Charging control method of robot group, server, system and storage medium

Abstract

The invention relates to the technical field of robots, and discloses a robot group charging control method, a server, a robot charging system and a computer readable storage medium. The method comprises the steps that under the condition of shared charging, the number of charging piles capable of being distributed to each type of robot sub-group in a robot group is calculated; for each type of robot sub-group, to-be-charged robots are selected according to the number of distributable charging piles; and for each type of robot sub-group, distributing a charging pile for the to-be-charged robot from the idle charging piles. In this way, it is avoided that different types of robots scramble for charging pile resources.

Description

Technical Field

[0001] This application relates to the field of robotics, specifically to a charging control method for a group of robots, a server, a robot charging system, and a computer-readable storage medium. Background Technology

[0002] Robots typically rely on batteries for power, continuously consuming electricity during operation and requiring them to return to charging stations for recharging at appropriate times. In shared charging scenarios, different types of robots can use the same charging station, easily leading to competition for charging station resources. Summary of the Invention

[0003] In view of the above problems, this application provides a charging control method for a group of robots, a server, a robot charging system, and a computer-readable storage medium to solve the problem of competition for charging pile resources in shared charging scenarios in the prior art.

[0004] According to one aspect of the embodiments of this application, a charging control method for a robot swarm is provided, the method comprising: In the case of shared charging, calculate the number of charging stations that can be allocated to each type of robot subgroup in the robot swarm; For each type of robot subgroup, select the robot to be charged based on the number of available charging stations; For each type of robot subgroup, a charging station is allocated to the robot to be charged from the available charging stations.

[0005] In one alternative approach, selecting the robot to be charged based on the number of available charging stations includes: The phase of the robot is calculated based on the robot's state and state of charge value, wherein the robot's state includes working state and charging state; Based on the phase, a phase segment is matched for the robot within a preset phase interval, wherein the phase interval includes multiple phase segments, and each phase segment is matched for only one robot; Based on the number of allocable charging stations, a state transition decision is made for at least a portion of the robots that have not been matched with the phase segment. The state transition decision is either a charging decision to switch from a working state to a charging state or a decision to leave the charging station to switch from a charging state to a working state. The at least a portion of the robots includes robots that can be matched with the phase segment after the state transition. The number of robots that make the charging decision is not greater than the number of allocable charging stations. The robot whose state transition decision is the charging decision is the robot to be charged.

[0006] In one alternative approach, calculating the robot's phase based on the robot's state and state of charge values ​​includes: Obtain the state of the robot; If the robot is in the working state, the state of charge value of the robot is determined as the phase of the robot; If the robot is in the charging state, the phase of the robot is calculated based on the robot's state of charge value, the reciprocal of the robot's charge-discharge ratio, and the minimum value of the robot's expected working state of charge value range, wherein the robot's expected working state of charge value range is a preset range.

[0007] In one optional approach, if the robot is in the charging state, calculating the robot's phase based on the robot's state of charge value, the reciprocal of the robot's charge-discharge ratio, and the minimum value of the robot's expected working state of charge value range includes: If the robot is in the charging state, according to the formula Calculate the equivalent state of charge value of the robot, where, The equivalent state of charge value of the robot. This is the minimum value within the range of desired state of charge values. e is the reciprocal of the charge-discharge ratio of the robot, and e is the state of charge value of the robot. The equivalent state of charge value is determined as the phase of the robot.

[0008] In one alternative approach, matching a phase segment for the robot within a preset phase interval based on the phase includes: For each type of robot subgroup, a first target robot is selected from the robot subgroup, and the phase of the first target robot is obtained; Within the phase interval, determine the target phase segment to which the phase of the first target robot belongs; Determine whether the target phase segment is already occupied; If the target phase segment is not occupied, the target phase segment will be matched to the first target robot; Repeat the steps of selecting the first target robot from the robot subgroup and obtaining the phase of the first target robot, and then continue until all robots in the robot subgroup have undergone phase segment matching.

[0009] In one alternative approach, selecting a first target robot from the robot subgroup and obtaining the phase of the first target robot includes: Based on the order of the phases of the robots in the robot subgroup from high to low, the robot that has not undergone phase segment matching is selected as the first target robot, and the phase of the first target robot is obtained.

[0010] In one alternative approach, the desired state of charge value range is [S1, S2], the phase interval includes a working phase interval and a charging phase interval, the working phase interval is [S1, S2], and the charging phase interval is [S0, S1], wherein S0 is determined according to S1, S2 and d.

[0011] In one alternative approach, S0 is determined according to the following formula: .

[0012] In one alternative approach, the phase interval comprises N phase segments, where N is the number of robots in the robot subgroup.

[0013] In one alternative approach, the N phase segments are obtained by dividing the data through the following steps: Divide the phase interval into N equal parts to obtain N initial phase segments; The lower limit of each initial phase segment is negatively offset by an offset amount, and the upper limit of each initial phase segment is positively offset by the offset amount, resulting in N phase segments.

[0014] In one alternative approach, making state transition decisions for at least a portion of the robots not matched to the phase segment based on the number of allocable charging stations includes: Identify the second set of target robots that did not match the phase segment; Select a second target robot that has not been selected from the second set of target robots; Based on the state of the second target robot and the state of charge value, the phase segment is matched for the second target robot in the target phase interval of the phase interval, wherein if the state of the second target robot is the working state, the target phase interval is the charging phase interval, and if the state of the second target robot is the charging state, the target phase interval is the working phase interval. If the second target robot is matched with the phase segment in the target phase interval, a state transition decision is made for the second target robot according to the number of allocable charging piles. If the state of the second target robot is the working state, the state transition decision is a charging decision. If the state of the second target robot is the charging state, the state transition decision is a decision to leave the charging pile. The number of second target robots that make charging decisions is not greater than the number of allocable charging piles. Repeat the steps of selecting an unselected second target robot from the second target robot set and thereafter, until all second target robots in the second target robot set have been selected.

[0015] In one alternative approach, matching the phase segment for the second target robot within the target phase interval of the phase interval based on the state of the second target robot and the state of charge value includes: If the second target robot is in the working state, calculate the equivalent phase of the second target robot based on the state of charge value of the second target robot, the reciprocal of the charge-discharge ratio of the robot, and the minimum value of the range of the desired working state of charge value of the robot, and match the phase segment for the second target robot in the charging phase interval based on the equivalent phase; If the second target robot is in the charging state, the state of charge value of the second target robot is determined as the equivalent phase of the second target robot, and the phase segment is matched for the second target robot in the working phase interval according to the equivalent phase.

[0016] In one alternative approach, if the second target robot is matched with the phase segment in the target phase interval, making a state transition decision for the second target robot based on the number of allocable charging stations includes: If the second target robot is matched with the phase segment in the working phase interval, the second target robot makes a decision to leave the charging station. If the second target robot is matched with the phase segment in the charging phase interval, it is determined whether the sum of the number of robots in the charging state that have not been made to leave the charging pile and the number of the second target robots that have been made to be charged is greater than or equal to the number of robots that are expected to be charged, wherein the number of robots that are expected to be charged is not greater than the number of available charging piles. If the sum of the quantities is less than the number of robots expected to be charged, a charging decision is made for the second target robot.

[0017] In an alternative approach, the method further includes: The number of robots to be charged is dynamically adjusted based on the average state of charge value of the robot subgroup. The higher the average state of charge value, the fewer robots to be charged, and the lower the average state of charge value, the more robots to be charged.

[0018] In one alternative approach, dynamically adjusting the number of robots to be charged based on the average state of charge value of the robot subgroup includes: Obtain a linear relationship between the desired number of robots to be charged and the average state of charge (SBC) value, wherein the linear relationship satisfies the following: when the average SBC value is the maximum value within the desired SBC value range, the desired number of robots to be charged is 0; when the average SBC value is the median value within the desired SBC value range, the desired number of robots to be charged is m. , The number of robots in the robot subgroup. The reciprocal of the charge-discharge ratio of the robot; Based on the linear relationship, calculate the number of robots currently expected to be charged corresponding to the average state of charge value of the robot subgroup. If the calculated number of robots currently expected to be charged is greater than the number of available charging piles, the number of available charging piles is taken as the number of robots currently expected to be charged. The number of robots expected to be charged is updated using the current number of robots expected to be charged.

[0019] In one alternative approach, in the case of shared charging, calculating the number of charging stations available for each type of robot subgroup within the robot swarm includes: According to the formula Calculate the reasonable number of charging stations for the i-th robot subgroup, where, Let the number of charging stations be the reasonable number for the i-th robot subgroup. Let i be the number of robots in the i-th robot subgroup. It is the reciprocal of the charge-discharge ratio of the robots in the i-th robot subgroup; According to the formula Calculate the number of allocable charging stations for the i-th robot subgroup, where, Let be the number of allocatable charging stations for the i-th robot subgroup. This represents the total number of charging stations.

[0020] In one alternative approach, allocating charging stations from available charging stations for each type of robot subgroup includes: For each type of robot subgroup, the first robot that controls the state transition decision to the decision to leave the charging station leaves the charging station; Identify all second robots from the robot subgroup whose state transition decision is the charging decision; All the second robots are sorted according to their state of charge values ​​from low to high. Starting with the first second robot, a target charging station is assigned to each second robot from the available charging stations in turn, until all the available charging stations have been assigned.

[0021] In one alternative approach, the target charging station is the charging station closest to the second robot.

[0022] In an alternative approach, the method further includes: When the state of charge value of the robot in the charging state reaches the maximum value of the expected working state of charge value range, the robot is controlled to leave the charging pile.

[0023] According to another aspect of the embodiments of this application, a server is provided, including: a processor and a memory, wherein the memory stores executable instructions, and the processor is capable of executing the executable instructions to implement the charging control method for a swarm of robots as described in any of the above embodiments.

[0024] According to another aspect of the embodiments of this application, a robot charging system is provided, comprising: A swarm of robots, comprising multiple types of robot subswarms, each type of robot subswarm comprising multiple robots, which are used to perform tasks; A charging station includes multiple charging piles for charging the robots, and the various types of robot subgroups can share the multiple charging piles; The server described in the above embodiment is used to control the charging of robots in the robot group.

[0025] In one alternative approach, the robot charging system is applied to a warehousing system, where the robot is used to perform cargo handling tasks.

[0026] According to another aspect of the embodiments of this application, a computer-readable storage medium is provided, wherein executable instructions are stored in the storage medium, and when the executable instructions are executed on a server, the server causes the server to perform the charging control method for a swarm of robots as described in any of the above embodiments.

[0027] In this embodiment of the application, in the case of shared charging, the number of charging piles that can be allocated to each type of robot subgroup in the robot group is calculated; For each type of robot subgroup, select the robot to be charged based on the number of available charging stations; For each type of robot subgroup, a charging station is allocated to the robot to be charged from the available charging stations.

[0028] In a shared charging scenario, the number of charging stations that can be allocated to each type of robot subgroup in the robot swarm is calculated, and charging stations are pre-allocated to each type of robot subgroup. Within the pre-allocated number, charging stations are allocated to that type of robot, thereby isolating charging stations for different types of robot subgroups and avoiding competition for charging stations.

[0029] The above description is merely an overview of the technical solutions of the embodiments of this application. In order to better understand the technical means of the embodiments of this application and to implement them in accordance with the contents of the specification, and to make the above and other objects, features and advantages of the embodiments of this application more obvious and understandable, specific implementation methods of this application are described below. Attached Figure Description

[0030] The accompanying drawings are for illustrative purposes only and are not intended to limit the scope of this application. Furthermore, the same reference numerals denote the same parts throughout the drawings. In the drawings: Figure 1 This is a schematic diagram of an application scenario provided by an embodiment of this application; Figure 2 A flowchart illustrating the charging control method for a robot swarm provided in this application embodiment; Figure 3 A detailed flowchart of step S120 provided for an embodiment of this application; Figure 4 This is a schematic diagram of the state cycle of the robot provided in an embodiment of this application; Figure 5 A phase diagram of the robot provided in the embodiments of this application; Figure 6 A robot phase distribution diagram in a robot charging system provided in this application embodiment; Figure 7 This is a schematic diagram of phase segment matching for a robot provided in an embodiment of this application; Figure 8 This is a schematic diagram illustrating how a robot that has not yet matched a phase segment can re-match a phase segment, as provided in an embodiment of this application. Figure 9 This is a diagram showing the distribution of a robot's single charge amount in an embodiment of this application. Figure 10The average battery level change curves for all robots starting from a fully charged state are provided in the embodiments of this application. Figure 11 The average battery level change curves for all robots provided in this application embodiment, starting from a low battery state; Figure 12 The curve showing the change in the number of working-charging robots provided in the embodiments of this application; Figure 13 A schematic diagram of the structure of the charging control device for a robot swarm provided in an embodiment of this application; Figure 14 This is a schematic diagram of the server structure provided in an embodiment of this application.

[0031] The attached figures are labeled as follows: Robot charging system 100; robot swarm 10; charging station 20; server 30; first robot sub-swarm 11; second robot sub-swarm 12; charging pile 21. Detailed Implementation

[0032] Exemplary embodiments of the present application will now be described in more detail with reference to the accompanying drawings. Although exemplary embodiments of the present application are shown in the drawings, it should be understood that the present application may be implemented in various forms and should not be limited to the embodiments set forth herein.

[0033] With the continuous advancement of robotics technology, robots have been widely applied in numerous scenarios, such as unmanned warehousing, intelligent production lines, automated agricultural harvesting, disaster search and rescue, and security patrols. In systems with multiple robots, collaborative operation not only significantly improves task execution efficiency but also enhances overall robustness and scalability, enabling them to undertake more complex and large-scale tasks.

[0034] Robots typically rely on batteries for power, which continuously consumes electricity during operation, requiring them to return to charging stations for recharging at appropriate times.

[0035] In shared charging scenarios, different types of robots can use the same charging station. For example, in a warehouse system, there are type A robots and type B robots, and the charging stations in the warehouse system can support charging for either type A or type B robots. Therefore, in a shared charging situation, different types of robots can easily compete for charging station resources. For example, type A robots might fill all the charging stations, while type B robots have no stations available, or vice versa, which would prevent type B robots from successfully completing their tasks.

[0036] This application provides a charging control method for a group of robots, which can pre-calculate the number of allocable charging piles for different types of robots, and allocate charging piles to each type of robot based on the number of allocable charging piles, thus solving the problem of competition for charging pile resources.

[0037] Figure 1 This is a schematic diagram illustrating an application scenario provided by an embodiment of this application. For example... Figure 1 As shown, the robot charging system 100 includes a robot swarm 10, a charging station 20, and a server 30.

[0038] The robot swarm 10 comprises multiple types of robot sub-swarms, each type including multiple robots used to perform tasks. This application does not limit the number of robot sub-swarms; the figure only illustrates two types: a first robot sub-swarm 11 and a second robot sub-swarm 12. The first robot sub-swarm 11 includes multiple first robots, and the second robot sub-swarm 12 includes multiple second robots. The robot swarm may also include more types of robot sub-swarms.

[0039] The robot charging system 100 can be applied to any scenario where multiple robots perform tasks, such as warehousing systems and automated factories. Taking a warehousing system as an example, when the robot charging system 100 is applied to a warehousing system, the robots are mainly used to perform goods handling tasks.

[0040] The charging station 20 includes multiple charging piles 21, which are used to charge the robots. Multiple types of robot subgroups can share multiple charging piles 21. That is, robots in the first robot subgroup 11 and the second robot subgroup 12 can charge at any of the multiple charging piles 21.

[0041] Server 30 communicates with the robots in robot group 10 and is used to control the charging of the robots in robot group 10.

[0042] The robot swarm charging control method of this application embodiment can be applied to the server 30 described above. The flow of the robot swarm charging control method executed by the server 30 will be described in detail below.

[0043] Figure 2 This is a flowchart illustrating a charging control method for a robot swarm provided in an embodiment of this application, which is executed by the aforementioned server 30. Figure 2 As shown, the method includes the following steps: S110, in the case of shared charging, calculate the number of charging stations that can be allocated to each type of robot subgroup in the robot swarm.

[0044] For example, for the i-th subgroup of robots in a robot swarm, the reasonable number of charging stations for the i-th subgroup can be calculated according to Formula 1: , formula 1 in, Let the number of charging stations be the reasonable number for the i-th robot subgroup. Let be the number of robots in the i-th robot subgroup. The reciprocal of the charge-discharge ratio of the robots in the i-th robot subgroup (i.e., the charge-discharge ratio, for example, the expected working time after 1 minute of charging). (minutes). The reasonable number of charging stations for the i-th robot subgroup refers to the number of charging stations that can balance the working and charging processes of the robots in the i-th robot subgroup without considering the total number of charging stations.

[0045] The number of charging stations that can be allocated to the i-th robot subgroup is calculated according to Formula 2: , formula 2 in, Let be the number of charging stations that can be allocated to the i-th robot subgroup. The total number of charging stations for the robot charging system. The number of charging stations that can be allocated to the i-th robot subgroup is the number of charging stations that can be allocated to the i-th robot subgroup when considering the total number of charging stations and ensuring that the work and charging processes of each robot subgroup reach the same balance.

[0046] For each type of robot subgroup, the number of available charging stations can be obtained using the method described above. For example, it can be calculated that... Figure 1 The number of charging stations that can be allocated to the first robot subgroup 11 and the number of charging stations that can be allocated to the second robot subgroup 12 are shown in the figure.

[0047] S120 selects the robots to be charged for each type of robot subgroup based on the number of available charging stations.

[0048] In this embodiment of the application, for each type of robot subgroup, the number of charging piles allocated to it does not exceed the number of charging piles that can be allocated to that type of robot subgroup calculated in step S110, so that charging piles for different types of robots are allocated within the pre-allocated range, avoiding competition for charging piles between different types of robots.

[0049] When selecting robots to be charged for a certain type of robot subgroup, ensure that the number of robots of that type using charging stations does not exceed the number of charging stations that can be allocated to that type of robot subgroup. The robots of that type using charging stations include those already charging and those to be selected for charging. This ensures that charging stations for that type of robot are allocated within the pre-allocated range, preventing that type of robot from occupying the available charging station resources of other types of robots.

[0050] For example, the number of charging stations that can be allocated to the first robot subgroup is 50. If the number of robots already charging in the first robot subgroup is 30, then when selecting robots to be charged from the uncharged robots (i.e., robots in working condition) in the first robot subgroup, the number of robots to be charged cannot exceed 20.

[0051] S130 allocates charging stations from available charging stations for each type of robot subgroup.

[0052] For each type of robot subgroup, after selecting a robot to be charged, an available charging station can be assigned to the robot, which can then go to the assigned charging station to charge.

[0053] In this embodiment of the application, the problem of competing for charging pile resources is solved by pre-calculating the number of allocable charging piles for different types of robot subgroups and selecting robots to be charged for each type of robot subgroup based on the number of allocable charging piles.

[0054] When selecting robots to charge, one possible approach is to choose from those requesting charging. Currently, robots typically trigger charging requests based on a battery level threshold. However, simply triggering charging requests based on a battery level threshold can lead to multiple robots reaching their thresholds almost simultaneously, since the initial battery levels of the robots are generally similar when they start working. This can result in multiple robots requesting charging concurrently and then starting work all at once after charging. This approach can lead to uneven battery distribution among the robots in the entire group, resulting in a shortage of robots available to perform tasks when they are charging simultaneously, affecting task execution. Furthermore, fewer robots are charging when they are working concurrently, leading to low utilization of charging stations.

[0055] Another possible mechanism for triggering robot charging requests is a gradient charging strategy. Configuring gradient charging can achieve a more even distribution of battery power among the robots in a group. For example, when the average State of Charge (SOC) of the robot group is 30-40%, 70% of the robots charge; when the SOC is 40-50%, 50% of the robots charge. The SOC value is the ratio of the remaining usable battery capacity to its fully charged capacity, ranging from 0 to 1 (the SOC value used in this paper is a percentage, with 0-1 equivalent to 0%-100%). This method requires professional configuration based on the robot's charge-discharge ratio and is prone to issues such as robots charging in small amounts multiple times, resulting in low charging efficiency. During continuous operation, the number of charging robots fluctuates greatly, leading to unstable robot operating efficiency.

[0056] In order to balance the uniform distribution of power in the robot group, charging efficiency, and the stability of the number of working / charging robots, in the embodiment of this application, when selecting the robot to be charged in step S120, the robot to be charged is reasonably selected for charging scheduling according to the power distribution status of the robot subgroup, so as to realize the automatic adjustment of the power level of the robot, so that the power of the robot group is evenly distributed within the desired power range, and improves the charging efficiency and the overall operating efficiency of the system. Figure 3 A detailed flowchart of step S120 provided in the embodiments of this application is shown, which is executed separately for each type of robot subgroup. Figure 3 The process is shown below. Figure 3 As shown, step S120 includes the following steps: S121, Calculate the robot's phase based on the robot's state and SOC value.

[0057] The robot exists in a cycle of "charging-working-charging-working...". In the embodiments of this application, the phase is a value calculated based on the robot's state and the robot's power level (SOC value) within a single "charging-working" cycle, which means the position of the robot within a single cycle.

[0058] The robot's status includes working status and charging status. Figure 4 This is a schematic diagram of the state cycle of a robot provided in an embodiment of this application. Figure 4 As shown, the preset expected working SOC value range for the robot is [S1, S2]. The robot starts working from an SOC value of S2. When the SOC value drops to S1, the robot goes to the charging station to charge. When the SOC value rises to S2, the robot ends charging and returns to the work area to work.

[0059] When the robot is in working state, its SOC value is directly determined as its phase. However, if the robot's SOC value is directly determined as its phase when it is charging, it will cause the phase of the charging state to overlap with the phase of the working state in a "working-charging" cycle, even though the two phases are actually different. Therefore, in this embodiment, for a robot in the charging state, the phase is calculated based on the robot's SOC value, the reciprocal of the robot's charge-discharge ratio, and the minimum value of the robot's expected working SOC value range, where the expected working SOC value range is a preset range.

[0060] Figure 5 This is a phase diagram of the robot provided in an embodiment of this application. Figure 5 As shown, in this embodiment, [S1, S2] characterizes the phase interval (working phase interval) when the robot is in the working state, and [S0, S1] characterizes the phase interval (charging phase interval) when the robot is in the charging state. For example, the phase of the robot in the charging state, as shown by the solid line L1 in the figure, corresponds to the dashed line L2. S0 is the robot's lowest equivalent SOC value. S0 is determined based on S1, S2, and the reciprocal d of the robot's charge-discharge ratio. Its calculation formula is as follows: , formula 3 When the robot is in working state (non-charging state), its phase value is its SOC value. When the robot is in charging state, the robot's equivalent SOC value is calculated. For example, the robot's equivalent SOC value S can be calculated according to Formula 4, and the equivalent SOC value S is determined as the robot's phase. , formula 4 Where e is the robot's actual SOC value.

[0061] For example, if [S1, S2] is [30, 80], and the robot's charge-to-discharge ratio is 1:5, then according to Formula 3, S0 is 20, and [S0, S1] is [20, 30]. The equivalent SOC value S of a robot in a charging state with an SOC value of e is... The phase of the robot can then be obtained.

[0062] The phase of each robot is obtained through the above method. Figure 6 This is a robot phase distribution diagram in the robot charging system provided in this application embodiment. Each solid dot in the diagram represents a robot in a working state, and each hollow dot represents a robot in a charging state. Each robot in a charging state is mapped to a charging phase interval through a calculator's equivalent SOC value S. Only a portion of the robots are shown in the diagram.

[0063] S122, Match a phase segment for the robot within a preset phase range based on the phase.

[0064] The phase interval includes multiple phase segments, and each phase segment is matched by only one robot. Figure 6 Only a portion of the phase segments are illustrated. In some embodiments, the phase interval includes N phase segments, where N is the number of robots in the robot subgroup. By dividing the phase interval into phase segments equal to the number of robots, and through subsequent robot phase segment matching and charging control based on the matching results, the robots can be evenly distributed in each phase segment of the phase interval after the robot charging system has been running for a period of time, thereby ensuring that the robot's battery power is evenly distributed within the range of [S1, S2] (desired working SOC value range).

[0065] When dividing the phase interval, the phase range can be divided into N equal parts to obtain N initial phase segments. The lower limit of each initial phase segment is negatively offset by one offset, and the upper limit is positively offset by another offset, resulting in N phase segments. For example, when the offset is 2, after dividing the phase range into N equal parts, the upper limit of each initial phase segment is increased by 2, and the lower limit is decreased by 2. Since the SOC value transmitted by the robot hardware may be an integer, when there are many robots, each initial phase segment is very small. For example, an initial phase segment of [51.1, 51.8] will not match any robots. Enlarging this initial phase segment to [49.1, 53.8] will allow it to match robots with SOC values ​​of 50, 51, 52, and 53. By enlarging the initial phase segment, it is easier for the robot to match a suitable phase segment. If a robot in operation is not matched with a phase segment, it may be switched to charging mode, which means the robot is charging and increases the proportion of small-scale charging. By making it easier for the robot to match a suitable phase segment, the proportion of small-scale charging can be reduced.

[0066] Step S122 may include the following steps: S1221, for each type of robot subgroup, select the first target robot from the robot subgroup and obtain the phase of the first target robot.

[0067] When performing phase segment matching, the robot that has not undergone phase segment matching can be selected as the first target robot according to the order of the phases of the robots in the robot subgroup from high to low, and the phase of the first target robot can be obtained.

[0068] By selecting robot matching phase segments in descending order of phase, when multiple robots are included in the same phase segment of the working phase interval, the robot with higher battery level remains in the working state, while the robot with lower battery level may switch to charging state in a subsequent process. Similarly, when multiple robots are included in the same phase segment of the charging phase interval, the robot with lower battery level remains in the charging state, while the robot with higher battery level may stop charging and switch to working state in a subsequent process. Through this method, each robot charge gradually approaches the minimum value S1 in the [S1, S2] range, increasing the charging time per cycle, avoiding multiple small charges, and improving charging efficiency.

[0069] In this step, each time the first target robot is selected, an unselected robot is chosen from the robot subgroup.

[0070] S1222, determine the target phase segment to which the phase of the first target robot belongs in the phase interval.

[0071] The target phase segment to which the phase of the first target robot belongs is the phase segment that covers the phase of the robot, that is, the phase of the robot falls into its target phase segment. For example, if the phase of the robot is 50, then the target phase segment to which the robot belongs is [49.1, 53.8].

[0072] S1223, determine whether the target phase segment has been occupied.

[0073] In this embodiment, to achieve a uniform distribution of robot power and a relatively stable number of robots in working and charging states, each phase segment is matched with only one robot. When matching a phase segment for each first target robot, it is determined whether the target phase segment is already occupied to avoid assigning a phase segment to multiple robots.

[0074] S1224, if the target phase segment is not occupied, match the target phase segment to the first target robot.

[0075] Repeat steps S1221-S1224 until all robots in the robot subgroup have undergone phase segment matching.

[0076] Figure 7 This is a schematic diagram of phase segment matching for a robot provided in an embodiment of this application. For clarity, only a portion of the robot is shown in the diagram. Please refer to... Figure 7In the diagram, robot P1 is the robot with the first phase (largest phase). First, robot P1 is identified as the first target robot, and phase segment matching is performed on it. Since robot P1 is the first target robot to be matched with phase segment, its target phase segment R1 is not occupied by other robots, so phase segment R1 can be directly assigned to robot P1.

[0077] Next, phase segment matching is performed on robot P2, which is second in phase ranking. Robot P2's target phase segment is also R1. Since phase segment R1 has already been assigned to robot P1 (occupied), it cannot be assigned to robot P2. Therefore, robot P2 did not find a matching phase segment.

[0078] Next, phase segment matching was performed on robot P3, which ranked third in phase sequence. Similar to robot P2, robot P3 also failed to find a matching phase segment because its target phase segment R1 was already occupied.

[0079] Next, phase segment matching is performed on robot P4, which is fourth in phase sequence. The target phase segment R2 to which robot P4 belongs has not been assigned to any robot (is not occupied), so phase segment R2 can be assigned to robot P4.

[0080] ... Robot P, whose phase order is second to last. N-1 Perform phase segment matching. Robot P N-1 The target phase segment is R. N R N The robot has not been assigned (it is not occupied), so phase segment R can be used. N Assigned to robot P N-1 .

[0081] Robot P, whose phase order is last. N Perform phase segment matching. Robot P N The target phase segment is also R. N Due to phase segment R N Already assigned to robot P N-1 (Occupied), phase segment R cannot be used. N Reassigned to robot P N Therefore, robot P N No phase segment was matched.

[0082] Following the above method, phase segments are matched one by one for each robot in the robot subgroup, based on their phases from highest to lowest. The final matching result may be: some robots are matched with phase segments, while some robots are not matched with phase segments.

[0083] S123, based on the number of available charging stations, make a state transition decision for at least some of the robots that have not been matched to a phase segment.

[0084] The state transition decision includes either a charging decision to switch from an operating state to a charging state, or a decision to leave the charging station to switch from a charging state to an operating state. At least some robots that make phase transition decisions include those that can be matched with a phase segment after the state transition. The number of robots making charging decisions is no greater than the number of available charging stations to avoid different types of robots competing for charging stations.

[0085] Step S123 may include the following steps: S1231, Determine the second set of target robots that have not been matched with a phase segment.

[0086] For robots that have matched a phase segment, their current state can remain unchanged; for example, a robot in a working state continues to perform its task, and a robot in a charging state continues to charge. For robots that have not matched a phase segment (the second target robot), subsequent steps will attempt to perform a state transition and try to match a phase segment again.

[0087] S1232, Select a second target robot that has not been selected from the second target robot set.

[0088] S1233, based on the state and SOC value of the second target robot, match a phase segment for the second target robot in the target phase interval of the phase interval.

[0089] Wherein, if the second target robot is in the working state, the target phase interval is the charging phase interval; if the second target robot is in the charging state, the target phase interval is the working phase interval.

[0090] If the second target robot is in a working state, calculate the equivalent phase of the second target robot based on the SOC value of the second target robot, the reciprocal of the robot's charge-discharge ratio, and the minimum value of the robot's expected working SOC value range. Match the phase segment of the second target robot in the charging phase interval based on the equivalent phase.

[0091] If the second target robot is in a charging state, the SOC value of the second target robot is determined as the equivalent phase of the second target robot, and a phase segment is matched for the second target robot in the working phase interval based on the equivalent phase.

[0092] This step involves transitioning robots that haven't found a matching phase segment to another state for re-matching. For example, a robot in a working state that hasn't found a matching phase segment is transitioned to a charging phase interval for matching, and a robot in a charging state that hasn't found a matching phase segment is transitioned to a working phase interval for matching. When transitioning a robot in a working state to a charging phase interval for matching, the equivalent phase needs to be calculated based on the robot's SOC value, and then matching is performed in the charging phase interval based on the equivalent phase. The calculation method for the equivalent phase can be found in step S121. When transitioning a robot in a charging state to a working phase interval for matching, the robot's SOC value is directly determined as its phase, and then matching is performed in the working phase interval based on this phase.

[0093] Figure 8 This is a schematic diagram illustrating the process of a robot that initially failed to match a phase segment re-matching a phase segment, as provided in an embodiment of this application. Only a portion of the robot is shown in the diagram. Figure 8 As shown, for robot P2, its equivalent phase is calculated and phase segment matching is performed within the charging phase interval. Since the target phase segment of the equivalent phase of robot P2 within the charging phase interval is R... N Because of R N Phase segment R is occupied and cannot be used. N The phase segment was reassigned to robot P2, so robot P2 also failed to match a phase segment when it tried to match it again. For robot P... n Calculate its equivalent phase and perform phase segment matching within the working phase interval, since robot P n The equivalent phase in the target phase segment of the working phase interval is R. n Because of R n It is not occupied, so phase segment R can be used. n Assigned to robot P n Robot P n The phase segment was successfully matched again.

[0094] S1234, If a phase segment is matched for the second target robot in the target phase interval, a state transition decision is made for the second target robot based on the number of available charging piles.

[0095] If a phase segment is matched for the second target robot in the target phase interval, it means that performing a state transition for the robot is beneficial to achieving a uniform distribution of the robot's power. A state transition decision can be made for the robot to perform the state transition.

[0096] If the second target robot is in a working state, the state transition decision is a charging decision; if the second target robot is in a charging state, the state transition decision is a leaving the charging station decision. The number of second target robots making charging decisions is no greater than the number of available charging stations, thus allocating charging stations to robots of different types within the pre-allocated number of charging stations for different types of robots, avoiding the occupation of charging station resources for other types of robots.

[0097] Repeat steps S1232-S1234 until all second target robots in the second target robot set have been selected, that is, each second target robot has undergone phase segment matching after state transition.

[0098] Step S1234 may include the following steps: Step a1: If a phase segment is matched for the second target robot in the working phase interval, make a decision for the second target robot to leave the charging station.

[0099] If a robot currently charging can match a phase segment within the working phase interval, it can stop charging and switch to working mode, thus preventing it from "crowding" in the same phase segment with other robots that are also charging.

[0100] Step a2: If a phase segment is matched for the second target robot in the charging phase interval, determine whether the sum of the number of robots in the charging state that have not made a decision to leave the charging pile and the number of the second target robots that have made a charging decision is greater than or equal to the number of robots expected to be charged.

[0101] Step a3: If the sum of the above quantities is less than the number of robots to be charged, make a charging decision for the second target robot.

[0102] If a robot currently in operation can find a matching phase segment within the charging phase interval, theoretically, it can switch to charging mode, thus preventing it from being "crowded" in the same phase segment with other robots in operation. However, to ensure a more even distribution of battery power among the robot subgroup, this embodiment also sets a desired number of robots to charge. This limit controls the number of robots charging simultaneously. When it is determined that a robot can switch to charging mode, it is further determined whether charging would cause the number of robots charging simultaneously to exceed the desired number. If so, the robot is not switched to charging; otherwise, it is switched to charging. This method avoids situations where, when the average battery power of the robot subgroup is already high, robots in operation are switched to charging, leading to an uneven distribution of battery power within the subgroup.

[0103] If switching a working robot to a charging state does not cause the number of robots charging at the same time to exceed the expected number of robots, then the robot can stop working and go to a charging station to charge. This will prevent it from "crowding" in the same phase segment with other working robots and will not hinder the achievement of the goal of evenly distributing robot power.

[0104] The number of robots expected to be charged for each type of robot subgroup is no greater than the number of available charging stations for that type of robot subgroup, to avoid different types of robots competing for charging stations.

[0105] In some embodiments, the number of robots expected to be charged can be dynamically adjusted based on the average SOC value of the robot subgroup. A higher average SOC value results in fewer robots expected to be charged, and a lower average SOC value results in more robots expected to be charged. When the average SOC value of the robot subgroup is high, a smaller number of robots expected to be charged can be used to reduce the number of charging robots, allowing the robots to gradually consume power through work, thus gradually making the power distribution of the robot subgroup more uniform and stabilizing the average power (e.g., stabilizing at the average of [S1, S2]). When the average SOC value of the robot subgroup is low, a larger number of robots expected to be charged can be used to increase the number of charging robots, allowing the robots to gradually replenish power through charging, thus gradually making the power distribution of the robot subgroup more uniform and stabilizing the average power at the average of [S1, S2].

[0106] When dynamically adjusting the number of robots to be charged, we can first obtain a linear relationship between the number of robots to be charged and the average SOC value. This linear relationship satisfies the following: when the average SOC value is the maximum value within the expected working SOC value range, the number of robots to be charged is 0; when the average SOC value is the median value within the expected working SOC value range, the number of robots to be charged is m. ,in Let be the number of robots in the robot subgroup. This is the reciprocal of the robot's charge-discharge ratio. Then, based on the linear relationship, the number of robots expected to be charged corresponding to the average SOC value of the robot subgroup is calculated. If the calculated number of robots expected to be charged is greater than the number of available charging stations, the number of available charging stations is used as the number of robots expected to be charged. In other words, the upper limit of the number of robots expected to be charged is the number of available charging stations. Finally, the number of robots expected to be charged is updated using the current number of robots expected to be charged.

[0107] The linear relationship is represented by a straight line. Using the average SOC value as the independent variable and the desired number of robots to be charged as the dependent variable, the linear relationship between the desired number of robots to be charged and the average SOC value can be determined using two points (A and B) on the corresponding line. The coordinates of point A are (the maximum value of the desired working SOC range, 0), i.e., (S2, 0). The coordinates of point B are (the median value of the desired working SOC range, ...). ), that is ( , Based on the coordinates of these two points, a linear relationship can be obtained. Therefore, for each average SOC value in the interval [S1, S2], the desired number of robots to be charged can be determined based on this linear relationship. In the linear relationship, the upper limit of the desired number of robots to be charged is the number of available charging stations.

[0108] In step a1, since there is no limit to the number of robots working, there is no need to make a related quantity judgment. When a phase segment is matched, a state transition decision can be made directly.

[0109] S124, the robot whose state transition decision is to charge is the robot to be charged.

[0110] The robot that makes the charging decision is the robot that can go to the charging station. Therefore, this step identifies such a robot as the robot to be charged, and subsequently controls the robot to go to the charging station to charge. Step S130 may include the following steps: S131, for each type of robot subgroup, the control state transition decision is the first robot to leave the charging station.

[0111] First, remove the robots that need to switch from charging to working from the charging station to free up the charging station for robots switching from working to charging.

[0112] S132, identify all second robots from the robot subgroup whose state transition decision is a charging decision.

[0113] S133, Sort all the second robots according to their SOC values ​​from low to high.

[0114] S134, starting with the first second robot, assign a target charging station from the available charging stations to each second robot in turn, until all available charging stations have been assigned.

[0115] For robots that need to switch from work to charging, charge them sequentially according to their SOC values ​​from low to high. This prioritizes meeting the charging needs of robots with low battery levels, ensuring that each charge gradually increases the robot's charge from the lowest value S1 to the highest value S2 in the SOC range. This extends the charging time per charge, avoids multiple small charges, and improves charging efficiency.

[0116] Idle charging stations include those that were already idle before step S131, and those that became idle after step S131.

[0117] When assigning a target charging station to the second robot from the available charging stations, the charging station closest to the second robot is selected as the target charging station. This shortens the robot's journey to charging, reduces power loss along the way, and shortens the time from the current time point to full charge (e.g., charging to S2).

[0118] When the SOC value of the robot in the charging state reaches the maximum value S2 of the expected working SOC value range, control the robot to leave the charging pile so that the robot is charged to the maximum value S2 of the expected working SOC value range each time it is charged.

[0119] Through the embodiments of this application, in a shared charging scenario, charging piles are pre-allocated to isolate charging piles for different types of robot subgroups, avoiding competition for charging piles; the robot's battery power is evenly distributed within the expected working SOC value range, and the average battery power of the robot is stable within the average value of the expected working SOC value range; the robot's single charging time is long, avoiding multiple small chargings, resulting in high charging efficiency; and the number of robots in working state and charging state is relatively stable, ensuring the stable external production capacity of the robot group.

[0120] The robot swarm charging control method of this application embodiment is simple to configure; it can be implemented by providing the desired working SOC value range and the robot's charge-discharge ratio. Applying the robot swarm charging control method provided in this application embodiment to a warehouse system, the desired working SOC value range of [30, 80] and the robot charge-discharge ratio of 1:5 are input into the server. After a period of operation, the following results are obtained: Figures 9 to 12 The data shown.

[0121] Figure 9 The diagram shows the distribution of robot charging capacity per charge in this embodiment of the application. As can be seen from the diagram, the robot charges almost always 50 units per charge, from 30 to 80 units, which is a high charging efficiency.

[0122] This application's embodiments are adapted to both full-charge start-up and low-charge start-up scenarios. Figure 10 The provided embodiments of this application present the average battery level change curves for all robots starting from a fully charged state. Figure 11The figure shows the average battery level change curves of all robots provided in this application embodiment, starting from a low battery state. As can be seen from the figure, after all robots start from a full battery state / low battery state, the average battery level of the robots quickly stabilizes with small fluctuations, and the average battery level stabilizes at the average of 55% of the expected working SOC value range.

[0123] Figure 12 The curve showing the change in the number of working / charging robots provided in this embodiment of the application shows that the number of robots in working / charging state is relatively stable with small fluctuations.

[0124] Figure 13 This is a schematic diagram of the structure of the charging control device for a robot swarm provided in an embodiment of this application. Figure 13 As shown, the charging control device 200 for the robot swarm includes: The calculation module 210 is used to calculate the number of charging stations that can be allocated to each type of robot subgroup in the robot group in the case of shared charging. Selection module 220 is used to select the robot to be charged for each type of robot subgroup based on the number of available charging stations; The allocation module 230 is used to allocate charging stations from available charging stations to robots for each type of robot subgroup.

[0125] The charging control device 200 for the robot swarm in this embodiment of the application also includes other modules for performing the steps of the above method embodiments, which will not be described in detail here.

[0126] Figure 14 This is a schematic diagram of the server structure provided in an embodiment of this application. Figure 3 As shown, the server 300 may include a processor 302 and a memory 304.

[0127] The memory 304 is used to store the computer program 306. The memory 304 may include high-speed RAM, and may also include non-volatile memory, such as at least one disk drive. The computer program 306 may include computer-executable instructions.

[0128] The processor 302 is used to execute the computer program 306 to implement the above-described embodiment of the charging control method for the robot group.

[0129] Processor 302 may be a central processing unit (CPU), an application-specific integrated circuit (ASIC), or one or more integrated circuits configured to implement the embodiments of this application. Server 300 may include one or more processors of the same type, such as one or more CPUs; or it may include processors of different types, such as one or more CPUs and one or more ASICs.

[0130] This application provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the above-described embodiment of the charging control method for a group of robots.

[0131] This application provides a computer program that can be executed by a processor to implement the above-described embodiment of the charging control method for a group of robots.

[0132] This application provides a computer program product, which includes a computer program that, when executed by a processor, implements the above-described embodiment of the charging control method for a group of robots.

[0133] In the several embodiments provided in this application, any function, if implemented as a software functional module / unit and sold or used as an independent product, can be stored in a computer-readable storage medium. Based on this understanding, all or part of the technical solution of this application can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or other electronic device) to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing computer program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0134] The algorithms or displays provided herein are not inherently related to any particular computer, virtual system, or other device. Various general-purpose systems can also be used in conjunction with the teachings herein. The required structure for constructing such systems is apparent from the above description. Furthermore, the embodiments of this application are not directed to any particular programming language. It should be understood that the content of this application described herein can be implemented using various programming languages, and the above description of specific languages ​​is for the purpose of disclosing the best mode of implementation of this application.

[0135] It should be noted that the above embodiments are illustrative of this application and not restrictive, and those skilled in the art can devise alternative embodiments without departing from the scope of the appended claims. In the claims, any reference signs placed between parentheses should not be construed as limiting the claims. The word "comprising" does not exclude the presence of elements or steps not listed in the claims. The word "a" or "an" preceding an element does not exclude the presence of a plurality of such elements. This application can be implemented by means of hardware comprising several different elements and by means of a suitably programmed computer. In claims enumerating several means, several units or modules of these means may be embodied by the same item of hardware. The use of the words first, second, and third, etc., does not indicate any order. These words can be interpreted as names. The steps in the above embodiments, unless otherwise specified, should not be construed as limiting the order of execution.

[0136] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of this patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this application should be determined by the appended claims.

Claims

1. A charging control method for a swarm of robots, characterized in that, The method includes: In the case of shared charging, calculate the number of charging stations that can be allocated to each type of robot subgroup in the robot swarm; For each type of robot subgroup, select the robot to be charged based on the number of available charging stations; For each type of robot subgroup, a charging station is assigned to the robot to be charged from among the available charging stations.

2. The method according to claim 1, characterized in that, The step of selecting the robot to be charged based on the number of available charging piles includes: The phase of the robot is calculated based on the robot's state and state of charge value, wherein the robot's state includes working state and charging state; Based on the phase, a phase segment is matched for the robot within a preset phase interval, wherein the phase interval includes multiple phase segments, and each phase segment is matched for only one robot; Based on the number of allocable charging stations, a state transition decision is made for at least a portion of the robots that have not been matched with the phase segment. The state transition decision is either a charging decision to transition from the working state to the charging state or a decision to leave the charging station to transition from the charging state to the working state. The at least a portion of the robots includes the robots that can be matched with the phase segment after the state transition. The number of robots that make the charging decision is not greater than the number of allocable charging stations. The robot whose state transition decision is the charging decision is the robot to be charged.

3. The method according to claim 2, characterized in that, The step of calculating the robot's phase based on the robot's state and state of charge value includes: Obtain the state of the robot; If the robot is in the working state, the state of charge value of the robot is determined as the phase of the robot; If the robot is in the charging state, the phase of the robot is calculated based on the robot's state of charge value, the reciprocal of the robot's charge-discharge ratio, and the minimum value of the robot's expected working state of charge value range, wherein the robot's expected working state of charge value range is a preset range.

4. The method according to claim 3, characterized in that, If the robot is in the charging state, the phase of the robot is calculated based on the robot's state of charge value, the reciprocal of the robot's charge-discharge ratio, and the minimum value of the robot's expected working state of charge value range, including: If the robot is in the charging state, according to the formula Calculate the equivalent state of charge value of the robot, where, The equivalent state of charge value of the robot. This is the minimum value within the range of desired state of charge values. e is the reciprocal of the charge-discharge ratio of the robot, and e is the state of charge value of the robot. The equivalent state of charge value is determined as the phase of the robot.

5. The method according to claim 4, characterized in that, The step of matching a phase segment for the robot within a preset phase interval based on the phase includes: For each type of robot subgroup, a first target robot is selected from the robot subgroup, and the phase of the first target robot is obtained; Within the phase interval, determine the target phase segment to which the phase of the first target robot belongs; Determine whether the target phase segment is already occupied; If the target phase segment is not occupied, the target phase segment will be matched to the first target robot; Repeat the steps of selecting a first target robot from the robot subgroup and obtaining the phase of the first target robot, and then continue until all robots in the robot subgroup have undergone phase segment matching.

6. The method according to claim 5, characterized in that, The step of selecting a first target robot from the robot subgroup and obtaining the phase of the first target robot includes: Based on the order of the phases of the robots in the robot subgroup from high to low, the robot that has not undergone phase segment matching is selected as the first target robot, and the phase of the first target robot is obtained.

7. The method according to claim 5, characterized in that, The desired working state of charge value range is [S1, S2], and the phase interval includes a working phase interval and a charging phase interval. The working phase interval is [S1, S2], and the charging phase interval is [S0, S1], wherein S0 is determined according to S1, S2 and d.

8. The method according to claim 7, characterized in that, S0 is determined according to the following formula: 。 9. The method according to any one of claims 1-8, characterized in that, The phase interval includes N phase segments, where N is the number of robots in the robot subgroup.

10. The method according to claim 9, characterized in that, The N phase segments are obtained by dividing the data through the following steps: Divide the phase interval into N equal parts to obtain N initial phase segments; The lower limit of each initial phase segment is negatively offset by an offset amount, and the upper limit of each initial phase segment is positively offset by the offset amount, resulting in N phase segments.

11. The method according to claim 7 or 8, characterized in that, The step of making state transition decisions for at least a portion of the robots that have not been matched to the phase segment, based on the number of allocable charging stations, includes: Identify the second set of target robots that did not match the phase segment; Select a second target robot that has not been selected from the second set of target robots; Based on the state of the second target robot and the state of charge value, the phase segment is matched for the second target robot in the target phase interval of the phase interval, wherein if the state of the second target robot is the working state, the target phase interval is the charging phase interval, and if the state of the second target robot is the charging state, the target phase interval is the working phase interval. If the second target robot is matched with the phase segment in the target phase interval, the state transition decision is made for the second target robot according to the number of allocable charging piles. If the state of the second target robot is the working state, the state transition decision is a charging decision. If the state of the second target robot is the charging state, the state transition decision is a decision to leave the charging pile. The number of second target robots that make charging decisions is not greater than the number of allocable charging piles. Repeat the steps of selecting an unselected second target robot from the second target robot set and thereafter, until all second target robots in the second target robot set have been selected.

12. The method according to claim 11, characterized in that, The step of matching the phase segment for the second target robot within the target phase interval of the phase interval based on the state of the second target robot and the state of charge value includes: If the second target robot is in the working state, calculate the equivalent phase of the second target robot based on the state of charge value of the second target robot, the reciprocal of the charge-discharge ratio of the robot, and the minimum value of the range of the desired working state of charge value of the robot, and match the phase segment for the second target robot in the charging phase interval based on the equivalent phase; If the second target robot is in the charging state, the state of charge value of the second target robot is determined as the equivalent phase of the second target robot, and the phase segment is matched for the second target robot in the working phase interval according to the equivalent phase.

13. The method according to claim 11, characterized in that, If the second target robot is matched with the phase segment in the target phase interval, the state transition decision is made for the second target robot based on the number of allocable charging stations, including: If the phase segment is matched for the second target robot in the working phase interval, the decision to leave the charging station is made for the second target robot. If the second target robot is matched with the phase segment in the charging phase interval, it is determined whether the sum of the number of robots in the charging state that have not made the decision to leave the charging pile and the number of the second target robots that have made the charging decision is greater than or equal to the number of robots that are expected to be charged, wherein the number of robots that are expected to be charged is not greater than the number of available charging piles. If the sum of the quantities is less than the number of robots expected to be charged, the charging decision is made for the second target robot.

14. The method according to claim 13, characterized in that, The method further includes: The number of robots to be charged is dynamically adjusted based on the average state of charge value of the robot subgroup. The higher the average state of charge value, the fewer robots to be charged, and the lower the average state of charge value, the more robots to be charged.

15. The method according to claim 14, characterized in that, The dynamic adjustment of the number of robots to be charged based on the average state of charge value of the robot subgroup includes: Obtain a linear relationship between the desired number of robots to be charged and the average state of charge (SBC) value, wherein the linear relationship satisfies the following: when the average SBC value is the maximum value within the desired SBC value range, the desired number of robots to be charged is 0; when the average SBC value is the median value within the desired SBC value range, the desired number of robots to be charged is m. , The number of robots in the robot subgroup. The reciprocal of the charge-discharge ratio of the robot; Based on the linear relationship, calculate the number of robots currently expected to be charged corresponding to the average state of charge value of the robot subgroup. If the calculated number of robots currently expected to be charged is greater than the number of available charging piles, the number of available charging piles is taken as the number of robots currently expected to be charged. The number of robots expected to be charged is updated using the current number of robots expected to be charged.

16. The method according to claim 15, characterized in that, In the case of shared charging, calculating the number of charging stations that can be allocated to each type of robot subgroup within the robot swarm includes: According to the formula Calculate the reasonable number of charging stations for the i-th robot subgroup, where, Let the number of charging stations be the reasonable number for the i-th robot subgroup. Let i be the number of robots in the i-th robot subgroup. It is the reciprocal of the charge-discharge ratio of the robots in the i-th robot subgroup; According to the formula Calculate the number of allocable charging stations for the i-th robot subgroup, where, Let be the number of allocatable charging stations for the i-th robot subgroup. This represents the total number of charging stations.

17. The method according to claim 1, characterized in that, The process of allocating charging stations from available charging stations for each type of robot subgroup includes: For each type of robot subgroup, the first robot that controls the state transition decision to the decision to leave the charging station leaves the charging station; Identify all second robots from the robot subgroup whose state transition decision is the charging decision; All the second robots are sorted according to their state of charge values ​​from low to high. Starting with the first second robot, a target charging station is assigned to each second robot from the available charging stations in turn, until all the available charging stations have been assigned.

18. The method according to claim 17, characterized in that, The target charging station is the charging station closest to the second robot.

19. The method according to claim 3, characterized in that, The method further includes: When the state of charge value of the robot in the charging state reaches the maximum value of the expected working state of charge value range, the robot is controlled to leave the charging pile.

20. A server, comprising: A processor and a memory, wherein the memory stores executable instructions, characterized in that the processor is capable of executing the executable instructions to implement the charging control method for a swarm of robots as described in any one of claims 1-19.

21. A robot charging system, characterized in that, include: A swarm of robots, comprising multiple types of robot subswarms, each type of robot subswarm comprising multiple robots, which are used to perform tasks; A charging station includes multiple charging piles for charging the robots, and the various types of robot subgroups can share the multiple charging piles; The server as described in claim 20 is used for charging control of the robots in the robot swarm.

22. The robot charging system according to claim 21, characterized in that, The robot charging system is used in the warehousing system, and the robot is used to perform cargo handling tasks.

23. A computer-readable storage medium, characterized in that, The storage medium stores executable instructions, which, when executed on the server, cause the server to perform the charging control method for the robot swarm as described in any one of claims 1-19.

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