Robot charging method, electronic equipment and storage medium
By dynamically determining the charging docking area from the charging interface area when the robot is charging, the charging instability problem caused by frequent wear of the charging pile contacts is solved, and the service life and charging stability of the charging pile are improved.
Patent Information
- Application Number
- CN202510065367.X
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-01-15
- Publication Date
- 2025-04-22
AI Technical Summary
When the robot is charging, the contacts on the charging pile are frequently worn, resulting in unstable charging or inability to charge, which affects the charging efficiency and service life.
By detecting the need to charge the target robot, the target position of the target charging pile is obtained, and the charging docking area is determined from the target charging interface area on the target charging pile. The area of the charging docking area is smaller than the area of the charging interface area, and the charging head is connected to the charging docking area for charging.
Aging of the charging docking area caused by the fixed charging position for each charging is avoided, the service life of the charging pile is improved, and the stability of charging is ensured.
Smart Images
Figure CN119864912A_ABST
Abstract
Description
Technical Field
[0001] The present disclosure relates to the field of robot technology, and in particular to a robot charging method, an electronic device, and a storage medium. Background Art
[0002] With the continuous development of technology, there are more and more robots that can provide various services to users, such as sweeping robots, food delivery robots and delivery robots.
[0003] In the related art, each time the robot is charged through the charging pile, the robot and the contact pieces on the charging pile will be in fixed contact. Since the robot needs to be charged frequently, the contact pieces on the charging pile are prone to wear during long-term repeated docking, which may cause the robot to be unstable or unable to charge when charging through the charging pile. Summary of the invention
[0004] The present disclosure provides a robot charging method, an electronic device and a storage medium.
[0005] According to a first aspect of the present disclosure, a robot charging method is provided, the method comprising:
[0006] When it is detected that the target robot needs to be charged, the target position of the target charging pile is obtained;
[0007] When the target robot moves to the target position, a charging docking area is determined from a target charging interface area on the target charging pile; wherein an area of the target charging interface area is larger than an area of the charging docking area;
[0008] The charging docking area is connected through a charging head on the target robot; wherein the charging docking area is used to charge the target robot through the charging head.
[0009] Optionally, determining a charging docking area from a target charging interface area on the target charging pile includes:
[0010] Obtaining a target charging interface area on the target charging pile;
[0011] Divide the target charging interface area into a plurality of sub-areas; wherein the area of the target charging interface area is larger than the area of the charging head, and the area of the sub-areas is consistent with the area of the charging head;
[0012] A target sub-area is determined from the multiple sub-areas, and the target sub-area is used as a charging docking area.
[0013] Optionally, dividing the target charging interface area into a plurality of sub-areas includes:
[0014] Acquire a target window area, where the area of the target window area is consistent with the area of the charging head;
[0015] The target window area is moved in the target charging interface area to obtain a plurality of sub-areas included in the target charging interface area; wherein the target window area is moved once in the target charging interface area to obtain a sub-area included in the target charging interface area.
[0016] Optionally, determining a charging docking area from a target charging interface area on the target charging pile includes:
[0017] Obtaining a center position of a target charging interface area on the target charging pile;
[0018] A random offset is obtained, and a charging docking area is determined from a target charging interface area on the target charging pile based on the center position and the random offset.
[0019] Optionally, obtaining the random offset includes:
[0020] Obtaining the length and preset step length of the target charging interface area;
[0021] Based on the length of the target charging interface area and the preset step length, an offset array is generated; the offset array includes a plurality of offsets;
[0022] An offset is randomly selected from the offset array to obtain a random offset.
[0023] Optionally, randomly selecting an offset from the offset array to obtain a random offset includes:
[0024] Generate a random number by a random number generator, wherein the random number includes a length greater than zero and less than the length of the offset array;
[0025] The random number is used as an index and a random offset is obtained from the offset array based on the index.
[0026] Optionally, the method further comprises:
[0027] Detecting whether the target robot is in a normal charging state;
[0028] When the target robot is in an abnormal charging state, a charging docking area is re-determined from a target charging interface area on the target charging pile.
[0029] Optionally, the method further comprises:
[0030] When receiving a charging instruction, determining that the target robot needs to be charged;
[0031] Alternatively, the current power level of the target robot is obtained, and when the current power level is lower than a preset power level, it is determined that the target robot needs to be charged.
[0032] According to a second aspect of the present disclosure, an electronic device is provided. The electronic device comprises: a memory and a processor, wherein a computer program is stored in the memory, and when the processor executes the program, the method described above is implemented.
[0033] According to a third aspect of the present disclosure, a computer-readable storage medium is provided, on which a computer program is stored, and when the program is executed by a processor, the above method of the present disclosure is implemented.
[0034] The robot charging method, electronic device and storage medium provided by the embodiment of the present disclosure obtain the target position of the target charging pile when it is detected that the target robot needs to be charged; when the target robot moves to the target position, the charging docking area is determined from the target charging interface area on the target charging pile, and the charging docking area is connected through the charging head on the target robot. Since the area of the target charging interface area is larger than the area of the charging docking area, when the charging docking area determined from the target charging interface area on the target charging pile is charged to the target robot through the charging head, since the position of the charging docking area may be different each time charging, the aging of the charging docking area caused by the fixed charging position each time can be avoided, thereby greatly improving the service life of the charging pile. BRIEF DESCRIPTION OF THE DRAWINGS
[0035] Further details, features and advantages of the present disclosure are disclosed in the following description of exemplary embodiments in conjunction with the accompanying drawings, in which:
[0036] Figure 1 A flowchart of a robot charging method provided by an exemplary embodiment of the present disclosure;
[0037] Figure 2 A schematic diagram of a charging area provided for an exemplary embodiment of the present disclosure;
[0038] Figure 3 A structural block diagram of an electronic device provided for an exemplary embodiment of the present disclosure;
[0039] Figure 4 A structural block diagram of a computer system provided for an exemplary embodiment of the present disclosure. DETAILED DESCRIPTION
[0040] Embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. Although certain embodiments of the present disclosure are shown in the accompanying drawings, it should be understood that the present disclosure can be implemented in various forms and should not be construed as being limited to the embodiments described herein, which are instead provided for a more thorough and complete understanding of the present disclosure. It should be understood that the drawings and embodiments of the present disclosure are only for exemplary purposes and are not intended to limit the scope of protection of the present disclosure.
[0041] It should be understood that the various steps described in the method embodiments of the present disclosure may be performed in different orders and / or in parallel. In addition, the method embodiments may include additional steps and / or omit the steps shown. The scope of the present disclosure is not limited in this respect.
[0042] The term "including" and its variations used in this document are open inclusions, that is, "including but not limited to". The term "based on" means "based at least in part on". The term "one embodiment" means "at least one embodiment"; the term "another embodiment" means "at least one other embodiment"; the term "some embodiments" means "at least some embodiments". Relevant definitions of other terms will be given in the description below. It should be noted that the concepts of "first", "second", etc. mentioned in this disclosure are only used to distinguish different devices, modules or units, and are not used to limit the order or interdependence of the functions performed by these devices, modules or units.
[0043] It should be noted that the modifications of "one" and "plurality" mentioned in the present disclosure are illustrative rather than restrictive, and those skilled in the art should understand that unless otherwise clearly indicated in the context, it should be understood as "one or more".
[0044] The names of the messages or information exchanged between multiple devices in the embodiments of the present disclosure are only used for illustrative purposes and are not used to limit the scope of these messages or information.
[0045] It is understandable that before using the technical solutions disclosed in the embodiments of the present disclosure, the types, scope of use, usage scenarios, etc. of the personal information involved in the present disclosure should be informed to the user and the user's authorization should be obtained in an appropriate manner in accordance with relevant laws and regulations.
[0046] For example, in response to receiving an active request from a user, a prompt message is sent to the user to clearly prompt the user that the operation requested to be performed will require obtaining and using the user's personal information. Thus, the user can autonomously choose whether to provide personal information to software or hardware such as an electronic device, application, server, or storage medium that performs the operation of the technical solution of the present disclosure according to the prompt message.
[0047] As an optional but non-limiting implementation, in response to receiving an active request from the user, the method of sending a prompt message to the user may be, for example, a pop-up window, in which the prompt message may be presented in text. In addition, the pop-up window may also carry a selection control for the user to choose "agree" or "disagree" to provide personal information to the electronic device. It is understandable that the above notification and the process of obtaining user authorization are only illustrative and do not constitute a limitation on the implementation of the present disclosure. Other methods that meet relevant laws and regulations may also be applied to the implementation of the present disclosure.
[0048] With the rapid development of robot technology, automatic charging has become an important function of intelligent robots. However, in the prior art, when a robot docks with a charging pile, the docking accuracy is high, which causes the fixed position on the charging pile to wear out due to frequent use. After a long time, the charging capacity gradually weakens, seriously affecting the charging efficiency and the service life of the charging pile.
[0049] In the related art, since the docking position of the robot is fixed each time it charges, the contacts on the charging pile are prone to wear during long-term repeated docking. Especially when the friction at the contact points is severe, the fixed contact points of the charging pile will gradually age, resulting in unstable charging or even failure to charge.
[0050] Therefore, in order to solve the above technical problems, the present disclosure first provides a robot charging method, such as Figure 1 As shown, the method may include the following steps:
[0051] In step S110, when it is detected that the target robot needs to be charged, the target position of the target charging pile is obtained.
[0052] In the embodiment, the target robot may be a sweeping robot, a food delivery robot, or a delivery robot, but the embodiment is not limited thereto.
[0053] During the operation of the target robot, it can be continuously moved to meet the needs of the user. When a charging instruction is received, it is determined that the target robot needs to be charged. For example, when the target robot is required to complete a task, such as long-distance delivery, the target power consumed by the target robot when completing the task can be predicted based on the delivery distance and the average power consumed per unit distance of the target robot. If the target power is lower than the current power of the target robot, a charging instruction can be generated, and the target robot can find the nearest charging station for charging according to the received charging instruction.
[0054] In an embodiment, the current power of the target robot can also be obtained, and when the current power is lower than a preset power, it is determined that the target robot needs to be charged. For example, the target robot can periodically or in real time detect the current power, and if the current power is lower than a preset power, it can find the nearest target charging pile and obtain the target position of the target charging pile.
[0055] In step S120, when the target robot moves to the target position, a charging docking area is determined from a target charging interface area on the target charging pile.
[0056] Among them, the area of the target charging interface area is larger than the area of the charging docking area.
[0057] In step S130, the charging docking area is connected via the charging head on the target robot, wherein the charging docking area is used to charge the target robot via the charging head.
[0058] In an embodiment, the target robot obtains the target position of the target charging pile and the current position of the target machine, generates a driving route from the current position to the target position, and moves from the current position to the target position along the driving route.
[0059] When the target robot moves to the target position, the charging docking area can be determined from the target charging interface area of the target charging pile. Figure 2 As shown, Figure 2 A schematic diagram of a charging area provided in an embodiment of the present disclosure.
[0060] In an embodiment, a charging docking area is determined from a target charging interface area on a target charging pile. Since the charging docking area needs to be consistent with the shape of the charging head of the target robot, it is convenient for the charging head of the target robot to dock with the charging docking area for charging. Therefore, the area of the charging docking area is certain. If the charging docking area is rectangular, the length and width are also certain. Therefore, the charging docking area can be randomly determined by a random algorithm in the target charging interface area. For example, a window of the charging docking area can be set, and the window can be used to slide on the target charging interface area to ensure that the position of the charging docking area determined in the target charging interface area is different each time or N times of charging, so as to avoid the fixed contact point of the target charging pile gradually aging when charging in the same charging area each time, resulting in unstable charging, or even the inability to charge, thereby greatly improving the service life of the charging pile.
[0061] The robot charging method provided by the embodiment of the present disclosure obtains the target position of the target charging pile when it is detected that the target robot needs to be charged; when the target robot moves to the target position, the charging docking area is determined from the target charging interface area on the target charging pile, and the charging docking area is connected through the charging head on the target robot. Since the area of the target charging interface area is larger than the area of the charging docking area, when the charging docking area determined from the target charging interface area on the target charging pile is charged to the target robot through the charging head, since the position of the charging docking area may be different each time charging, the aging of the fixed contact point caused by the fixed charging position each time can be avoided, thereby greatly improving the service life of the charging pile.
[0062] In the embodiments provided by the present disclosure, it is also possible to detect whether the target robot is in a normal charging state, and when the target robot is in an abnormal charging state, the charging docking area can be re-determined from the target charging interface area on the target charging pile. In this way, when there is a poor contact or problematic charging area in the target charging interface area on the target charging pile, the charging docking area can be re-determined from the target charging interface area on the target charging pile, so as to ensure that the target robot can be charged normally.
[0063] Based on the above embodiment, in another embodiment provided by the present disclosure, in determining the charging docking area from the target charging interface area on the target charging pile, the above step S120 may further specifically include the following steps:
[0064] Step S121, obtaining a target charging interface area on a target charging pile.
[0065] Step S122, dividing the target charging interface area into multiple sub-areas.
[0066] The target charging interface region has an area greater than that of the charging head, and the sub-region has an area that is consistent with that of the charging head;
[0067] Step S123, determining a target sub-area from the multiple sub-areas, and using the target sub-area as a charging docking area.
[0068] In the embodiment, since the area of the target charging interface region is larger than the area of the charging docking region, the target charging interface region may be divided into a plurality of sub-regions, and the area and shape of each sub-region are consistent with the charging head of the target robot.
[0069] In this way, when determining the target sub-region from the multiple sub-regions, the target sub-region can be determined from the multiple sub-regions through a random algorithm, so as to avoid the target sub-region being determined differently each time.
[0070] Specifically, when the target charging interface area is divided into multiple sub-areas, the target window area can be obtained, wherein the area of the target window area is consistent with the area of the charging head. By moving the target window area in the target charging interface area, multiple sub-areas included in the area of the target charging interface area are obtained. The target window area moves once in the target charging interface area to obtain a sub-area included in the target charging interface area.
[0071] In this way, by continuously moving the target window area in the target charging interface area, multiple sub-areas can be obtained. Each time the target window area is moved in the target charging interface area, the movement amplitude can be set as needed.
[0072] Based on the above embodiment, in another embodiment provided by the present disclosure, in determining the charging docking area from the target charging interface area on the target charging pile, the above step S120 may further specifically include the following steps:
[0073] Step S124, obtaining the center position of the target charging interface area on the target charging pile.
[0074] Step S125, obtaining a random offset, and determining a charging docking area from a target charging interface area on a target charging pile based on the center position and the random offset.
[0075] In an embodiment, the center position of the target charging interface area on the target charging pile can be obtained, and based on the center position, it can be moved to one of the two sides by a random offset. In this way, a new center position can be obtained, and the center position of the letter can be used as the center point of the charging docking area, and then the charging docking area is determined based on the center point.
[0076] In an embodiment, when obtaining a random offset, the length and preset step length of the target charging interface area may be obtained. Based on the length and preset step length of the target charging interface area, an offset array may be generated. In this way, an offset may be randomly selected from the offset array to obtain a random offset. The offset array may include multiple offsets.
[0077] Specifically, when randomly selecting an offset from the offset array to obtain a random offset, a random number may be generated by a random number generator, and the random number may be used as an index to obtain the random offset from the offset array based on the index. The random number includes a length greater than zero and less than the length of the offset array.
[0078] Exemplarily, based on the above embodiments, in the embodiments provided in the present disclosure, specifically:
[0079] 1. Offset initialization:
[0080] The target charging interface area in the embodiment may specifically include a charging sheet. The length of the charging sheet is defined as follows: let the length of the charging sheet on the charging pile be len, and its center point be used as the reference point for the offset. The charging sheet can tolerate a certain lateral offset, allowing the robot to dock at a slightly different position each time. In order to utilize the full length of the charging sheet while avoiding wear and tear concentrated in a specific area, the embodiment defines the center of the charging sheet as offset 0.
[0081] a. Directionality of offset:
[0082] Taking the center point of the charging sheet as a reference, the offset to the left is positive and the offset to the right is negative. This is to ensure that the definition of the offset has a clear direction.
[0083] The maximum offset distance should not exceed the effective length of the charging piece to avoid the situation where the charging piece cannot be effectively docked.
[0084] b. Collection of offset points: Set a step length dd, which is the distance between two adjacent docking points. Within the length range of the charging sheet, starting from the center point (offset is 0), collect a docking point every dd distance to the left and right sides to form an offset array. The offset in the array is based on the center, with positive values to the left and negative values to the right.
[0085] c. Algorithm steps:
[0086] Input parameters: length of the charging piece len, step length dd.
[0087] Calculate the number of points: First determine the number of offset points that can be accommodated n = len / dd, and then calculate the coordinates of these points based on the center point.
[0088] Generate an offset array: Initialize an empty array array, start from the center point, and generate an offset every dd distance to the left and right until the full length of the charging sheet is covered.
[0089] d. Generate results:
[0090] When the length of the charging piece is len and the step length is dd, the generated offset array will be similar to: array = [-dd, 0, dd, 2dd, -2dd, ...], where 0 is the center point and the offsets on the left and right sides are multiples of positive and negative dd respectively.
[0091] 2. Randomly select offset: Before the robot docks with the charging station each time, it randomly obtains an offset from the offset array arry, defined as offsetY. This randomly selected offset can effectively avoid multiple dockings at the same position and reduce friction and wear.
[0092] a. Random number generation: A random number generator is used to generate a random number rand_index between 0 and the length of the offset array array. The random number corresponds to an index in the array.
[0093] b. Get the offset from the array: Use the generated random number rand_index as the index to get the offset value offsetY of the position from the offset array array.
[0094] 3. Dynamic docking adjustment: When the robot is docking with the charging pile, the offset offsetY used this time is increased in the lateral direction according to the identified feature coordinates (x, y), and finally (x, y + offsetY) is used as the final position of this docking. This method allows the robot to apply different offsets in different dockings, thereby avoiding excessive wear of the fixed position of the charging pile.
[0095] In the embodiments provided by the present disclosure, by dynamically adjusting the docking offset, a different lateral offset is used each time the charging docking is performed, so that the robot is prevented from being fixed at the same position each time the docking is performed, thereby reducing the wear of the charging pile contact piece. The randomly selected offset varies within the error range, so that each docking position is slightly different, making full use of the entire length of the charging piece and extending the service life of the charging pile.
[0096] And through the random initialization of the offset array, an offset array can be initialized according to the design length of the charging pile contact piece, and each offset corresponds to an available docking position offset value. Before each charging, the robot randomly selects an offset from this array to ensure the randomness and dispersion of the docking position. In addition, the embodiment disperses the wear of the contact piece over the entire length through a random offset mechanism, avoiding the concentrated friction caused by long-term docking in a fixed position, thereby extending the service life of the charging pile and reducing the frequency of equipment maintenance.
[0097] An embodiment of the present disclosure also provides an electronic device, comprising: at least one processor; and a memory for storing instructions executable by the at least one processor; wherein the at least one processor is configured to execute the instructions to implement the above method disclosed in the embodiment of the present disclosure.
[0098] Figure 3 The structure diagram of an electronic device provided by an exemplary embodiment of the present disclosure is shown in FIG. Figure 3 As shown, the electronic device 1800 includes at least one processor 1801 and a memory 1802 coupled to the processor 1801 , and the processor 1801 can execute corresponding steps in the above method disclosed in the embodiment of the present disclosure.
[0099] The processor 1801 may also be referred to as a central processing unit (CPU), which may be an integrated circuit chip having signal processing capabilities. Each step in the method disclosed in the embodiment of the present disclosure may be completed by an integrated logic circuit of hardware in the processor 1801 or by instructions in the form of software. The processor 1801 may be a general-purpose processor, a digital signal processor (DSP), an ASIC (Application Specific Integrated Circuit), a field-programmable gate array (FPGA) or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components. A general-purpose processor may be a microprocessor or the processor may also be any conventional processor, etc. The steps of the method disclosed in the embodiment of the present disclosure may be directly embodied as being executed by a hardware decoding processor, or may be executed by a combination of hardware and software modules in a decoding processor. The software module may be located in a memory 1802, such as a random access memory, a flash memory, a read-only memory, a programmable read-only memory or an electrically erasable programmable memory, a register, or other mature storage media in the art. The processor 1801 reads the information in the memory 1802 and completes the steps of the method in combination with its hardware.
[0100] In addition, when various operations / processes according to the present disclosure are implemented by software and / or firmware, they can be transmitted from a storage medium or a network to a computer system having a dedicated hardware structure, such as Figure 4 The computer system 1900 shown is installed with the programs constituting the software. When the various programs are installed, the computer system can perform various functions, including the functions described above. Figure 4 A structural block diagram of a computer system provided for an exemplary embodiment of the present disclosure.
[0101] Computer system 1900 is intended to represent various forms of digital electronic computer devices, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. Electronic devices can also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices, 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 disclosure described and / or claimed herein.
[0102] like Figure 4As shown, the computer system 1900 includes a computing unit 1901, which can perform various appropriate actions and processes according to a computer program stored in a read-only memory (ROM) 1902 or a computer program loaded from a storage unit 1908 to a random access memory (RAM) 1903. In the RAM 1903, various programs and data required for the operation of the computer system 1900 can also be stored. The computing unit 1901, the ROM 1902, and the RAM 1903 are connected to each other via a bus 1904. An input / output (I / O) interface 1905 is also connected to the bus 1904.
[0103] A plurality of components in the computer system 1900 are connected to the I / O interface 1905, including: an input unit 1906, an output unit 1907, a storage unit 1908, and a communication unit 1909. The input unit 1906 may be any type of device capable of inputting information to the computer system 1900, and the input unit 1906 may receive input digital or character information, and generate key signal inputs related to user settings and / or function control of the electronic device. The output unit 1907 may be any type of device capable of presenting information, and may include, but is not limited to, a display, a speaker, a video / audio output terminal, a vibrator, and / or a printer. The storage unit 1908 may include, but is not limited to, a disk, an optical disk. The communication unit 1909 allows the computer system 1900 to exchange information / data with other devices over a network such as the Internet, and may include, but is not limited to, a modem, a network card, an infrared communication device, a wireless communication transceiver, and / or a chipset, such as a Bluetooth™ device, a WiFi device, a WiMax device, a cellular communication device, and / or the like.
[0104] The computing unit 1901 may be a variety of general and / or special processing components with processing and computing capabilities. Some examples of the computing unit 1901 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various dedicated artificial intelligence (AI) computing chips, various computing units running machine learning model algorithms, digital signal processors (DSPs), and any appropriate processors, controllers, microcontrollers, etc. The computing unit 1901 performs the various methods and processes described above. For example, in some embodiments, the above methods disclosed in the embodiments of the present disclosure may be implemented as a computer software program, which is tangibly included in a machine-readable medium, such as a storage unit 1908. In some embodiments, part or all of the computer program may be loaded and / or installed on an electronic device via ROM 1902 and / or communication unit 1909. In some embodiments, the computing unit 1901 may be configured to perform the above methods disclosed in the embodiments of the present disclosure in any other appropriate manner (e.g., by means of firmware).
[0105] The embodiment of the present disclosure further provides a computer-readable storage medium, wherein when instructions in the computer-readable storage medium are executed by a processor of an electronic device, the electronic device is enabled to execute the above method disclosed in the embodiment of the present disclosure.
[0106] The computer-readable storage medium in the disclosed embodiments may be a tangible medium that may contain or store a program for use by or in conjunction with an instruction execution system, device, or equipment. The 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. More specifically, the computer-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.
[0107] The computer-readable medium may be included in the electronic device, or may exist independently without being incorporated into the electronic device.
[0108] The embodiments of the present disclosure further provide a computer program product, including a computer program, wherein when the computer program is executed by a processor, the above method disclosed in the embodiments of the present disclosure is implemented.
[0109] In embodiments of the present disclosure, computer program codes for performing the operations of the present disclosure may be written in one or more programming languages or combinations thereof, including but not limited to object-oriented programming languages, such as Java, Smalltalk, C++, and conventional procedural programming languages, such as "C" language or similar programming languages. The program code may be executed entirely on a user's computer, partially on a user's computer, as an independent software package, partially on a user's computer, partially on a remote computer, or entirely on a remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer via any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer.
[0110] The flow chart and block diagram in the accompanying drawings illustrate the possible architecture, function and operation of the system, method and computer program product according to various embodiments of the present disclosure. In this regard, each square box in the flow chart or block diagram can represent a module, a program segment or a part of a code, and the module, the program segment or a part of the code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some implementations as replacements, the functions marked in the square box can also occur in a sequence different from that marked in the accompanying drawings. For example, two square boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each square box in the block diagram and / or flow chart, and the combination of the square boxes in the block diagram and / or flow chart can be implemented with a dedicated hardware-based system that performs the specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.
[0111] The modules, components or units involved in the embodiments described in the present disclosure may be implemented by software or hardware, wherein the names of the modules, components or units do not, in some cases, limit the modules, components or units themselves.
[0112] The functions described above herein may be performed at least in part by one or more hardware logic components. For example, without limitation, exemplary hardware logic components that may be used include: field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on chip (SOCs), complex programmable logic devices (CPLDs), and the like.
[0113] The above descriptions are only some embodiments of the present disclosure and an explanation of the technical principles used. Those skilled in the art should understand that the scope of disclosure involved in the present disclosure is not limited to the technical solutions formed by a specific combination of the above technical features, but should also cover other technical solutions formed by any combination of the above technical features or their equivalent features without departing from the above disclosed concept. For example, a technical solution formed by replacing the above features with the technical features with similar functions disclosed in the present disclosure (but not limited to).
[0114] Although some specific embodiments of the present disclosure have been described in detail by way of example, it should be understood by those skilled in the art that the above examples are for illustration only and are not intended to limit the scope of the present disclosure. It should be understood by those skilled in the art that the above embodiments may be modified without departing from the scope and spirit of the present disclosure. The scope of the present disclosure is defined by the appended claims.
Claims
1. A robot charging method, characterized in that: The method comprises: When it is detected that the target robot needs to be charged, the target position of the target charging pile is obtained; When the target robot moves to the target position, a charging docking area is determined from a target charging interface area on the target charging pile; wherein an area of the target charging interface area is larger than an area of the charging docking area; The charging docking area is connected through a charging head on the target robot; wherein the charging docking area is used to charge the target robot through the charging head.
2. The method according to claim 1, characterized in that The step of determining a charging docking area from a target charging interface area on the target charging pile includes: Obtaining a target charging interface area on the target charging pile; Divide the target charging interface area into a plurality of sub-areas; wherein the area of the target charging interface area is larger than the area of the charging head, and the area of the sub-areas is consistent with the area of the charging head; A target sub-area is determined from the multiple sub-areas, and the target sub-area is used as a charging docking area.
3. The method according to claim 2, characterized in that The step of dividing the target charging interface area into a plurality of sub-areas includes: Acquire a target window area, where the area of the target window area is consistent with the area of the charging head; The target window area is moved in the target charging interface area to obtain a plurality of sub-areas included in the target charging interface area; wherein the target window area is moved once in the target charging interface area to obtain a sub-area included in the target charging interface area.
4. The method according to claim 1, characterized in that The step of determining a charging docking area from a target charging interface area on the target charging pile includes: Obtaining a center position of a target charging interface area on the target charging pile; A random offset is obtained, and a charging docking area is determined from a target charging interface area on the target charging pile based on the center position and the random offset.
5. The method according to claim 4, characterized in that The obtaining of the random offset includes: Obtaining the length and preset step length of the target charging interface area; Based on the length of the target charging interface area and the preset step length, an offset array is generated; the offset array includes a plurality of offsets; An offset is randomly selected from the offset array to obtain a random offset.
6. The method according to claim 5, characterized in that The randomly selecting an offset from the offset array to obtain a random offset includes: Generate a random number by a random number generator, wherein the random number includes a length greater than zero and less than the length of the offset array; The random number is used as an index and a random offset is obtained from the offset array based on the index.
7. The method according to claim 1, characterized in that The method further comprises: Detecting whether the target robot is in a normal charging state; When the target robot is in an abnormal charging state, a charging docking area is re-determined from a target charging interface area on the target charging pile.
8. The method according to claim 1, characterized in that The method further comprises: When receiving a charging instruction, determining that the target robot needs to be charged; Alternatively, the current power level of the target robot is obtained, and when the current power level is lower than a preset power level, it is determined that the target robot needs to be charged.
9. An electronic device, characterized in that: include: at least one processor; a memory for storing the at least one processor-executable instruction; The at least one processor is configured to execute the instructions to implement the method according to any one of claims 1 to 8.
10. A computer-readable storage medium, characterized in that: When the instructions in the computer-readable storage medium are executed by a processor of an electronic device, the electronic device is enabled to perform the method as claimed in any one of claims 1 to 8.