Multi-mode intelligent charging method and system, robot and storage medium

Abstract

The invention relates to the technical field of robots, in particular to a multi-mode intelligent charging method and system, a robot and a storage medium, and is applied to the robot, the robot is provided with an interaction module, a main control module and a power module, and the method comprises the steps that the interaction module responds to triggering information of autonomous charging; a recharging instruction containing the charging pile point location is issued to the main control module, and the main control module is called to control the robot to move to the charging pile point location; the main control module identifies a charging pile corresponding to the charging pile point location, triggers a power supply module to be in butt joint with a charging module in the charging pile, and receives pile leaning success information fed back by the power supply module; after pile leaning succeeds, the power module monitors charging data and reports the charging data to the main control module, and the main control module judges whether charging of the power module is completed or not according to the charging data and informs the interaction module and the power module to stop charging after charging is completed; according to the invention, the charging convenience can be improved.

Description

Technical Field

[0001] The present invention relates to the field of robotics technology, and in particular to a multi-mode intelligent charging method, system, robot and storage medium. Background Art

[0002] Indoor mobile service robots should be able to return to the charging pile autonomously when they need to be charged or are low on power during work. There is also a special case where the robot is out of power or does not have enough power to return to the charging pile. In this case, the charging pile needs to be moved to the robot's location and the robot needs to be charged using an emergency charging cable.

[0003] Therefore, it is necessary to provide a solution that can realize the intelligent management of the robot charging process and improve the convenience of charging. Summary of the invention

[0004] In view of this, an object of an embodiment of the present invention is to provide a multi-mode intelligent charging method, system, robot and storage medium, which can improve the convenience of charging.

[0005] On the one hand, an embodiment of the present invention provides a multi-mode intelligent charging method, which is applied to a robot, wherein the robot is provided with an interaction module, a main control module and a power supply module, and the method comprises the following steps: In response to the trigger information of autonomous charging, the interactive module sends a recharge instruction including the charging pile point to the main control module, and calls the main control module to control the robot to move to the charging pile point; The main control module identifies the charging pile corresponding to the charging pile point, triggers the power module to dock with the charging module in the charging pile, and receives feedback from the power module that the charging pile is successfully docked; After successfully docking, the power module monitors the charging data and reports it to the main control module. The main control module determines whether the power module has been charged according to the charging data, and notifies the interaction module and the power module to stop charging after charging is completed.

[0006] Optionally, the method further comprises: If the power module and the charging module both detect that the emergency charging cable of the charging pile is inserted into the charging port of the robot, the charging module performs emergency charging on the power module through the emergency charging cable, and the power module sends emergency charging trigger information to the interaction module.

[0007] Optionally, the method further comprises: In response to the triggering information of autonomous charging, the interaction module displays that the charging mode is autonomous charging; After receiving the trigger information of emergency charging sent by the power module, the interaction module displays the charging mode as emergency charging.

[0008] Optionally, the interaction module sends a recharge instruction to the main control module in response to the trigger information of the autonomous charging, including: In response to a trigger instruction for selecting a recharge instruction in the interactive interface, or receiving a monitoring signal that the power module is low on power, the interactive module is triggered to send a recharge instruction containing the charging pile point to the main control module.

[0009] Optionally, the main control module identifies the charging pile corresponding to the charging pile point, including: The laser radar of the robot chassis scans the charging pile corresponding to the charging pile point to obtain laser data; The main control module identifies the shape of the charging pile based on the laser data, and determines that the charging pile is found when it is determined that the shape of the charging pile is consistent with a preset shape.

[0010] Optionally, the triggering power module to connect with the charging module in the charging pile, and receiving feedback from the power module indicating successful docking, includes: After confirming that the charging pile is found, the main control module controls the robot to rotate so that the infrared module of the power module and the infrared module of the charging pile are opposite; The main control module sends a docking instruction to the power module, turns on the infrared module of the power module, and establishes a handshake connection with the infrared module of the charging module; The main control module controls the robot to continuously adjust its position so that the power module and the charging module in the charging pile can be docked; After receiving the message of successful docking sent by the charging module, the power module feeds back the message of successful docking to the main control module; wherein, the message of successful docking is reported to the power module after the charging module detects the level signal that the charging pole of the robot and the charging pole of the charging pile are in contact.

[0011] Optionally, the power module monitors charging data and reports it to the main control module, and the main control module determines whether the power module is fully charged according to the charging data, including: During the charging process, the power module collects charging data according to a set period and reports it to the main control module. The charging data includes battery voltage and charging current; When the main control module determines that the battery voltage is greater than the voltage threshold and the charging current is less than the current threshold, it determines that the power module has completed charging.

[0012] On the other hand, an embodiment of the present invention provides a multi-mode intelligent charging system, the system comprising: The interactive module is used to respond to the trigger information of autonomous charging, send a recharge instruction to the main control module, and call the main control module to control the robot to move to the charging pile point; wherein the recharge instruction includes the charging pile point; A main control module is used to identify the charging pile corresponding to the charging pile point, trigger the power module to dock with the charging module in the charging pile, and receive the information feedback from the power module that the charging pile is successfully docked; and to determine whether the power module is fully charged according to the charging data, and notify the interaction module and the power module to stop charging after charging is completed; The power module is used to feed back the information of successful docking to the main control module; and after successful docking, it is used to monitor the charging data and report it to the main control module.

[0013] On the other hand, an embodiment of the present invention provides a robot, comprising: at least one processor; at least one memory for storing at least one program; When the at least one program is executed by the at least one processor, the at least one processor implements the above method.

[0014] On the other hand, an embodiment of the present invention provides a computer-readable storage medium, in which a program executable by a processor is stored. When the program executable by the processor is executed by the processor, it is used to perform the above method.

[0015] The embodiments of the present invention include the following beneficial effects: In this embodiment, an autonomous charging process is initiated through the interaction module, and the robot is controlled to move to the charging pile point by calling the main control module to realize an unattended automatic charging process. The main control module identifies the charging pile corresponding to the charging pile point, realizes autonomous pile search, and docks with the charging module. This process not only improves the charging efficiency, but also reduces manual intervention, making the charging process more intelligent and automated. After successfully docking with the pile, the charging data is monitored by the power module and reported to the main control module. The main control module determines whether the power module is fully charged based on the charging data, and can promptly notify the relevant modules to stop charging when charging is completed, ensuring the efficiency and safety of the entire charging process. The present invention ensures that the robot can autonomously dock with the charging pile through the collaborative work of the interaction module, the main control module and the power module, realizes the intelligent management of the robot charging process, and improves the convenience of charging. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0017] Figure 1It is a schematic diagram of the steps of a multi-mode intelligent charging method provided by an embodiment of the present invention; Figure 2 is a circuit structure diagram of a robot provided by an embodiment of the present invention; Figure 3 is a timing diagram of a multi-mode intelligent charging method provided by an embodiment of the present invention; Figure 4 is a structural block diagram of a multi-mode intelligent charging device provided by an embodiment of the present invention; Figure 5 It is a structural block diagram of a robot provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0018] In order to make the purpose, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention. When the following description refers to the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the embodiments of the present invention. They are only examples of devices and methods consistent with some aspects of the embodiments of the present invention as detailed in the attached claims.

[0019] It is understood that the terms "first", "second", etc. used in the present invention may be used herein to describe various concepts, but unless otherwise specified, these concepts are not limited by these terms. These terms are only used to distinguish one concept from another. For example, without departing from the scope of the embodiments of the present invention, the first information may also be referred to as the second information, and similarly, the second information may also be referred to as the first information. Depending on the context, the words "if" and "if" as used herein may be interpreted as "at the time of" or "when" or "in response to determining".

[0020] The terms "at least one", "multiple", "each", "any", etc. used in the present invention, at least one includes one, two or more, multiple includes two or more, each refers to each of the corresponding multiple, and any refers to any one of the multiple.

[0021] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art to which the present invention belongs. The terms used herein are only for the purpose of describing the embodiments of the present invention and are not intended to limit the present invention.

[0022] like Figure 1As shown, an embodiment of the present invention provides a multi-mode intelligent charging method, which is applied to a robot, wherein the robot is provided with an interaction module, a main control module and a power supply module, and the method comprises the following steps: S100, the interactive module responds to the trigger information of autonomous charging, sends a recharge instruction including the charging pile point to the main control module, and calls the main control module to control the robot to move to the charging pile point; S200, the main control module identifies the charging pile corresponding to the charging pile point, triggers the power module to dock with the charging module in the charging pile, and receives feedback from the power module that the charging pile is successfully docked; S300, after successfully docking, the power module monitors the charging data and reports it to the main control module, the main control module determines whether the power module has been charged according to the charging data, and notifies the interaction module and the power module to stop charging after charging is completed.

[0023] In the embodiment provided by the present invention, an autonomous charging process is initiated through an interactive module, and the robot is controlled to move to the charging pile point by calling the main control module to realize an unattended automatic charging process. The main control module identifies the charging pile corresponding to the charging pile point, realizes autonomous pile search, and docks with the charging module. This process not only improves the charging efficiency, but also reduces manual intervention, making the charging process more intelligent and automated. After successfully docking with the pile, the charging data is monitored by the power module and reported to the main control module. The main control module determines whether the power module is fully charged based on the charging data, and can promptly notify the relevant modules to stop charging when charging is completed, ensuring the efficiency and safety of the entire charging process. The present invention ensures that the robot can autonomously dock with the charging pile through the collaborative work of the interactive module, the main control module and the power module, thereby realizing intelligent management of the robot's charging process.

[0024] refer to Figure 2 ,The overall charging process is completed by the interaction module, the main control module, the power module and the charging pile module; The interactive module is set on the upper body of the robot and is mainly used for human-computer interaction, identity verification, task issuance and system settings.

[0025] The main control module is installed on the chassis of the robot. It is the core module of the robot. Its main functions include mapping, positioning, autonomous navigation, autonomous recharging, multi-sensor fusion obstacle avoidance, anti-fall, and controlling the movement of the robot.

[0026] The power module is installed on the chassis of the robot. The main functions of the power module are as follows: Power management of the human-computer interaction module, algorithm module and main control module, such as power on and off.

[0027] When charging, it shakes hands with the charging pile and cooperates with the charging pile module to realize charging.

[0028] Charging and discharging management, in which the charging and charging pile modules work together to achieve.

[0029] The charging module is installed on the charging pile, and its main functions are as follows: Charging, including automatic recharging and emergency charging, is realized in conjunction with the power module. If the emergency charging cable is also plugged in during autonomous recharging, emergency charging takes priority.

[0030] When paired with a pile, it cooperates with the power module to achieve handshake, and successful handshake starts charging in automatic recharging mode.

[0031] The LED indicates the status of the charging pile, such as charging status indication.

[0032] refer to Figure 3 , Figure 3 The charging sequence diagram in the figure describes the relationship between the interaction module, main control module, power module, and charging module from the start of charging to the completion of charging. The robot supports two charging modes: autonomous charging and emergency charging. Specifically: Autonomous charging: Generally used when the robot completes a task or encounters low battery during a task. The robot autonomously returns to the charging pile and then leans against the pile. When the charging pole of the chassis is close to the charging pole of the charging pile, the charging is completed and begins. This method can achieve autonomous navigation to find the charging pile. Autonomous charging is also the most commonly used charging method. Autonomous charging is performed by bringing the chassis charging pole and the charging pole of the charging pile close together. The specific process includes: The autonomous charging process is triggered by issuing an autonomous charging command through the operation interface of the interactive module, or the operation interface shows that the power module is low in power, which triggers autonomous charging; The interactive module calls the mobile interface of the main control module to control the robot to move to the area where the charging pile is located (which can be set to a position about 1 meter in front of the charging pile), and then uses the lidar of the chassis to search for the charging pile until it is found.

[0033] After finding the charging pile, the robot starts to approach the pile. The approaching process is completed through the communication between the chassis and the infrared transceiver modules of the charging pile. When the charging module detects that the approaching is completed, it notifies the power module, and the power module notifies the main control module.

[0034] Then charging starts, and the main control module determines whether it is fully charged through the charging current and the calculated current percentage. Exemplarily, the judgment basis for full charge is that the battery voltage is greater than the voltage threshold and the charging current is less than the current threshold. The voltage threshold and the current threshold are set according to the actual situation. For example, the voltage threshold is set to 23V to 26V, and the current threshold is set to 0.3A to 0.5A. After full charge, the interaction module and the power module are notified, and the power module then notifies the charging module through the infrared module.

[0035] In some embodiments, the method further comprises: If the power module and the charging module both detect that the emergency charging cable of the charging pile is inserted into the charging port of the robot, the charging module performs emergency charging on the power module through the emergency charging cable, and the power module sends emergency charging trigger information to the interaction module.

[0036] For emergency charging: If the robot is out of power or does not have enough power to return to the charging pile, you need to move the charging pile to the robot and use the emergency charging cable to charge the robot. One end of the emergency charging cable is connected to the charging pile and the other end is connected to the robot chassis.

[0037] After the emergency charging cable of the charging pile is inserted into the charging port of the robot chassis, the robot enters the emergency charging mode. The main control module determines whether the battery is fully charged. When it is fully charged, it notifies the interaction module and the power module. The power module then notifies the charging module through the infrared module. Compared with the autonomous charging mode, the emergency charging mode lacks the process of returning to the charging pile, finding the pile, and leaning against the pile. Most of the other functions are the same.

[0038] Charging mode switching strategy: Prioritize emergency charging. For example, when the robot is in autonomous charging mode and the emergency charging cable is plugged in, the power module and charging module can monitor it in real time and automatically switch to emergency charging mode.

[0039] In some embodiments, the method further comprises: In response to the triggering information of autonomous charging, the interaction module displays that the charging mode is autonomous charging; After receiving the trigger information of emergency charging sent by the power module, the interaction module displays the charging mode as emergency charging.

[0040] In some embodiments, in S100, the interaction module sends a recharge instruction to the main control module in response to the trigger information of the autonomous charging, including: In response to a trigger instruction for selecting a recharge instruction in the interactive interface, or receiving a monitoring signal that the power module is low on power, the interactive module is triggered to send a recharge instruction containing the charging pile point to the main control module.

[0041] Specifically, the main stages of the interactive module charging process include: Trigger autonomous charging: When the user selects recharge on the interactive interface, or when the application background service detects that the power module is low on power, autonomous charging will be triggered. After autonomous charging is triggered, the mobile interface of the main control module is called to send the charging pile point to the main control module, which then controls the robot to move to the charging pile point.

[0042] Charging: For the autonomous charging module, charging starts after successfully docking at the charging station; For the emergency charging module, charging starts after the charging cable is inserted; after charging starts, the power module notifies the main control module and the charging module, and the main control module then notifies the interactive module, and the interface displays charging.

[0043] Charging complete: After the main control module monitors that charging is complete, it notifies the interactive module and displays charging completion on the interface.

[0044] In some embodiments, in S200, the main control module identifies the charging pile corresponding to the charging pile point, including: S211, the laser radar of the robot chassis scans the charging pile corresponding to the charging pile point to obtain laser data; S212, the main control module identifies the shape of the charging pile based on the laser data, and determines that the charging pile is found when it is determined that the shape of the charging pile is consistent with a preset shape.

[0045] The main stages of the main control module charging process include: Move to the charging station: For the autonomous charging module, after the main control module receives the recharging command sent by the interactive module, it autonomously navigates to the charging station. During the navigation process, the moving path is autonomously planned, and obstacles are autonomously avoided during the moving process.

[0046] Finding the charging pile: After moving to the charging pile point, the laser radar on the robot chassis scans the trapezoidal charging pile as a condition for finding the charging pile. After finding the charging pile, the robot rotates 180° clockwise to allow the infrared module of the power module to face the infrared module of the charging pile.

[0047] Leaning against the charging pile: After finding the charging pile, the main control module controls the robot to move backward, and during the backward process, it cooperates with the power module to achieve leaning against the charging pile.

[0048] Monitoring charging: After successfully docking, the power module notifies the main control module and the charging module to start charging. During the charging process, the power module collects the battery voltage and charging current according to the set cycle, and then reports the battery voltage and charging current to the main control module according to the set cycle. The main control module determines whether it is fully charged based on the battery voltage and charging current, and notifies the interactive module and the power module when it is fully charged.

[0049] In some embodiments, in S200, the triggering power module to dock with the charging module in the charging pile, and receiving the information fed back by the power module that docking with the pile is successful, include: S221, after determining that the charging pile is found, the main control module controls the robot to rotate so that the infrared module of the power module and the infrared module of the charging pile are opposite to each other; S222, the main control module sends a docking instruction to the power module, turns on the infrared module of the power module, and establishes a handshake connection with the infrared module of the charging module; S223, the main control module controls the robot to continuously adjust its position so that the power module and the charging module in the charging pile can be docked; S224, after receiving the message of successful docking sent by the charging module, the power module feeds back the message of successful docking to the main control module; wherein, the message of successful docking is reported to the power module after the charging module detects the level signal that the charging pole of the robot and the charging pole of the charging pile are in contact.

[0050] Specifically, after detecting the level signal that the charging pole of the robot is in contact with the charging pole of the charging pile, the charging module determines that the docking is successful and sends a message of successful docking to the power module; the power module feeds back the message of successful docking to the main control module.

[0051] The main stages of the charging process of the charging module include: Charging mode detection: In autonomous charging mode, after receiving the docking command from the power module, the robot turns on its own infrared module and shakes hands with the infrared module of the power module. After the handshake is successful, the robot starts to retreat. During the retreat process, the infrared modules of the charging module and the power module are constantly exchanging data until docking is successful. Docking is detected through the TOUCH_DET pin. A high level is detected, indicating that the charging pole of the robot chassis and the charging pole of the charging pile are in contact. When the chassis charging pole is pushed into the charging pole of the charging pile to a certain position under the power of the chassis driving wheel, TOUCH_DET can be detected as a high level, indicating that the contact is in place.

[0052] The EMC_DET1 pin of the charging module detects a high level in emergency charging mode, and a low level indicates that the charging cable is not plugged in.

[0053] Charging control: In autonomous charging mode, the NMC_EN1 pin of the charging module outputs a high level to control the charging switch, and controls the charging input path to pass through the charging pole. In emergency charging mode, the charging path is controlled by hardware to pass through the emergency charging line, and NMC_EN1 is set to a low level in software.

[0054] Charging complete: After being fully charged, the power module receives a command indicating that charging is complete, thus completing the closed loop of charging and notification.

[0055] The way to judge whether the docking is successful is to detect through the TOUCH_DET pin of the charging module. If the TOUCH_DET pin detects a high level, it means that the charging pole of the robot chassis and the charging pole of the charging pile are in contact. The basis for the contact is that the chassis charging pole, under the power of the chassis driving wheel, pushes the charging pole of the charging pile into a certain position of the charging pile, and TOUCH_DET can be detected as a high level, indicating that the contact is in place. After the charging module notifies the power module that the docking is successful, the power module will feedback the successful docking message to the main control module.

[0056] In some embodiments, in S300, the power module monitors the charging data and reports it to the main control module, and the main control module determines whether the power module is fully charged according to the charging data, including: S310, during the charging process, the power module collects charging data according to a set period and reports it to the main control module, wherein the charging data includes battery voltage and charging current; S320: When the main control module determines that the battery voltage is greater than the voltage threshold and the charging current is less than the current threshold, the main control module determines that the charging of the power module is completed.

[0057] The main stages of the power module charging process include: Charging mode detection: In autonomous charging mode, after receiving the docking command from the main control module, the infrared module of the robot's power module is turned on, and a handshake is performed with the infrared module of the charging module. After the handshake is successful, the robot starts to move backward. During the backward process, the infrared modules of the power module and the charging module keep exchanging data until docking is successful.

[0058] The EMC_DET2 pin of the power module detects a high level in emergency charging mode, and a low level indicates that the charging cable is not plugged in.

[0059] Charging control: In autonomous charging mode, the NMC_EN2 pin of the power module outputs a high level to control charging switching, and controls the charging input path through the charging pole. In emergency charging mode, the charging path is controlled by hardware to go through the emergency charging line to the charging port of the robot. After detecting that the charging line of the charging pile is inserted into the charging port of the robot, the software automatically sets NMC_EN2 to a low level.

[0060] Report charging current and battery voltage: After successfully docking, the charging current is collected through the CUR_SAM2 pin, and the battery voltage is collected through the BAT_ADC8 pin. The charging current and battery voltage data are periodically reported to the main control module, which determines whether it is fully charged.

[0061] Charging completed: After fully charged, the power module receives the charging completion command from the main control module, and then sends the charging completion command to the charging module through the infrared module, thus completing the closed loop of charging and notification.

[0062] like Figure 4 As shown, an embodiment of the present invention provides a multi-mode intelligent charging system, the system comprising: The interactive module is used to respond to the trigger information of autonomous charging, send a recharge instruction to the main control module, and call the main control module to control the robot to move to the charging pile point; wherein the recharge instruction includes the charging pile point; A main control module is used to identify the charging pile corresponding to the charging pile point, trigger the power module to dock with the charging module in the charging pile, and receive the information feedback from the power module that the charging pile is successfully docked; and to determine whether the power module is fully charged according to the charging data, and notify the interaction module and the power module to stop charging after charging is completed; The power module is used to feed back the information of successful docking to the main control module; and after successful docking, it is used to monitor the charging data and report it to the main control module.

[0063] It can be understood that the contents of the above method embodiments are all applicable to the present system embodiments, the functions specifically implemented by the present system embodiments are the same as those of the above method embodiments, and the beneficial effects achieved are also the same as those achieved by the above method embodiments.

[0064] refer to Figure 5 An embodiment of the present invention further provides a robot, the robot comprising a memory and a processor, the memory storing a computer program, and the processor implementing the method in the above embodiment when executing the computer program.

[0065] It can be understood that the contents of the above method embodiments are all applicable to this embodiment, the functions specifically implemented by this embodiment are the same as those of the above method embodiments, and the beneficial effects achieved are also the same as those achieved by the above method embodiments.

[0066] An embodiment of the present invention further provides a computer-readable storage medium, which stores a computer program. When the computer program is executed by a processor, the above method is implemented.

[0067] It can be understood that the contents of the above method embodiments are all applicable to the present storage medium embodiments, the functions specifically implemented by the present storage medium embodiments are the same as those of the above method embodiments, and the beneficial effects achieved are also the same as those achieved by the above method embodiments.

[0068] The memory, as a non-transient computer-readable storage medium, can be used to store non-transient software programs and non-transient computer executable programs. In addition, the memory may include a high-speed random access memory, and may also include a non-transient memory, such as at least one disk storage device, a flash memory device, or other non-transient solid-state storage device. In some embodiments, the memory may optionally include a memory remotely disposed relative to the processor, and these remote memories may be connected to the processor via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0069] The embodiments described in the embodiments of the present invention are intended to more clearly illustrate the technical solutions of the embodiments of the present invention, and do not constitute a limitation on the technical solutions provided by the embodiments of the present invention. Those skilled in the art can appreciate that with the evolution of technology and the emergence of new application scenarios, the technical solutions provided by the embodiments of the present invention are also applicable to similar technical problems.

[0070] Those skilled in the art will appreciate that the technical solutions shown in the figures do not limit the embodiments of the present invention and may include more or fewer steps than shown in the figures, or a combination of certain steps, or different steps.

[0071] The device embodiments described above are merely illustrative, and the units described as separate components may or may not be physically separated, that is, they may be located in one place or distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0072] Those skilled in the art will appreciate that all or some of the steps in the methods disclosed above, and the functional modules / units in the systems and devices may be implemented as software, firmware, hardware, or a suitable combination thereof.

[0073] The terms "first", "second", "third", "fourth", etc. (if any) in the specification of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0074] It should be understood that in the present invention, "at least one (item)" refers to one or more, and "plurality" refers to two or more. "And / or" is used to describe the association relationship of associated objects, indicating that three relationships may exist. For example, "A and / or B" can represent: only A exists, only B exists, and A and B exist at the same time, where A and B can be singular or plural. The character " / " generally indicates that the previous and next associated objects are in an "or" relationship. "At least one of the following items" or similar expressions refers to any combination of these items, including any combination of single items or plural items. For example, at least one of a, b or c can represent: a, b, c, "a and b", "a and c", "b and c", or "a and b and c", where a, b, c can be single or multiple.

[0075] In the several embodiments provided by the present invention, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of the above units is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0076] The units described above as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0077] In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0078] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product. The computer software product is stored in a storage medium, including multiple instructions to enable a computer device (which can be a personal computer, server, or network device, etc.) to perform all or part of the steps of the methods of various embodiments of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (Read-Only Memory, referred to as ROM), random access memory (Random-Access-Memory, referred to as RAM), disk or optical disk and other media that can store programs.

[0079] The preferred embodiments of the present invention are described above with reference to the accompanying drawings, but the scope of the rights of the embodiments of the present invention is not limited thereby. Any modification, equivalent substitution and improvement made by those skilled in the art without departing from the scope and essence of the embodiments of the present invention shall be within the scope of the rights of the embodiments of the present invention.

Claims

1. A multi-mode intelligent charging method, characterized in that: Applied to a robot, the robot is provided with an interaction module, a main control module and a power supply module, and the method comprises the following steps: In response to the trigger information of autonomous charging, the interactive module sends a recharge instruction including the charging pile point to the main control module, and calls the main control module to control the robot to move to the charging pile point; The main control module identifies the charging pile corresponding to the charging pile point, triggers the power module to dock with the charging module in the charging pile, and receives feedback from the power module that the charging pile is successfully docked; After successfully docking, the power module monitors the charging data and reports it to the main control module. The main control module determines whether the power module has been charged according to the charging data, and notifies the interaction module and the power module to stop charging after charging is completed.

2. The method according to claim 1, characterized in that: The method further comprises: If the power module and the charging module both detect that the emergency charging cable of the charging pile is inserted into the charging port of the robot, the charging module performs emergency charging on the power module through the emergency charging cable, and the power module sends emergency charging trigger information to the interaction module.

3. The method according to claim 2, characterized in that The method further comprises: In response to the triggering information of autonomous charging, the interaction module displays that the charging mode is autonomous charging; After receiving the trigger information of emergency charging sent by the power module, the interaction module displays the charging mode as emergency charging.

4. The method according to claim 1, characterized in that The interactive module sends a recharge instruction to the main control module in response to the trigger information of the autonomous charging, including: In response to a trigger instruction for selecting a recharge instruction in the interactive interface, or receiving a monitoring signal that the power module is low on power, the interactive module is triggered to send a recharge instruction containing the charging pile point to the main control module.

5. The method according to claim 1, characterized in that The main control module identifies the charging pile corresponding to the charging pile point, including: The laser radar of the robot chassis scans the charging pile corresponding to the charging pile point to obtain laser data; The main control module identifies the shape of the charging pile based on the laser data, and determines that the charging pile is found when it is determined that the shape of the charging pile is consistent with a preset shape.

6. The method according to claim 1, characterized in that The triggering power supply module to connect with the charging module in the charging pile, and receiving the information fed back by the power supply module indicating successful docking, comprises: After confirming that the charging pile is found, the main control module controls the robot to rotate so that the infrared module of the power module and the infrared module of the charging pile are opposite; The main control module sends a docking instruction to the power module, turns on the infrared module of the power module, and establishes a handshake connection with the infrared module of the charging module; The main control module controls the robot to continuously adjust its position so that the power module and the charging module in the charging pile can be docked; After receiving the message of successful docking sent by the charging module, the power module feeds back the message of successful docking to the main control module; wherein, the message of successful docking is reported to the power module after the charging module detects the level signal that the charging pole of the robot and the charging pole of the charging pile are in contact.

7. The method according to claim 1, characterized in that The power module monitors the charging data and reports it to the main control module, and the main control module determines whether the power module is fully charged according to the charging data, including: During the charging process, the power module collects charging data according to a set period and reports it to the main control module. The charging data includes battery voltage and charging current; When the main control module determines that the battery voltage is greater than the voltage threshold and the charging current is less than the current threshold, it determines that the power module has completed charging.

8. A multi-mode intelligent charging system, characterized in that: The system comprises: The interactive module is used to respond to the trigger information of autonomous charging, send a recharge instruction to the main control module, and call the main control module to control the robot to move to the charging pile point; wherein the recharge instruction includes the charging pile point; A main control module is used to identify the charging pile corresponding to the charging pile point, trigger the power module to dock with the charging module in the charging pile, and receive the information feedback from the power module that the charging pile is successfully docked; and to determine whether the power module is fully charged according to the charging data, and notify the interaction module and the power module to stop charging after charging is completed; The power module is used to feed back the information of successful docking to the main control module; and after successful docking, it is used to monitor the charging data and report it to the main control module.

9. A robot, characterized in that: The robot comprises: at least one processor; at least one memory for storing at least one program; When the at least one program is executed by the at least one processor, the at least one processor implements the method according to any one of claims 1 to 7.

10. A computer-readable storage medium storing a program executable by a processor, characterized in that: The processor-executable program is used to perform the method according to any one of claims 1 to 7 when executed by the processor.

Images