Charging method and device and robot

Abstract

The invention discloses a charging method and device and a robot. The charging method comprises the steps that first image data of a transmitting assembly of a target charging pile are acquired; based on the first image data of the transmitting assembly, first grabbing information of an end effector of the robot is determined; and under the condition that the end effector is controlled to grab the transmitting assembly based on the first grabbing information, the end effector is controlled to move the transmitting assembly, so that the transmitting assembly is located in a first distance range of a receiving assembly of the robot, and an energy storage assembly of the robot is charged through the transmitting assembly.

Description

Technical Field

[0001] The present application relates to the field of robotics, and in particular to a charging method, device, and robot. Background Art

[0002] With the continuous development of robotics technology, mobile robots are increasingly being used in various fields, including industrial and domestic services. To ensure the continuous and efficient operation of robots, charging has become a key capability. However, for humanoid robots, the current state of the art requires manual charging or battery swapping to ensure precise docking between the robot and the charging station, significantly limiting their operational lifespan and applications. Summary of the Invention

[0003] In view of this, embodiments of the present application provide at least a charging method, device, and robot.

[0004] The technical solution of the embodiment of the present application is implemented as follows:

[0005] In a first aspect, an embodiment of the present application provides a charging method, the method comprising:

[0006] Determine the first position information of the transmitting component of the target charging pile;

[0007] Determining first grasping information of the end effector of the robot based on the first pose information of the transmitting component;

[0008] When the end effector is controlled to grasp the transmitting component based on the first grasping information, the end effector is controlled to move the transmitting component so that the transmitting component is within a first distance range of the receiving component of the robot, so as to charge the energy storage component of the robot through the transmitting component.

[0009] In a second aspect, an embodiment of the present application provides a charging device, which is applied to a robot and includes:

[0010] An acquisition module, configured to acquire first image data of a transmitting component of a target charging pile;

[0011] a determination module, configured to determine first grasping information of an end effector of the robot based on the first image data of the transmitting component;

[0012] A control movement module is used to control the end effector to move the transmitting component so that the transmitting component is within a first distance range of the receiving component of the robot, so as to charge the energy storage component of the robot through the transmitting component.

[0013] In a third aspect, an embodiment of the present application provides a robot, comprising an end effector, a receiving component, an energy storage component, and a controller; wherein the controller is configured to:

[0014] Acquire first image data of a transmitting component of a target charging pile;

[0015] determining first grasping information of the end effector of the robot based on the first image data of the transmitting component;

[0016] When the end effector is controlled to grasp the transmitting component based on the first grasping information, the end effector is controlled to move the transmitting component so that the transmitting component is within a first distance range of the receiving component of the robot, so as to charge the energy storage component of the robot through the transmitting component.

[0017] In a fourth aspect, an embodiment of the present application provides a computer device comprising a memory and a processor, wherein the memory stores a computer program that can be run on the processor, and when the processor executes the program, some or all of the steps in the above method are implemented.

[0018] In a fifth aspect, an embodiment of the present application provides a computer-readable storage medium on which a computer program is stored, and when the computer program is executed by a processor, some or all of the steps in the above method are implemented.

[0019] In a sixth aspect, an embodiment of the present application provides a computer program product, comprising a computer program or instructions, which implement some or all of the steps in the above method when executed by a processor.

[0020] In the embodiment of this application, the robot's end effector first generates first grasping information based on the first image data of the target charging station's transmitting component, thereby improving the robot's accuracy in grasping the transmitting component. Then, after the end effector successfully grasps the transmitting component, it moves the transmitting component to within the first distance range of the receiving component to achieve wireless charging. Compared to the related art, which relies on manual charging or battery replacement for humanoid robots, the embodiment of this application utilizes the humanoid robot's own end effector and vision system to complete the grasping and placement operations, improving the flexibility and adaptability of the robot's charging.

[0021] It should be understood that the above general description and the following detailed description are merely exemplary and explanatory, and do not limit the technical solutions of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] The drawings herein are incorporated into and constitute a part of the specification. These drawings illustrate embodiments consistent with the present application and, together with the specification, are used to illustrate the technical solutions of the present application.

[0023] Figure 1 A schematic diagram of the implementation process of a charging method provided in an embodiment of the present application Figure 1 ;

[0024] Figure 2 A schematic diagram of the implementation process of a charging method provided in an embodiment of the present application Figure 2 ;

[0025] Figure 3 A schematic diagram of the implementation process of a charging method provided in an embodiment of the present application Figure 3 ;

[0026] Figure 4 A schematic diagram of the implementation process of a charging method provided in an embodiment of the present application Figure 4 ;

[0027] Figure 5 Schematic diagram of the structure of the robot provided in the embodiment of this application Figure 1 ;

[0028] Figure 6 A schematic diagram of the implementation process of a charging method provided in an embodiment of the present application Figure 5 ;

[0029] Figure 7 Schematic diagram of the structure of the robot provided in the embodiment of this application Figure 2 ;

[0030] Figure 8 A schematic diagram of a hardware entity of a computer device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0031] In order to make the purpose, technical solutions and advantages of this application clearer, the technical solutions of this application are further elaborated in detail below with reference to the accompanying drawings and embodiments. The described embodiments should not be regarded as limiting this application. All other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of this application.

[0032] In the following description, reference is made to “some embodiments”, which describes a subset of all possible embodiments, but it will be understood that “some embodiments” may be the same subset or different subsets of all possible embodiments and may be combined with each other without conflict.

[0033] The terms "first / second / third" involved are merely used to distinguish similar objects and do not represent a specific ordering of the objects. It is understandable that "first / second / third" can be interchanged with a specific order or sequence where permitted so that the embodiments of the present application described herein can be implemented in an order other than that illustrated or described herein.

[0034] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the art to which this application pertains. The terms used herein are for the purpose of describing this application only and are not intended to limit this application.

[0035] Traditional automatic charging methods for mobile robots are not suitable for humanoid robots, especially bipedal ones. First, bipedal humanoid robots lack a chassis to accommodate such a charging device. Second, the way humanoid robots move around can pose a significant challenge to alignment.

[0036] Furthermore, for new energy vehicle automatic charging robots, a robotic arm uses visual recognition to locate the vehicle's charging port. It then inserts the charging gun into the port through motion planning and pose estimation, and monitors the charging status online. This entire process requires high accuracy in identifying and positioning the charging port. Furthermore, the large size of the charging gun requires significant torque for insertion, posing a significant challenge for a humanoid robot. Furthermore, this involves a contact-based charging method.

[0037] Therefore, the above-mentioned related charging technologies have the following problems:

[0038] 1. The automatic charging methods for AGVs or sweepers are all for robots with chassis, but bipedal humanoid robots do not have a suitable location to arrange such a wireless charging device. The alignment process requires very high precision for the humanoid robot and requires additional sensors.

[0039] 2. For the automatic charging method of new energy vehicles, the visual recognition accuracy requirements for the charging port are relatively high. In addition, the torque requirements of the humanoid robot arms and the end fixture are very high. The existing humanoid robot arms are all light collaborative arms, and the torque is difficult to achieve.

[0040] In order to solve the technical problems in the related art, the embodiment of the present application provides a charging method, which can be applied to the controller of a robot. For example, the robot can be an embodied intelligent robot. Figure 1 As shown, the charging method includes steps S101 to S104:

[0041] Step S101: Acquire first image data of a transmitting component of a target charging pile.

[0042] Here, the target charging pile can be a charging pile that is in a powered-on idle state among multiple charging piles. In some embodiments, the target charging pile can also be a charging pile that is in a powered-on idle state among multiple charging piles and is closest to the robot. The transmitting component of the target charging pile can be a wireless transmitting coil, which is used to convert electrical energy or signals into an electromagnetic field (or electromagnetic wave) and transmit it, realizing contactless charging.

[0043] In some embodiments, when the robot is in a low-power state, it can determine the nearest charging pile in its surroundings that is in a powered-on idle state (i.e., the target charging pile). Then, based on the location information of the target charging pile, the robot's mobile components are controlled to move so that the robot is in the charging space of the target charging pile. If there is no charging pile in the powered-on idle state among the charging piles, the target charging pile can also be a charging pile among multiple charging piles that is about to complete charging the current robot. At this time, the robot can move to the charging pile in a working state, and quickly access it after the charging pile completes the charging task, thereby reducing the charging waiting time.

[0044] In an embodiment of the present application, the robot includes an image acquisition component, which collects the first image data of the transmitting component of the target charging pile through the image acquisition component, and then determines the first position information of the transmitting component based on the first image data of the transmitting component. Wherein, in the case where the above-mentioned robot is an embodied intelligent robot, the image acquisition component can be deployed in at least one of the following areas of the robot: the forehead or the center of the eyebrows, the position of the eyes, the chest or the front area of ​​the torso, the shoulder area, the end area of ​​the arm, and the leg area, etc. Regarding the deployment position of the image acquisition component, it is necessary to ensure that the field of view of the component is not blocked and it is convenient to collect images and videos that meet the use requirements. Exemplarily, the image acquisition component can be an RGB (Red-Green-Blue) camera or an RGBD (Red-Green-Blue-Deep) camera.

[0045] In some embodiments, an optical recognition feature is provided on the target charging pile, and the position of the optical recognition feature at the target charging pile corresponds to the position of the transmitting component, so that the image acquisition component of the robot can collect image data of the transmitting component and the optical recognition feature, and then the controller of the robot can quickly determine the position of the transmitting component in the image data based on the optical recognition feature.

[0046] Step S102: determining first grasping information of the end effector of the robot based on the first image data of the transmitting component.

[0047] Here, the first grasping information may include a first movement trajectory of the end effector and a first grasping posture of the end effector. An end effector generally refers to a component of a robot used to perform grasping tasks, and has motion control and feedback functions. For example, the end effector can be a robotic hand or a multi-finger gripper.

[0048] In an embodiment of the present application, the posture information of the transmitting component can be determined based on the first image data of the transmitting component, and then the first grasping information of the end effector of the robot can be determined based on the posture information of the transmitting component.

[0049] In some embodiments, when the first grasping information includes the first movement trajectory of the end effector, the distance between the launching component and the robot can be determined based on the posture information of the launching component, and then the first movement trajectory of the end effector can be determined based on the distance.

[0050] In some embodiments, when the first grasping information includes a first grasping posture of the end effector, the size information of the transmitting assembly can be determined based on the position information of the transmitting assembly, and the first grasping posture of the end effector can be determined based on the size information of the transmitting assembly. The size information can represent the size of the target object. For transmitting assemblies of different sizes, the degree of opening of the end effector may be different, so it is necessary to determine the first grasping posture of the end effector based on the size information of the transmitting assembly.

[0051] In some embodiments, when determining the first grasping posture of an end effector, it is also necessary to determine the type of the current end effector. The first grasping posture of the end effector is determined based on the end effector type information and the size information of the launch assembly. This is because different types of end effectors may have different first grasping postures when grasping the same object. For example, a robotic hand and a multi-finger gripper may need to adopt different first grasping postures when grasping the same object.

[0052] In practical applications, the first grasping information can be generated by a traditional policy algorithm or a large model based on deep learning (VLA model), with the input being the image information of the transmitting component and the output being the joint angle sequence or path point set of the robot. The joint angle sequence may refer to a set of angle values ​​of the various joints of the fingers or grippers of the robot in a time series, and the joint angle sequence may be used to move the various joints of the robot or grippers at specified angles, thereby achieving the grasping of the transmitting component. The path point set refers to a series of target position points that the end of the fingers or grippers of the robot needs to pass through in space, and may be represented by a three-dimensional coordinate set, where each point in the three-dimensional coordinate set corresponds to a position in space. The path point set may be used to enable the robot or gripper to move along a predetermined trajectory, thereby achieving the grasping of the transmitting component.

[0053] Step S103, when controlling the end effector to grasp the transmitting component based on the first grasping information, controlling the end effector to move the transmitting component so that the transmitting component is within a first distance range of the receiving component of the robot, so as to charge the energy storage component of the robot through the transmitting component.

[0054] Here, the receiving component can be a device within the robot that cooperates with the transmitting component to achieve wireless energy transmission, such as a receiving coil fixedly mounted on the robot's torso or legs. The first distance range refers to the minimum effective working distance that must be met between the transmitting component and the receiving component to ensure stable wireless energy transmission between them. The energy storage component is a battery or other energy storage device within the robot that stores electrical energy and receives energy input from the transmitting component through the receiving component.

[0055] In this embodiment of the present application, the robot controller may first control the movement of the end effector based on the first grasping information, so that the end effector is in a space where it can grasp the transmitting assembly, and then continue to control the end effector to grasp the transmitting assembly based on the first grasping information. Finally, the robot controller may control the image acquisition component to capture image information of the end effector, and determine whether the end effector has grasped the transmitting assembly based on the image information of the end effector.

[0056] In some embodiments, a tactile sensor is provided on the surface of the end effector for contacting the launch component. The tactile sensor can collect contact information of the end effector contacting the launch component, and the contact information can be used to determine whether the end effector has grasped the launch component.

[0057] In an embodiment of the present application, when it is determined that the end effector has grasped the transmitting assembly, the end effector grasping the transmitting assembly can be moved so that the transmitting assembly is within a first distance range of the robot's receiving assembly. The robot's controller can collect image information including the end effector and the receiving assembly, determine a first movement trajectory of the end effector in real time based on the image information, and then control the movement of the end effector based on the first movement trajectory so that the transmitting assembly is within the first distance range of the robot's receiving assembly. Of course, in order to save computing resources, a relatively short time period can be set to periodically determine the first movement trajectory based on the image information and perform subsequent operations. The time period here is generally a short time interval that does not have a significant impact on the movement of the end effector.

[0058] In some embodiments, if the transmitting assembly remains within a first distance range of the receiving assembly of the robot without being subjected to external forces, the end effector can be controlled to release the transmitting assembly. For example, the receiving assembly is a platform with the flat surface of the platform facing upwards, in which case the end effector can be controlled to place the transmitting assembly on the platform. If the transmitting assembly cannot remain within the first distance range of the receiving assembly of the robot without being subjected to external forces, the end effector can be controlled to continue to grasp the transmitting assembly. For example, the receiving assembly is a platform with the flat surface of the platform facing downwards, in which case the end effector can be controlled to move so that the distance between the transmitting assembly and the platform is within the first distance range.

[0059] In actual implementation, once the transmitter is correctly placed within the receiver's operating range, the charging station initiates the wireless charging process, transferring energy from the transmitter to the energy storage device via electromagnetic induction. During the charging process, the robot can determine whether charging is proceeding normally by reading data from the battery management system (BMS) or status feedback from the receiver's controller. If an anomaly is detected (e.g., charging has not started), the grasping process is re-executed to ensure reliable charging.

[0060] In the embodiment of this application, the robot's end effector first generates first grasping information based on the first image data of the target charging station's transmitting component, thereby improving the robot's accuracy in grasping the transmitting component. Then, after the end effector successfully grasps the transmitting component, it moves the transmitting component to within the first distance range of the receiving component to achieve wireless charging. Compared to the related art, which relies on manual charging or battery replacement for humanoid robots, the embodiment of this application utilizes the humanoid robot's own end effector and vision system to complete the grasping and placement operations, improving the flexibility and adaptability of the robot's charging.

[0061] In some embodiments, the first grasping information includes a first movement trajectory of the end effector and a first grasping posture of the end effector; Figure 2 As shown, the method can also be implemented through steps S201 to S203:

[0062] Step S201 : Control the end effector to move along the first movement trajectory so that the end effector is in a space where it can grasp the launching assembly.

[0063] In an embodiment of the present application, while the end effector is moving along the first moving trajectory, an environmental image can be collected in real time, and then the first moving trajectory can be adjusted in real time according to the environmental image, so that the end effector is in a space where it can grasp the launching component.

[0064] Step S202 : Based on the first grasping posture of the end effector, controlling the end effector to grasp the launching assembly.

[0065] In an embodiment of the present application, where the end effector is a robotic hand, the robot controller adjusts the angles and forces of each joint of the robotic hand based on the first grasping posture, enabling the robotic hand to appropriately grasp the transmitting assembly. For example, the transmitting assembly may be a cylindrical transmitting coil, and the first grasping posture of the transmitting assembly is posture information corresponding to the cylindrical shape, thereby enabling the robotic hand to grasp the transmitting assembly.

[0066] Step S203 , determining a grasping result of the end effector; the grasping result is used to indicate whether the end effector grasps the transmitting assembly.

[0067] In the embodiment of the present application, a tactile sensor can be used to sense changes in the contact force of the end effector, an image acquisition component can be used to capture images of the corresponding area of ​​the end effector and perform image analysis, or a comprehensive judgment can be made by combining the data of the two.

[0068] In some embodiments, the above step S203 may be implemented by at least one of steps S2031 and S2032:

[0069] Step S2031: determining the distance information between the gripping portion of the end effector and the transmitting assembly based on the second image data of the end effector; and determining the gripping result of the end effector based on the distance information between the gripping portion and the transmitting assembly.

[0070] Here, the gripping portion refers to the component of the end effector that contacts and grasps the firing assembly. For example, if the end effector is a robotic hand, the gripping portion may be the palm and at least some of the fingers of the robotic hand; if the end effector is a multi-finger gripper, the gripping portion may be at least some of the fingers of the multi-finger gripper.

[0071] In an embodiment of the present application, the regional image of the gripping part and the transmitting component can be determined based on the second image data, and then the number of pixels between the contact surface of the gripping part and the transmitting component can be determined in the regional image. The number of pixels is determined as the distance information between the gripping part and the transmitting component. If the number of pixels is less than or equal to the preset number of pixels, it is determined that the end effector has grasped the transmitting component; if the number of pixels is greater than the preset number of pixels, it is determined that the end effector has not grasped the transmitting component. The above-mentioned contact surface can be the surface of the gripping part that contacts the transmitting component. The preset number of pixels is determined based on the acquisition accuracy of the image acquisition component of the robot. The higher the acquisition accuracy of the image acquisition component, the smaller the preset number of pixels.

[0072] In some embodiments, the number of frames of image information having a pixel number greater than a preset pixel number may be determined. If the frame number is greater than the preset frame number, it may be determined that the end effector has grasped the transmitting assembly.

[0073] Step S2032: Determine a grasping result of the end effector based on the contact information of the end effector.

[0074] Contact information refers to information about the physical contact between the robotic arm and the target object, collected by tactile sensors (such as pressure sensors and force feedback sensors). This information includes parameters such as contact area, contact force, and contact time. This contact information can be used to determine whether the robotic arm has successfully grasped the target object.

[0075] In the embodiment of the present application, when the contact information is greater than or equal to the preset contact information and the duration is greater than or equal to the preset duration, it is determined that the end effector has grasped the transmitting component.

[0076] In actual operation, when the end effector attempts to grasp the launch assembly, the tactile sensor monitors the contact between the gripper and the launch assembly in real time. For example, if the tactile sensor detects a constant and stable contact force after the robot arm applies a certain gripping force, the grasp is considered successful. If the contact force is unstable or disappears suddenly, it may indicate a grasp failure or the target object has fallen off.

[0077] In some embodiments, it can be determined that the end effector has grasped the launching assembly when it is determined that the end effector has grasped the launching assembly based on distance information between the grasping portion and the launching assembly, and when it is determined that the end effector has grasped the launching assembly based on contact information of the end effector.

[0078] In the embodiment of the present application, the grasping result of the robot hand is judged by combining image information and contact information. In this way, multimodal perception fusion can be achieved, thereby improving the accuracy of grasping judgment and further enhancing the ability of the humanoid robot to automatically complete charging tasks in complex environments.

[0079] In some embodiments, as Figure 3 As shown, the "controlling the end effector to move the launching assembly" in the above step S103 can be implemented through steps S301 to S303:

[0080] Step S301 , while controlling the end effector to move the transmitting component along a preset trajectory, obtain environmental image information of the end effector; the preset trajectory is predetermined based on the position information of the receiving component and the position information of the transmitting component.

[0081] Here, the preset trajectory refers to the motion path calculated through teaching or algorithm based on the relative position relationship between the receiving component on the robot and the transmitting component on the charging pile.

[0082] It's understandable that when the robot approaches the target charging station, the positional relationship between the receiving component on the robot and the transmitting component on the charging station is relatively fixed. Therefore, the first movement trajectory of the end effector can be planned in advance based on the relative positional relationship between the receiving component and the transmitting component on the charging station. This can reduce the robot's computational workload and improve the robot's charging efficiency.

[0083] Step S302: determining an adjustment result of the preset trajectory based on the environmental image information.

[0084] In an embodiment of the present application, the obstacle recognition result of the transmitting component during movement can be determined based on the environmental image information. When the obstacle recognition result indicates that there is an obstacle during the movement of the transmitting component, the preset trajectory can be adjusted based on the position information of the obstacle to obtain the adjusted preset trajectory. When the obstacle recognition result indicates that there is no obstacle during the movement of the transmitting component, or when the movement of the transmitting component can effectively avoid obstacles in a moving state, the preset trajectory can be maintained unchanged.

[0085] Step S303: Based on the adjustment result of the preset trajectory, control the end effector to continue moving the launching assembly.

[0086] In an embodiment of the present application, after completing the trajectory adjustment, the robot controller can continue to control the end effector to perform the transport operation according to the adjusted preset trajectory, that is, to place the transmitting component at the specified position of the receiving component.

[0087] In this embodiment of the present application, when the end effector grasps the transmitting coil, it can first be controlled to move along a preset trajectory based on the position information of the receiving component and the position information of the transmitting component. Then, during the movement, the preset trajectory can be adjusted in real time based on the environmental image information. This can not only reduce the robot's computational workload, thereby improving the robot's charging efficiency, but also improve the efficiency of the end effector's movement of the transmitting component by adjusting the preset trajectory in real time.

[0088] In some embodiments, the above method may also be implemented through steps S11 and S12, and the above step S104 may be implemented through step S13:

[0089] Step S11, obtaining third image data of the receiving component.

[0090] In the embodiment of the present application, when the robot controller controls the end effector to move the transmitting component, i.e., when the end effector has completed its movement, the image acquisition component can capture third image data of the receiving component. This third image data is used to determine whether the transmitting component is within the first distance range of the receiving component of the robot.

[0091] Step S12, based on the third image data of the receiving component, determine whether the transmitting component is at the first preset position of the receiving component, so as to charge the energy storage component of the robot through the transmitting component when the transmitting component is at the first preset position of the receiving component.

[0092] In the embodiment of the present application, the first preset position refers to a specific area in the receiving component that is set as the optimal charging position.

[0093] Here, the first preset position refers to a standard position relative to the receiving component. This position is typically taught or pre-set based on the principle of maximizing electromagnetic coupling efficiency, ensuring alignment between the transmitting coil and the receiving coil for efficient wireless energy transfer. This position is typically defined by the spatial coordinate system of the receiving component, such as directly above the center point of the receiving component or at a specific offset.

[0094] In an embodiment of the present application, when the transmitting component is at the first preset position of the receiving component, it is determined that the transmitting component is within the first distance range of the receiving component of the robot; when the transmitting component is not at the first preset position of the receiving component, it is determined that the transmitting component is not within the first distance range of the receiving component of the robot.

[0095] In the embodiment of the present application, the receiving component includes a cavity capable of accommodating the transmitting component; the above step S12 can be implemented through steps S121 and S122:

[0096] Step S121 : determining, based on the top view image of the receiving component, whether the distance between the cross-sectional center of the transmitting component and the center of the cavity of the receiving component is within a second distance range.

[0097] Step S122 : When the distance between the cross-sectional center of the transmitting component and the center of the cavity of the receiving component is within a second distance range, determining that the transmitting component is at a first preset position of the receiving component.

[0098] Here, the third image data of the receiving component includes a top-view image, which refers to an image taken vertically from directly above, and is used to determine the key geometric features of the receiving component and the key geometric features of the transmitting component, namely, the cross-sectional center of the transmitting component and the center of the cavity of the receiving component.

[0099] The second distance range is a threshold range of permissible error used to determine whether the transmitter is sufficiently close to the center of the receiver's cavity to meet the minimum alignment accuracy required for automatic charging. This range can be set based on actual charging efficiency requirements, for example, within ±5mm.

[0100] The cavity refers to the spatial area in the structure where the receiving component is located, which is used to accommodate the transmitting component.

[0101] For example, when the receiving assembly is located in the thigh of a humanoid robot, the opening of the receiving assembly's cavity faces upward, and the bottom of the cavity is typically a flat or nearly flat area suitable for placing the transmitting assembly to achieve wireless energy transmission. The end effector can then place the transmitting assembly into the cavity of the receiving assembly through the opening.

[0102] In an embodiment of the present application, by determining the distance between the cross-sectional center of the transmitting component and the center of the cavity of the receiving component and comparing it with a preset second distance range, the robot can quickly determine whether the current position of the transmitting coil meets the alignment requirements, thereby deciding whether to start charging.

[0103] Exemplarily, the transmitting component can be a cylindrical transmitting coil, and the cavity of the receiving component can be a cylindrical cavity. When the transmitting component is placed in the cavity of the receiving component, it is possible to determine whether the cavities of the transmitting component and the receiving component are coaxial or approximately coaxial by capturing a top-view image of the receiving component.

[0104] In some embodiments, the above step S12 may also be implemented through steps S123 and S124:

[0105] Step S123: Based on the top view image of the receiving component, determine whether the transmitting component is within the charging mark at the bottom of the cavity.

[0106] Step S124: When the transmitting component is within the charging mark, determine that the transmitting component is at the first preset position of the receiving component.

[0107] Here, the charging mark is used to indicate the position of the transmitter component on the receiver component. The charging mark can be a pattern with obvious visual recognition characteristics (such as a circle, square, arrow, etc.), or it can be an area with color contrast to facilitate rapid positioning through image recognition algorithms. For example, the charging mark can be a black circle with a red filling inside, creating a strong visual contrast, which allows the robot to quickly identify and determine whether the transmitter component is correctly placed through image processing technology.

[0108] Exemplarily, when the receiving component is located at the thigh of the humanoid robot, the opening area of ​​the cavity of the receiving component faces upward, and the bottom of the cavity is a plane or a nearly plane area, and the charging mark can be on the plane of the bottom of the cavity.

[0109] In an embodiment of the present application, by using a top-view image to identify whether the transmitting component is within the charging mark, high-precision automatic alignment can be achieved, reducing the occurrence of charging failures caused by mechanical errors or environmental interference, and improving the success rate and stability of the robot's automatic charging.

[0110] In some embodiments, as Figure 4 As shown, the above method can also be implemented through steps S401 to S403:

[0111] Step S401 : When it is determined that the transmitting component meets a removal condition based on the charge state of the energy storage component, fourth image data of the transmitting component is acquired.

[0112] Here, the emission component meeting the removal condition may indicate that charging is stopped.

[0113] In an embodiment of the present application, based on the state of charge of the energy storage component, determining whether the transmitting component meets the removal condition may include: determining whether the state of charge of the energy storage component is greater than or equal to a first state of charge threshold; if it is greater than or equal to the first state of charge threshold, determining that the transmitting component meets the removal condition; if the state of charge of the energy storage component is less than the first state of charge threshold, determining whether the state of charge of the energy storage component is greater than or equal to a second state of charge threshold; if the state of charge of the energy storage component is greater than or equal to the second state of charge threshold, determining the task information of the robot; if the task information indicates that the robot has a task to be performed, determining that the transmitting component meets the removal condition. Wherein, the second state of charge threshold is less than the first state of charge threshold. Exemplarily, the first state of charge threshold can be any threshold value above 90%, and the second state of charge threshold can be any threshold value between 50% and 90%.

[0114] It is understandable that when the robot has tasks to be executed, even if the energy storage component is not fully charged, if the charge state of the energy storage component is greater than or equal to the second charge state threshold, charging can be stopped and the task can be executed first.

[0115] Step S402: Determine second grasping information of the end effector based on the fourth image data.

[0116] In the embodiment of the present application, when the transmitting component meets the removal conditions, the second grabbing information of the end effector for grabbing the transmitting component can be determined through the fourth image data of the transmitting component.

[0117] In the embodiment of the present application, the implementation of step S402 can refer to the implementation of step S102.

[0118] Step S403: When the end effector is controlled to grasp the transmitting assembly based on the second grasping information, the end effector is controlled to move the transmitting assembly so that the transmitting assembly is located at a second preset position of the target charging pile.

[0119] Here, the second grasping information includes a second movement trajectory of the end effector and a second grasping posture of the end effector. The second movement trajectory of the end effector refers to the trajectory of the end effector moving to the vicinity of the launch assembly.

[0120] In this embodiment of the present application, the end effector can be first controlled to move along the second movement trajectory so that the end effector is in a space where it can grasp the transmitting assembly; then, based on the end effector's first grasping posture, the end effector is controlled to grasp the transmitting assembly; after the end effector grasps the transmitting assembly, the end effector is controlled to move the transmitting assembly so that the transmitting assembly is positioned at a second preset position on the target charging pile. The second preset position refers to a preset position on the target charging pile for storing the transmitting assembly.

[0121] In some embodiments, the controller of the robot may first control the end effector to move the launch assembly along a preset trajectory, and during the movement, determine whether to adjust the preset trajectory based on the environmental image information of the end effector.

[0122] It is understood that, in general, the robot's path from grabbing the transmitter assembly from the charging station to the receiver assembly is the same as the path from grabbing the receiver assembly to the charging station. Therefore, while moving the transmitter assembly, the end effector holding the transmitter assembly can continue to move along the predetermined trajectory.

[0123] In some embodiments, after the transmitting component is at the second preset position of the target charging pile, image data of the target charging pile can also be collected, and the position information of the winding control or winding button for winding the line on the target charging pile can be determined based on the image data of the target charging pile. Then, based on the position information of the winding control or winding button, the end effector is controlled to touch the winding control or winding button to complete automatic winding.

[0124] In this embodiment of the present application, when the transmitting component meets the grasping conditions, the end effector is automatically controlled to place the transmitting component on the receiving component onto the target charging station, thereby completing the charging process. This achieves efficient docking between the robot and the charging station, completing the wireless charging process. This process not only improves charging efficiency but also reduces the need for manual intervention.

[0125] In some embodiments, the above method may also be implemented through steps S21 and S22:

[0126] Step S21 : broadcasting a charging request when the state of charge of the energy storage component of the robot is less than a preset state of charge.

[0127] Here, the energy storage component refers to a device used to store electrical energy for the operation of the robot, such as a lithium battery pack, supercapacitor, etc. Its main function is to provide continuous power support for the robot. The state of charge (SOC) indicates the percentage of the current remaining power of the energy storage component, which is usually monitored and reported in real time by the battery management system (BMS) of the energy storage component. The preset state of charge is a set value. When the SOC is lower than this value, the robot's controller determines that the robot is in a low-power state and needs to be charged. A charging request is a wireless communication signal used to send information that charging is required to surrounding charging piles in order to find available charging piles and start the charging process.

[0128] Step S22 : In response to first feedback information sent by the target charging pile based on the charging request, the vehicle moves toward the target charging pile based on the location information of the target charging pile.

[0129] In an embodiment of the present application, if there is a charging pile (i.e., a target charging pile) that is powered on and idle within the communication range of the robot, the charging pile can respond to the charging request and send a first feedback message to the robot.

[0130] In an embodiment of the present application, the first feedback information carries the mark information of the corresponding target charging pile. The robot controller can determine the location information of the target charging pile in the distribution map of multiple charging piles based on the mark information, and then move towards the target charging pile based on the location information of the target charging pile.

[0131] In some embodiments, the first feedback information carries location information of a corresponding target charging station. Based on the location information of the target charging station, the robot can be controlled by a controller of the robot to move toward the target charging station.

[0132] In some embodiments, if there are multiple charging piles (i.e., target charging piles) that are powered on and idle within the robot's communication range, all of them will receive the charging request and send a first feedback message to the robot. At this point, the robot's controller will, based on the timestamp of the received first feedback message, identify the charging pile that sent the first feedback message earliest among the multiple charging piles as the target charging pile, and then send a connection signal to the target charging pile, thereby completing the scheduled charging.

[0133] In some embodiments, when the robot controller receives first feedback information from multiple charging stations, the robot controller may first determine the charging station closest to the robot based on the location information of the multiple charging stations, and then send a connection signal to the target charging station to complete the scheduled charging. If there are multiple charging stations closest to the robot, the charging station that sent the first feedback information the earliest among the multiple charging stations may be determined as the target charging station, and then a connection signal may be sent to the target charging station to complete the scheduled charging.

[0134] In the implementation of this application, by detecting the charge state of the energy storage component and actively broadcasting a charging request when the power is low, and planning the path based on the information fed back by the charging pile and moving to the charging pile, the humanoid robot can realize the autonomous charging function in complex environments, thereby improving its endurance and operation continuity, and thus being able to adapt to a wider range of application scenarios.

[0135] In some embodiments, the above method may also be implemented through steps S31 and S32:

[0136] Step S31: If the first feedback information is not received within a preset time range, the location information of at least one other charging pile is determined based on a distribution map of multiple charging piles.

[0137] In this embodiment of the present application, if the first feedback information is not received within the preset time range, it can be determined that there are no powered and idle charging piles within the communication range of the robot. In this case, the location information of at least one other charging pile can be determined based on the distribution map of multiple charging piles.

[0138] In some embodiments, the distribution map includes status information and location information of each charging pile. The status information can indicate whether the charging pile is in a powered-on state and whether it is idle. Therefore, based on the distribution map of multiple charging piles, other charging piles that are closest to the robot, powered-on and idle, and the location information of other charging piles can be determined.

[0139] In some embodiments, the distribution map includes location information for each charging station. The robot controller may classify the location information of at least one other charging station to obtain multiple regions, each region including at least one other charging station. The robot controller may then determine the distance from each region to the robot, and determine a target region based on the distance information for each region and the number of other charging stations in each region, thereby obtaining the location information corresponding to each of the at least one other charging stations in the target region.

[0140] In the embodiment of the present application, determining a target area based on the distance information of each area and the number of other charging piles in each area includes: sorting the multiple areas from near to far based on the distance information of each area, determining at least two areas whose sorting numbers are less than a preset value, and then determining the area with the largest number of other charging piles among the at least two areas as the target area.

[0141] It is understandable that because the distribution map does not contain status information for each charging pile, it is necessary to predict in the distribution map the existence of charging piles that are powered on and idle. Because the robot is currently in a low-power state and cannot move long distances, it is necessary to prioritize moving to the nearest charging pile. At the same time, in order to reduce the possibility that the robot moves to the nearest charging pile that is powered off and / or not idle, it is necessary to move to an area with a large number of charging piles. Therefore, the area that is close to the robot and includes a large number of other charging piles is determined as the target area.

[0142] Step S32: Based on the location information of the other charging piles, the robot moves toward the other charging piles, and continues to broadcast charging requests during the movement of the robot until receiving second feedback information sent by the other charging piles.

[0143] In an embodiment of the present application, charging requests can be continuously broadcast while moving toward other charging piles based on the location information of other charging piles. When other charging piles that are powered on and idle appear within the communication range of the robot, the charging pile will send a second feedback message to the robot in response to the charging request, and the robot will stop broadcasting the charging request.

[0144] In an embodiment of the present application, by determining the location of the nearest charging pile based on the distribution map when the first feedback information is not received within a preset time range, and continuously broadcasting the charging request during the movement, more efficient charging pile discovery and connection can be achieved, thereby improving the humanoid robot's autonomous charging capabilities in complex environments.

[0145] The following describes the application of the charging method and robot provided in the embodiment of the present application in actual scenarios:

[0146] Traditional automatic charging methods for mobile robots are generally divided into contact charging and wireless charging.

[0147] For example, a sweeping robot uses contact-type automatic charging, which is connected to the electrode sheet through a metal plate. It requires frequent physical contact and is prone to wear and sparks.

[0148] AGV automatic charging solutions generally use wireless charging, which transmits energy through the coupling of coil magnetic fields, but there are problems with electromagnetic interference and heat generation.

[0149] Regardless of whether the charging method is contact or wireless, the general charging process involves navigation, positioning, alignment, and other processes, relying on sensors such as lidar, inertial measurement unit (IMU), camera, infrared, and corresponding algorithms.

[0150] Currently, most humanoid robots are charged manually or through battery replacement, which greatly limits their working life and applications.

[0151] However, the aforementioned automatic charging method for mobile robots isn't well-suited to humanoid robots, especially bipedal ones. First, bipedal robots lack a chassis to accommodate such a charging device. Second, the way humanoid robots move around can pose a significant challenge to alignment.

[0152] The automatic charging robot for new energy vehicles has a robotic arm that uses visual recognition to locate the vehicle's charging port. It then inserts the charging gun into the port through motion planning and pose estimation, and monitors the charging status online. This entire process requires high accuracy in identifying and positioning the charging port. Furthermore, the large size of the charging gun requires significant torque for insertion, posing a significant challenge for a humanoid robot. Furthermore, this involves a contact-based charging method.

[0153] Therefore, the above-mentioned related solutions have the following problems:

[0154] The automatic charging methods for AGVs or sweepers are all for robots with chassis, but bipedal humanoid robots do not have a suitable location to arrange such a wireless charging device. The alignment process requires very high precision for the humanoid robot and requires additional sensors.

[0155] For the automatic charging method of new energy vehicles, the visual recognition accuracy requirements for the charging port are relatively high, and the torque requirements of the humanoid robot's arms and the end fixture are very high. The existing humanoid robot arms are all light collaborative arms, and the torque is difficult to achieve.

[0156] like Figure 5As shown, an embodiment of the present application provides a robot 500, which includes a brain controller 501, a cerebellum controller 502, a robotic arm 503, a moving part 504, an end effector 505, a power management unit 507, a wireless charging receiving controller 508, a power battery 509, and a circular wireless receiving coil 510. Among them, the robot 500 communicates wirelessly with the wireless charging pile 600; the brain controller 501 is used to determine the movement trajectory of the robotic arm 503, the mobile part 504 and the end effector 505 based on the collected RGBD images and the laser radar data, and send the movement trajectory to the cerebellum controller 502. The cerebellum controller 502 controls the mobile part 504 based on the movement trajectory through the control bus to move to the vicinity of the wireless charging pile 600. Then, the cerebellum controller 502 controls the robotic arm 503 and the end effector 505 based on the movement trajectory through the control bus to grab the cylindrical transmitting coil 601 of the wireless charging pile 600, and finally places it in the circular wireless receiving coil 510 to charge the power battery 509 through the power management unit 507.

[0157] In some embodiments, when the robot is a non-legged humanoid robot, the aforementioned moving component may be a wheeled moving component comprising at least one moving wheel. When the robot is a legged humanoid robot, the moving component comprises at least one leg structure and at least one foot structure.

[0158] In some embodiments, the number of the robotic arms is at least one; the end effector connected to the robotic arm may include at least one of the following: a gripper, a suction cup, and a dexterous hand.

[0159] In the embodiment of the present application, the transmitting module (the above-mentioned cylindrical transmitting coil) is placed in the charging pile, and the receiving module (the above-mentioned ring-shaped wireless receiving coil) is placed in the robot body. The transmitting and receiving coils are both cylindrical in shape (the external structural parts can be rectangular, diamond-shaped, etc.). The diameter of the receiving coil is larger than that of the transmitting coil, so that the transmitting coil can be easily placed in the receiving coil (power is 300W). Because the humanoid robot has two arms, it can use its own mechanical arms and dexterous hands to pick up the cylindrical wireless transmitting coil on the charging pile (hereinafter referred to as the "charging stick") with one arm, and then place it on the body. The corresponding receiving coil position (hereinafter referred to as the "charging ring"). The receiving coil is fixed relative to the robot coordinates. The motion planning of the entire process from getting the coil to placing it can be completed through teaching, and then the visual closed loop is used to check whether it is placed in place.

[0160] In the embodiments of the present application, the power of the receiving coil is related to the robot type and the operation type. For example, if the robot is an industrial-grade robot and the operation type is high-power, a higher-power receiving coil can be used to quickly charge the robot, for example, the power can be 300-800W. If the robot is a household service robot and the operation type is low-power, a lower-power receiving coil can be used to charge the robot, for example, the power can be 30-50W.

[0161] In the embodiment of the present application, the receiving coil can be set on the thigh of the robot (with the coil facing upward). The setting principle is to facilitate the placement of the charging stick by the robot arm.

[0162] In an embodiment of the present application, the end effector required for the robot to grasp the charging stick can be a dexterous hand or a gripper. By taking photos with an RGBD camera before grasping, information such as the distance, size, and posture of the charging stick can be obtained. Through some policy algorithms and planners or large models, the grasping path and grasping posture can be generated.

[0163] In this embodiment, the robot body is equipped with sensors such as an RGBD camera, lidar, and an IMU to enable mapping, navigation, and obstacle avoidance. The wireless charging station is equipped with corresponding optical recognition features and an automatic cable retraction device. After charging, the robot removes the charging transmitter coil and automatically retracts the cable. The optical recognition features facilitate the robot's visual recognition of the charging station and its location.

[0164] like Figure 6 As shown, the above charging method can also be implemented through steps S601 to S625:

[0165] Step S601: The robot is low on power.

[0166] Step S602: Search for available charging stations nearby.

[0167] Among them, the available charging piles refer to charging piles that are powered on and idle.

[0168] In an embodiment of the present application, if a charging station is within the robot's communication range, the robot sends a query request to the charging station and determines whether it is available based on the information provided by the charging station. The robot prioritizes accessing the nearest charging station. If no charging station is within the robot's communication range, the robot moves toward the nearest charging station based on a preset charging station distribution map until the charging station is within the robot's communication range. The robot then sends a query request to the charging station and determines whether it is available based on the information provided by the charging station.

[0169] Step S603: Determine the charging pile.

[0170] In the embodiment of the present application, the priority of determining the charging pile is: distance priority first, then communication priority.

[0171] Step S604: Navigate to the vicinity of the charging station.

[0172] Step S605: taking a photo with the RGBD camera.

[0173] In the embodiment of the present application, the charging stick is photographed by an RGBD camera to obtain an image of the charging stick.

[0174] Step S606: Identify the charging stick and generate a grasping posture.

[0175] In the embodiment of the present application, a preset algorithm is used based on the image of the charging stick to identify the distance, size, and posture of the charging stick and generate a grasping posture. The preset algorithm can be a traditional policy algorithm or a large model.

[0176] Step S607: motion planning.

[0177] Step S608: Check whether the charging stick is successfully captured.

[0178] If the charging stick is successfully grasped, step S609 is executed; if the charging stick is not successfully grasped, step S605 is executed.

[0179] In an embodiment of the present application, whether the charging stick is successfully grasped can be determined by a tactile sensor on the robotic arm, or a camera can be used to take a photo of the robotic arm, and whether the charging stick is successfully grasped can be determined based on the photo of the robotic arm.

[0180] Step S609: Place the charging stick into the charging ring.

[0181] In an embodiment of the present application, the charging stick is placed in the charging ring based on a pre-planned route. In some embodiments, the route can also be planned in real time.

[0182] In the embodiment of the present application, whether the charging stick is successfully placed in the charging ring can be determined by taking a photo for identification.

[0183] Step S610, taking a photo.

[0184] In the embodiment of the present application, a photo of the charging ring is taken to obtain a photo of the charging ring.

[0185] Step S611, determining whether it is placed in place.

[0186] If yes, execute step S612; if no, execute step S606.

[0187] In the embodiment of the present application, the placement is determined based on a photograph of the charging ring. The charging rod and the charging ring can be coaxially determined by looking down at the photograph to determine whether they are in place. Alternatively, the charging rod can be located within the markings on the charging ring.

[0188] Step S612: Start charging.

[0189] Step S613: Check whether the charging status is completed.

[0190] If yes, execute step S614; if no, execute step S605.

[0191] In an embodiment of the present application, the robot can read the status of its own wireless receiving module (reported by the controller of the charging ring) to determine the charging status, and can also obtain the charging status through the reporting information of the BMS of the robot's battery.

[0192] Step S614, keep charging.

[0193] Step S615: Check whether it is full.

[0194] If yes, execute step S618; if no, execute step S616.

[0195] Step S616: Check whether the power level is greater than 50%.

[0196] If yes, execute step S617; if no, execute step S614.

[0197] Step S617: Is there a task?

[0198] If yes, execute step S618; if no, execute step S616.

[0199] Step S618, take a photo.

[0200] In the embodiment of the present application, when there is a task or the charging stick is fully charged, the RGBD camera is used to take a picture of the charging stick to obtain an image of the charging stick.

[0201] Step S619: Generate a grasping posture of the charging stick.

[0202] In the embodiment of the present application, the grasping posture of the charging stick is generated based on the image of the charging stick.

[0203] Step S620: motion planning.

[0204] Step S621: Grab the charging stick.

[0205] In the embodiment of the present application, the conditions for removing the charging stick are: there is a new task and the power level meets the standard, or it is fully charged.

[0206] Step S622: Check whether the charging stick is successfully captured.

[0207] If yes, execute step S623; if no, execute step S618.

[0208] Step S623: Place the charging stick at the designated location of the charging pile.

[0209] Step S624, notify the charging pile to retract the line.

[0210] Step S625, charging is completed.

[0211] In some embodiments, the present application provides a charging device, which is applied to a robot and includes:

[0212] An acquisition module, configured to acquire first image data of a transmitting component of a target charging pile;

[0213] A first determining module is configured to determine first grasping information of the end effector of the robot based on the first image data of the transmitting component;

[0214] A control movement module is used to control the end effector to move the transmitting component so that the transmitting component is within a first distance range of the receiving component of the robot, so as to charge the energy storage component of the robot through the transmitting component.

[0215] In some embodiments, the first grasping information includes a first movement trajectory of the end effector and a first grasping posture of the end effector; the control movement module is further used to control the end effector to move along the first movement trajectory so that the end effector is in a space capable of grasping the launching component; based on the first grasping posture of the end effector, the end effector is controlled to grasp the launching component; the above-mentioned charging device also includes a second determination module, which is further used to determine the grasping result of the end effector; the grasping result is used to indicate whether the end effector has grasped the launching component.

[0216] In some embodiments, the second determining module is further configured to at least one of: determine distance information between the gripping portion of the end effector and the transmitting assembly based on the second image data of the end effector; determine a gripping result of the end effector based on the distance information between the gripping portion and the transmitting assembly;

[0217] A grasping result of the end effector is determined based on the contact information of the end effector.

[0218] In some embodiments, the control movement module is also used to obtain environmental image information of the end effector while controlling the end effector to move the transmitting component along a preset trajectory; the preset trajectory is predetermined based on the position information of the receiving component and the position information of the transmitting component; based on the environmental image information, an adjustment result of the preset trajectory is determined; based on the adjustment result of the preset trajectory, the end effector is controlled to continue moving the transmitting component.

[0219] In some embodiments, the charging device also includes a first acquisition module and a third determination module; the first acquisition module is used to acquire third image data of the receiving component; the third determination module is used to determine whether the transmitting component is in the first preset position of the receiving component based on the third image data of the receiving component, so as to charge the energy storage component of the robot through the transmitting component when the transmitting component is in the first preset position of the receiving component.

[0220] In some embodiments, the third determining module is configured to:

[0221] In a case where the receiving assembly includes a cavity capable of accommodating the transmitting assembly, determining, based on a top view image of the receiving assembly, a distance between a cross-sectional center of the transmitting assembly and a center of the cavity of the receiving assembly; and in a case where the distance between the cross-sectional center of the transmitting assembly and the center of the cavity of the receiving assembly is within a second distance range, determining that the transmitting assembly is in a first preset position of the receiving assembly;

[0222] Based on the top view image of the receiving component, determine whether the transmitting component is within the charging mark at the bottom of the cavity; when the transmitting component is within the charging mark, determine that the transmitting component is at the first preset position of the receiving component.

[0223] In some embodiments, the charging device further includes a second acquisition module and a fourth determination module. The second acquisition module is used to acquire fourth image data of the transmitting component when it is determined that the transmitting component meets the removal conditions based on the charge state of the energy storage component; the fourth determination module is used to determine second grasping information of the end effector based on the fourth image data; the control movement module is used to control the end effector to move the transmitting component when it controls the end effector to grasp the transmitting component based on the second grasping information, so that the transmitting component is at the second preset position of the target charging pile.

[0224] In some embodiments, the above-mentioned charging device also includes a broadcast module and a fifth determination module; the broadcast module is used to broadcast a charging request when the charge state of the energy storage component of the robot is less than a preset charge state; the above-mentioned control movement module is used to respond to the first feedback information sent by the target charging pile based on the charging request and move toward the target charging pile based on the position information of the target charging pile.

[0225] In some embodiments, the above-mentioned charging device also includes a sixth determination module; the sixth determination module is used to determine the location information of at least one other charging pile based on the distribution map of multiple charging piles when the first feedback information is not received within a preset time range; the above-mentioned control movement module is used to move to the other charging pile based on the location information of the other charging pile; the broadcast module is used to continue broadcasting the charging request during the movement of the robot until the second feedback information sent by the other charging pile is received.

[0226] Figure 7 This is a schematic diagram of the structure of a robot provided in an embodiment of the present application, such as Figure 7 As shown, the robot 700 includes: an end effector 701, a receiving component 702, an energy storage component 703 and a controller 704; wherein, the controller 704 is used to:

[0227] Acquire first image data of a transmitting component of a target charging pile;

[0228] Determining first grasping information of the end effector 701 of the robot based on the first image data of the transmitting component;

[0229] When the end effector 701 is controlled to grasp the transmitting component based on the first grasping information, the end effector 701 is controlled to move the transmitting component so that the transmitting component is within a first distance range of the receiving component 702 of the robot, so as to charge the energy storage component 703 of the robot through the transmitting component.

[0230] In some embodiments, the controller 704 is further used to: control the end effector to move along the first moving trajectory so that the end effector is in a space capable of grasping the launching component; based on the first grasping posture of the end effector, control the end effector to grasp the launching component; determine the grasping result of the end effector; the grasping result is used to characterize whether the end effector grasps the launching component.

[0231] In some embodiments, the controller 704 is further used to: determine the distance information between the gripping part of the end effector and the launching component based on the second image data of the end effector; determine the gripping result of the end effector based on the distance information between the gripping part and the launching component; and determine the gripping result of the end effector based on the contact information of the end effector.

[0232] In some embodiments, the controller 704 is also used to: obtain environmental image information of the end effector while controlling the end effector to move the transmitting component along a preset trajectory; the preset trajectory is predetermined based on the position information of the receiving component and the position information of the transmitting component; based on the environmental image information, determine the adjustment result of the preset trajectory; based on the adjustment result of the preset trajectory, control the end effector to continue moving the transmitting component.

[0233] In some embodiments, the controller 704 is also used to: obtain third image data of the receiving component; determine whether the transmitting component is in the first preset position of the receiving component based on the third image data of the receiving component; and when the transmitting component is in the first preset position of the receiving component, charge the energy storage component of the robot through the transmitting component.

[0234] In some embodiments, the controller 704 is also used to: determine whether the distance between the cross-sectional center of the transmitting component and the center of the cavity of the receiving component is within a second distance range based on the overhead image of the receiving component; and determine that the transmitting component is at the first preset position of the receiving component when the distance between the cross-sectional center of the transmitting component and the center of the cavity of the receiving component is within the second distance range.

[0235] In some embodiments, the controller 704 is further used to: determine whether the transmitting component is within the charging mark at the bottom of the cavity based on the overhead image of the receiving component; and when the transmitting component is within the charging mark, determine that the transmitting component is at the first preset position of the receiving component.

[0236] In some embodiments, the controller 704 is also used to: obtain fourth image data of the transmitting component when it is determined that the transmitting component meets the removal conditions based on the charge state of the energy storage component; determine second grasping information of the end effector based on the fourth image data; and control the end effector to move the transmitting component so that the transmitting component is at a second preset position of the target charging pile when the end effector is controlled to grasp the transmitting component based on the second grasping information.

[0237] In some embodiments, the controller 704 is also used to: broadcast a charging request when the charge state of the energy storage component of the robot is less than a preset charge state; and move toward the target charging pile based on the position information of the target charging pile in response to first feedback information sent by the target charging pile based on the charging request.

[0238] In some embodiments, the controller 704 is also used to: determine the location information of at least one other charging pile based on a distribution map of multiple charging piles when the first feedback information is not received within a preset time range; move toward the other charging pile based on the location information of the other charging pile, and continue to broadcast charging requests during the movement of the robot until the second feedback information sent by the other charging pile is received.

[0239] The description of the above device embodiment is similar to the description of the above method embodiment and has similar beneficial effects as the method embodiment. In some embodiments, the functions or modules included in the device provided in the embodiments of the present application can be used to perform the methods described in the above method embodiments. For technical details not disclosed in the device embodiments of the present application, please refer to the description of the method embodiments of the present application for understanding.

[0240] It should be noted that, in the embodiment of the present application, if the above-mentioned data processing method is implemented in the form of a software function module and sold or used as an independent product, it can also be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the embodiment of the present application is essentially or the part that contributes to the relevant technology can be embodied in the form of a software product, which is stored in a storage medium and includes a number of instructions for enabling a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the methods of each embodiment of the present application. The aforementioned storage medium includes various media that can store program codes, such as a U disk, a mobile hard disk, a read-only memory (ROM), a magnetic disk or an optical disk. In this way, the embodiment of the present application is not limited to any specific hardware, software or firmware, or any combination of hardware, software and firmware.

[0241] An embodiment of the present application provides a computer device including a memory and a processor, wherein the memory stores a computer program that can be run on the processor, and when the processor executes the program, some or all of the steps in the above method are implemented.

[0242] The present invention provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements some or all of the steps in the above method. The computer-readable storage medium may be transient or non-transient.

[0243] An embodiment of the present application provides a computer program, including computer-readable code. When the computer-readable code runs in a computer device, a processor in the computer device executes some or all of the steps for implementing the above method.

[0244] The present application provides a computer program product, which includes a non-transitory computer-readable storage medium storing a computer program. When the computer program is read and executed by a computer, some or all of the steps in the above method are implemented. The computer program product can be implemented in hardware, software, or a combination thereof. In some embodiments, the computer program product is embodied as a computer storage medium. In other embodiments, the computer program product is embodied as a software product, such as a software development kit (SDK).

[0245] It should be noted that the descriptions of the various embodiments above tend to emphasize the differences between the various embodiments, and their similarities or similarities can be referenced to each other. The descriptions of the above device, storage medium, computer program, and computer program product embodiments are similar to the descriptions of the above method embodiments and have similar beneficial effects as the method embodiments. For technical details not disclosed in the embodiments of the device, storage medium, computer program, and computer program product of this application, please refer to the description of the method embodiments of this application for understanding.

[0246] Figure 8 This is a schematic diagram of the structure of a computer device provided in an embodiment of the present application. Figure 8 As shown, the computer device 800 includes: a memory 810 and a processor 820; wherein the memory 810 stores a computer program that can be run on the processor 820; when the processor 820 executes the computer program, the method provided in the above embodiment is implemented.

[0247] The memory 810 stores computer programs that can be run on the processor. The memory 810 is configured to store instructions and applications executable by the processor 820. It can also cache data to be processed or processed by the processor 820 and each module in the control device 800 (for example, image data, audio data, voice communication data, and video communication data). This can be achieved through flash memory (FLASH) or random access memory (RAM).

[0248] When the processor 820 executes the program, the steps of any of the above control methods are implemented. The processor 820 generally controls the overall operation of the computer device 800.

[0249] An embodiment of the present application provides a computer storage medium, which stores one or more programs. The one or more programs can be executed by one or more processors to implement the steps of the charging method of any of the above embodiments.

[0250] It should be noted that the description of the above storage medium and device embodiments is similar to the description of the above method embodiments and has similar beneficial effects as the method embodiments. For technical details not disclosed in the storage medium and device embodiments of this application, please refer to the description of the method embodiments of this application for understanding.

[0251] The processor may be at least one of an application-specific integrated circuit (ASIC), a digital signal processor (DSP), a digital signal processing device (DSPD), a programmable logic device (PLD), a field programmable gate array (FPGA), a central processing unit (CPU), a controller, a microcontroller, and a microprocessor. It is understood that the electronic device that implements the functions of the processor may also be other electronic devices, which are not specifically limited in the embodiments of the present application.

[0252] The above-mentioned computer storage medium / memory can be a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), a magnetic random access memory (FRAM), a flash memory (Flash Memory), a magnetic surface memory, an optical disc, or a compact disc read-only memory (CD-ROM); it can also be various terminals including one or any combination of the above-mentioned memories, such as mobile phones, computers, tablet devices, personal digital assistants, etc.

[0253] It should be understood that "one embodiment" or "an embodiment" mentioned throughout the specification means that the specific features, structures or characteristics related to the embodiment are included in at least one embodiment of the present application. Therefore, "in one embodiment" or "in an embodiment" appearing throughout the specification does not necessarily refer to the same embodiment. In addition, these specific features, structures or characteristics can be combined in one or more embodiments in any suitable manner. It should be understood that in the various embodiments of the present application, the size of the serial numbers of the above-mentioned steps / processes does not mean the order of execution, and the execution order of each step / process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present application. The above-mentioned serial numbers of the embodiments of the present application are for description only and do not represent the advantages and disadvantages of the embodiments.

[0254] It should be noted that, in this document, the terms "comprises," "includes," or any other variations thereof are intended to encompass non-exclusive inclusion, such that a process, method, article, or apparatus comprising a series of elements includes not only those elements but also other elements not explicitly listed, or elements inherent to such process, method, article, or apparatus. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of other identical elements in the process, method, article, or apparatus comprising the element.

[0255] The above is only an implementation method of the present application, but the scope of protection of the present application is not limited thereto. Any technician familiar with this technical field can easily think of changes or replacements within the technical scope disclosed in this application, which should be covered by the scope of protection of the present application.

Claims

1. A charging method, characterized in that: The method is applied to a robot, and the method comprises: Acquire first image data of a transmitting component of a target charging pile; determining first grasping information of the end effector of the robot based on the first image data of the transmitting component; When the end effector is controlled to grasp the transmitting component based on the first grasping information, the end effector is controlled to move the transmitting component so that the transmitting component is within a first distance range of the receiving component of the robot, so as to charge the energy storage component of the robot through the transmitting component.

2. The method according to claim 1, characterized in that The first grasping information includes a first movement trajectory of the end effector and a first grasping posture of the end effector; The method further comprises: Controlling the end effector to move along the first movement trajectory so that the end effector is in a space capable of grasping the launch assembly; Based on the first grasping posture of the end effector, controlling the end effector to grasp the launching assembly; Determine a grasping result of the end effector; the grasping result is used to indicate whether the end effector grasps the launching assembly.

3. The method according to claim 2, characterized in that Determining the grasping result of the end effector includes at least one of the following: determining, based on the second image data of the end effector, distance information between a gripping portion of the end effector and the transmitting assembly; and determining a gripping result of the end effector based on the distance information between the gripping portion and the transmitting assembly; A grasping result of the end effector is determined based on the contact information of the end effector.

4. The method according to any one of claims 1 to 3, characterized in that: The controlling the end effector to move the launching assembly comprises: Acquiring environmental image information of the end effector during the process of controlling the end effector to move the transmitting assembly along a preset trajectory; the preset trajectory is predetermined based on the position information of the receiving assembly and the position information of the transmitting assembly; Determining an adjustment result of the preset trajectory based on the environmental image information; Based on the adjustment result of the preset trajectory, the end effector is controlled to continue moving the launching assembly.

5. The method according to any one of claims 1 to 4, characterized in that: The method further comprises: acquiring third image data of the receiving component; Based on the third image data of the receiving component, determine whether the transmitting component is at the first preset position of the receiving component, so as to charge the energy storage component of the robot through the transmitting component when the transmitting component is at the first preset position of the receiving component.

6. The method according to claim 5, characterized in that The determining, based on the third image data of the receiving component, whether the transmitting component is located at the first preset position of the receiving component comprises at least one of the following: In a case where the receiving assembly includes a cavity capable of accommodating the transmitting assembly, determining, based on a top view image of the receiving assembly, a distance between a cross-sectional center of the transmitting assembly and a center of the cavity of the receiving assembly; and in a case where the distance between the cross-sectional center of the transmitting assembly and the center of the cavity of the receiving assembly is within a second distance range, determining that the transmitting assembly is in a first preset position of the receiving assembly; determining, based on the top view image of the receiving assembly, whether the transmitting assembly is within a charging mark at the bottom of the cavity; When the transmitting component is within the charging mark, it is determined that the transmitting component is at the first preset position of the receiving component.

7. The method according to any one of claims 1 to 6, characterized in that: The method further comprises: When it is determined that the transmitting component meets the removal condition based on the charge state of the energy storage component, acquiring fourth image data of the transmitting component; determining second grasping information of the end effector based on the fourth image data; In a case where the end effector is controlled to grasp the transmitting assembly based on the second grasping information, the end effector is controlled to move the transmitting assembly so that the transmitting assembly is located at a second preset position of the target charging pile.

8. The method according to any one of claims 1 to 7, characterized in that: The method further comprises at least one of the following: When the state of charge of the energy storage component of the robot is less than a preset state of charge, broadcast a charging request; and in response to first feedback information sent by the target charging pile based on the charging request, move toward the target charging pile based on the position information of the target charging pile; If the first feedback information is not received within a preset time range, determining the location information of at least one other charging pile based on a distribution map of the plurality of charging piles; Based on the position information of the other charging piles, the robot moves toward the other charging piles, and continues to broadcast charging requests during the movement of the robot until second feedback information sent by the other charging piles is received.

9. A charging device, characterized in that: The device is applied to a robot, and comprises: An acquisition module, configured to acquire first image data of a transmitting component of a target charging pile; A first determining module is configured to determine first grasping information of the end effector of the robot based on the first image data of the transmitting component; A control movement module is used to control the end effector to move the transmitting component so that the transmitting component is within a first distance range of the receiving component of the robot, so as to charge the energy storage component of the robot through the transmitting component.

10. A robot, characterized in that: The robot includes an end effector, a receiving component, an energy storage component, and a controller; wherein the controller is used to: Acquire first image data of a transmitting component of a target charging pile; determining first grasping information of the end effector of the robot based on the first image data of the transmitting component; In a case where the end effector is controlled to grasp the transmitting assembly based on the first grasping information, the end effector is controlled to move the transmitting assembly so that the transmitting assembly is within a first distance range of the receiving assembly of the robot; The energy storage component of the robot is charged through the transmitting component.

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