A method, apparatus, and device for distributing power supply

Abstract

The embodiment of the present specification provides a power distribution method, device and equipment. The scheme comprises: obtaining power in a non-contact manner by a wireless charging receiving module and converting it into a direct current power supply voltage; relying on a power supply control module, performing voltage division and adaptation processing on the direct current voltage converted and output by the wireless charging receiving module, matching and adapting the working voltage for a payment type first type functional module and a sensing type second type functional module; and through mutually independent first and second power supply branches, independently supplying power to the two types of functional modules to realize independent and flexible control of power supply and power-off of each functional module; using the sensing information fed back by the second type functional module, intelligent detection of the user presence state is completed; when no user is detected in the preset area, the first type payment functional module can be regulated to a low-power standby state through a multi-level power supply network.

Description

Technical Field

[0001] This specification relates to the field of computer technology, and in particular to a power distribution method. This specification also relates to a power distribution device and a computing device. Background Technology

[0002] With the rapid development of mobile payment technology and the intelligent upgrading of commercial retail scenarios, intelligent payment robots have been widely used in various commercial venues such as retail stores, restaurants, cafes, and cosmetic counters. Currently, intelligent payment robots generally adopt a full-module constant power operation mode. Regardless of whether there is a user interaction need in the vicinity or whether the device is in idle standby mode, all functional modules inside the robot maintain constant power operation. This results in high power consumption of intelligent payment robots, making it difficult to meet the actual needs of intelligent payment robots to operate continuously for long periods of time.

[0003] Therefore, a reasonable low-power power supply method is needed for intelligent payment robots to reduce ineffective energy consumption and extend their continuous operation. Summary of the Invention

[0004] In view of this, one or more embodiments of this specification provide a power distribution method, apparatus, and device to reduce ineffective energy consumption in intelligent payment robots and extend the continuous operating time of intelligent payment robots.

[0005] According to a first aspect of one or more embodiments of this specification, a power distribution method is provided, applied to a payment terminal, the payment terminal including a robot body, the robot body including at least a wireless charging receiver module, a power control module, and multiple functional modules, the multiple functional modules including at least a first type of functional module for implementing payment-related functions and a second type of functional module for implementing perception-related functions, the method comprising: The wireless charging receiver module converts the electrical energy received from the wireless charging pad through non-contact charging into a first DC voltage. The first DC voltage is divided by a power management unit integrated in the multi-level power supply network of the power control module to obtain a second DC voltage that is compatible with the first type of functional module and a third DC voltage that is compatible with the second type of functional module. The second DC voltage is transmitted to the first type of functional module through the first power supply branch in the multi-level power supply network to achieve independent power supply to the first type of functional module; The third DC voltage is transmitted to the second type of functional module through the second power supply branch in the multi-level power supply network to achieve independent power supply to the second type of functional module; Based on the sensing information fed back by the second type of functional module, when no user is detected in the preset area of ​​the payment terminal, the first type of functional module is controlled to be in a low-power standby state through the multi-level power supply network.

[0006] According to a second aspect of one or more embodiments of this specification, a computing device, a memory, and a processor are provided; The memory is used to store computer programs / instructions, and the processor is used to execute the computer programs / instructions, which, when executed by the processor, implement the steps of the power distribution method.

[0007] One or more embodiments of this specification can achieve at least the following beneficial effects: By acquiring electrical energy in a contactless manner and converting it into DC power supply voltage through a wireless charging receiver module, the constraints of wired power supply can be eliminated, effectively improving the convenience of charging the robot. Relying on the power control module, the DC voltage output by the wireless charging receiver module is divided and adapted, allowing for matching suitable operating voltages for the payment-type first-class functional module and the sensing-type second-class functional module respectively; and by using independent first and second power supply branches, the two types of functional modules are independently powered. This enables independent and flexible control of the power supply and de-energization of each functional module, laying the hardware foundation for implementing a low-power power supply management strategy for the robot. Based on this, the sensing information fed back by the second type of functional module can be used to intelligently detect the presence of users. When no user is detected in the preset area, the first type of payment function module can be adjusted to a low-power standby state through a multi-level power supply network. This eliminates the inherent mode of all functional modules in the robot running on constant power 24 / 7, and precisely shuts down the ineffective power output of idle modules, reducing the ineffective energy consumption of the entire robot. This extends the duration of uninterrupted continuous operation of the equipment, adapting to the actual application needs of long-term unattended operation and stable 24 / 7 operation in retail stores, restaurants, or cosmetic counters. Attached Figure Description

[0008] To more clearly illustrate the technical solutions in the embodiments or prior art of this specification, the drawings used in the description of the embodiments or prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in this specification. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0009] Figure 1This is a schematic diagram illustrating an application scenario of a power distribution method provided in one embodiment of this specification; Figure 2 This is a flowchart illustrating a power distribution method provided in one embodiment of this specification; Figure 3 This is a schematic diagram illustrating how a power control module supplies power to various functional modules according to one embodiment of this specification; Figure 4 This is a schematic diagram illustrating how a power control module supplies power to a second type of functional module, as provided in one embodiment of this specification. Figure 5 This is a schematic diagram of the structure of a desktop robot provided in one embodiment of this specification; Figure 6 This is a schematic diagram of the internal power supply method of a desktop robot provided in one embodiment of this specification; Figure 7 This is a schematic diagram of the structure of a power distribution device provided in one embodiment of this specification; Figure 8 This is a structural block diagram of a computing device provided in one embodiment of this specification. Detailed Implementation

[0010] To enable those skilled in the art to better understand the technical solutions in this specification, the technical solutions in the embodiments of this specification will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this specification, and not all embodiments. Based on the embodiments in this specification, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of this specification.

[0011] This specification uses specific terms to describe embodiments thereof. Terms such as "an embodiment," "one embodiment," and / or "some embodiments" refer to a particular feature, structure, or characteristic associated with at least one embodiment of this specification. Therefore, it should be emphasized and noted that references to "an embodiment," "one embodiment," or "an alternative embodiment" in different locations throughout this specification do not necessarily refer to the same embodiment. Furthermore, those skilled in the art can combine and integrate the different embodiments or examples described herein, as well as the features of those different embodiments or examples, without contradiction.

[0012] The terminology used in one or more embodiments of this specification is for the purpose of describing particular embodiments only and is not intended to be limiting of the one or more embodiments of this specification. The singular forms “a,” “an,” “an,” “the,” and “the” as used in one or more embodiments of this specification and the appended claims are also intended to include the plural forms unless the context clearly indicates otherwise. It should also be understood that the term “and / or” as used in one or more embodiments of this specification includes any or all possible combinations of one or more associated listed items.

[0013] The terms “comprising,” “including,” or any other variations thereof are intended to cover a non-exclusive inclusion, such that a process, method, product, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, product, or apparatus. Without further limitation, the presence of additional identical or equivalent elements in the process, method, product, or apparatus that includes said elements is not excluded.

[0014] Although the terms "first," "second," etc., may be used to describe various information in one or more embodiments of this specification, this information should not be limited to these terms. These terms are only used to distinguish information of the same type from one another. For example, "first" may also be referred to as "second," and similarly, "second" may also be referred to as "first," without departing from the scope of one or more embodiments of this specification. Ordinal numbers such as "first," "second," etc., do not necessarily indicate order; often they are used to facilitate the distinction of objects. For example, "first server" and "second server" usually refer to two servers. To distinguish these two servers, they are described as "first server" and "second server." Of course, sometimes these two servers may be the same server.

[0015] The word "if" can be interpreted as "when," "when," or "in response to a determination," depending on the context.

[0016] In this specification, unless explicitly stated otherwise, "receiving and sending data" does not necessarily mean direct receiving and sending; it can also mean indirect receiving and sending. For example, A receiving data sent by B can be understood as A directly receiving the data sent by B, or it can be understood as A indirectly receiving the data sent by B through other entities such as C. Similarly, B sending data to A can be understood as B sending the data directly to A, or it can be understood as B indirectly sending the data to A through other entities such as C. Here, C can be one entity, or it can be two or more entities.

[0017] In this specification, unless explicitly stated otherwise, the relationships between structures can be direct or indirect. For example, when describing "A is connected to B," unless it is explicitly stated that A and B are directly connected, it should be understood that A can be directly connected to B or indirectly connected to B. Similarly, when describing "A is on top of B," unless it is explicitly stated that A is directly above B (AB is adjacent and A is above B), it should be understood that A can be directly above B or indirectly above B (AB is separated by other elements, and A is above B). And so on.

[0018] The user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, stored data, displayed data, etc.) involved in one or more embodiments of this specification are all information and data authorized by the user or fully authorized by all parties. The collection, use, and processing of related data must comply with the relevant laws, regulations, and standards of the relevant regions, and corresponding operation entry points are provided for users to choose to authorize or refuse. For example, in locations where payment robots are deployed, video collection prompts may be displayed by pasting or showing; or, when a user becomes a registered user of the terminal application or processes business, authorization prompts may be displayed through terms and conditions, etc., and data collection and use may be carried out based on user authorization; or, authorization prompts may be displayed on the display interface of the payment robot. In practical applications, authorization prompts may be presented to users in one or more ways, and the specific methods are not specifically limited.

[0019] The following explains the terms and concepts used in one or more embodiments of this specification.

[0020] Robot: This can refer to a payment robot, a small, intelligent, interactive device that can be placed on a desktop, workbench, or other similar location as an auxiliary tool for business processing. It typically possesses one or more functions such as voice recognition, emotion simulation, facial expression display, motion feedback, and environmental awareness. A payment robot can include hardware components (such as the main structure, drive unit, and sensors) and software components (such as control algorithms and human-computer interaction interfaces). Alternatively, a payment robot may also have network connectivity to interact with a server.

[0021] An infrared sensor is a sensor device that uses the principle of infrared radiation sensing to detect the presence of a human body or object within a preset range. It can passively receive infrared heat source signals from the human body to achieve low-power detection of the human body's presence, approach, and departure at close range.

[0022] An image sensor is a photosensitive device that converts optical image signals into electrical signals. It can capture images of the robot's surrounding environment and human faces in real time. It supports functions such as portrait capture, face recognition, user identity verification, and scene recognition, and can provide image data support for robot interaction triggering, identity authentication, or behavior recognition.

[0023] A distance sensor is a sensor that calculates the straight-line distance between itself and a person or object in front of it by emitting and receiving specific detection signals; it can accurately detect the distance of a user approaching or the distance between an obstacle.

[0024] A microphone array is a system composed of multiple microphones arranged in a specific geometric structure. It can synchronously collect sound signals and use signal processing technology to achieve functions such as sound source localization, sound enhancement in the direction of the target, noise suppression, and reverberation.

[0025] The technical solutions provided in the various embodiments of this specification are described in detail below with reference to the accompanying drawings.

[0026] Figure 1 This is a schematic diagram illustrating an application scenario of a power distribution method provided in one embodiment of this specification.

[0027] like Figure 1 As shown, the payment robot 100 can be located at a cashier, self-service checkout machine, or other similar locations. The payment robot 100 can collect surrounding environmental information, such as human body detection information via infrared sensors, distance information via distance sensors, or image information via cameras. If the payment robot 100 determines that a user 200 is nearby, it can control the first type of functional module used to implement payment-related functions to operate normally, allowing the user to make a payment. If the payment robot 100 determines that no user 200 is nearby, it can control the first type of functional module to enter a low-power standby state to reduce unnecessary power consumption. For example, if it detects that the user 200 has left the preset sensing area for more than a preset time, the payment robot 100 can automatically cut off the power supply to the human-machine interaction module and the payment display module, only maintaining the operation of low-power modules such as human body infrared detection and battery monitoring. If it detects that the user 200 is approaching again, it can quickly wake up the human-machine interaction module and the payment display module to resume normal operation, ensuring that the user's payment experience is not affected. The user 200 can interact with the payment robot 100 using a user terminal to complete the payment. For example, user 200 can make a payment by touching the user terminal with the payment robot 100 via near-field payment; or, user 200 can make a payment by scanning the payment code displayed by the payment robot 100 with the user terminal; or, user 200 can display a payment code on the user terminal, and the payment robot 100 can scan the payment code to make a payment.

[0028] By dynamically adjusting the power supply mode of each functional module based on the user's presence, the payment robot can operate with low power consumption. This effectively reduces power loss during standby and idle periods, extends battery life, and meets the needs of long-term continuous operation in commercial scenarios. It also allows for rapid response when a user needs to make a payment, without disrupting the user's normal payment interaction. Simultaneously, it reduces energy waste, lowers equipment maintenance and power supply costs for merchants, and further enhances the intelligence and ease of use of the payment scenario.

[0029] In practical applications, payment robots can be equipped with low-power management logic. For example, they can analyze collected environmental information such as infrared and distance data to determine the presence of a user, and then regulate the power supply status of each functional module through a multi-level power supply network, achieving low-power operation. Alternatively, the payment robot can connect to a server, which can also contain low-power management logic. The server can analyze environmental information, determine power consumption status, and formulate power supply strategies. It can then issue power control commands to the payment robot, which, based on these commands, switches the power supply status of each module. Alternatively, some low-power management logic can be executed within the payment robot, while other logic can be executed on the server. The server and payment robot can work together to manage power supply and process business logic, balancing low power consumption and response efficiency.

[0030] The user terminal can be one or more of the following: smartphone, laptop, tablet, IoT device, portable wearable device, or immersive image display device. Specifically, IoT devices can be one or more of the following: smart speaker, smart TV, smart air conditioner, or smart in-vehicle device. Portable wearable devices can be one or more of the following: smartwatch, smart bracelet, or head-mounted device. Immersive image display devices can include, but are not limited to, augmented reality (AR) devices and virtual reality (VR) devices.

[0031] A server can be a standalone physical server, a server cluster consisting of multiple physical servers, or a distributed file system. It can also be a cloud server that provides basic cloud computing services such as cloud services, cloud databases, cloud computing, cloud functions, cloud storage, network services, cloud communication, middleware services, domain name services, security services, content delivery networks (CDN), and big data and artificial intelligence platforms.

[0032] The server can connect to one or more payment robots via LAN, WAN, internet, or other types of data networks. If user terminals can also connect to the server, the service can also connect to one or more user terminals via LAN, WAN, internet, or other types of data networks to synchronously obtain user interaction status, assisting the payment robot in optimizing low-power control strategies and further improving battery life and service experience.

[0033] This specification provides a power distribution method, a power distribution device, and a computing device, which will be described in detail in the following embodiments.

[0034] Figure 2 This is a flowchart illustrating a power distribution method provided in one embodiment of this specification.

[0035] From a programming perspective, the entity executing the process can be a program hosted on an application server or payment terminal. It can be understood that this method can be executed by any device, equipment, platform, or cluster of devices with computing and processing capabilities.

[0036] Figure 2 The method described above can be applied to a payment terminal, which may include a robot body. The robot body includes at least a wireless charging receiver module, a power control module, and multiple functional modules. The multiple functional modules include at least a first type of functional module for implementing payment-related functions and a second type of functional module for implementing perception-related functions.

[0037] In one or more embodiments of this specification, the payment terminal can be an intelligent terminal device with human-computer interaction, payment acceptance, environmental perception and autonomous power supply control capabilities. Specifically, the payment terminal can refer to an intelligent cashier payment device integrated with a robot form.

[0038] The robot body can refer to the main hardware structure that constitutes the payment terminal. The robot body can provide physical installation space, structural support, and circuit wiring carrier for various internal functional modules.

[0039] The wireless charging receiver module can be a power receiving hardware module set inside the robot body. It is mainly used to receive the power emitted by the external wireless charging pad in a non-contact manner and complete the AC-DC conversion. The wireless charging receiver module can transmit the converted DC power to the power control module.

[0040] The power control module is a hardware module for power management within the robot body, and it serves as the electrical connection hub between the wireless charging receiver module and various functional modules.

[0041] Functional modules can include various modules such as payment business modules, environmental perception modules, human-computer interaction modules, and motion modules.

[0042] Payment-related functions refer to the cashier transaction interaction functions and payment business logic processing functions that payment terminals possess in transaction scenarios. Specifically, these may include functions such as QR code display, payment code scanning and recognition, near-field payment interaction, payment status broadcasting, and transaction order processing.

[0043] The first type of functional modules used to implement payment-related functions may include a QR code display module, a payment code scanning and recognition module, a near-field NFC payment module, a payment voice broadcast module, and a transaction order processing module, etc. Perception-related functions refer to the ability of a payment terminal to collect environmental information within a preset area around itself. Specifically, these functions may include human infrared sensing, user distance detection, and surrounding environment image acquisition.

[0044] The second type of functional modules used to implement perception-related functions may include human infrared detection modules, distance detection modules, and image acquisition modules.

[0045] like Figure 2 As shown, the process may include the following steps.

[0046] Step 202: The wireless charging receiver module converts the electrical energy received from the wireless charging pad through contactless connection into a first DC voltage.

[0047] In one or more embodiments of this specification, a wireless charging pad can refer to a device that provides power to a wireless charging receiver module in a contactless manner. Contactless means that it does not rely on physical media such as wires or metal connectors to establish a physical connection, but instead uses wireless coupling methods such as electromagnetic induction or magnetic resonance to achieve power transmission. Contactless methods include, but are not limited to, NFC near-field coupling transmission.

[0048] In practical applications, the wireless charging receiver module can be fixed to the bottom or side of the robot body in advance. When the robot body is placed on the wireless charging pad, the wireless charging pad is activated and emits an alternating magnetic field. The induction coil of the wireless charging receiver module cuts the alternating magnetic field to generate an induced current. This induced current enters the rectifier circuit of the wireless charging receiver module, converting the alternating current into a direct current. Then, the direct current is filtered by the filter circuit to obtain a preliminary stable DC voltage. Finally, the preliminary stable DC voltage is adjusted to a preset fixed value by the voltage regulator circuit to obtain the first DC voltage.

[0049] Step 204: The first DC voltage is divided by the power management unit integrated in the multi-level power supply network of the power control module to obtain a second DC voltage that is compatible with the first type of functional module and a third DC voltage that is compatible with the second type of functional module.

[0050] In one or more embodiments of this specification, the power control module may integrate components such as a multi-level power supply network and a power management unit. The power control module can be used to divide, schedule, and manage the received electrical energy. The multi-level power supply network can refer to a power distribution network integrated within the power control module. The multi-level power supply network may include multiple independent power supply branches, and each power supply branch can independently supply power to a functional module. The power management unit can refer to a processing unit integrated within the multi-level power supply network that has voltage division, voltage regulation, and power supply monitoring functions.

[0051] Voltage division refers to the process of splitting a first DC voltage into two or more DC voltages of different specifications using a voltage divider circuit in the power management unit. The voltage divider circuit can be a voltage conversion circuit consisting of a DC-DC converter and a low-dropout linear regulator. The DC-DC converter (DC / DC) is mainly used for wide-range voltage step-up / step-down conversion, converting the input reference voltage to an intermediate voltage level suitable for the overall power supply requirements. The low-dropout linear regulator (LDO) can be connected in series after the DC / DC converter to perform secondary precise voltage regulation and filtering / noise reduction on the DC / DC converted voltage, resulting in a clean voltage with low ripple and high stability.

[0052] The second DC voltage adapted to the first type of functional module can refer to the voltage value of the second DC voltage being consistent with the rated power supply voltage of the first type of functional module; the third DC voltage adapted to the second type of functional module can refer to the voltage value of the third DC voltage being consistent with the rated power supply voltage of the second type of functional module.

[0053] In practical applications, the power management unit can be pre-configured with two independent voltage divider circuits. One voltage divider circuit corresponds to the first type of functional module, and the other voltage divider circuit corresponds to the second type of functional module. Each voltage divider circuit can include a voltage divider resistor, a voltage regulator chip, and a filter capacitor to ensure the stability of the divided voltage. First, the power management unit receives the first DC voltage transmitted from the wireless charging receiver module and detects this DC voltage to confirm that the voltage fluctuation is within a preset range, avoiding voltage abnormalities that could lead to voltage division failure. Then, the first DC voltage is divided to a second DC voltage through the voltage divider circuit corresponding to the first type of functional module. This second DC voltage is compatible with the rated supply voltage of the first type of functional module, and the voltage ripple after voltage division is filtered out by the filter capacitor to ensure voltage stability. Finally, the first DC voltage is divided to a third DC voltage through the voltage divider circuit corresponding to the second type of functional module. This third DC voltage is compatible with the rated supply voltage of the second type of functional module, and the voltage ripple after voltage division is filtered out by the filter capacitor to ensure voltage stability.

[0054] Step 206: Transmit the second DC voltage to the first type of functional module through the first power supply branch in the multi-level power supply network to achieve independent power supply to the first type of functional module.

[0055] In one or more embodiments of this specification, the first power supply branch may refer to an independent power supply channel integrated within a multi-level power supply network, and the first power supply branch may include wires and switching elements.

[0056] In practical applications, one end of the first power supply branch can be connected to the voltage divider output terminal of the power management unit, and the other end of the first power supply branch can be connected to the power supply input terminal of the first type of functional module. The power management unit can output the divided second DC voltage to the input terminal of the first power supply branch, while simultaneously detecting the branch voltage to confirm that the voltage is stable within a preset range. It also controls the switching elements in the first power supply branch to conduct, allowing the second DC voltage to be transmitted through the branch wires to the power supply input terminal of the first type of functional module, thus providing stable power to various payment-related modules. During power supply, the first power supply branch can monitor the branch current in real time. If an overcurrent occurs, it will trigger the fuse to blow, cutting off the power supply and protecting the first type of functional module and the first power supply branch.

[0057] Step 208: Transmit the third DC voltage to the second type of functional module through the second power supply branch in the multi-level power supply network to achieve independent power supply to the second type of functional module.

[0058] In one or more embodiments of this specification, the second power supply branch may refer to an independent power supply channel integrated within a multi-level power supply network, and the second power supply branch may include wires and switching elements. The first power supply branch and the second power supply branch may be electrically isolated from each other.

[0059] In practical applications, one end of the second power supply branch can be connected to the voltage divider output terminal of the power management unit, and the other end can be connected to the power supply input terminal of the second type of functional module. The power management unit can output the divided third DC voltage to the input terminal of the second power supply branch, while simultaneously detecting the branch voltage to confirm that the voltage is stable within a preset range. It also controls the switching elements in the second power supply branch to conduct, allowing the third DC voltage to be transmitted through the branch wires to the power supply input terminal of the second type of functional module, providing stable power to various sensing-related modules. During power supply, the second power supply branch can monitor the branch current in real time. If an overcurrent occurs, it will trigger a fuse to blow, cutting off the power supply and protecting the second type of functional module and the second power supply branch.

[0060] Step 210: Based on the perception information fed back by the second type of functional module, when no user is detected in the preset area of ​​the payment terminal, the first type of functional module is controlled to be in a low-power standby state through the multi-level power supply network.

[0061] In one or more embodiments of this specification, the perceived information may refer to the environmental information collected by the second type of functional module for determining whether a user exists within a preset area of ​​the payment terminal. The preset area of ​​the payment terminal may refer to a preset user interaction area centered on the payment terminal. "No user detected" means that the perceived information collected by the second type of functional module has not triggered the determination condition for the presence of a user. "Low-power standby state" may refer to the non-core functions of the first type of functional module ceasing operation (such as the payment code display being turned off or the near-field payment module going into sleep mode), retaining only the low-power operation state of the wake-up circuit.

[0062] In practical applications, the second type of functional module can continuously collect sensing information and feed it back to the system on chip (SOC) of the payment terminal in real time via a bus. If the sensing information fed back by the second type of functional module indicates that no user is detected within the preset area of ​​the payment terminal, the SOC can generate a low-power control command. The SOC can send the low-power control command to the first type of functional module, which can then enter a low-power standby state in response to the command. Specifically, the first type of functional module can cut off the power supply to the payment circuit (such as the QR code display screen or the radio frequency circuit of the near-field payment module) while retaining the power supply to the wake-up circuit (such as the circuit that receives the wake-up signal). Alternatively, the SOC can send the low-power control command to the switching element (such as a MOSFET) of the first power supply branch. After receiving the low-power control command, the switching element can adjust its conduction level to reduce the output current of the second DC voltage to a preset low-power threshold, while simultaneously cutting off the power supply to the payment circuit in the first type of functional module and retaining the power supply to the wake-up circuit, so that the first type of functional module enters a low-power standby state. If the second type of functional module detects the user, the SOC can generate a wake-up command to control the first type of functional module to resume normal operation, ensuring that the user's payment experience is not affected.

[0063] In one or more embodiments of this specification, the user status is determined by the sensing information of the second type of functional module, which can accurately identify whether there is a user in the preset area of ​​the payment terminal. This avoids the energy waste caused by the continuous normal operation of the first type of functional module when no user is detected, thereby effectively reducing the ineffective power consumption of the payment terminal, extending the battery life of the device, and adapting to the needs of long-term continuous operation in commercial scenarios. By controlling the first type of functional module to enter a low-power standby state instead of completely shutting down the power, the first type of functional module can be quickly woken up when a user is detected, so as to ensure that the user's payment experience is not affected, thus balancing low power consumption and service response efficiency.

[0064] While one or more embodiments of this specification provide method steps as described in the embodiments or flowcharts, it is understood that the order of steps listed in the embodiments or flowcharts is merely one possible execution order among many steps and does not represent the only possible execution order. The order of some steps may be adjusted according to actual needs, or some steps may be omitted. When the claims involve method steps, changes in the order of such steps, or parallel execution between steps, are also within the scope of protection of the claims.

[0065] Figure 2The method described above uses a wireless charging receiver module to acquire electrical energy non-contactly and convert it into DC power supply voltage, eliminating the wiring constraints of wired power supply and effectively improving the convenience of charging the robot. Based on the power control module, the DC voltage output from the wireless charging receiver module is divided and adapted to match the working voltage for the payment-type first-class functional module and the sensing-type second-class functional module respectively. Furthermore, independent power supply branches are used to independently power the two types of functional modules. This allows for independent and flexible control of the power supply and de-energization of each functional module, laying the hardware foundation for implementing a low-power power supply management strategy for the robot. Based on this, the sensing information fed back by the second type of functional module can be used to intelligently detect the presence of users. When no user is detected in the preset area, the first type of payment function module can be adjusted to a low-power standby state through a multi-level power supply network. This eliminates the inherent mode of all functional modules in the robot running on constant power 24 / 7, and precisely shuts down the ineffective power output of idle modules, reducing the ineffective energy consumption of the entire robot. This extends the duration of uninterrupted continuous operation of the equipment, adapting to the actual application needs of long-term unattended operation and stable 24 / 7 operation in retail stores, restaurants, or cosmetic counters.

[0066] based on Figure 2 In addition to the method described herein, this specification also provides some implementation methods of the method, which will be described below.

[0067] In addition to payment interaction and environmental perception capabilities, the robot itself can also perform motion functions such as posture adjustment, movement, and angle fine-tuning. Therefore, a dedicated functional module is needed to support the robot's motion capabilities. However, if the motion module remains powered on under all operating conditions for extended periods, it will generate additional ineffective power consumption during idle periods without user interaction. Therefore, to further reduce overall device power consumption and extend the device's continuous operating time, the motion module can be independently powered to meet the device's overall low-power operation design requirements.

[0068] Optionally, the plurality of functional modules may further include a third type of functional module for implementing motion-related functions. Correspondingly, the method may further include: transmitting a fourth DC voltage to the third type of functional module through a third power supply branch in the multi-level power supply network to achieve independent power supply to the third type of functional module, wherein the fourth DC voltage is a DC voltage adapted to the third type of functional module obtained by voltage division of the first DC voltage; based on the sensing information fed back by the second type of functional module, when no user is detected in the preset area of ​​the payment terminal, controlling the third type of functional module to be in a low-power standby state through the multi-level power supply network.

[0069] In one or more embodiments of this specification, motion-related functions may refer to the mechanical motion control functions of the payment terminal, such as posture adjustment, limb movement, gimbal rotation, body angle fine-tuning, and servo motor swing. The third type of functional module may refer to the hardware module responsible for robot posture adjustment, limb movement, and positional movement. The third power supply branch may refer to an independent power supply channel integrated within a multi-level power supply network, and may include wires and switching elements. The first, second, and third power supply branches are electrically isolated from each other. The fourth DC voltage adapted to the third type of functional module may refer to a fourth DC voltage whose voltage value is consistent with the rated power supply voltage of the third type of functional module.

[0070] In practical applications, one end of the third power supply branch can be connected to the voltage divider output of the power management unit, and the other end can be connected to the power supply input of the third type of functional module. The power management unit can output the divided fourth DC voltage to the input of the third power supply branch, while simultaneously detecting the branch voltage to ensure it remains stable within a preset range. It also controls the switching elements in the third power supply branch to conduct, allowing the fourth DC voltage to be transmitted through the branch wires to the power supply input of the third type of functional module, providing stable power to various motion-related modules. During power supply, the third power supply branch can monitor the branch current in real time. If an overcurrent occurs, it will trigger a fuse to blow, cutting off the power supply and protecting both the third type of functional module and the third power supply branch.

[0071] After generating a low-power control command, the SOC can send it to a third type of functional module. The third type of functional module can then enter a low-power standby state in response to the command. Specifically, the third type of functional module can cut off the power supply to the motion drive circuit (such as a servo drive circuit) while maintaining the power supply to the wake-up circuit (such as a circuit receiving a wake-up signal). Alternatively, the SOC can send the low-power control command to the switching element (such as a MOSFET) of the third power supply branch. Upon receiving the command, the switching element can adjust its conduction level to reduce the output current of the fourth DC voltage to a preset low-power threshold, simultaneously cutting off the power supply to the motion drive circuit in the third type of functional module while maintaining the power supply to the wake-up circuit, thus enabling the third type of functional module to enter a low-power standby state. If the third type of functional module subsequently detects a user, the SOC can generate a wake-up command to control it to resume normal operation, improving the user experience. The low-power control command generated by the SOC for the first type of functional module can be the same as or different from the low-power control command generated for the third type of functional module.

[0072] In one or more embodiments of this specification, when no user is detected within a preset area of ​​the payment terminal, the motion-related functional modules can be controlled to enter a low-power standby state. This effectively avoids the idle loss and ineffective power consumption caused by the long-term full-load constant power operation of the robot's motion-related components, thereby further extending the battery life and uninterrupted operation cycle of the payment terminal. Furthermore, by adopting a low-power standby management mode, rather than completely shutting down the modules, the underlying basic wake-up circuit of the motion module can be kept working normally. This avoids the current surges to the hardware modules caused by frequent power-on and power-off cycles. Additionally, when a user is detected entering the preset area, the third type of functional module can be quickly woken up to instantly restore motion functions such as posture adjustment and motion guidance, thereby improving device response speed and optimizing the user experience.

[0073] Figure 3 This is a schematic diagram illustrating how a power control module supplies power to various functional modules, as provided in one embodiment of this specification. Figure 3As shown, the robot body 300 includes a first type of functional module 301, a second type of functional module 302, a third type of functional module 303, a power control module 304, a wireless charging receiver module 305, a first power supply branch 306, a second power supply branch 307, a third power supply branch 308, and other types of functional modules 309. The wireless charging receiver module 305 can obtain electrical energy from the wireless charging pad 310 in a contactless manner. The wireless charging receiver module 305 can convert the obtained electrical energy into a first DC voltage and send it to the power control module 304. The power control module 304 can perform voltage division on the first DC voltage to obtain a second DC voltage adapted to the first type functional module 301, a third DC voltage adapted to the second type functional module 302, and a fourth DC voltage adapted to the third type functional module 303. The power control module 304 can transmit the second DC voltage to the first type functional module 301 through the first power supply branch 306, transmit the third DC voltage to the second type functional module 302 through the second power supply branch 307, and transmit the fourth DC voltage to the third type functional module 303 through the third power supply branch 308, so as to realize independent power supply for the first type functional module 301, the second type functional module 302, and the third type functional module 303 respectively.

[0074] It should be noted that, Figure 3 For the power supply methods of other types of functional modules 309, please refer to the power supply methods for the first type of functional module 301, the second type of functional module 302, or the third type of functional module 303. Figure 3 No specific examples are provided.

[0075] Figure 3In this system, a wireless charging receiver module works in conjunction with a wireless charging pad to achieve contactless power reception. This eliminates the need for physical connections such as wires and connectors, effectively avoiding issues like interface wear, poor contact, and power interruptions common in traditional wired power supply methods, thus improving the stability of the payment terminal's power supply. Simultaneously, the power control module divides the first DC voltage output from the wireless charging receiver module to obtain a second DC voltage adapted to the first type of functional module, a third DC voltage adapted to the second type of functional module, and a fourth DC voltage adapted to the third type of functional module. These voltages are then independently supplied to the first type of functional module via a first power supply branch, the second type of functional module via a second power supply branch, and the third type of functional module via a third power supply branch. This achieves electrical isolation between different loads, preventing voltage fluctuations and current interference between the motion module, payment module, and sensing module, ensuring stable operation of all functional modules. In addition, the independent power supply branch architecture provides a hardware foundation for independent low-power management of various functional modules. For example, in the idle state without user interaction, payment and motion modules can be individually controlled to enter a low-power standby state, thereby reducing ineffective power consumption and extending the device's battery life.

[0076] In the embodiments of this specification, one or more embodiments are proposed for a method to detect whether a user exists within a preset area of ​​a payment terminal based on the perception information fed back by the second type of functional module.

[0077] Optionally, the second type of functional module may include at least one of an infrared sensor, an image sensor, or a distance sensor to detect whether a user exists within a preset area of ​​the payment terminal, including: detecting whether a user exists within a preset area of ​​the payment terminal based on at least one of an infrared sensing image generated by the infrared sensor, an environmental image collected by the image sensor, or a measured distance output by the distance sensor.

[0078] In one or more embodiments of this specification, the infrared sensing image can be image data generated by an infrared sensor targeting a preset area of ​​the payment terminal, reflecting the distribution of infrared radiation intensity within the preset area. The environmental image can be visible light image data collected by an image sensor targeting a preset area of ​​the payment terminal, and the environmental image may contain feature information such as the shape, texture, or color of objects and human bodies within the scene. The measured distance can be numerical data collected by a distance sensor targeting objects or human bodies within a preset area of ​​the payment terminal, representing the distance between the target object or human body and the payment terminal.

[0079] In one or more embodiments of this specification, by employing infrared sensors, image sensors, and distance sensors, redundant detection of multiple types of sensors can be formed, thereby effectively resisting interference from external environments such as changes in lighting, environmental heat sources, or obstructions, and thus reducing the false positive rate and false negative rate of user status detection within a preset area.

[0080] Optionally, the second type of functional module may include an infrared sensor and an image sensor. Detecting whether a user exists within a preset area of ​​the payment terminal may include: determining whether a heat source target matching human body temperature characteristics exists in the infrared sensing image generated by the infrared sensor, obtaining a first determination result; if the first determination result indicates the presence of the heat source target, then determining whether human image features exist in the environmental image collected by the image sensor, obtaining a second determination result; if the second determination result indicates the absence of the human image features, then determining that no user is detected within the preset area of ​​the payment terminal.

[0081] In one or more embodiments of this specification, human body temperature characteristics can refer to a pre-defined infrared radiation temperature range corresponding to the normal human body temperature, which can be used to identify targets that conform to the human body's heat generation pattern from infrared sensing images. Heat source targets can be bright heat source areas in the infrared sensing image whose temperature values ​​fall within the human body temperature characteristic range; these are suspected human targets initially screened by the infrared sensor. Human body image characteristics can be identifiable human body contours, limb shapes, key body points, or torso features, or other inherent visual features of the human body in environmental images.

[0082] In practical applications, infrared sensors can collect infrared radiation information within a preset area of ​​the payment terminal in real time and generate corresponding infrared sensing images. Data analysis is performed on these images to determine if a heat source target matching preset human body temperature characteristics exists, generating a first judgment result. If the first judgment result indicates the presence of a heat source target meeting the requirements, the image sensor can be triggered to collect an environmental image of the current preset area. Human image feature recognition analysis is then performed on the collected environmental image to determine if valid human image features exist, generating a second judgment result. If the second judgment result indicates no human image features are detected in the environmental image, it can be determined that no real user has been detected within the preset area of ​​the payment terminal. If the second judgment result indicates the detection of human image features in the environmental image, it can be determined that a real user has been detected within the preset area of ​​the payment terminal. If the first judgment result indicates the absence of a heat source target meeting the requirements, the image sensor can be left untriggered to collect an environmental image of the current preset area.

[0083] In one or more embodiments of this specification, an infrared sensor and an image sensor can form a two-stage progressive detection mechanism. This effectively identifies interference from non-human heat sources such as hot drinks, heated appliances, or ambient hot air, avoiding blind activation of functional modules due to misjudgment by a single infrared detection, reducing unnecessary power consumption, and ensuring the reliability of the device's low-power management logic. Simultaneously, the image sensor does not need to collect image data at high frequency around the clock; it can only be activated as needed after the infrared sensor detects a suspected heat source, thereby reducing the image sensor's operating time and further optimizing overall power consumption and extending the device's battery life. Furthermore, secondary verification using human image features to identify the real user avoids misjudgments and omissions caused by environmental interference, and ensures the device can respond normally when a real user approaches. This achieves energy saving and consumption reduction while also considering the responsiveness of human-computer interaction, improving the user experience.

[0084] Optionally, the second type of functional module may include an infrared sensor and a distance sensor. Detecting whether a user exists within a preset area of ​​the payment terminal may include: determining whether a heat source target matching human body temperature characteristics exists in the infrared sensing image generated by the infrared sensor, obtaining a third determination result; if the third determination result indicates the presence of the heat source target, determining whether the measurement distance of the distance sensor to the heat source target is less than or equal to a preset distance, obtaining a fourth determination result; if the fourth determination result indicates the measurement distance is greater than the preset distance, determining that no user is detected within the preset area of ​​the payment terminal.

[0085] In one or more embodiments of this specification, the explanations of human body temperature characteristics and heat source targets can be found above and will not be repeated here. The preset distance can refer to a spatial distance threshold pre-set for the interaction scenario of the payment terminal, which can be used to define the activity range of valid users.

[0086] In practical applications, infrared sensors can collect infrared radiation information within a preset area of ​​the payment terminal in real time and generate corresponding infrared sensing images. Data analysis of these images is performed to determine if a heat source target matching preset human body temperature characteristics exists, generating a third judgment result. If the third judgment result indicates the presence of a heat source target that meets the requirements, a distance sensor can be invoked to detect the distance to that heat source target and output the corresponding measured distance. The measurement distance is then determined to be less than or equal to a preset distance, resulting in a fourth judgment result. If the fourth judgment result indicates that the measured distance is greater than the preset distance, the heat source target is considered a distant and irrelevant heat source, and it can be determined that no user is detected within the preset area of ​​the payment terminal. If the fourth judgment result indicates that the measured distance is less than or equal to the preset distance, it can be determined that a user is detected within the preset area of ​​the payment terminal. If the third judgment result indicates that no heat source target meets the requirements, the distance sensor does not need to be invoked to detect the heat source target.

[0087] In one or more embodiments of this specification, an infrared sensor and a distance sensor can form a progressive detection mechanism with both temperature and distance dimensions. This effectively identifies interfering targets such as distant heat-generating appliances, ambient hot air, or distant heat sources, thus overcoming the shortcomings of a single infrared sensor in determining distance and its susceptibility to long-distance misjudgments. This improves the accuracy of user detection within a preset area. Simultaneously, the distance sensor can only perform distance measurement after the infrared sensor detects a compliant heat source target, eliminating the need for continuous, high-frequency, full-area scanning detection, effectively reducing the workload of the distance sensor and the overall device's power consumption. Furthermore, while accurately filtering environmental interference and preventing power loss due to module false wake-ups, it can also accurately identify the approaching behavior of real users at close range, ensuring the device can respond promptly to user interaction needs and improve user experience.

[0088] Optionally, the second type of functional module may include an image sensor and a distance sensor. Detecting whether a user exists within a preset area of ​​the payment terminal may include: determining whether human image features exist in the environmental image collected by the image sensor, obtaining a fifth determination result; if the fifth determination result indicates the presence of the human image features, determining whether the measurement distance output by the distance sensor for the target user corresponding to the human image features is less than or equal to a preset distance, obtaining a sixth determination result; if the sixth determination result indicates that the measurement distance is greater than the preset distance, determining that no user is detected within the preset area of ​​the payment terminal.

[0089] In one or more embodiments of this specification, the explanation of human image features and preset distances can be found above and will not be repeated here. The target user can be the actual user corresponding to the human image features identified by the image sensor; this can be understood as the person to be interacted with.

[0090] In practical applications, the image sensor can continuously collect environmental images within a preset area of ​​the payment terminal and perform visual analysis on the environmental images to determine whether human image features exist in the images, resulting in a fifth judgment result. If the fifth judgment result indicates the presence of human image features, the target user corresponding to the human image features can be identified, and the distance sensor can be invoked to measure the distance to the target user, outputting the measured distance. It is then determined whether the measured distance is less than or equal to a preset distance, resulting in a sixth judgment result. If the sixth judgment result indicates that the measured distance is greater than the preset distance, it is determined that the target person is outside the effective interaction area, and it can be determined that no user has been detected within the preset area of ​​the payment terminal. If the sixth judgment result indicates that the measured distance is less than or equal to the preset distance, it can be determined that a user has been detected within the preset area of ​​the payment terminal. If the fifth judgment result indicates the absence of human image features, the target user corresponding to the human image features can be left unidentified, and the distance sensor can be left uninvoked to measure the distance to the target user.

[0091] In one or more embodiments of this specification, a two-level verification mechanism combining an image sensor and a distance sensor is employed. This mechanism first relies on human image feature recognition to eliminate non-human objects such as tables, chairs, or shopping bags, and then uses distance thresholds to filter out distant targets such as pedestrians. This effectively solves the problem of single-image detection being unable to distinguish between near and far objects and prone to false triggering, thus improving the accuracy and reliability of user detection. Simultaneously, the distance sensor does not need to perform 24 / 7 full-area scanning; it can only perform targeted distance measurement after the image sensor identifies human image features, reducing the operating frequency and power consumption of the distance sensor. This avoids power waste caused by false wake-ups of functional modules by distant human targets, ensuring stable operation of the device under low-power management and extending battery life. It also accurately identifies nearby users entering the effective interaction range, ensuring the device can respond promptly to payment interaction requests and improving the user experience.

[0092] Optionally, the second type of functional module may include an infrared sensor, an image sensor, and a distance sensor. Detecting whether there is a user in the preset area of the payment terminal may include: determining whether there is a heat source target conforming to the human body temperature characteristics in the infrared induction image generated by the infrared sensor, to obtain a seventh determination result; if the seventh determination result indicates that there is a heat source target conforming to the human body temperature characteristics in the infrared induction image, then determining whether there is a human body image feature in the environmental image collected by the image sensor, to obtain an eighth determination result; if the eighth determination result indicates that there is a human body image feature in the environmental image, then determining whether the measurement distance output by the distance sensor for the target user corresponding to the human body image feature is less than or equal to a preset distance, to obtain a ninth determination result; if the ninth determination result indicates that the measurement distance output by the distance sensor for the target user corresponding to the human body image feature is greater than the preset distance, it is determined that no user is detected in the preset area of the payment terminal.

[0093] In one or more embodiments of this specification, by adopting a three-level progressive fusion detection mechanism composed of an infrared sensor, an image sensor, and a distance sensor, a full-range verification system can be constructed from three dimensions of temperature, vision, and distance, so as to filter out various disturbances such as non-human heat sources, non-human objects, and distant humans layer by layer. Compared with a single sensor, the accuracy and reliability of user detection can be improved to completely solve the problem of misjudgment. At the same time, the three sensors can adopt a linkage mode of starting on demand. For example, the image sensor can be started after the infrared sensor detects a compliant heat source, and the distance sensor can be started after the image sensor recognizes the human body image feature. Thus, it is not necessary for all sensors to work at high frequency all the time, effectively reducing the working hours of various sensors and the ineffective power consumption of the whole machine, further optimizing the power consumption distribution of the whole machine, and extending the battery life cycle of the payment terminal for uninterrupted duty. In addition, the three-level verification logic can not only ensure that distant irrelevant humans or environmental disturbances will not trigger misjudgment, but also accurately identify real users entering the effective interaction range, so as to ensure that the device can respond to payment interaction needs in time and improve the user experience.

[0094] It should be noted that when the second type of functional module includes an infrared sensor, an image sensor, and a distance sensor at the same time, the execution order of determining whether there is a heat source target conforming to the human body temperature characteristics in the infrared induction image generated by the infrared sensor, determining whether there is a human body image feature in the environmental image collected by the image sensor, and determining whether the measurement distance output by the distance sensor for the target user is less than or equal to the preset distance can be flexibly adjusted according to the actual application scenario, and no specific limitation is made in this regard.

[0095] To further improve and refine the overall low-power management strategy for the payment terminal, independent power supply methods can be adopted for each sub-functional module included in the second type of functional module.

[0096] Optionally, the second type of functional module may include at least a human-computer interaction sensing module and an environment detection sensing module, and the second power supply branch may include at least a first power supply branch and a second power supply branch. The step of transmitting the third DC voltage to the second type of functional module through the second power supply branch in the multi-level power supply network may include: using the power management unit to perform voltage division processing on the third DC voltage to obtain a fourth DC voltage adapted to the human-computer interaction sensing module and a fifth DC voltage adapted to the environment detection sensing module; transmitting the fourth DC voltage to the human-computer interaction sensing module through the first power supply branch to achieve independent power supply for the human-computer interaction sensing module; and transmitting the fifth DC voltage to the environment detection sensing module through the second power supply branch to achieve independent power supply for the environment detection sensing module.

[0097] In one or more embodiments of this specification, a human-computer interaction sensing module can refer to a functional module that passively responds to and generates corresponding sensing information after receiving relevant operation commands initiated by the user. This type of sensing module may include modules such as buttons and microphone arrays. It can be used to receive user button operations and pick up user voice interaction commands to trigger business interactions between the user and the payment terminal. An environmental detection sensing module can refer to a functional module that actively collects information about the surrounding environment and the user, and generates sensing information based on the collected information. This type of sensing module may include infrared sensors, distance sensors, and image sensors. It can be used to detect the environmental state within a preset area of ​​the payment terminal in real time, such as continuously detecting whether a user is approaching or whether a human target exists within the preset area. This can provide sensing data support for low-power switching or wake-up of the working mode. The first power supply branch and the second power supply branch can be two independent power supply paths. The two sub-branches can be electrically isolated from each other and can be independently controlled to be turned on, off, and adjusted for low power consumption. The fourth DC voltage can be the voltage obtained by the power management unit after dividing the third DC voltage, which is consistent with the rated operating voltage of the human-machine interaction sensing module. The fifth DC voltage can be the voltage obtained by the power management unit after dividing the third DC voltage, which is consistent with the rated operating voltage of the environmental detection sensing module.

[0098] In practical applications, the power management unit can perform secondary voltage division and regulation on the third DC voltage to obtain a fourth DC voltage that matches the human-machine interaction sensing module and a fifth DC voltage that matches the environmental detection sensing module. The fourth DC voltage is supplied to the human-machine interaction sensing module independently through the first power supply branch to achieve independent power supply for this type of sensing module. The fifth DC voltage is supplied to the environmental detection sensing module independently through the second power supply branch to achieve independent power supply for this type of sensing module. The power supply of the two power supply branches can be independently controlled by a multi-level power supply network. This allows for the matching of power supply parameters based on the rated voltage or load conditions of various sensing modules, avoiding voltage fluctuations or current crosstalk caused by shared power supply. This effectively ensures the working accuracy and operational stability of the sensing modules. Furthermore, by separately controlling the power supply and switching low-power states of human-machine interaction sensing modules and environmental detection sensing modules, a refined low-power management strategy for the entire device can be implemented. For example, when there is no need for interaction, the power supply to the human-machine interaction modules can be turned off as needed, while only the environmental detection modules are kept online at low power consumption. This effectively reduces the overall ineffective energy consumption of the device and extends the unattended operation cycle of the payment terminal.

[0099] Figure 4 This is a schematic diagram illustrating how a power control module supplies power to a second type of functional module, as provided in one embodiment of this specification. Figure 4As shown, in the robot body 300, the power control module 304 transmits the third DC voltage to the second type of functional module power supply unit 302-1 through the second power supply branch 307. The second type of functional module power supply unit 302-1 divides the third DC voltage to obtain the fourth DC voltage and the fifth DC voltage. The fourth DC voltage is transmitted to the human-machine interaction perception module 302-2 through the first power supply branch 307-1, and the fifth DC voltage is transmitted to the environmental detection perception module 302-3 through the second power supply branch 307-2. In the case where the human-computer interaction sensing module 302-2 includes buttons and a microphone array, the fourth DC voltage may include a fourth DC voltage a consistent with the rated operating voltage of the buttons and a fourth DC voltage b consistent with the rated operating voltage of the microphone array. The first power supply branch 307-1 may include two paths. The fourth DC voltage a can be transmitted to the buttons through one first power supply branch 307-1 to achieve independent power supply for the buttons, and the fourth DC voltage b can be transmitted to the microphone array through the other first power supply branch 307-1 to achieve independent power supply for the microphone array. In the case where the environmental detection sensing module 302-3 includes an infrared sensor, an image sensor, and a distance sensor, the fifth DC voltage may include a fifth DC voltage c consistent with the rated operating voltage of the infrared sensor, a fifth DC voltage d consistent with the rated operating voltage of the image sensor, and a fifth DC voltage e consistent with the rated operating voltage of the distance sensor. The second power supply branch 307-2 may include three paths: one second power supply branch 307-2 can transmit the fifth DC voltage c to the infrared sensor to achieve independent power supply for the infrared sensor; another second power supply branch 307-2 can transmit the fifth DC voltage d to the image sensor to achieve independent power supply for the image sensor; and a third second power supply branch 307-3 can transmit the fifth DC voltage e to the distance sensor to achieve independent power supply for the distance sensor.

[0100] It should be noted that, Figure 4 The first type of functional module can include multiple sub-functional modules, the third type of functional module can include multiple sub-functional modules, and other types of functional modules can also include multiple sub-functional modules. The method of powering multiple sub-functional modules in the first type of functional module, the third type of functional module, and other types of functional modules can refer to the method of powering human-computer interaction sensing module 302-2 or environment detection sensing module 302-3. Figure 4 Not shown in the image.

[0101] In practical applications, the first type of functional module can include multiple independent sub-functional modules, such as a QR code recognition module, an NFC card swiping module, a payment display module, or a payment voice broadcast module. Corresponding to these multiple sub-functional modules, to achieve refined power supply control and ensure the stable operation of each sub-module, the power supply unit corresponding to the first type of functional module can perform secondary voltage division and regulation on the input second DC voltage. Based on the rated operating voltage or load characteristics of each sub-functional module, it generates a DC voltage precisely matched to each sub-functional module and configures an independent power supply branch for each sub-functional module, thereby achieving separate power supply and independent control for each sub-functional module.

[0102] The third type of functional module can also include multiple independent sub-functional modules, such as a gimbal rotation module, a servo drive module, an attitude adjustment module, or a fuselage movement module. Corresponding to the multiple sub-functional modules of the third type of functional module, in order to achieve refined power supply control and ensure the stable operation of each sub-module, the power supply unit corresponding to the third type of functional module can perform secondary voltage division and regulation on the input fourth DC voltage. Based on the rated operating voltage or load characteristics of each sub-functional module, it generates a DC voltage precisely matched to each sub-functional module and configures an independent power supply branch for each sub-functional module, thereby achieving separate power supply and independent control for each sub-functional module.

[0103] In one or more embodiments of this specification, in addition to improving the power supply method of each functional module in the payment terminal to achieve refined power supply management, the charging and discharging mechanism of the energy storage battery mounted on the payment terminal has also been optimized and adjusted to further improve the overall low power consumption management system.

[0104] Optionally, the robot body may further include an energy storage battery, and the method may further include: acquiring the real-time power consumption of the robot body; determining whether the real-time power consumption is greater than or equal to a first preset power consumption threshold to obtain a seventh determination result; if the seventh determination result indicates that the real-time power consumption is greater than or equal to the first preset power consumption threshold, then scheduling the energy storage battery to assist the power control module in supplying power to the robot body.

[0105] In one or more embodiments of this specification, the energy storage battery can be a rechargeable and dischargeable energy storage unit configured within the robot body. The energy storage battery can receive power from the wireless charging receiver module for replenishment during low-power operation, and can also release energy during high-power operation or when the external power supply is disconnected. Real-time power consumption can be the total electrical power consumed instantaneously by all activated functional modules of the robot body in its current operating state. The first preset power consumption threshold can be a pre-calibrated power consumption critical value, which can be used to distinguish between normal power consumption conditions and overload high-power consumption conditions.

[0106] In practical applications, the power consumption of all working functional modules within the robot body can be collected in real time, and the real-time power consumption of the entire machine can be calculated. The acquired real-time power consumption is compared with a pre-set first preset power consumption threshold to obtain a seventh judgment result. If the seventh judgment result indicates that the real-time power consumption is greater than or equal to the first preset power consumption threshold, it can be determined that the entire machine is currently in a high-power overload operating state. In this operating state, the control system can issue a power supply scheduling command to schedule the energy storage battery to supply power. This enables the energy storage battery and the power control module to form a parallel power supply architecture, jointly providing working power to the various functional modules of the robot body and sharing the overall load power consumption.

[0107] By monitoring the robot's overall power consumption in real time and comparing it with a preset power consumption threshold, the energy storage battery can be scheduled to assist the power control module in providing power under high power consumption and overload conditions. This can effectively compensate for the limited rated output power of the power control module, and solve the problem of excessive instantaneous power consumption when multiple functional modules work simultaneously, which causes voltage drops and insufficient current in the power control module. This ensures the operational stability of various functional modules such as payment, sensing, and motion modules under high load scenarios.

[0108] When the real-time power consumption of the robot body is relatively low, the power control module can prioritize supplying working power to the functional modules in the robot body that are in operation. After fully meeting the power needs of each functional module, if there is still surplus power, the excess power can be sent to the energy storage battery to recharge the energy storage battery.

[0109] Optionally, the method may further include: determining whether the real-time power consumption is less than a second preset power consumption threshold to obtain an eighth determination result; if the eighth determination result indicates that the real-time power consumption is less than the second preset power consumption threshold, then scheduling the power control module to charge the energy storage battery.

[0110] In one or more embodiments of this specification, the second preset power consumption threshold can be used to distinguish between low power consumption conditions and normal operating conditions of the robot body. The second preset power consumption threshold can be equal to the first preset power consumption threshold, or the first preset power consumption threshold can be greater than the second preset power consumption threshold.

[0111] In practical applications, the acquired real-time power consumption is compared with a pre-set second preset power consumption threshold to obtain an eighth judgment result. If the eighth judgment result indicates that the real-time power consumption is less than the second preset power consumption threshold, it can be determined that the robot body is currently in a low-power operation state, and the power control module has surplus power. In this case, the control system can issue a charging scheduling command to switch the power control module to charging mode. The power control module can send the surplus power output from the wireless charging receiver module to the energy storage battery after voltage regulation or current limiting to charge the energy storage battery. During the charging process, the power level of the energy storage battery can be continuously monitored. When the energy storage battery reaches full charge, the power control module can automatically stop charging to avoid overcharging and damaging the energy storage battery. By scheduling the power control module to charge the energy storage battery when the robot body is in a light-load, low-power operation state, it is possible to avoid the load fluctuations during the charging process from interfering with the normal operation of the robot body's various functional modules, and to fully utilize the surplus power in the power control module, thereby effectively improving the power utilization efficiency of the power control module.

[0112] If the energy storage battery remains in a state of low charge for an extended period, it is prone to capacity degradation and accelerated aging. Furthermore, it cannot provide auxiliary power support under the high power consumption conditions of the robot itself, affecting the stability of the equipment's power supply. Therefore, it is necessary to monitor the energy storage battery's charge level in real time and promptly initiate charging to replenish energy when the charge level falls below a warning threshold.

[0113] Optionally, the robot body may further include a SOC, an energy storage battery, and a battery monitoring module. The method may further include: monitoring the remaining power of the energy storage battery in real time through the battery monitoring module; if the remaining power is less than a preset power threshold, detecting whether the SOC is in a dormant state; if the SOC is not in a dormant state, scheduling the power control module to charge the energy storage battery through the SOC.

[0114] In one or more embodiments of this specification, the SOC can be the system-level main control chip of the robot body, which can be the core unit for overall task scheduling, logic operation, and module management. It is mainly responsible for overall power consumption management, status judgment, and issuing various control and scheduling commands such as charging and power supply. The battery monitoring module can be used to collect or sense the remaining power, operating voltage, and battery operating status of the energy storage battery in real time, so as to provide accurate data support for subsequent charging trigger judgment. The preset power threshold can be a minimum power warning threshold pre-set for the energy storage battery, which can be used as the judgment benchmark for triggering the charging process. The SOC's sleep state can refer to the SOC's low-power operation mode. At this time, the SOC can shut down most of the computing and peripheral functions, retaining only basic standby detection capabilities to reduce the static power consumption of the whole machine.

[0115] In practical applications, the battery monitoring module can continuously collect the operating parameters of the energy storage battery in real time to obtain the remaining power of the energy storage battery; compare the real-time remaining power of the energy storage battery with a preset power threshold to determine whether the energy storage battery is in a low power state; if the real-time remaining power is less than the preset power threshold, it can be determined that the energy storage battery needs to be recharged, and the current working mode of the SOC can be detected to determine whether the SOC has entered a dormant state; if the detection result shows that the SOC is not in a dormant state; Then the SOC can issue charging control scheduling commands to drive the power control module to conduct the charging path and match the charging voltage and current to charge and replenish the energy storage battery.

[0116] The battery monitoring module monitors the remaining power of the energy storage battery in real time. When the remaining power falls below a preset threshold, it can promptly trigger a power replenishment logic. This effectively prevents the energy storage battery from operating under low power for extended periods, slowing down battery aging and extending its lifespan. It also ensures that the energy storage battery always has sufficient backup capacity to provide auxiliary power support under high power consumption conditions of the robot itself, improving the robot's operational stability.

[0117] To avoid interference with the normal operation of the various functional modules within the robot body during the charging process, the SOC needs to determine whether the robot body is under heavy load before scheduling the power control module to charge the energy storage battery.

[0118] Optionally, the step of scheduling the power control module to charge the energy storage battery through the SOC if the SOC is not in a dormant state may include: if the SOC is not in a dormant state, obtaining the real-time power consumption of the robot body; if the real-time power consumption is less than a third preset power consumption threshold, then scheduling the power control module to charge the energy storage battery through the SOC.

[0119] In one or more embodiments of this specification, the third preset power consumption threshold may be a pre-set power consumption judgment benchmark used to distinguish between the robot body's light-load low-power working condition and heavy-load high-power working condition. The third preset power consumption threshold, the first preset power consumption threshold, and the second preset power consumption threshold may be the same or may all be different.

[0120] In practical applications, when the remaining power of the energy storage battery is less than a preset power threshold and charging is required, if the System-on-Chief Control (SOC) is not in a dormant state, the SOC needs to collect the real-time power consumption of the robot before scheduling the power control module to charge the battery. This real-time power consumption is then compared with a third preset power consumption threshold. If the real-time power consumption is less than the third preset threshold, the robot is considered to be in a light-load operating state, and the SOC can issue a scheduling command to control the power control module to open the charging circuit and perform current-limited and voltage-regulated charging of the energy storage battery. If the real-time power consumption is greater than or equal to the third preset threshold, the robot is considered to be in a heavy-load operating state. In this case, the charging process is not initiated, the charging circuit of the energy storage battery is not opened, and the charging operation is postponed. Simultaneously, the SOC continuously collects and monitors the changes in the robot's overall power consumption. Once the real-time power consumption falls below the third preset threshold and the device switches to a light-load operating state, the SOC issues a scheduling command to control the power control module to open the charging circuit and perform current-limited and voltage-regulated charging of the energy storage battery.

[0121] Based on the existing methods for determining whether the energy storage battery is low and the SOC operating status, a real-time power consumption verification mechanism for the entire robot body is added. This allows the energy storage battery charging process to be initiated only when the SOC is not in sleep mode and the device is under light load and low power consumption conditions. This effectively avoids voltage fluctuations or power instability caused by the superposition of charging load and device workload under heavy load conditions, prevents interference with the normal operation of various functional modules within the robot body, and improves the operational stability of the robot body.

[0122] When the remaining power of the energy storage battery is lower than the preset power threshold and is in a low power state, in order to improve the timeliness of replenishing the energy storage battery and avoid the performance degradation caused by the energy storage battery being left uncharged for a long time, if the SOC is detected to be in a dormant low power state, a hardware interrupt signal can be sent to the SOC to quickly wake up the dormant SOC, so that the SOC can quickly enter the normal working mode and promptly schedule the power control module to charge the energy storage battery.

[0123] Optionally, the robot body may further include an MCU. After detecting whether the SOC is in a sleep state if the remaining power is less than a preset power threshold, the method may further include: if the SOC is in a sleep state, generating an interrupt signal to wake up the SOC through the MCU; sending the interrupt signal to the SOC in the sleep state to wake up the SOC; and scheduling the power control module to charge the energy storage battery through the woken-up SOC.

[0124] In one or more embodiments of this specification, the microcontroller unit (MCU) can be a low-power auxiliary control chip, mainly used for tasks such as status monitoring, interrupt signal generation, or sleep / wake-up triggering. The interrupt signal can be a hardware wake-up signal generated by the MCU, which can be used to forcibly wake up the SOC from a sleep state from a low-power mode to a normal operating mode.

[0125] In practical applications, when the remaining power of the energy storage battery is less than a preset power threshold and charging is required, if the SOC is determined to be in a sleep state, the MCU can generate a hardware interrupt signal to wake up the SOC. The MCU can send the generated interrupt signal to the SOC in a sleep state, triggering the SOC's hardware interrupt to force the SOC to exit the sleep mode. After the SOC has finished waking up and resumed normal operation, the SOC can issue a control scheduling command to schedule the power control module to conduct the charging circuit and perform current-limited and voltage-regulated charging of the energy storage battery.

[0126] By sending a hardware interrupt signal to a System-on-a-Chip (SoC) in a dormant state, the SoC can quickly exit dormancy and wake up upon receiving the signal. Once awakened, the SoC can quickly schedule the power control module to initiate charging of the energy storage battery. This avoids problems such as capacity decay or shortened lifespan caused by prolonged low-power operation of the energy storage battery, and also prevents delays in charging response when the SoC is in a low-power dormant state. Consequently, the SoC can stably maintain a low-power dormant mode during idle periods, ensuring timely replenishment of the energy storage battery while also meeting the overall low-power operation requirements of the device.

[0127] Optionally, the robot body can be a desktop robot placed on a table. The robot body also includes a first foot and a second foot, and the wireless charging receiver module is located in either the first foot or the second foot.

[0128] In one or more embodiments of this specification, a desktop robot can refer to a small, fixed service robot that can be placed directly on a desktop surface. The robot has a compact structure and can be statically placed with support from its bottom feet. It is mainly used in scenarios such as desktop checkout, payment interaction, or close-range human-machine perception. The first and second feet can be two support base structures located at the bottom of the robot body, primarily used to support the entire robot and maintain stable upright placement. They can also serve as mounting carriers for other functional components. The wireless charging receiver module is located in the robot's feet, specifically at the bottom. This fully utilizes the advantage of the feet being close to the desktop to shorten the electromagnetic coupling distance with the wireless charging pad, effectively improving wireless charging transmission efficiency and reducing power transmission loss. Furthermore, integrating the wireless charging receiver module into the unused space inside the feet avoids occupying internal layout space of the main body, thus avoiding layout conflicts with components such as the SOC, MCU, energy storage battery, sensing module, and payment module, improving the overall integration of the robot structure.

[0129] Figure 5 This is a schematic diagram of the structure of a desktop robot provided in one embodiment of this specification, such as... Figure 5 As shown, the desktop robot 501 can be placed on the desktop 502. The desktop robot 501 may include a first leg 501-1 and a second leg 501-2. A wireless charging receiver module may be installed on the bottom of the second leg 501-2, which can obtain power from the wireless charging pad on the desktop 502. It should be noted that the wireless charging receiver module may also be installed on the bottom of the first leg 501-1; this is not a limitation.

[0130] Figure 6 This is a schematic diagram of the internal power supply method of a desktop robot provided in one embodiment of this specification, such as... Figure 6As shown, the desktop robot includes an NFC board 601, a head board 602, a main control board 603, a power control board 604, a right foot function board 605, and a left foot function board 606. The power control board 604 contains a power control module that can independently supply power to the control board power module, main board power module, head board power module, NFC board power module, servo motor power module, left foot function board power module, and right foot function board power module. The power control module can also charge the energy storage battery. The control board power module can independently power the control board MCU; the motherboard power module can independently power the audio unit, SOC, communication unit, and other peripherals; the headboard power module can independently power the buttons, microphone array (MIC), projector (LED), and infrared sensor (PIR); the NFC board power module can independently power the NFC payment unit; the servo power module can independently power each servo (not shown in the figure); the left foot function board power module can independently power the left foot MCU; and the right foot function board power module can independently power the right foot MCU.

[0131] Figure 6 The desktop robot shown can adopt an independent power supply architecture for each of its internal functional modules. Based on this independent power supply design, the idle functional modules can be switched to a low-power operation state according to the actual operating scenario, thereby effectively reducing the power consumption of the whole machine and extending the battery life of the desktop robot.

[0132] For example, when the desktop robot is running a dance demonstration mode, the SOC can keep the servo motor motion drive and audio unit powered normally, while turning off the power supply to idle peripherals such as LEDs, NFC payment units, and PIR.

[0133] When the desktop robot detects no user interaction for one minute, it can proactively shut down external human-computer interaction devices such as the display screen and audio unit, and the desktop robot can automatically switch to low-power standby mode.

[0134] When the desktop robot is in QR code payment mode, it can maintain power supply to the NFC payment unit, screen display and audio unit, and turn off power supply to unrelated external devices such as gimbal rotation, ambient lights and LEDs.

[0135] When performing only human body sensing and monitoring tasks, the power supply to sensing modules such as buttons, PIR, MIC, image sensors, and proximity sensors can be retained, while the power supply to the NFC payment unit, audio-visual entertainment peripherals, and motion drive modules can be turned off.

[0136] Figure 6The desktop robot in the system can effectively reduce the loss of ineffective power consumption by using the control logic of on-demand time-sharing power cut-off and independent power supply for each zone, thereby extending the overall battery life of the desktop robot.

[0137] The various technical features in the above embodiments can be combined arbitrarily, as long as there is no conflict or contradiction between the combinations of features. However, due to space limitations, they have not been described one by one. Therefore, the arbitrary combination of various technical features in the above embodiments is also within the scope of this specification.

[0138] Based on the same idea, embodiments of this specification also provide apparatus corresponding to the above methods.

[0139] Figure 7 This is a schematic diagram of a power distribution device provided in one embodiment of this specification.

[0140] like Figure 7 As shown, the device can be a hardware device including a payment terminal. The device also includes a robot body, which includes at least a wireless charging receiver module 305, a power control module 304, and multiple functional modules. These multiple functional modules include at least a first-type functional module 301 for implementing payment-related functions and a second-type functional module 302 for implementing perception-related functions. The device is used for: The wireless charging receiver module converts the electrical energy received from the wireless charging pad through non-contact charging into a first DC voltage. The first DC voltage is divided by a power management unit integrated in the multi-level power supply network of the power control module to obtain a second DC voltage that is compatible with the first type of functional module and a third DC voltage that is compatible with the second type of functional module. The second DC voltage is transmitted to the first type of functional module through the first power supply branch in the multi-level power supply network to achieve independent power supply to the first type of functional module; The third DC voltage is transmitted to the second type of functional module through the second power supply branch in the multi-level power supply network to achieve independent power supply to the second type of functional module; Based on the sensing information fed back by the second type of functional module, when no user is detected in the preset area of ​​the payment terminal, the first type of functional module is controlled to be in a low-power standby state through the multi-level power supply network.

[0141] It is understood that the modules mentioned above refer to computer programs or program segments used to perform one or more specific functions. Furthermore, the distinction between these modules does not imply that the actual program code must also be separate.

[0142] For ease of description, the above devices are described by dividing them into various modules or units based on their functions. Of course, when implementing one or more of these specifications, the functions of each module or unit can be implemented in the same or different software and / or hardware, or a module that performs the same function can be implemented by a combination of multiple sub-modules or sub-units, etc. The device embodiments described above are merely illustrative. For example, the division of units is only a logical functional division; in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed.

[0143] The above is a schematic scheme of a power distribution device according to this embodiment. It should be noted that the technical solution of this device and the technical solution of the power distribution method described above belong to the same concept. For details not described in detail in the technical solution of this device, please refer to the description of the technical solution of the power distribution method described above.

[0144] Based on the same idea, this specification also provides devices corresponding to the above methods in its embodiments.

[0145] Figure 8 This is a structural block diagram of a computing device provided in one embodiment of this specification.

[0146] The computing device 800 includes: Memory 810 and processor 820; The memory 810 is used to store computer programs / instructions, and the processor 820 is used to execute the computer programs / instructions, which, when executed by the processor 820, implement the steps of the above-described power distribution method.

[0147] Specifically, the components of the computing device 800 include, but are not limited to, a memory 810 and a processor 820. The processor 820 is connected to the memory 810 via a bus 830, and the database 850 is used to store data.

[0148] The computing device 800 also includes an access device 840, which enables the computing device 800 to communicate via one or more networks 860. Examples of these networks include Public Switched Telephone Network (PSTN), Local Area Network (LAN), Wide Area Network (WAN), Personal Area Network (PAN), or combinations of communication networks such as the Internet. The access device 840 may include one or more of any type of wired or wireless network interface (e.g., a network interface card (NIC)), such as an IEEE 802.11 Wireless Local Area Network (WLAN) wireless interface, a Wi-MAX (Worldwide Interoperability for Microwave Access) interface, an Ethernet interface, a Universal Serial Bus (USB) interface, a cellular network interface, a Bluetooth interface, a Near Field Communication (NFC) interface, and so on.

[0149] In one embodiment of this specification, the above-described components of the computing device 800 and Figure 8 Other components, not shown, can also be connected to each other, for example, via a bus. It should be understood that... Figure 8 The block diagram of the computing device shown is for illustrative purposes only and is not intended to limit the scope of this application. Those skilled in the art can add or replace other components as needed.

[0150] The computing device 800 can be any type of stationary or mobile computing device, including mobile computers or mobile computing devices (e.g., tablet computers, personal digital assistants, laptop computers, notebook computers, netbooks, etc.), mobile phones (e.g., smartphones), wearable computing devices (e.g., smartwatches, smart glasses, etc.) or other types of mobile devices, or stationary computing devices such as desktop computers or personal computers (PCs). The computing device 800 can also be a mobile or stationary server.

[0151] The processor 820 implements the steps of the above-described power distribution method when executing the computer instructions.

[0152] The above is an illustrative scheme of a computing device according to this embodiment. It should be noted that the technical solution of this computing device and the technical solution of the power distribution method described above belong to the same concept. For details not described in detail in the technical solution of the computing device, please refer to the description of the technical solution of the power distribution method described above.

[0153] The various embodiments in this specification are described in a progressive manner, and the same or similar parts between the embodiments can be referred to mutually. Each embodiment focuses on describing the differences from other embodiments. In particular, for the apparatus and device embodiments, since they are basically similar to the method embodiments, the description is relatively simple, and relevant parts can be referred to the description of the method embodiments. The apparatus and device provided in the embodiments of this specification correspond to the methods; therefore, the apparatus and device also have similar beneficial technical effects as the corresponding methods. Since the beneficial technical effects of the methods have been described in detail above, the beneficial technical effects of the corresponding apparatus and device will not be repeated here.

[0154] The foregoing has described specific embodiments of this specification. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recited in the claims may be performed in a different order than that shown in the embodiments and may still achieve the desired result. Furthermore, the processes depicted in the drawings do not necessarily require a specific or sequential order to achieve the desired result. In some embodiments, multitasking and parallel processing are possible or may be advantageous.

[0155] In the 1990s, improvements to a technology could be clearly distinguished as either hardware improvements (e.g., improvements to the circuit structure of diodes, transistors, switches, etc.) or software improvements (improvements to methodology). However, with technological advancements, many methodological improvements today can be considered direct improvements to hardware circuit structures. Designers almost always obtain the corresponding hardware circuit structure by programming the improved methodology into the hardware circuit. Therefore, it cannot be said that a methodological improvement cannot be implemented using hardware physical modules. For example, a Programmable Logic Device (PLD) (such as a Field Programmable Gate Array (FPGA)) is such an integrated circuit whose logic function is determined by the user programming the device. Designers can program a digital system themselves to "integrate" it onto a PLD, without needing chip manufacturers to design and manufacture dedicated integrated circuit chips. Furthermore, nowadays, instead of manually manufacturing integrated circuit chips, this programming is mostly implemented using "logic compiler" software. Similar to the software compiler used in program development, the original code before compilation must also be written in a specific programming language, called a Hardware Description Language (HDL). There are many HDLs, such as ABEL (Advanced Boolean Expression Language), AHDL (Altera Hardware Description Language), Confluence, CUPL (Cornell University Programming Language), HDCal, JHDL (Java Hardware Description Language), Lava, Lola, MyHDL, PALASM, and RHDL (Ruby Hardware Description Language). Currently, the most commonly used are VHDL (Very-High-Speed ​​Integrated Circuit Hardware Description Language) and Verilog. Those skilled in the art should also understand that by simply performing some logic programming on the method flow using one of these hardware description languages ​​and programming it into an integrated circuit, the hardware circuit implementing the logical method flow can be easily obtained.

[0156] The controller can be implemented in any suitable manner. For example, it can take the form of a microprocessor or processor and a computer-readable medium storing computer-readable program code (e.g., software or firmware) executable by the (micro)processor, logic gates, switches, application-specific integrated circuits (ASICs), programmable logic controllers, and embedded microcontrollers. Examples of controllers include, but are not limited to, the following microcontrollers: ARC 625D, Atmel AT91SAM, Microchip PIC18F26K20, and Silicon Labs C8051F320. A memory controller can also be implemented as part of the control logic of the memory. Those skilled in the art will also recognize that, in addition to implementing the controller in purely computer-readable program code form, the same functionality can be achieved by logically programming the method steps to make the controller take the form of logic gates, switches, application-specific integrated circuits, programmable logic controllers, and embedded microcontrollers. Therefore, such a controller can be considered a hardware component, and the means included therein for implementing various functions can also be considered as structures within the hardware component. Alternatively, the means for implementing various functions can be considered as both software modules implementing the method and structures within the hardware component.

[0157] The systems, devices, modules, or units described in the above embodiments can be implemented by computer chips or entities, or by products with certain functions. A typical implementation device is a computer. Specifically, a computer can be, for example, a personal computer, laptop computer, cellular phone, camera phone, smartphone, personal digital assistant, media player, navigation device, email device, game console, tablet computer, wearable device, or any combination of these devices.

[0158] For ease of description, the above devices are described separately by function as various units. Of course, in implementing this application, the functions of each unit can be implemented in one or more software and / or hardware.

[0159] Those skilled in the art will understand that one or more embodiments of this specification can be provided as a method, system, or computer program product. Therefore, the invention can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the invention can take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0160] This invention is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart illustrations and / or block diagrams. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0161] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0162] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0163] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0164] Memory may include non-persistent storage in computer-readable media, such as random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM. Memory is an example of computer-readable media.

[0165] Computer-readable media includes both permanent and non-permanent, removable and non-removable media that can store information using any method or technology. Information can be computer-readable instructions, data structures, modules of programs, or other data. Examples of computer storage media include, but are not limited to, phase-change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, CD-ROM, digital character versatile optical disc (DVD) or other optical storage, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other non-transferable medium that can be used to store information accessible by a computing device. As defined herein, computer-readable media does not include transient computer-readable media, such as modulated data signals and carrier waves.

[0166] This application can be described in the general context of computer-executable instructions, such as program modules, that are executed by a computer. Generally, program modules include routines, programs, objects, components, data structures, etc., that perform a specific task or implement a specific abstract data type. This application can also be practiced in distributed computing environments where tasks are performed by remote processing devices connected via a communication network. In distributed computing environments, program modules can reside in local and remote computer storage media, including storage devices.

[0167] The above description is merely an embodiment of this application and is not intended to limit the scope of this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of the claims of this application.

Claims

1. A power distribution method applied to a payment terminal, the payment terminal including a robot body, the robot body including at least a wireless charging receiver module, a power control module, and multiple functional modules, the multiple functional modules including at least a first type of functional module for implementing payment-related functions and a second type of functional module for implementing perception-related functions, the method comprising: The wireless charging receiver module converts the electrical energy received from the wireless charging pad through non-contact charging into a first DC voltage. The first DC voltage is divided by a power management unit integrated in the multi-level power supply network of the power control module to obtain a second DC voltage that is compatible with the first type of functional module and a third DC voltage that is compatible with the second type of functional module. The second DC voltage is transmitted to the first type of functional module through the first power supply branch in the multi-level power supply network to achieve independent power supply to the first type of functional module; The third DC voltage is transmitted to the second type of functional module through the second power supply branch in the multi-level power supply network to achieve independent power supply to the second type of functional module; Based on the sensing information fed back by the second type of functional module, when no user is detected in the preset area of ​​the payment terminal, the first type of functional module is controlled to be in a low-power standby state through the multi-level power supply network.

2. The method according to claim 1, wherein the plurality of functional modules further includes a third type of functional module for implementing motion-related functions, and the method further includes: The fourth DC voltage is transmitted to the third type of functional module through the third power supply branch in the multi-level power supply network to realize independent power supply to the third type of functional module. The fourth DC voltage is a DC voltage that is adapted to the third type of functional module by voltage division of the first DC voltage. Based on the sensing information fed back by the second type of functional module, when no user is detected in the preset area of ​​the payment terminal, the third type of functional module is controlled to be in a low-power standby state through the multi-level power supply network.

3. The method according to claim 1 or 2, wherein the second type of functional module includes at least one of an infrared sensor, an image sensor, or a distance sensor, and detects whether a user exists within a preset area of ​​the payment terminal, including: The system detects whether a user exists within a preset area of ​​the payment terminal based on at least one of the following: an infrared image generated by the infrared sensor, an environmental image acquired by the image sensor, or a measured distance output by the distance sensor.

4. The method according to claim 3, wherein the second type of functional module includes an infrared sensor and an image sensor, and the step of detecting whether a user exists within a preset area of ​​the payment terminal includes: Determine whether there is a heat source target that matches human body temperature characteristics in the infrared sensing image generated by the infrared sensor, and obtain a first determination result; If the first judgment result indicates the presence of the heat source target, then it is determined whether human image features exist in the environmental image collected by the image sensor, and a second judgment result is obtained; If the second determination result indicates that the human image feature does not exist, then it is determined that no user was detected within the preset area of ​​the payment terminal.

5. The method according to claim 3, wherein the second type of functional module includes an infrared sensor and a distance sensor, and the step of detecting whether a user exists within a preset area of ​​the payment terminal includes: A third judgment result is obtained by determining whether there is a heat source target that matches the human body temperature characteristics in the infrared sensing image generated by the infrared sensor. If the third judgment result indicates that the heat source target exists, then it is determined whether the distance measured by the distance sensor for the heat source target is less than or equal to a preset distance, and a fourth judgment result is obtained; If the fourth determination result indicates that the measured distance is greater than the preset distance, then it is determined that no user was detected within the preset area of ​​the payment terminal.

6. The method according to claim 3, wherein the second type of functional module includes an image sensor and a distance sensor, and the step of detecting whether a user exists within a preset area of ​​the payment terminal includes: Determine whether human image features exist in the environmental image acquired by the image sensor, and obtain the fifth determination result; If the fifth judgment result indicates the existence of the human image feature, then it is determined whether the measurement distance output by the distance sensor for the target user corresponding to the human image feature is less than or equal to a preset distance, and a sixth judgment result is obtained; If the sixth determination result indicates that the measured distance is greater than the preset distance, then it is determined that no user was detected within the preset area of ​​the payment terminal.

7. The method according to claim 1, wherein the second type of functional module includes at least a human-computer interaction sensing module and an environmental detection sensing module, the second power supply branch includes at least a first power supply branch and a second power supply branch, and the step of transmitting the third DC voltage to the second type of functional module through the second power supply branch in the multi-level power supply network includes: The power management unit performs voltage division on the third DC voltage to obtain a fourth DC voltage adapted to the human-computer interaction sensing module and a fifth DC voltage adapted to the environmental detection sensing module. The fourth DC voltage is transmitted to the human-computer interaction sensing module through the first power supply branch, so as to realize independent power supply for the human-computer interaction sensing module; The fifth DC voltage is transmitted to the environmental detection sensing module through the second power supply branch, so as to achieve independent power supply for the environmental detection sensing module.

8. The method according to claim 1, wherein the robot body further includes an energy storage battery, and the method further includes: Obtain the real-time power consumption of the robot body; Determine whether the real-time power consumption is greater than or equal to the first preset power consumption threshold to obtain the seventh determination result; If the seventh judgment result indicates that the real-time power consumption is greater than or equal to the first preset power consumption threshold, then the energy storage battery is scheduled to assist the power control module in supplying power to the robot body.

9. The method according to claim 8, further comprising: Determine whether the real-time power consumption is less than the second preset power consumption threshold to obtain the eighth determination result; If the eighth judgment result indicates that the real-time power consumption is less than the second preset power consumption threshold, then the power control module is scheduled to charge the energy storage battery.

10. The method according to claim 1, wherein the robot body further comprises a SOC, an energy storage battery, and a battery monitoring module, and the method further comprises: The remaining power of the energy storage battery is monitored in real time by the battery monitoring module. If the remaining battery power is less than a preset battery power threshold, then it is detected whether the SOC is in a sleep state; If the SOC is not in a dormant state, the power control module is scheduled to charge the energy storage battery through the SOC.

11. The method according to claim 10, wherein if the SOC is not in a dormant state, the step of scheduling the power control module to charge the energy storage battery via the SOC includes: If the SOC is not in a sleep state, then obtain the real-time power consumption of the robot body; If the real-time power consumption is less than the third preset power consumption threshold, the power control module is scheduled by the SOC to charge the energy storage battery.

12. The method according to claim 10, wherein the robot body further includes an MCU, and after detecting whether the SOC is in a sleep state if the remaining power is less than a preset power threshold, the method further includes: If the SOC is in a sleep state, the MCU generates an interrupt signal to wake up the SOC. Send the interrupt signal to the SOC that is in a sleep state to wake up the SOC; The power control module is used to charge the energy storage battery by waking up the SOC.

13. The method according to claim 1, wherein the robot body further comprises a first foot and a second foot, and the wireless charging receiver module is located in either the first foot or the second foot.

14. A computing device, comprising: Memory and processor; The memory is used to store computer programs or instructions, and the processor is used to execute the computer programs or instructions, wherein when the computer programs or instructions are executed by the processor, they implement the steps of the method according to any one of claims 1 to 13.

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