Identification method, apparatus and device, and readable storage medium

Abstract

The invention discloses an identification method and device, equipment and a readable storage medium, and the method comprises the steps: determining an ID list containing at least two charging pile IDs after a self-mobile device is on a pile, and carrying a first ID, and carrying out the broadcast transmission of a first indication message which is used for indicating a random value. Afterwards, a charging reed of the self-moving device detects a first reed value, and determines whether the first reed value is the random value. And when the first reed value is the random value, the current charging pile is the charging pile for charging the self-moving equipment and is also the charging pile for communicating with the self-moving equipment. By adopting the scheme, after the self-moving equipment is loaded on the pile, a random value is indicated, whether the charging pile communicating with the self-moving equipment and the charging pile charging the self-moving equipment are the same charging pile or not is identified by utilizing the random value, consistency identification can be carried out on the charging pile only through wireless communication and a charging reed, and the reliability of charging and communication is improved.

Description

Technical Field

[0001] The embodiments of the present application relate to the field of artificial intelligence technology, and particularly to an identification method, device, equipment and readable storage medium. Background Art

[0002] With the development of artificial intelligence (AI), various intelligent devices are increasingly applied in various fields. Among them, cleaning robots are a common type of intelligent device.

[0003] Cleaning robots can be classified into two categories according to the size of the workplace area. One category is home robots, which are suitable for small-area places such as user homes. The other category is commercial robots, which are suitable for places that require large-area cleaning, such as shopping malls and hospitals. In large-area workplaces, multiple cleaning robots are often used to improve cleaning efficiency. At the same time, in order to meet the recharging needs of multiple cleaning robots, multiple charging piles are often set up. Moreover, in order to ensure that the charging pile for communicating with the robot and the charging pile for charging the robot are the same, after the robot docks on the pile, the contact duration 1 between the charging reed of the robot and the charging reed of the charging pile is recorded, and a broadcast message carrying the contact duration 2 is received from the charging pile. When the difference between the contact duration 1 and the contact duration 2 is less than a preset duration, it is considered that the charging pile for communicating with the robot and the charging pile for charging the robot are the same. Among them, the contact duration 2 is the contact duration recorded by the charging pile.

[0004] However, when there are multiple charging piles, the positions of these charging piles are often relatively close. If two or more cleaning robots dock on the pile for charging at the same time, even if the charging pile for communicating with the robot and the charging pile for charging the robot are not the same charging pile, the difference between the contact duration 1 and the contact duration 2 will also be less than the preset duration, resulting in the robot mistakenly believing that the charging pile for communicating with the robot and the charging pile for charging the robot are the same charging pile, and there is a risk of communication cross-interference. Summary of the Invention

[0005] The embodiments of the present application provide an identification method, device, equipment and readable storage medium, which can achieve the purpose of reducing the risk of communication cross-interference by identifying whether the charging pile for communicating with the self-mobile device and the charging pile for charging the self-mobile device are the same charging pile.

[0006] In a first aspect, the embodiments of the present application provide an identification method, which is applied to a self-mobile device. The method includes:

[0007] After the self-mobile device docks with the charging pile, determine an ID list including the identity identifiers ID of at least two charging piles;

[0008] Send a first indication message carrying a first ID for indicating a random value, where the first ID is selected from the ID list, and the first indication message is used to instruct the charging contact of the charging pile with the first ID to provide the random value;

[0009] Determine a first contact value of the charging contact of the self - moving device;

[0010] When the first contact value is the same as the random value, determine that the charging pile that charges the self - moving device is also the charging pile that communicates with the self - moving device.

[0011] In a second aspect, an identification device provided by an embodiment of the present application includes:

[0012] A first determination module, configured to determine an ID list including identity identifiers (IDs) of at least two charging piles after the self - moving device is docked with the charging pile;

[0013] A sending module, configured to send a first indication message carrying a first ID for indicating a random value, where the first ID is selected from the ID list, and the first indication message is used to instruct the charging contact of the charging pile with the first ID to provide the random value;

[0014] A second determination module, configured to determine a first contact value of the charging contact of the self - moving device;

[0015] A processing module, configured to determine that the charging pile that charges the self - moving device is also the charging pile that communicates with the self - moving device when the first contact value is the same as the random value.

[0016] In a third aspect, an embodiment of the present application provides a self - moving device, including a processor, a memory, and a computer program stored on the memory and executable on the processor. When the processor executes the computer program, the self - moving device implements the method as described in the first aspect or various possible implementation manners of the first aspect.

[0017] In a fourth aspect, an embodiment of the present application provides a computer - readable storage medium, in which computer instructions are stored. When the computer instructions are executed by a processor, they are used to implement the method as described in the first aspect or various possible implementation manners of the first aspect.

[0018] In a fifth aspect, an embodiment of the present application provides a computer program product including a computing program. When the computer program is executed by a processor, it implements the method as described in the first aspect or various possible implementation manners of the first aspect.

[0019] The identification method, device, equipment, and readable storage medium provided by the embodiments of the present application determine an ID list including at least two charging pile IDs after the self-mobile device is docked on the pile, and broadcast and send a first indication message carrying a first ID for indicating a random value. After that, the first reed value is detected by the charging reed of the self-mobile device, and it is determined whether the first reed value is the above-mentioned random value. When the first reed value is the above-mentioned random value, it indicates that the current charging pile is both the charging pile for charging the self-mobile device and the charging pile for communicating with the self-mobile device. With this solution, a random value is indicated after the self-mobile device is docked on the pile, and the random value is used to identify whether the charging pile for communicating with the self-mobile device and the charging pile for charging the self-mobile device are the same charging pile. Only wireless communication and charging reeds are required to perform consistency identification of the charging pile, and the purpose of solving the risk of mutual interference in charging and communication among multiple machines and multiple stations can be achieved without increasing costs, thereby improving the reliability of charging and communication. Description of the Drawings

[0020] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following will briefly introduce the drawings required for the description of the embodiments. Obviously, the drawings in the following description are only some embodiments of the present application. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0021] Figure 1 is a schematic diagram of mutual interference in communication in traditional charging;

[0022] Figure 2A is a front view of the self-mobile device provided by the embodiments of the present application;

[0023] Figure 2B is a top view of the self-mobile device provided by the embodiments of the present application;

[0024] Figure 2C is a rear view of the self-mobile device provided by the embodiments of the present application;

[0025] Figure 3 is a schematic diagram of the charging pile provided by the embodiments of the present application;

[0026] Figure 4 is a flowchart of the identification method provided by the embodiments of the present application;

[0027] Figure 5 is a schematic diagram of the self-mobile device charging in the identification method provided by the embodiments of the present application;

[0028] Figure 6 is another flowchart of the identification method provided by the embodiments of the present application;

[0029] Figure 7It is a schematic diagram of the first duration and the second duration in the recognition method provided by the embodiments of the present application;

[0030] Figure 8 It is a schematic diagram of an identification device provided by the embodiments of the present application;

[0031] Figure 9 It is a schematic structural diagram of a self - moving device provided by the embodiments of the present application. Detailed implementation manners

[0032] With the progress of technology and the continuous improvement of living standards, people's demand for cleaning equipment is increasing day by day, and intelligent cleaning equipment is becoming more and more common. For example, commercial robots for cleaning in commercial environments such as shopping malls, office buildings, hotels, hospitals, etc.

[0033] In large - area workplaces, multiple cleaning robots are often set up. At the same time, in order to meet the timely charging requirements, multiple charging piles are set up in the same workplace. The cleaning robot can automatically go to the charging pile for charging, or be manually pushed to the charging pile for charging.

[0034] The cleaning robot and the charging pile communicate with each other to exchange information through Long Range Radio (LoRa), etc. In order to ensure that the charging pile communicating with the cleaning robot and the charging pile charging the cleaning robot are the same one, after the cleaning robot is on the charging pile, while recording the contact duration 1 between the charging spring piece of the cleaning robot and the charging spring piece of the charging pile, it receives a broadcast message from the charging pile carrying the contact duration 2. Then, the cleaning robot judges whether the difference between the contact duration 1 and the contact duration 2 is less than a preset duration. When the difference between the contact duration 1 and the contact duration 2 is less than the preset duration, the cleaning robot considers that the charging pile communicating with itself and the charging pile charging its own battery are the same one; otherwise, the cleaning robot considers that the charging pile communicating with itself and the charging pile charging its own battery are two different charging piles.

[0035] However, if two or more cleaning robots are on the charging pile for charging at the same time, misjudgment is likely to occur. That is to say: even if the difference between the contact duration 1 recorded by the cleaning robot itself and the contact duration 2 in the received broadcast message is less than the preset threshold, the charging pile communicating with the cleaning robot and the charging pile charging the cleaning robot are not the same charging pile, and there is a risk of communication cross - interference. Exemplarily, please refer to Figure 1 .

[0036] Figure 1 It is a schematic diagram of communication cross - interference in traditional charging. Please refer to Figure 1, there are two charging piles and two cleaning robots in the workplace, namely charging pile A, charging pile B, cleaning robot A, and cleaning robot B. Each cleaning robot and each charging pile are respectively equipped with a wireless communication module. Charging pile A and charging pile B are relatively close to each other. Cleaning robot A communicates wirelessly with charging pile A, and cleaning robot B communicates wirelessly with charging pile B.

[0037] While cleaning robot A is charging at charging pile B, cleaning robot B is charging at charging pile A. For example, when the battery levels of cleaning robot A and cleaning robot B are low and they automatically return for charging, cleaning robot A goes to charging pile B, causing the charging contacts of cleaning robot A to contact the charging contacts of charging pile B. At the same time, cleaning robot B automatically goes to charging pile A for charging, causing the charging contacts of cleaning robot B to contact the charging contacts of charging pile A. The contact between the charging contacts of the cleaning robot and the charging contacts of the charging pile is also referred to as the cleaning robot docking, the cleaning robot aligning with the pile, or the docking of the charging contacts, etc.

[0038] Another example is that while cleaning robot A is pushed by the staff to dock at charging pile B, cleaning robot B is pushed by the staff to dock at charging pile A.

[0039] After cleaning robot A and cleaning robot B dock simultaneously or in quick succession within a short time interval, cleaning robot A records the contact duration 1 between its own charging contacts and the charging contacts of charging pile B. At the same time, cleaning robot A will receive the contact duration 2 recorded by charging pile A, which is the contact duration between the charging contacts of cleaning robot B and the charging contacts of charging pile A after cleaning robot B docks. Obviously, since cleaning robot 1 and cleaning robot 2 dock simultaneously, the contact duration 1 and the contact duration 2 are very close. For example, the contact duration 1 is 5 seconds, the contact duration 2 is 6 seconds, and the difference between the two is 1 second, which is less than the preset threshold of 2 seconds. At this time, cleaning robot A mistakenly believes that the charging pile communicating with itself and the charging pile charging itself are the same charging pile, both being charging pile B, but in fact, the charging pile communicating with cleaning robot A is charging pile A.

[0040] Similarly, cleaning robot B may also mistakenly believe that the charging pile communicating with itself and the charging pile charging itself are the same charging pile, both being charging pile A, but in fact, the charging pile communicating with cleaning robot B is charging pile B.

[0041] When misjudgment occurs, since the charging pile communicating with the cleaning robot and the charging pile charging the cleaning robot are not the same charging pile, problems such as subsequent charging and communication will arise. Therefore, how to perform consistency identification, that is, how to identify whether the charging pile communicating with the cleaning robot and the charging pile charging the cleaning robot are the same charging pile, is regarded as an urgent problem to be solved.

[0042] Based on this, the embodiments of the present application provide an identification method, device, equipment, and readable storage medium. When there are multiple machines and multiple stations, when the self-mobile device returns to the charging pile for charging, by identifying whether the charging pile communicating with the self-mobile device and the charging pile charging the self-mobile device are the same charging pile, the purpose of reducing the risk of communication cross-interference is achieved, and the reliability of charging and communication is improved.

[0043] The self-mobile device provided by the embodiments of the present application is any mechanical device that can autonomously travel and work in its environment. For example, the self-mobile device can be a robot, a purifier, a driverless vehicle, etc. Among them, the robot can include a floor-sweeping robot, a window-cleaning robot, a home companion robot, a reception robot, an autonomous service robot, etc., which are not limited here. These self-mobile devices can rely on the power provided by the rechargeable battery to move autonomously and have an automatic recharge function. When the battery power is insufficient or other recharge conditions are met, they automatically return to the charging pile for charging.

[0044] Next, taking the self-mobile device as a commercial cleaning robot as an example, the self-mobile device described in the embodiments of the present application will be described in detail.

[0045] Figure 2A is the front view of the self-mobile device provided by the embodiments of the present application, Figure 2B is the top view of the self-mobile device provided by the embodiments of the present application, Figure 2C is the rear view of the self-mobile device provided by the embodiments of the present application. Please refer to Figures 2A - 2C , a helping handle 21 for the user to hold is configured on the self-mobile device 200. In the automatic mode, the user does not need to hold the helping handle 21; when the user holds the helping handle 21, the self-mobile device enters the manual mode and travels under the manual push. Based on the helping handle 21, the self-mobile device has a helping function. The helping function means that when the self-mobile device enters the manual mode, the self-mobile device itself provides power, so that the self-mobile device travels under the action of the power provided by itself and the force of the user. Moreover, the self-mobile device can adjust the power according to the change of the force of the user, that is, the power output by the self-mobile device itself is dynamic, not fixed. In this way, the self-mobile device can dynamically adjust the power according to the change of the user's force, so that the power output by itself can meet the user's needs in real time, thereby achieving the purpose of reducing the user's burden.

[0046] For example, when the user holds the helping handle 21 and pushes the robot, the robot generates a first power, and the first power is in the same direction as the forward direction of the robot, so that the user does not need to push the robot with great effort, and the robot travels forward relying on the first power and the user's thrust.

[0047] For another example, when the robot is moving forward and the user holds the assist handle 21 and pulls it back, the robot outputs a pulling force in the direction opposite to the forward direction, and decelerates under the action of the user's pulling force and the pulling force output by the robot itself. Or, the robot does not output any power and decelerates relying on the user's pulling force.

[0048] The self - moving device is also provided with a switch button 22, a selection button 23, an emergency stop button 24, a recharge button 25, a water suction squeegee assembly 26, etc. The switch button 22 is used to control the power - on or power - off of the self - moving device. The selection button 23 is, for example, a rotary button. By rotating the selection button 23, the user can control the self - moving device to enter a normal floor - washing mode, a deep floor - washing mode, a water - suction mode, etc. When an emergency occurs, the user presses the emergency stop button 24, and the self - moving device can stop quickly. After the user presses the recharge button 25, the self - moving device returns to the charging pile and is charged after docking with the charging pile. The water suction squeegee assembly 26 can automatically lift, automatically pressurize, etc. In the floor - washing mode, the water suction squeegee assembly 26 descends to wipe the working surface, etc., to avoid residual water stains. When pushing dust, the water suction squeegee assembly 26 automatically lifts to reduce friction and wear on the water suction squeegee assembly 26.

[0049] In the embodiment of the present application, the charging method of the self - moving device is contact charging. For example, the charging pile is a side - mounted charging pile. After the charging spring pieces of the self - moving device and the charging spring pieces of the charging pile are in contact, the charging pile charges the self - moving device.

[0050] Figure 3 is a schematic diagram of the charging pile provided by the embodiment of the present application. Please refer to Figure 3 , the charging pile 300 is fixed at positions such as on the wall. The charging pile 300 has charging spring pieces 31. The height of the charging spring pieces 31 is adapted to the height of the charging spring pieces 27 on the back of the self - moving device 200. After the charging spring pieces 27 of the self - moving device 200 are in contact with the charging spring pieces 31 of the charging pile 300, the charging pile 300 charges the self - moving device 200.

[0051] In addition, the self - moving device is also provided with a variety of sensors, such as lidar, depth camera, area - array time - of - flight (TOF) sensor, ultrasonic sensor, geomagnetic sensor, etc. The self - moving device realizes precise obstacle avoidance, etc. by fusing the data collected by these sensors.

[0052] Next, based on Figures 2A - 3 the description, the recognition method described in the embodiment of the present application will be described in detail.

[0053] Figure 4 is a flowchart of the recognition method provided by the embodiment of the present application. The execution subject of this embodiment is the self - moving device. This embodiment includes:

[0054] After the self - moving device docks with a charging pile, determine an ID list that includes the identity identification IDs of at least two charging piles.

[0055] In the embodiments of this application, docking (also known as aligning with the pile, connecting the charging reeds, etc.) refers to the action of the charging reeds of the self - moving device coming into contact with the charging reeds of the charging pile.

[0056] The self - moving device can dock automatically or be pushed manually to dock. Automatic docking means that when the battery level of the self - moving device is insufficient, it automatically returns to the charging pile. Being pushed manually to dock means that regardless of whether the battery of the self - moving device is full or not, the self - moving device returns to the charging pile under manual pushing.

[0057] After the self - moving device docks with the pile, determine the ID list, which includes the IDs of two or more charging piles. For example, in a workplace, 3 charging piles are set up, and the self - moving device pre - stores the identity identification of each charging pile. After the self - moving device docks with the pile, according to the identity identification of each charging pile pre - stored locally, generate the ID list.

[0058] Another example is that in a workplace, 3 charging piles are set up, and the cloud server pre - stores the identity identification of each charging pile. After the self - moving device docks with the pile, obtain the identity identification of each charging pile from the cloud server and generate the ID list.

[0059] Another example is that after the self - moving device docks with the pile, receive a broadcast message carrying the ID of the charging pile. Each charging pile will send a broadcast message carrying its own ID, and one broadcast message corresponds to one charging pile ID. Then, the self - moving device determines whether it receives at least two broadcast messages carrying the ID of the charging pile within the first duration. If only one broadcast message carrying the identity (ID) of the charging pile is received within the first duration, it means there is only one charging pile, and there is no need to perform consistency identification. By default, the charging pile communicating with the self - moving device and the charging pile charging the self - moving device are the same charging pile. Among them, the first duration is, for example, 5 seconds, 3 seconds, 10 seconds, etc. For self - moving devices that dock successively or simultaneously within the first duration, there is a high possibility of communication cross - interference.

[0060] If at least two broadcast messages carrying the ID of the charging pile are received within the first duration, the self - moving device generates the ID list according to the IDs carried by the at least two broadcast messages. For example, within 5 seconds, the self - moving device receives 3 broadcast messages, which carry the IDs of charging pile A, charging pile B, and charging pile C respectively. Then, the ID list generated by the self - moving device includes the IDs of the three charging piles.

[0061] Adopting this solution, when the self - moving device determines that there is a high possibility of communication cross - interference, it generates an ID list for consistency identification, avoiding unnecessary consistency identification and achieving the purpose of improving charging efficiency.

[0062] 402. Send a first indication message carrying the first ID for indicating a random value, where the first ID is selected from the ID list, and the first indication message is used to indicate that the charging contact of the charging pile provides the random value.

[0063] In the embodiments of the present application, the first ID is an ID in the ID list. For example, the self - mobile device randomly selects an ID from the ID list as the first ID. Another example is that the self - mobile device records the reception time each time it receives a broadcast message, and the ID list also indicates the reception time corresponding to each ID. After that, the self - mobile device selects the first ID in the order of receiving the broadcast messages.

[0064] In the embodiments of the present application, the random value is the value that the self - mobile device expects the charging contact of the charging pile to provide, that is, the value that the self - mobile device expects the charging contact of the charging pile to output. The random value is a voltage value or a current value.

[0065] For example, a voltage range [22, 29] is pre - stored on the self - mobile device. The self - mobile device randomly selects a value from this voltage range, such as 26V, and takes 26 as the random value. The range of the voltage range is related to the model of the charging pile, etc.

[0066] Another example is that a current range is pre - stored on the self - mobile device. The self - mobile device randomly selects a value from this current range and takes this value as the random value.

[0067] Adopting this solution, the random value indicated by the self - mobile device is a voltage value or a current value, with high flexibility and a simple indication method.

[0068] 403. Determine the first contact value of the charging contact of the self - mobile device.

[0069] When the charging contact of the self - mobile device contacts the charging contact of the charging pile, the first contact value can be generated according to the output of the charging contact of the charging pile.

[0070] 404. When the first contact value is the same as the random value, it is determined that the charging pile that charges the self - mobile device is also the charging pile that communicates with the self - mobile device.

[0071] In the embodiments of the present application, assume that the self - mobile device is currently pairing with charging pile A. The first ID may or may not be the ID of charging pile A. The self - mobile device sends a first indication message carrying the first ID for indicating a random value. After that, the charging contact of the self - mobile device detects the first contact value of charging pile A and determines whether the first contact value is the random value.

[0072] If the charging contact of charging pile A provides the random value, the first contact value is the random value, indicating that the first ID is the ID of charging pile A. When charging pile A is the charging pile for the self-mobile device and also the charging pile communicating with the self-mobile device.

[0073] After the self-mobile device sends the first indication message, if the charging contact of charging pile A does not provide the random value, that is, the first contact value is not the above-mentioned random value, it indicates that the first ID is not the ID of charging pile A. That is to say, the charging pile communicating with the self-mobile device is not charging pile A, but the charging pile with the identity ID of the first ID. Next, the self-mobile device also needs to determine whether the ID of charging pile A exists among the charging piles corresponding to the remaining IDs in the ID list.

[0074] After identifying the charging pile docked with the self-mobile device and also the charging pile communicating with the self-mobile device, the self-mobile device starts charging, and the self-mobile device communicates with the charging pile during the charging process. Exemplarily, please refer to Figure 5 , Figure 5 which is a schematic diagram of the self-mobile device charging in the identification method provided by the embodiments of the present application.

[0075] Please refer to Figure 5 , where the self-mobile device C docks with charging pile C, and the charging contact of the self-mobile device C docks with the charging contact of charging pile C to charge the self-mobile device C. During the charging process, the self-mobile device C communicates with charging pile C.

[0076] In the identification method provided by the embodiments of the present application, after the self-mobile device is on the charging pile, an ID list containing at least two charging pile IDs is determined, and a first indication message carrying the first ID and used to indicate the random value is broadcast and sent. After that, the charging contact of the self-mobile device detects the first contact value and determines whether the first contact value is the above-mentioned random value. When the first contact value is the above-mentioned random value, it indicates that the current charging pile is the charging pile for the self-mobile device and also the charging pile communicating with the self-mobile device. By adopting this solution, after the self-mobile device is on the charging pile, a random value is indicated, and the random value is used to identify whether the charging pile communicating with the self-mobile device and the charging pile charging the self-mobile device are the same charging pile. Only wireless communication and charging contacts are required to perform consistency identification of the charging pile, and the purpose of solving the risk of mutual interference in charging and communication among multiple machines and multiple stations is achieved without increasing costs, improving the reliability of charging and communication.

[0077] Optionally, in the above embodiment, when the first contact value is different from the random value, the self-mobile device determines whether there is an unselected ID in the ID list. When there is an unselected ID in the ID list, the self-mobile device sends a first indication message carrying the second ID and used to indicate the random value, and the second ID is one of the unselected IDs in the ID list.

[0078] Exemplarily, there are at least two charging pile IDs in the ID list. Each time the self-mobile device selects an ID from the ID list, such as the first ID mentioned above, and then sends a first indication message carrying the first ID and used to indicate a random value. After that, determine the first reed value of the charging reed of the self-mobile device. If the first reed value is different from the random value, continue to select another ID from the unselected IDs in the ID list, such as the second ID mentioned above, and broadcast and send a first indication message carrying the second ID and used to indicate the random value. Each time the first indication message is sent, the random value indicated by the first indication message can be the same or different.

[0079] The self-mobile device traverses the IDs in the ID list. Once an ID is selected, after the self-mobile device sends a first indication message carrying the ID and the random value, if the first reed value of the charging reed of the self-mobile device is the same as the random value, it means that the ID of the current charging pile is the selected ID. The charging pile corresponding to the selected ID is the charging pile that charges the self-mobile device and is also the charging pile that communicates with the self-mobile device.

[0080] Adopting this solution, the self-mobile device traverses the IDs in the ID list to determine whether the current charging pile is: the charging pile that charges the self-mobile device and is also the charging pile that communicates with the self-mobile device, with high accuracy and fast speed.

[0081] Optionally, in the above embodiment, the self-mobile device traverses the IDs in the ID list. When there are no unselected IDs in the ID list, the self-mobile device determines that the charging pile is the charging pile that charges itself, but not the charging pile that communicates with itself.

[0082] Exemplarily, the self-mobile device traverses the IDs in the ID list. When the self-mobile device traverses all the IDs in the ID list, that is, when there are no unselected IDs in the ID list, at this time, if the first reed value of the charging reed of the self-mobile device is different from the random value in the last sent first indication message, it means that: the ID of the current charging pile does not exist in the ID list, and the current charging pile only charges the self-mobile device, but does not communicate with the self-mobile device.

[0083] When the self - moving device discovers that the charging piles are inconsistent, that is, the current charging pile docked with the self - moving device is not the charging pile communicating with the self - moving device. At this time, the self - moving device requests to re - dock with the pile. For example, the self - moving device automatically leaves the current charging pile and docks with another one; another example is that the self - moving device uses voice, animation, lights, etc. to prompt the user so that the user can push the self - moving device to another charging pile and dock. Another example is that the self - moving device uses voice, animation, lights, etc. to prompt the user. After a preset time, if no instruction is received, the self - moving device charges at the current charging pile but does not communicate with the current charging pile.

[0084] Adopting this solution, after the self - moving device traverses the ID list, if the charging piles corresponding to each ID in the ID list are not the current docked charging pile, it is determined that the current charging pile docked with the self - moving device is not the charging pile communicating with the self - moving device, achieving the purpose of quickly identifying inconsistent charging piles.

[0085] Optionally, in the above - mentioned embodiment, when the first reed value is the same as the random value, after the self - moving device determines that the charging pile is the charging pile for the self - moving device and is also the charging pile communicating with the self - moving device, the self - moving device sends a second indication message carrying the first ID and used to indicate the charging voltage. The second indication message is used to instruct the charging reed of the charging pile with the first ID to provide the charging voltage. When the second reed value detected by the charging reed of the self - moving device is the same as the charging voltage, the charging pile is triggered to charge the self - moving device.

[0086] Exemplarily, when two or more self - moving devices dock with the pile simultaneously, each self - moving device sends a first indication message, and the random values carried by the first indication messages sent by different self - moving devices are generally different. However, it is not excluded that the random values carried by the first indication messages sent by different self - moving devices are the same. If the random values carried by the first indication messages sent by different self - moving devices are the same, communication interference will still occur. To prevent this problem, after the self - moving device sends the first indication message, when it is determined that the charging piles are consistent, that is, the current docked charging pile is also the charging pile communicating with the self - moving device, the self - moving device continues to send a second indication message carrying the first ID and used to indicate the charging voltage. The second indication message is used to instruct the charging reed of the charging pile with the first ID to provide the charging voltage.

[0087] After the self - moving device sends the second indication message, since the charging reeds of the self - moving device are in contact with the charging reeds of the charging pile, a second reed value can be generated according to the output of the charging reeds of the charging pile. Next, the self - moving device determines whether the second reed value is the charging voltage. When the second reed value detected by the charging reeds of the self - moving device is the same as the charging voltage, it further indicates that: the current charging pile docked with the self - moving device is the charging pile communicating with the self - moving device. Therefore, the self - moving device triggers the charging pile to charge the self - moving device. For example, the self - moving device sets a relay for the battery. Before charging, the relay is in the off state, so that the charging pile cannot charge the self - moving device. During charging, the relay is in the on state, so that the charging pile can charge the self - moving device.

[0088] In addition, the charging voltages of different models of self - moving devices are different. For example, the charging voltage of some self - moving devices is 25 volts (V), and the charging voltage of some self - moving devices is 27V. The same charging pile can provide multiple charging voltages to adapt to multiple different models of self - moving devices. Therefore, after the self - moving device detects that the charging piles are the same, it sends the second indication information for indicating the charging voltage to the charging pile, so that the charging pile provides the accurate charging voltage.

[0089] Adopting this solution, after the self - moving device identifies that the charging piles are the same, it continues to send the second indication message carrying the first ID and used to indicate the charging voltage to re - confirm whether the charging pile charging the self - moving device is the same as the charging pile communicating with the self - moving device, so as to avoid communication mis - connection caused by the same random value, achieve the purpose of improving the reliability of charging and communication. At the same time, it can also achieve the technical effect of charging different models of self - moving devices with the same charging pile, reduce costs and improve efficiency.

[0090] Optionally, in the above - mentioned embodiment, after the self - moving device sends the second indication message, it determines the second reed value of the charging reeds of the self - moving device. When the second reed value is not the same as the charging voltage, it determines whether the second duration exceeds the preset duration. The second duration is the duration from the first time the self - moving device sends the first indication message to the current moment. When the second duration does not exceed the preset duration, the self - moving device determines whether there is an unselected ID in the ID list. When there is no unselected ID in the ID list, the self - moving device determines that it has traversed the ID list and requests re - docking; when there is an unselected ID in the ID list, the self - moving device selects an ID from the unselected IDs and sends the first indication message.

[0091] Exemplarily, when the second reed value is not the charging voltage, it indicates that although it was previously determined through the first indication message that the charging piles are consistent, misjudgment may still occur due to reasons such as the same random value. In fact, the currently docked charging pile is not the one communicating with the self - moving device. After that, the self - moving device determines whether the second duration between the current moment and the first sending of the first indication message exceeds a preset duration, such as 10 seconds. If it does not exceed the preset duration, it continues to determine whether there are unselected IDs in the ID list. If there are unselected IDs, it sends the first indication message for consistency identification.

[0092] For example, there are 3 IDs in the ID list, namely IDA, IDB, and IDC. The self - moving device first selects ID A and sends the first indication message. If the first reed value is different from the random value in the first indication message, it then selects ID B. If the first reed value is the same as the random value in the re - sent first indication message, it is considered that the charging piles are consistent.

[0093] After that, the self - moving device sends a second indication message carrying ID B and the charging voltage. If the second reed value is different from the charging voltage, it indicates that misjudgment has occurred. The self - moving device determines that the second duration from the first sending of the first indication message to the current moment is less than the preset duration, and there is still an unselected ID C in the ID list. Therefore, the self - moving device sends the first indication information carrying IDC and the random value to further determine the first voltage value of the charging reed of the self - moving device. The subsequent process can refer to the description of the above - mentioned embodiment and will not be elaborated here.

[0094] If the second duration does not exceed the preset duration, but there are no unselected IDs in the ID list, that is, the self - moving device has traversed the ID list, it requests to re - dock the pile.

[0095] Adopting this solution, when misjudgment occurs due to reasons such as the same random value, the self - moving device continues to traverse the ID list for charging pile consistency identification, with high accuracy and speed.

[0096] Optionally, in the above - mentioned embodiment, when the second duration exceeds the preset duration, the charging pile is triggered to charge the self - moving device. At the same time, the self - moving device outputs a prompt message to prompt the user that the charging pile is not the one communicating with the self - moving device.

[0097] Exemplarily, when the second duration exceeds the preset duration, even if the docked charging pile is not the charging pile communicating with the self-mobile device, the self-mobile device turns on the relay so that the charging pile charges the battery of the self-mobile device. At the same time, the self-mobile device prompts the user through voice, animation, or light, etc.: The current charging pile is not the charging pile communicating with the self-mobile device, that is, the charging piles are inconsistent. At this time, although the voltage provided by the charging pile is not the charging voltage adapted to the self-mobile device, that is, the voltage provided by the charging pile is very likely not the charging voltage indicated by the second indication message, it can still charge the self-mobile device.

[0098] Adopting this solution, when the second duration exceeds the preset duration, even if the charging piles are inconsistent, it forcibly triggers the charging pile to charge the self-mobile device, achieving the purpose of improving the charging efficiency.

[0099] Optionally, in the above embodiment, when the self-mobile device recognizes that the current charging pile is also the charging pile communicating with the self-mobile device, during the communication with the charging pile, the charging reed of the self-mobile device is used to determine the reed sequence, the reed sequence includes a plurality of reed values, and then, the self-mobile device determines the binary string according to the reed sequence, and determines the communication content transmitted by the charging pile to the self-mobile device according to the binary string.

[0100] Exemplarily, when there is a loar communication failure, the loar communication is not set, etc., the self-mobile device and the charging pile can also communicate through voltage values, current values, etc. Of course, even if the loar communication is not faulty, the self-mobile device and the charging pile pre-determine rules and use these rules for communication later. For example, it is pre-agreed that 22V to 25V is binary 0, 26V to 28V is binary 1, the charging pile controls the output of the charging reed of the charging pile according to the communication content, and the self-mobile device uses the charging reed to obtain the output of the charging pile, so as to obtain a plurality of reed values, and these reed values form a reed sequence.

[0101] For example, the charging pile wants to tell the serial number to the self-mobile device, and the serial number is 725 in decimal. This serial number is converted to binary as: 1011010101. Then, the output of the charging reed of the charging pile is successively: 26V, 22V, 26V, 26V, 22V, 26V, 22V, 26V, 22V, 26V. The reed sequence determined by the self-mobile device is [26, 22, 26, 26, 22, 26, 22, 26, 22, 26]. Here, it is illustrated by taking 26 corresponding to binary 1 and 22 corresponding to binary 0 as an example. However, the embodiments of the present application are not limited thereto. In other feasible implementation methods, binary 1 corresponds to any one of 26 to 28, and binary 0 corresponds to any integer of 22 to 25.

[0102] After that, the self - moving device converts the reed sequence into a binary string: 1011010101 according to a pre - agreed rule. Finally, the self - moving device converts the binary string into decimal and gets 725. Therefore, the self - moving device determines that the serial number of the charging pile is 725 in decimal.

[0103] In addition, the self - moving device and the charging pile can also communicate using the current value, which will not be elaborated here.

[0104] Adopting this solution, the self - moving device and the charging pile communicate using the current value or the voltage value, without using LoRa, with fast communication speed and high flexibility.

[0105] Figure 6 It is another flowchart of the identification method provided by the embodiments of the present application. This embodiment includes:

[0106] 601. The self - moving device gets on the charging pile, so that the charging reeds of the self - moving device are in contact with the charging reeds of the charging pile.

[0107] 602. When the self - moving device receives at least two broadcast messages carrying the charging pile ID within the first time period, it generates an ID list according to the IDs carried by the at least two broadcast messages.

[0108] In the embodiments of the present application, the first time period is, for example, 5 seconds, etc. If at least two self - moving devices get on the charging pile simultaneously within this time period, communication interference is likely to occur.

[0109] 603. The self - moving device selects the first ID from the ID list and sends a first indication message carrying the first ID and used to indicate a random value.

[0110] 604. The self - moving device determines whether the first reed value is the random value in the first indication message. If the first reed value is the random value in the first indication message, it executes step 605; if the first reed value is not the random value in the first indication message, it executes step 609.

[0111] Exemplarily, the self - moving device determines the first reed value of its own charging reeds and compares the first reed value with the random value in the first indication message. If the first reed value is the random value in the first indication message, it means that the charging piles are consistent, and the self - moving device executes step 605; if the first reed value is not the random value in the first indication message, it means that the charging pile that the self - moving device gets on is not the charging pile with the first ID, and the self - moving device executes step 609.

[0112] 605. The self - moving device sends a second indication message carrying the first ID and the charging voltage.

[0113] 606. The self - moving device determines whether the second reed value is the charging voltage. If the second reed value is the charging voltage, step 607 is executed; if the second reed value is not the charging voltage, step 608 is executed.

[0114] Exemplarily, the self - moving device determines the second reed value of its own charging reed and compares the second reed value with the charging voltage in the second indication message. If the second reed value is the charging voltage, it further indicates that the current charging pile is also the charging pile communicating with the self - moving device, and the self - moving device executes step 607; if the second reed value is not the charging voltage, it may indicate that misjudgment occurs due to reasons such as the same random values in the first indication messages sent by different self - moving devices. At this time, the self - moving device executes step 608.

[0115] 607. The self - moving device charges according to the charging voltage carried in the second indication message.

[0116] For example, the self - moving device turns on the relay so that the charging pile charges the battery of the self - moving device.

[0117] 608. The self - moving device determines whether the second duration exceeds the preset duration. When the second duration does not exceed the preset duration, step 609 is executed; when the second duration exceeds the preset duration, step 607 is executed.

[0118] Exemplarily, when the second duration exceeds the preset duration, even if the charging piles are inconsistent, that is, the current charging pile for docking is not the charging pile communicating with the self - moving device, the self - moving device also turns on the relay to make the charging pile charge the battery of the self - moving device.

[0119] 609. Determine whether there is an unselected ID in the ID list. When there is an unselected ID in the ID list, step 603 is executed; when there is no unselected ID in the ID list, step 610 is executed.

[0120] 610. The self - moving device requests re - docking.

[0121] Figure 7 It is a schematic diagram of the first duration and the second duration in the identification method provided by the embodiments of the present application. Please refer to Figure 7 , the first duration is the duration of receiving the broadcast message after the self - moving device docks. If at least two self - moving devices dock simultaneously during this duration, communication interference is likely to occur. The first duration is, for example, 5 seconds, etc., and the embodiments of the present application do not limit it.

[0122] The second duration is the duration for the mobile device to perform consistency identification on the charging pile. Within the second duration, the mobile device sequentially traverses the ID list to identify whether the ID of the charging pile currently docking with the pile exists in the ID list. The second duration is, for example, 10 seconds, etc., and the embodiments of the present application do not limit it. If within the second duration, the second reed value is equal to the charging voltage, the mobile device is directly charged. For example, at the 7th second, the mobile device determines that the second reed value is equal to the charging voltage, and then starts charging. If within the second duration, the second reed value is not equal to the charging voltage, after the timeout, charging starts. At this time, the voltage output by the charging reed of the charging pile is not the charging voltage required by the mobile device. For example, the charging reed of the charging pile outputs 27V, but the charging voltage of the mobile device is 25V. After the second duration, the mobile device starts charging, such as slow charging.

[0123] The above identification method will be described in detail below in combination with specific application scenarios.

[0124] Application scenario:

[0125] There are 3 charging piles and 3 mobile devices in a shopping mall, namely charging pile A, charging pile B, and charging pile C, and mobile device A, mobile device B, and mobile device C. The staff push mobile device A and mobile device B so that mobile device A docks to charging pile A and mobile device B docks to charging pile B. At the same time, mobile device C automatically returns for charging due to low battery and docks to charging pile C. The three mobile devices dock simultaneously or successively within 5 seconds.

[0126] After mobile device A docks, it receives three broadcast messages from charging pile A, charging pile B, and charging pile C respectively. The mobile device generates an ID list based on the IDs carried in these three broadcast messages. The ID list contains 3 IDs, namely ID A, ID B, and ID C.

[0127] Case 1:

[0128] Mobile device A selects ID A and sends a first indication message carrying ID A and a random value of 25V. Then, mobile device A determines the first reed value and finds that the first reed value is 25V. So it is considered that the current charging pile, that is, charging pile A, is also the charging pile communicating with mobile device A.

[0129] The charging voltage of mobile device A is 27V. Next, mobile device A sends a second indication message carrying ID A and a charging voltage of 27V. Then, the mobile device finds that the second reed value is 27V, which is the same as the charging voltage. So, the mobile device turns on the relay and starts charging.

[0130] Case 2:

[0131] Self - moving device A selects ID B and sends a first indication message carrying ID B and a random value of 25V. At the same time, self - moving device B selects ID A and sends a first indication message carrying ID A and a random value of 25V.

[0132] After that, self - moving device A determines the first reed value and finds that the first reed value is 25V. So it believes that the current charging pile, that is, charging pile A, is also the charging pile communicating with self - moving device A. In fact, the reason why charging pile A provides an output of 25V is that it has received the first indication message from self - moving device B.

[0133] The charging voltage of self - moving device A is 27V. Next, self - moving device A sends a second indication message carrying ID B and the charging voltage of 27V. After that, self - moving device A finds that the second reed value is 25V while the charging voltage is 27V. Moreover, the second duration is 4 seconds, which is less than the preset duration. Therefore, self - moving device A selects ID A from the ID list and resends the first indication message, which carries ID A and a random value of 26V. The subsequent process can refer to the description of the above - mentioned embodiment and will not be elaborated here.

[0134] The following is an embodiment of the device of the present application, which can be used to execute the method embodiment of the present application. For the details not disclosed in the device embodiment of the present application, please refer to the method embodiment of the present application.

[0135] Figure 8 It is a schematic diagram of an identification device provided by an embodiment of the present application. The identification device 800 includes: a first determination module 81, a sending module 82, a second determination module 83, and a processing module 84.

[0136] The first determination module 81 is configured to determine an ID list including identity identifiers ID of at least two charging piles after the self - moving device is docked with the charging pile;

[0137] The sending module 82 is configured to send a first indication message carrying a first ID for indicating a random value, where the first ID is an ID selected from the ID list, and the first indication message is used to indicate that the charging reed of the charging pile corresponding to the first ID provides the random value;

[0138] The second determination module 83 is configured to determine the first reed value of the charging reed of the self - moving device;

[0139] The processing module 84 is configured to, when the first reed value is the same as the random value, determine that the charging pile is the charging pile charging the self - moving device and is also the charging pile communicating with the self - moving device.

[0140] In a feasible implementation manner, the processing module 84 is further configured to determine whether there is an unselected ID in the ID list when the first reed value is different from the random value;

[0141] The sending module 82 is further configured to send a first indication message carrying the second ID for indicating the random value when there is an unselected ID in the ID list, where the second ID is one of the unselected IDs in the ID list.

[0142] In a feasible implementation manner, the processing module 84 is further configured to determine that the charging pile is a charging pile for the self-mobile device but not a charging pile for communicating with the self-mobile device when there is no unselected ID in the ID list.

[0143] In a feasible implementation manner, the first determination module 81 is configured to determine whether at least two broadcast messages carrying the charging pile ID are received within a first duration after the self-mobile device is on the pile; when at least two broadcast messages carrying the charging pile ID are received within the first duration, generate the ID list according to the IDs carried by the at least two broadcast messages.

[0144] In a feasible implementation manner, after the processing module 84 determines that the charging pile is a charging pile for the self-mobile device and is also a charging pile for communicating with the self-mobile device, the sending module 82 is further configured to send a second indication message carrying the first ID for indicating the charging voltage, where the second indication message is used to indicate that the charging reed of the charging pile of the first ID provides the charging voltage;

[0145] The processing module 84 is further configured to trigger the charging pile to charge the self-mobile device when the second reed value detected by the charging reed of the self-mobile device is the same as the charging voltage.

[0146] In a feasible implementation manner, the processing module 84 is further configured to determine whether a second duration exceeds a preset duration when the second reed value is different from the charging voltage, where the second duration is the duration from the first time the self-mobile device sends the first indication message to the current moment; when the second duration does not exceed the preset duration, determine whether there is an unselected ID in the ID list, when there is no unselected ID in the ID list, determine that the ID list has been traversed and request to re-pile, and when there is an unselected ID in the ID list, select an ID from the unselected IDs and send the first indication message.

[0147] In a feasible implementation, the processing module 84 is further configured to trigger the charging pile to charge the self-mobile device when the second duration exceeds a preset duration; and output a prompt message to prompt the user that the charging pile is not the charging pile communicating with the self-mobile device.

[0148] In a feasible implementation, when the self-mobile device communicates with the charging pile, the processing module 84 is further configured to determine a reed sequence by using the charging reeds of the self-mobile device, where the reed sequence includes a plurality of reed values; determine a binary string according to the reed sequence; and determine the communication content transmitted from the charging pile to the self-mobile device according to the binary string.

[0149] In a feasible implementation, the random value is a voltage value or a current value.

[0150] The recognition device provided in the embodiments of the present application can perform the actions of the self-mobile device in the above embodiments. The implementation principles and technical effects are similar and will not be elaborated here.

[0151] Figure 9 FIG. is a schematic structural diagram of a self-mobile device provided in an embodiment of the present application. As Figure 9 shown, the self-mobile device 900 includes:

[0152] a processor 91 and a memory 92;

[0153] The memory 92 stores computer instructions;

[0154] The processor 91 executes the computer instructions stored in the memory 92, so that the processor 91 executes the recognition method as described above.

[0155] For the specific implementation process of the processor 91, reference can be made to the above method embodiments. The implementation principles and technical effects are similar and will not be elaborated here in this embodiment.

[0156] Optionally, the self-mobile device 900 further includes a communication component 93. Among them, the processor 91, the memory 92, and the communication component 93 can be connected through a bus 94.

[0157] The embodiments of the present application further provide a computer-readable storage medium, in which computer instructions are stored, and the computer instructions are executed by a processor to perform the recognition method as described above.

[0158] The embodiments of the present application further provide a computer program product, which includes a computer program, and the computer program is executed by a processor to perform the recognition method as described above.

[0159] Those skilled in the art will readily conceive of other embodiments of the present application after considering the specification and practicing the invention disclosed herein. The present application is intended to cover any variations, uses, or adaptations of the present application, which follow the general principles of the present application and include well-known common general knowledge or conventional technical means in the technical field not disclosed in the present application. The specification and examples are only regarded as exemplary, and the true scope and spirit of the present application are pointed out by the following claims.

[0160] It should be understood that the present application is not limited to the exact structures described above and shown in the drawings, and various modifications and changes can be made without departing from its scope. The scope of the present application is only limited by the appended claims.

Claims

1. A recognition method, applied to a self - moving device, characterized in that, it includes: After the self - moving device is docked with the charging pile, determine an ID list containing the identity identification IDs of at least two charging piles; Send a first indication message carrying a first ID for indicating a random value, where the first ID is selected from the ID list, and the first indication message is used to instruct the charging contacts of the charging pile with the first ID to provide the random value; Determine the first contact value of the charging contacts of the self - moving device; When the first contact value is the same as the random value, determine that the charging pile that charges the self - moving device is also the charging pile that communicates with the self - moving device.

2. The method according to claim 1, characterized in that, it further includes: When the first contact value is not the same as the random value, determine whether there is an unselected ID in the ID list; When there is an unselected ID in the ID list, send a first indication message carrying a second ID for indicating a random value, where the second ID is one of the unselected IDs in the ID list.

3. The method according to claim 2, characterized in that, it further includes: When there is no unselected ID in the ID list, determine that the charging pile that charges the self - moving device is not the charging pile that communicates with the self - moving device.

4. The method according to claim 1, characterized in that, After the self - moving device is on the charging pile, determining an ID list containing the identity identification IDs of at least two charging piles includes: After the self - moving device is on the charging pile, determine whether at least two broadcast messages carrying the charging pile IDs are received within a first duration; When at least two broadcast messages carrying the charging pile IDs are received within the first duration, generate the ID list according to the IDs carried by the at least two broadcast messages.

5. The method according to claim 1, characterized in that, After determining that the charging pile that charges the self - moving device is also the charging pile that communicates with the self - moving device when the first contact value is the same as the random value, it further includes: Send a second indication message carrying the first ID for indicating the charging voltage, and the second indication message is used to instruct the charging contacts of the charging pile with the first ID to provide the charging voltage; When the second contact value detected by the charging contacts of the self - moving device is the same as the charging voltage, trigger the charging pile to charge the self - moving device.

6. The method according to claim 5, characterized in that, it further includes: When the second contact value is not the same as the charging voltage, determine whether a second duration exceeds a preset duration, where the second duration is the duration from the first time the self - moving device sends the first indication message to the current moment; When the second duration does not exceed the preset duration, determine whether there is an unselected ID in the ID list; When there is no unselected ID in the ID list, determine that the ID list has been traversed and request re - docking. When there is an unselected ID in the ID list, select an ID from the unselected IDs and send a first indication message.

7. The method according to claim 6, wherein, further comprising: when the second duration exceeds a preset duration, trigger the charging pile to charge the self-mobile device; output a prompt message to prompt the user that the charging pile is not the charging pile communicating with the self-mobile device.

8. The method according to any one of claims 1 to 7, wherein, after determining that when the first reed value detected by the charging reed of the self-mobile device is the same as the random value, the charging pile that charges the self-mobile device is also the charging pile communicating with the self-mobile device, further comprising: when the self-mobile device communicates with the charging pile, use the charging reed of the self-mobile device to determine a reed sequence, and the reed sequence includes a plurality of reed values; determine a binary string according to the reed sequence; determine the communication content transmitted from the charging pile to the self-mobile device according to the binary string.

9. The method according to any one of claims 1 to 7, wherein, the random value is a voltage value or a current value.

10. An identification device, wherein, comprising: a first determination module, configured to determine an ID list including identity identifiers ID of at least two charging piles after the self-mobile device is docked with the charging pile; a sending module, configured to send a first indication message carrying a first ID and used to indicate a random value, where the first ID is an ID selected from the ID list, and the first indication message is used to indicate that the charging reed of the charging pile of the first ID provides the random value; a second determination module, configured to determine a first reed value of the charging reed of the self-mobile device; a processing module, configured to determine that when the first reed value is the same as the random value, the charging pile that charges the self-mobile device is also the charging pile communicating with the self-mobile device.

11. A self-mobile device, including a processor, a memory, and a computer program stored on the memory and executable on the processor, wherein, when the processor executes the computer program, the self-mobile device implements the method according to any one of claims 1 to 9.

12. A computer-readable storage medium, on which a computer program is stored, wherein, when the computer program is executed by a processor, the method according to any one of claims 1 to 9 is implemented.

Images