereby providing timely charging service for the robot that needs charging, ensuring the reasonable allocation of charging resources and maximizing the utilization efficiency of the charging piles, and thus improving the intelligence level of charging management.

[0093] As a sixth optional embodiment of this embodiment, based on the above embodiment, it also includes:

[0094] a5) receiving an electronic environment map constructed by the target robot relative to the environmental area, wherein the electronic environment map includes charging pile identification information and location information of each pre-installed charging pile.

[0095] Among them, environmental electronic maps can be understood as digital maps that store and display map information in digital form. They use computer technology to realize map generation, display, editing, query and other functions. They have the characteristics of dynamics, interactivity, scalability, and measurability. Users can operate according to their needs.

[0096] In this embodiment, one or more target robots are used to perform an overall scan of the environment area in advance to construct a corresponding environment electronic map. The corresponding charging piles are pre-installed according to factors such as the number of robots configured in the environment area and the range of activities, and the location information and charging pile identification information of the installed corresponding charging piles are marked in the environment electronic map through map editing software, and the environment electronic map is sent to the electronic device. The electronic device then parses the environment electronic map to extract the location information of the charging piles in the environment electronic map, and can assign a unique identification ID to each charging pile with different identification information in the environment electronic map, and store the charging pile identification information, identification ID and location information of each charging pile, such as in a cloud database, which can use postgres, and synchronize the database or the environment electronic map marked with the charging pile identification ID to the target robot.

[0097] The above technical solution of this embodiment helps electronic devices and robots to accurately identify and locate each charging pile by receiving an environmental electronic map with charging pile identification information and location information, so as to provide the robot with more accurate and convenient charging services, while also improving the operating efficiency and management level of the charging piles.

[0098] As a seventh optional embodiment of this embodiment, it also includes:

[0099] a6) Displaying charging-related information of the robot and the charging pile on the set charging management interface, and responding to charging-related instructions triggered through the charging management interface.

[0100] The charging management interface can be understood as a user interface, which is usually displayed on a computer, tablet or smart phone, and is used to manage and monitor the status of the robot and the charging pile. Exemplarily, the charging management interface can be developed using HTML5 and JavaScript and deployed on a cloud server.

[0101] In this embodiment, the charging-related information of the robot and the charging pile is displayed on the set charging management interface, such as the current power, position, and status of the robot (whether it is charging, idle, busy, etc.); the current status of the charging pile (idle, occupied, faulty, etc.), position, charging power, and charging progress; the queuing situation of the charging pile, including the number of robots waiting for charging and the estimated waiting time; historical charging records, including charging time, charging amount, charging frequency, etc. And respond to charging-related instructions triggered by the charging management interface, such as allocating a specific idle charging pile to a target robot that needs to be charged; if the robot needs to move, the robot can be instructed to interrupt the current charging process; if the charging pile fails, the interface can display fault information and allow the user to trigger the maintenance process, etc. The user can interact with the charging management interface through operations such as clicking, dragging, and inputting to execute the above instructions or other management tasks.

[0102] The above technical solution of this embodiment displays the charging-related information of the robot and the charging pile through the charging management interface, and responds to the charging-related instructions triggered by the charging management interface, so that the management personnel can effectively monitor and manage the charging process, thereby improving the user experience.

[0103] As an eighth optional embodiment of this embodiment, it also includes:

[0104] a7) When it is detected that the current charging management is in an abnormal state, the charging management operation is logically restored according to the pre-backed-up charging management related data information and the set fault recovery mechanism.

[0105] In this embodiment, when it is detected that the electronic device or robot is in an abnormal state of charging management, such as communication interruption, battery management system (BMS) abnormality, etc., according to the charging management related data information backed up regularly in advance, including the status, location, queue status, robot power information, charging history record, etc. of the charging pile, and the set fault recovery mechanism, a series of diagnostic steps, fault confirmation mechanism, service processing mechanism, etc. can be included to identify and confirm the fault, and take corresponding recovery measures to perform logical recovery of charging management operation to ensure stable operation of the system. At the same time, firewalls and intrusion detection systems can also be used to ensure network security, and various measures (such as performance optimization, monitoring and early warning, redundant design and load balancing, etc.) can be taken to ensure data security and system stability, and prevent data leakage or system crashes caused by network attacks, hardware failures and other problems.

[0106] Figure 2 This is a schematic diagram of the structure of a robot charging management device provided by an embodiment of the present invention. Figure 2As shown, the device includes: a charging pile determination module 21 in the environment area, a reachable charging pile determination module 22, an idle charging pile allocation module 23 and a reachable charging pile screening module 24, wherein:

[0107] The charging pile determination module 21 in the environment area is used to determine the charging piles included in the environment area where the target robot is located after receiving the charging request sent by the target robot, and obtain the working status information of each charging pile;

[0108] A reachable charging pile determination module 22, used to determine a reachable charging pile of the target robot from each of the charging piles;

[0109] An idle charging pile allocation module 23 is used to determine a target charging pile from the idle charging piles and allocate it to the target robot according to the position information of the target robot and the idle charging piles if it is determined based on each of the working status information that there is an idle charging pile among the reachable charging piles;

[0110] The reachable charging pile screening module 24 is used to determine the reachable charging pile of the target robot from each of the charging piles if it is determined based on each of the working status information that there is no idle charging pile among the reachable charging piles, and screen the target charging pile from the reachable charging piles according to the set screening conditions.

[0111] A robot charging management device provided by an embodiment of the present invention determines the charging piles included in the environment area where the target robot is located after receiving a charging request sent by a target robot, and obtains the working status information of each charging pile; determines the reachable charging pile of the target robot from each charging pile; if it is determined based on the working status information that there is an idle charging pile among the reachable charging piles, then according to the position information of the target robot and the idle charging piles, determines a target charging pile from the idle charging piles and allocates it to the target robot; if it is determined based on the working status information that there is no idle charging pile among the reachable charging piles, then filters the target charging pile from the reachable charging piles according to the set filtering conditions. The method determines the reachable charging pile corresponding to the target robot after receiving a charging request sent by the target robot, and determines whether there is an idle charging pile among the reachable charging piles based on the working status information. If yes, the target charging pile is determined from the idle charging piles and allocated to the target robot; if no, the target charging pile is selected according to the set selection conditions and allocated to the target robot, thereby providing an optimal charging solution for the robot, effectively solving the problem in the prior art that the manual intervention method cannot meet the demand due to the large number of robots, and improving the charging pile allocation efficiency. At the same time, the charging pile allocation strategy is adjusted according to the actual situation, thereby improving the robot charging efficiency and ensuring the normal operation of the robot.

[0112] Furthermore, the accessible charging pile determination module 22 can be specifically used for:

[0113] Determining a travelable distance of the target robot according to the remaining power of the target robot;

[0114] A charging pile whose path distance to the target robot is less than or equal to the walkable distance is determined as a reachable charging pile.

[0115] Furthermore, the idle charging pile allocation module 23 can be specifically used for:

[0116] Determine a walking path of the target robot to each of the idle charging piles according to the position information of the target robot and the idle charging piles;

[0117] Determining the walking time of the target robot to each of the idle charging piles according to the walking speed of the target robot;

[0118] The idle charging pile corresponding to the shortest walking time is determined as the target charging pile of the target robot.

[0119] Furthermore, the accessible charging pile screening module 23 can be specifically used for:

[0120] Obtaining the charging queue and current charging progress of each of the accessible charging piles;

[0121] A first charging pile having a charging queue quantity less than a set queuing threshold is determined from each of the reachable charging piles, and a second charging pile with a maximum current charging progress is determined from each of the first charging piles as a target charging pile for the target robot.

[0122] Furthermore, the robot charging management device also includes a robot switching module to be charged, which can be specifically used for:

[0123] When it is detected that the target charging pile is charging the target robot and the charging progress reaches a predetermined charging progress threshold, a charging disconnection notification is sent to the target robot so that the target robot releases the target charging pile;

[0124] When there is a robot to be charged relative to the target charging pile, a charging notification is sent to the next robot after the target robot, so that the next robot is charged through the target charging pile.

[0125] Furthermore, the robot charging management device also includes a charging pile working status information determination module, which can be specifically used for:

[0126] When detecting that a charging pile is in a charging state, marking the charging pile as being in an occupied state, and determining the occupied state as the working state information of the charging pile;

[0127] After receiving a charging release request sent by any robot, the charging pile associated with the robot is released, the associated charging pile is marked as an idle state, and the idle state is determined as the working state information of the associated charging pile.

[0128] Furthermore, the robot charging management device also includes an environment construction module, which can be specifically used for:

[0129] An environmental electronic map constructed by the target robot relative to the environmental area is received, wherein the environmental electronic map includes charging pile identification information and location information of each pre-installed charging pile.

[0130] Furthermore, the robot charging management device also includes an interface interaction module, which can be specifically used for:

[0131] Display charging-related information of the robot and the charging pile on the set charging management interface, and respond to charging-related instructions triggered by the charging management interface.

[0132] Furthermore, the robot charging management device also includes a safety assurance module, which can be specifically used for:

[0133] When it is detected that the current charging management is in an abnormal state, the charging management operation is logically restored according to the pre-backed-up charging management related data information and the set fault recovery mechanism.

[0134] The robot charging management device provided in the embodiment of the present invention can execute the robot charging management method provided in any embodiment of the present invention, and has the corresponding functional modules and beneficial effects of the execution method.

[0135] Figure 3 A schematic diagram of the structure of an electronic device 30 that can be used to implement an embodiment of the present invention is shown. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices (such as helmets, glasses, watches, etc.) and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present invention described and / or required herein.

[0136] like Figure 3As shown, the electronic device 30 includes at least one processor 31, and a memory connected to the at least one processor 31, such as a read-only memory (ROM) 32, a random access memory (RAM) 33, etc., wherein the memory stores a computer program that can be executed by at least one processor, and the processor 31 can perform various appropriate actions and processes according to the computer program stored in the read-only memory (ROM) 32 or the computer program loaded from the storage unit 38 to the random access memory (RAM) 33. In the RAM 33, various programs and data required for the operation of the electronic device 30 can also be stored. The processor 31, the ROM 32, and the RAM 33 are connected to each other through a bus 34. An input / output (I / O) interface 35 is also connected to the bus 34.

[0137] A number of components in the electronic device 30 are connected to the I / O interface 35, including: an input unit 36, such as a keyboard, a mouse, etc.; an output unit 37, such as various types of displays, speakers, etc.; a storage unit 38, such as a disk, an optical disk, etc.; and a communication unit 39, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 39 allows the electronic device 30 to exchange information / data with other devices through a computer network such as the Internet and / or various telecommunication networks.

[0138] The processor 31 may be a variety of general and / or dedicated processing components with processing and computing capabilities. Some examples of the processor 31 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various dedicated artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any appropriate processor, controller, microcontroller, etc. The processor 31 executes the various methods and processes described above, such as the robot charging management method.

[0139] In some embodiments, the robot charging management method may be implemented as a computer program, which is tangibly contained in a computer-readable storage medium, such as a storage unit 38. In some embodiments, part or all of the computer program may be loaded and / or installed on the electronic device 30 via the ROM 32 and / or the communication unit 39. When the computer program is loaded into the RAM 33 and executed by the processor 31, one or more steps of the robot charging management method described above may be performed. Alternatively, in other embodiments, the processor 31 may be configured to execute the robot charging management method in any other appropriate manner (e.g., by means of firmware).

[0140] Various implementations of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on chips (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various implementations can include: being implemented in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which can be a special purpose or general purpose programmable processor that can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.

[0141] Computer programs for implementing the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, so that when the computer program is executed by the processor, the functions / operations specified in the flow chart and / or block diagram are implemented. The computer program may be executed entirely on the machine, partially on the machine, partially on the machine and partially on a remote machine as a stand-alone software package, or entirely on a remote machine or server.

[0142] In the context of the present invention, a computer-readable storage medium may be a tangible medium that may contain or store a computer program for use by or in combination with an instruction execution system, device or equipment. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices or equipment, or any suitable combination of the foregoing. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. A more specific example of a machine-readable storage medium may include an electrical connection based on one or more lines, 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 of the foregoing.

[0143] To provide interaction with a user, the systems and techniques described herein may be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and a pointing device (e.g., a mouse or trackball) through which the user can provide input to the electronic device. Other types of devices may also be used to provide interaction with the user; for example, the feedback provided to the user may be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form (including acoustic input, voice input, or tactile input).

[0144] The systems and techniques described herein may be implemented in a computing system that includes backend components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes frontend components (e.g., a user computer with a graphical user interface or a web browser through which a user can interact with implementations of the systems and techniques described herein), or a computing system that includes any combination of such backend components, middleware components, or frontend components. The components of the system may be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: a local area network (LAN), a wide area network (WAN), a blockchain network, and the Internet.

[0145] A computing system may include a client and a server. The client and the server are generally remote from each other and usually interact through a communication network. The client and server relationship is generated by computer programs running on the corresponding computers and having a client-server relationship with each other. The server may be a cloud server, also known as a cloud computing server or cloud host, which is a host product in the cloud computing service system to solve the defects of difficult management and weak business scalability in traditional physical hosts and VPS services.

[0146] It should be understood that the various forms of processes shown above can be used to reorder, add or delete steps. For example, the steps described in the present invention can be executed in parallel, sequentially or in different orders, as long as the desired results of the technical solution of the present invention can be achieved, and this document does not limit this.

[0147] The above specific implementations do not constitute a limitation on the protection scope of the present invention. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modification, equivalent substitution and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A robot charging management method, characterized in that: include: After receiving the charging request sent by the target robot, determining the charging piles included in the environment area where the target robot is located, and obtaining the working status information of each of the charging piles; Determining a reachable charging pile for the target robot from the charging piles; If it is determined based on each of the working status information that there is an idle charging pile among the reachable charging piles, then according to the position information of the target robot and the idle charging piles, a target charging pile is determined from the idle charging piles and allocated to the target robot; If it is determined based on each of the working status information that there is no idle charging pile among the reachable charging piles, a target charging pile is screened from the reachable charging piles according to a set screening condition.

2. The method according to claim 1, characterized in that The step of determining a reachable charging pile of the target robot from the charging piles includes: Determining a travelable distance of the target robot according to the remaining power of the target robot; A charging pile whose path distance to the target robot is less than or equal to the walkable distance is determined as a reachable charging pile.

3. The method according to claim 1, characterized in that: The step of determining a target charging pile from the idle charging piles according to the position information of the target robot and the idle charging piles includes: Determine a walking path of the target robot to each of the idle charging piles according to the position information of the target robot and the idle charging piles; Determining the walking time of the target robot to each of the idle charging piles according to the walking speed of the target robot; The idle charging pile corresponding to the shortest walking time is determined as the target charging pile of the target robot.

4. The method according to claim 1, characterized in that: The step of selecting a target charging pile from the reachable charging piles according to the set screening condition includes: Obtaining the charging queue and current charging progress of each of the accessible charging piles; A first charging pile having a charging queue quantity less than a set queuing threshold is determined from each of the reachable charging piles, and a second charging pile with a maximum current charging progress is determined from each of the first charging piles as the target charging pile of the target robot.

5. The method according to claim 1, characterized in that Also includes: When it is detected that the target charging pile is charging the target robot and the charging progress reaches a predetermined charging progress threshold, a charging disconnection notification is sent to the target robot so that the target robot releases the target charging pile; When there is a robot to be charged relative to the target charging pile, a charging notification is sent to the next robot after the target robot, so that the next robot is charged through the target charging pile.

6. The method according to claim 1, characterized in that Also includes: When detecting that a charging pile is in a charging state, marking the charging pile as being in an occupied state, and determining the occupied state as the working state information of the charging pile; After receiving a charging release request sent by any robot, the charging pile associated with the robot is released, the associated charging pile is marked as an idle state, and the idle state is determined as the working state information of the associated charging pile.

7. The method according to claim 1, characterized in that Also includes: An environmental electronic map constructed by the target robot relative to the environmental area is received, wherein the environmental electronic map includes charging pile identification information and location information of each pre-installed charging pile.

8. The method according to claim 1, characterized in that: Also includes: Display charging-related information of the robot and the charging pile on the set charging management interface, and respond to charging-related instructions triggered by the charging management interface.

9. The method according to claim 1, characterized in that: Also includes: When it is detected that the current charging management is in an abnormal state, the charging management operation is logically restored according to the pre-backed-up charging management related data information and the set fault recovery mechanism.

10. A robot charging management device, characterized in that: include: A charging pile determination module in the environment area, configured to determine the charging piles included in the environment area where the target robot is located after receiving a charging request sent by the target robot, and obtain working status information of each of the charging piles; A reachable charging pile determination module, used to determine a reachable charging pile of the target robot from each of the charging piles; An idle charging pile allocation module, configured to determine a target charging pile from the idle charging piles and allocate it to the target robot according to the position information of the target robot and the idle charging piles if it is determined based on each of the working status information that there is an idle charging pile among the reachable charging piles; A reachable charging pile screening module is used to determine the reachable charging pile of the target robot from each of the charging piles if it is determined based on each of the working status information that there is no idle charging pile among the reachable charging piles, and to screen the target charging pile from the reachable charging piles according to the set screening conditions.

11. An electronic device, characterized in that: The electronic device comprises: at least one processor; and a memory communicatively coupled to the at least one processor; Wherein, the memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the robot charging management method according to any one of claims 1 to 9.

12. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the robot charging management method according to any one of claims 1 to 9 when executed.

13. A computer program product, characterized in that The computer program product comprises a computer program, which, when executed by a processor, implements the robot charging management method according to any one of claims 1 to 9.

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