Foreign matter removing system

Abstract

The utility model is suitable for the technical field of wireless charging, and provides a foreign matter removal system, which comprises a first robot used for sending a removal control instruction to a second robot after driving to a target parking space according to a foreign matter removal instruction, the target parking space being a parking space which is currently providing a wireless charging function for a target vehicle, and the second robot being a parking space which is currently providing a wireless charging function for the target vehicle; the target parking space at least comprises a target area used for providing a wireless charging function, and the clearing control instruction carries coordinate information of the target area; and the second robot is arranged on the first robot, establishes communication connection with the first robot, and is used for receiving the clearing control instruction and clearing foreign matters in the target area. According to the foreign matter removing system, the first robot and the second robot cooperatively remove the foreign matter, the foreign matter removing means can be enriched on the basis of reducing the removing cost, and the foreign matter removing effect is improved.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of wireless charging, and particularly relates to a foreign matter removing system. BACKGROUND

[0002] At present, the emergence of wireless power transmission technology has broken the dependence of new energy vehicles on wires, but due to the air gap between the transmitting end and the receiving end of the wireless charging area, when foreign matter falls into the air gap, it will cause a certain degree of safety hazard problem.

[0003] The existing foreign matter removing system is usually installed under the ground of each wireless charging area, and uses the up-down telescopic rotating mechanism in the foreign matter removing system to extend upward by a preset height above the ground, controls the extension and rotation of the left and right telescopic arms, so as to realize the cleaning effect of foreign matter.

[0004] However, the existing foreign matter removing system has high removal cost, and the removal means is relatively single, which cannot effectively deal with complex foreign matter conditions, so that the removal effect is poor. CONTENT OF THE INVENTION

[0005] The foreign matter removing system provided by the embodiments of the application can enrich the means of removing foreign matter, effectively deal with complex foreign matter conditions, and improve the removal effect of foreign matter on the basis of reducing the removal cost.

[0006] In a first aspect, the embodiments of the application provide a foreign matter removing system, comprising:

[0007] A first robot is configured to drive to a target parking space according to a foreign matter removing instruction, and send a removing control instruction to a second robot, wherein the target parking space is a parking space currently providing wireless charging function for a target vehicle, the target parking space at least includes a target area for providing wireless charging function, and the removing control instruction carries coordinate information of the target area.

[0008] The second robot is equipped on the first robot, and is in communication connection with the first robot, configured to receive the removing control instruction, and remove foreign matter in the target area.

[0009] Optionally, the first robot at least includes a first processing unit, a first motor and a first tire,

[0010] The first processing unit is configured to generate a first driving path of the first robot according to the foreign matter removing instruction.

[0011] The first motor is configured to drive the first tire of the first robot to drive to the target parking space based on the first driving path.

[0012] Optionally, the first robot further comprises a first sensor unit,

[0013] The first sensor unit is configured to collect first environment data of the first robot.

[0014] The first processing unit is further configured to update the first driving path based on the first environment data.

[0015] The first motor is configured to drive the first tire of the first robot to drive to the target parking space according to the updated first driving path.

[0016] Optionally, the first sensor unit comprises at least a first image collection device and a first laser radar,

[0017] The first image collection device is configured to collect first image data of the first robot.

[0018] The first laser radar is configured to collect first radar data of the first robot.

[0019] Optionally, the first robot comprises at least a first steering engine, a first foreign matter removing unit and a first recycling device,

[0020] The first steering engine is configured to control the first foreign matter removing unit to perform a first removing action after receiving the removing request of the second robot.

[0021] The first foreign matter removing unit is configured to remove the foreign matter into the first recycling device of the first robot.

[0022] Optionally, the second robot comprises at least a second processing unit, a second motor and a second tire,

[0023] The second processing unit is configured to generate a second driving path of the second robot according to the coordinate information.

[0024] The second motor is configured to drive the second tire of the second robot to drive to the target area based on the second driving path.

[0025] Optionally, the second robot further comprises a second sensor unit,

[0026] The second sensor unit is configured to collect second environment data of the second robot.

[0027] The second processing unit is further configured to update the second driving path based on the second environment data.

[0028] The second motor is further configured to drive the second tire of the second robot to travel to the target area according to the updated second travel path.

[0029] Optionally, the second sensor unit at least includes: a second image acquisition unit, a second laser radar, and a planar array ranging unit,

[0030] The second image acquisition unit is configured to acquire second environmental image data of the second robot.

[0031] The second laser radar is configured to acquire second radar data of the second robot.

[0032] The planar array ranging unit is configured to acquire distance data of the second robot, the distance data being used to represent a distance between a highest point of the second robot and a bottom of the target vehicle.

[0033] Optionally, the second robot further includes: a second steering engine, a second foreign matter removing unit, and a second recycling device,

[0034] The second steering engine is configured to control the second foreign matter removing unit to perform a second removing action.

[0035] The second foreign matter removing unit is configured to remove the foreign matter into the second recycling device of the second robot.

[0036] Optionally, the first robot at least includes: a movable door plate,

[0037] The movable door plate is configured to form a slope for the second robot to drive out of the first robot.

[0038] Optionally, the first robot further includes a first communication unit, and the second robot further includes a second communication unit, the first communication unit and the second communication unit being in communication through wireless network connection.

[0039] In a second aspect, an embodiment of the present application provides a foreign matter removing method applied to a first robot, and the method comprises the following steps:

[0040] In response to a foreign matter removing instruction for a target parking space, a first travel path of the first robot is generated according to a global map of the target parking space and current position information of the first robot, wherein the target parking space is a parking space currently providing a wireless charging function for a target vehicle.

[0041] The first robot is controlled to travel to the target parking space based on the first travel path, the target parking space at least including a target area for providing the wireless charging function.

[0042] After the first robot drives to the target parking space, a second robot equipped on the first robot is sent a cleaning control instruction to instruct the second robot to clean the foreign matter in the target area based on coordinate information of the target area carried in the cleaning control instruction.

[0043] In a third aspect, an embodiment of the present application provides a foreign matter cleaning method, applied to a second robot, the second robot being in communication connection with a first robot, and the method comprising:

[0044] receiving a cleaning control instruction sent by the first robot, the cleaning control instruction being used to instruct the second robot to clean the foreign matter in a target area based on coordinate information of the target area carried in the cleaning control instruction, the target area being an area in a target parking space that is currently providing a wireless charging function for a target vehicle;

[0045] controlling the second robot to drive to the target area based on the coordinate information;

[0046] after the second robot drives to the target area, performing a second cleaning action corresponding to the foreign matter, the second cleaning action being used to clean the foreign matter into a recycling device of the second robot.

[0047] In a fourth aspect, an embodiment of the present application provides a foreign matter cleaning device, configured in a first robot, and the device comprising:

[0048] a generating module, configured to, in response to a foreign matter cleaning instruction for a target parking space, generate a first driving path of the first robot according to a global map of the target parking space and current position information of the first robot, wherein the target parking space is a parking space that is currently providing a wireless charging function for a target vehicle;

[0049] a first control module, configured to control the first robot to drive to the target parking space based on the first driving path, the target parking space at least including a target area for providing the wireless charging function;

[0050] a first sending module, configured to, after the first robot drives to the target parking space, send a cleaning control instruction to a second robot equipped on the first robot, to instruct the second robot to clean the foreign matter in the target area based on coordinate information of the target area carried in the cleaning control instruction.

[0051] In a fifth aspect, an embodiment of the present application provides a foreign matter cleaning device, configured in a second robot, and the device comprising:

[0052] a first receiving module, configured to receive a cleaning control instruction sent by a first robot, the cleaning control instruction being used to instruct the second robot to clean the foreign matter in a target area based on coordinate information of the target area carried in the cleaning control instruction, the target area being an area in a target parking space that is currently providing a wireless charging function for a target vehicle;

[0053] a second control module, configured to control the second robot to travel to a target area based on the coordinate information;

[0054] a first execution module, configured to perform a second removal action corresponding to the foreign matter after the second robot travels to the target area, the second removal action being configured to remove the foreign matter into a recycling device of the second robot.

[0055] In a sixth aspect, an embodiment of the present application provides a robot, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, and the processor implements the method according to any one of the second aspect or the third aspect when executing the computer program.

[0056] In a seventh aspect, an embodiment of the present application provides a computer-readable storage medium, which stores a computer program, and the computer program is executable by a processor to implement the method according to any one of the second aspect or the third aspect.

[0057] In an eighth aspect, an embodiment of the present application provides a computer program product, which, when executed on a robot, causes the robot to perform the method according to any one of the second aspect or the third aspect.

[0058] An embodiment of the present application provides a foreign matter removal system, comprising: a first robot, configured to send a removal control instruction to a second robot after traveling to a target parking space according to a foreign matter removal instruction, wherein the target parking space is a parking space currently providing a wireless charging function for a target vehicle, the target parking space at least includes a target area for providing the wireless charging function, and the removal control instruction carries coordinate information of the target area; and the second robot, equipped on the first robot, and in communication connection with the first robot, configured to receive the removal control instruction and remove foreign matter in the target area. By using the above technical solution, the first robot and the second robot are used to cooperatively remove the foreign matter, which can enrich the means of removing the foreign matter and improve the removal effect of the foreign matter on the basis of reducing the removal cost. BRIEF DESCRIPTION OF DRAWINGS

[0059] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed in the embodiments or prior art description will be briefly introduced as follows. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.

[0060] Figure 1 is a structural schematic diagram of a foreign matter removal system provided by an embodiment of the present application.

[0061] Figure 2 is a side view of a foreign matter removing system according to an embodiment of the present application;

[0062] Figure 3 is a side view of a second robot according to an embodiment of the present application;

[0063] Figure 4 is a front view of a second robot according to an embodiment of the present application;

[0064] Figure 5 is a top view of a second robot according to an embodiment of the present application;

[0065] Figure 6 is a side view of a first robot according to an embodiment of the present application;

[0066] Figure 7 is a front view of a first robot according to an embodiment of the present application;

[0067] Figure 8 is a flowchart of a foreign matter removing method according to an embodiment of the present application;

[0068] Figure 9 is a flowchart of a foreign matter removing method according to another embodiment of the present application;

[0069] Figure 10 is a flowchart of a foreign matter removing method according to an embodiment of the present application;

[0070] Figure 11 is a structural block diagram of a foreign matter removing apparatus according to an embodiment of the present application;

[0071] Figure 12 is a structural block diagram of a foreign matter removing apparatus according to another embodiment of the present application;

[0072] Figure 13 is a structural diagram of a robot according to an embodiment of the present application. DETAILED DESCRIPTION

[0073] In the following description, for purposes of explanation and not limitation, specific details are set forth, such as particular architectures, techniques, etc. in order to provide a thorough understanding of the embodiments of the present application. However, it will be apparent to those skilled in the art that the present application can be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known methods, units, circuits, and methods are omitted so as not to obscure the description of the present application with unnecessary detail.

[0074] It should be understood that the word “comprise” or variations such as “comprises” or “comprising”, when used in this specification and in the accompanying claims, specify the presence of stated features, integers, steps, operations, elements, and / or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and / or groups thereof.

[0075] It should also be understood that the term “and / or” when used in this specification and in the following claims is intended to mean one or the other of the listed items or both of the items together.

[0076] As used in this specification and in the claims, the terms “if’ and “when” can be interpreted to mean “upon” or “in response to a determination” or “in response to a detection” depending on the context. Similarly, the phrase “if it is determined” or “if [a described condition or event] is detected” can be interpreted to mean “upon determining” or “in response to a determining” or “upon detecting [the described condition or event]” or “in response to a detection [of the described condition or event]” depending on the context.

[0077] In addition, in the description and the appended claims of the application, the terms “first”, “second”, “third”, and the like are used merely to distinguish descriptions and are not to be construed as indicating or implying relative importance.

[0078] Reference in the specification to “one embodiment” or “some embodiments” or “an embodiment” or “some embodiments” means that a particular feature, structure, or characteristic described in connection with the embodiment is included in at least one embodiment of the application. The appearances of the phrases “in one embodiment” or “in some embodiments” or “in other embodiments” or “in still other embodiments” or the like in various places in the specification are not necessarily all referring to the same embodiment, although they can. The terms “comprise”, “comprises”, “comprising”, “include”, “includes”, “including” and the like are specifically intended to be interpreted as “including but not limited to” unless otherwise specifically noted.

[0079] It can be considered that at present, new energy vehicles mainly use wired charging method for charging, that is, through the charging gun to connect the electric vehicle and the charging pile, so that such wired charging method has certain safety hazards when operated manually or in rainy weather, humid environment, and wired charging method also faces technical problems such as range anxiety, large investment of battery pack, non-uniform standards, etc. Therefore, the emergence of wireless power transmission technology gets rid of the dependence of new energy vehicles on wires.

[0080] Wireless charging methods can be mainly divided into the following types: magnetic field coupling wireless charging, microwave wireless charging, ultrasonic charging, etc. Among them, magnetic coupling wireless charging can be considered as the most reliable, efficient and suitable technology for electric vehicle high-power wireless charging application, but there is a large air gap between the transmitting end and the receiving end in the magnetic coupling wireless charging system, so that foreign matter falling into the charging area will inevitably have certain safety hazards.

[0081] For example, if metal foreign matter (such as iron nails, pop cans, etc.) in the surrounding environment accidentally falls into the charging area, under the action of a strong alternating magnetic field, it will produce eddy current effect and quickly heat up, not only reducing the charging efficiency, but also burning the transmitting coil panel, scalding the person or animal who accidentally touches it, and even causing a fire and other serious consequences. At the same time, the electromagnetic field generated during wireless charging can cause potential electromagnetic harm to living organisms entering the charging area.

[0082] The existing foreign matter removal system is usually installed under the ground at the center of the wireless charging area, including an up-down telescopic rotating mechanism, a removal workbench and a foreign matter removal control circuit. After receiving a foreign matter removal instruction, the existing foreign matter removal system can control the up-down telescopic rotating mechanism to extend upward to a preset height above the ground, control the left-right telescopic arm to extend, and control the rotating mechanism to rotate, thereby achieving the effect of cleaning foreign matter.

[0083] However, with the continuous expansion of wireless charging parking spaces, the installation and maintenance costs of the existing foreign matter removal system are high, and the system is difficult to maintain and foreign matter is difficult to clean. At the same time, the foreign matter cleaning mechanism of the existing foreign matter removal system is relatively single, and when there are difficult-to-clean situations such as thin metal foreign matter and foreign matter sticking to the charging area, the cleaning effect of the existing foreign matter removal system is not good; at the same time, the existing foreign matter removal system cannot effectively remove living things.

[0084] Based on this, the embodiment provides a foreign matter removal system with self-adaptive foreign matter removal function, which can ensure the efficiency of removal in the case of multiple parking spaces. At the same time, considering that the height of the actual car chassis is generally between 110mm-250mm, the foreign matter removal system provided by the embodiment through the sub-mother type robot can have greater advantages in actual application environment, ensure the rapid deployment and flexible movement of the foreign matter removal system in different situations, and reduce the removal cost.

[0085] Figure 1 FIG. 1 is a structural schematic diagram of a foreign matter removal system provided by an embodiment of the present application, which is an example and is not limited. The foreign matter removal system can include:

[0086] The first robot 110 is configured to send a cleaning control instruction to the second robot after driving to the target parking space according to the foreign matter cleaning instruction, wherein the target parking space is a parking space currently providing wireless charging function for a target vehicle, the target parking space at least includes a target area for providing the wireless charging function, and the cleaning control instruction carries coordinate information of the target area.

[0087] The second robot 120 is arranged on the first robot and is in communication connection with the first robot, and is configured to receive the cleaning control instruction and clean foreign matters in the target area.

[0088] The specific components of the first robot 110 and the second robot 120 are not limited in configuration, and can be designed and assembled according to actual needs, including the distribution, structure and proportion of hardware.

[0089] Optionally, the first robot at least includes a first processing unit, a first motor and a first tire,

[0090] The first processing unit is configured to generate a first driving path of the first robot according to the foreign matter cleaning instruction.

[0091] The first motor is configured to drive the first tire of the first robot to drive to the target parking space based on the first driving path.

[0092] Optionally, the first robot further includes a first sensor unit,

[0093] The first sensor unit is configured to collect first environment data of the first robot.

[0094] The first processing unit is further configured to update the first driving path based on the first environment data.

[0095] The first motor is further configured to drive the first tire of the first robot to drive to the target parking space according to the updated first driving path.

[0096] Optionally, the first sensor unit at least includes a first image acquisition device and a first laser radar,

[0097] The first image acquisition device is configured to collect first environment image data of the first robot.

[0098] The first laser radar is configured to collect first radar data of the first robot.

[0099] Optionally, the first robot at least includes a first steering gear, a first foreign matter cleaning unit and a first recycling device,

[0100] The first steering gear is configured to control the first foreign matter cleaning unit to perform a first cleaning action after receiving a cleaning request of the second robot.

[0101] The first foreign matter removing unit is configured to remove the foreign matter into the first recycling device of the first robot.

[0102] Optionally, the second robot comprises at least a second processing unit, a second motor and a second tire,

[0103] The second processing unit is configured to generate a second driving path of the second robot according to the coordinate information.

[0104] The second motor is configured to drive the second tire of the second robot to drive to the target area according to the second driving path.

[0105] Optionally, the second robot further comprises a second sensor unit,

[0106] The second sensor unit is configured to collect second environment data of the second robot.

[0107] The second processing unit is further configured to update the second driving path based on the second environment data.

[0108] The second motor is further configured to drive the second tire of the second robot to drive to the target area according to the updated second driving path.

[0109] Optionally, the second sensor unit comprises at least a second image collection unit, a second laser radar and a plane array ranging unit,

[0110] The second image collection unit is configured to collect second environment image data of the second robot.

[0111] The second laser radar is configured to collect second radar data of the second robot.

[0112] The plane array ranging unit is configured to collect distance data of the second robot, the distance data being used to represent a distance between a highest point of the second robot and a bottom of the target vehicle.

[0113] Optionally, the second robot further comprises a second steering engine, a second foreign matter removing unit and a second recycling device,

[0114] The second steering engine is configured to control the second foreign matter removing unit to perform a second removing action.

[0115] The second foreign matter removing unit is configured to remove the foreign matter into the second recycling device of the second robot.

[0116] Optionally, the first robot comprises at least a movable door plate,

[0117] The movable door plate is configured to form a slope for the second robot to drive out of the first robot.

[0118] Optionally, the first robot further includes a first communication unit, and the second robot further includes a second communication unit. The first communication unit and the second communication unit communicate via a wireless network connection.

[0119] Figure 2 This is a side view of a foreign matter removal system provided in an embodiment of this application, as shown. Figure 2 As shown, the system may include a first robot and a second robot mounted on the first robot, with the second robot having a communication connection with the first robot. Specifically, when the foreign object removal system is located at a base station or traveling to a target parking space, the second robot can be mounted within the storage area of ​​the first robot, and the size of the second robot is smaller than the storage area. Once the foreign object removal system reaches the target parking space, the second robot within the storage area can exit from behind the first robot and proceed to perform the specific removal action. The hardware components specifically configured in the first and second robots can be mounted according to predetermined functions and task allocations, and their appearance can be designed and assembled according to the required hardware and actual needs.

[0120] Figure 3 This is a side view of a second robot provided in one embodiment of this application, as shown below. Figure 3 As shown, the second robot may include a vision module 1 (i.e., the second image acquisition unit), an area array ranging module 2 (i.e., the area array ranging unit), a calculation and processing unit 3 (i.e., the second processing unit), a communication module 4 (i.e., the second communication unit), a second power supply 5, tires and motors 6 (i.e., the second motor and the second tire), a foreign object collection mechanism 7 (i.e., the second foreign object removal unit), a servo motor 8 (i.e., the second servo motor), and a light source 9.

[0121] The system includes a vision module 1 for acquiring key features of foreign objects (such as vital signs and morphological characteristics); an array ranging module 2 for monitoring the distance from the highest point of the second robot to the bottom of the vehicle; a computing and processing unit 3 for processing sensor signals and performing real-time path planning, position correction, and command transmission and reception; a communication module 4 for communicating with the first robot; a motor in the tire and motor 6 for driving the second robot's tires along the driving path; a servo motor 8 for controlling the foreign object collection mechanism 7 of the sub-robot to perform specific removal actions; and a light source 9 for ensuring the second robot can operate normally in dark environments.

[0122] Optionally, an odometer module can be added to the second robot to obtain the current driving data of the second robot, so as to realize position update and correction.

[0123] Optionally, the vision module can also acquire depth information around the second robot to achieve real-time obstacle avoidance.

[0124] Optionally, the second robot can also be equipped with a radar module (i.e., a second lidar) to assist the vision module in real-time obstacle avoidance during movement.

[0125] Optionally, the second robot may also be equipped with a foreign object recovery device (i.e., a second recovery device) for the recovery of foreign objects by the second robot.

[0126] Figure 4 This is a front view of a second robot provided in one embodiment of this application, as shown below. Figure 4 The image shown is a front view of the second robot in operation. The height of the second robot can be configured based on empirical values, allowing it to travel under the target vehicle to remove foreign objects from the target area.

[0127] Figure 5 This is a top view of a second robot provided in one embodiment of this application, as shown below. Figure 5 As shown, the size and position of each component in the second robot can be arranged according to the actual situation. For example, the vision module 1, the area array ranging module 2, the computing and processing unit 3 and the communication module 4 can be arranged on the top of the second robot. The second robot is equipped with 4 tires, etc.

[0128] Figure 6 This is a side view of a first robot provided in one embodiment of this application, as shown below. Figure 6 As shown, the first robot may include a vision module 10 (i.e., a first image acquisition unit), a computing and processing unit 11 (i.e., a first processing unit), a communication module 12 (i.e., a first communication unit), a tire and motor 13 (i.e., a first motor and a first tire), a touch display module 14, a servo motor module 15 (i.e., a first servo motor), a trapdoor 16 (i.e., a movable door panel), a position limiting bracket 17, a first power supply 18, a foreign object recovery device 19 (i.e., a first recovery device), a robotic arm module 20 (i.e., a first foreign object removal unit), and a lidar module 21 (i.e., a first lidar).

[0129] The computing processing unit 11 can be used to store and process sensor data, realize perception mapping, navigation, instruction sending and receiving, etc. of the environment; the visual module 10 and the laser radar module 21 can be used for mapping the overall environment and real-time perception of the local environment; the communication module 12 can realize communication with the second robot and the foreign matter detection circuit; the touch display module 14 can be used to provide state information, image information to the user / maintenance personnel, and provide a debugging interface; the motor in the tire and motor 13 can be used to drive the tire of the first robot to travel according to the travel path; the servo motor module 15 can be used to control the foreign matter storage mechanism to perform specific cleaning actions, and the foreign matter grabbing mechanism can be used to assist the second robot to complete the storage of foreign matters, such as a mechanical arm module 20; and the foreign matter recycling device 19 can be used for temporary storage of foreign matters.

[0130] In addition, the flap door 16 can be used to open and form a ramp to assist the second robot to drive out of the first robot; the position limiting support 17 can be used to support the second robot, and a plurality of second robot storage areas can be provided to realize a multi-child-mother type expansion system and improve the foreign matter processing efficiency.

[0131] Figure 7 is a front view of a first robot provided by an embodiment of the present application, as shown in Figure 7 The first robot can be additionally provided with a split infrared sensor 22, so that the first robot can assist the second robot to correctly return to the inside of the first robot according to the information of the split infrared sensor 22.

[0132] Optionally, the first robot can be additionally provided with an odometer module for calculating the real-time position of the mother robot.

[0133] Optionally, the second robot and the first robot can be remotely controlled.

[0134] Optionally, a touch key or a mechanical key can be added for the interaction between the user and the device.

[0135] The foreign matter cleaning method involved in the foreign matter cleaning system will be described below:

[0136] Figure 8 is a flowchart of a foreign matter cleaning method provided by an embodiment of the present application, which is an example and is not limited to the method, which can be applied to the first robot.

[0137] S101, in response to a foreign matter cleaning instruction for a target parking space, a first travel path of the first robot is generated according to a global map of the target parking space and current position information of the first robot, wherein the target parking space is a parking space currently providing wireless charging function for a target vehicle.

[0138] In the embodiment, the foreign matter removing system can be composed of a first robot and at least one second robot equipped on the first robot, wherein the first robot can be understood as a robot receiving the foreign matter removing instruction and instructing the second robot to perform the removing action according to the foreign matter removing instruction, and the second robot can be understood as a robot actually performing the foreign matter removing action in normal cases, and the first robot can also perform the foreign matter removing action in other cases.

[0139] The source of the foreign matter removing instruction is not limited. In the embodiment, each parking space can include a target area for providing a wireless charging function, and the surface of each parking space can be configured with a wireless charging foreign matter detection circuit. The wireless charging foreign matter detection circuit can be used to detect whether there is a foreign matter in the target area of the corresponding parking space. When a foreign matter is detected, the foreign matter removing instruction is sent to the first robot. Alternatively, the foreign matter removing system can be set to a patrol mode. In the patrol mode, the first robot can patrol the entire charging area. At this time, the foreign matter removing instruction can come from the sensor of the first robot itself, realizing automatic triggering of the foreign matter removing method.

[0140] It should be noted that when the foreign matter removing system is configured in a new working environment (such as a large parking lot equipped with wireless charging parking spaces), the first robot can first analyze the overall environment and complete the construction of the global map. For example, the mapping technology such as laser simultaneous localization and mapping (SLAM) or visual SLAM can be used to establish the layout of the global map, which can include the positions and numbers of the plurality of parking spaces, and the configuration of the number for each parking space, etc. Then, the coordinates of the base station and the wireless charging area can be determined in the global map, such as using remote control to set the area and then calculating the coordinates to realize the positioning of the set area. Finally, the improved global map can be stored in the processing unit.

[0141] Initially, the foreign matter removing system can be located in the base station, generally in a dormant mode to ensure the endurance, and the first / second robot can be charged during this period. Most of the functions of the first / second robot can also be turned off, and the main power consumption comes from the task of monitoring the foreign matter removing instruction in real time. After receiving the foreign matter removing instruction, the specific operation can be responded, for example, the first robot can respond to the foreign matter removing instruction for the target parking space, confirm the source of the foreign matter removing instruction by pre-setting the charging area number or area coordinates, and then generate the first travel path of the first robot to the target parking space according to the global map and the current position information of the first robot by using the A* algorithm or similar path planning algorithm when confirming that the second robot is located inside the first robot.

[0142] In some embodiments, the first robot can delay the removal instruction if there is still other removal work to be completed.

[0143] Meanwhile, the foreign matter removal instruction can include corresponding priorities, so that the first robot can respond according to different priorities. For example, a high priority represents a high degree of danger, and the first robot can go to handle it first.

[0144] S102, control the first robot to travel to the target parking space based on the first travel path, the target parking space at least including a target area for providing a wireless charging function.

[0145] In this step, the first robot can be controlled to travel to the target parking space based on the generated first travel path. For example, the travel of the first robot can be directly controlled according to the first travel path, or the first travel path can be updated in real time through the built-in sensor during the process of going to the target parking space, so that the first robot travels to the target parking space according to the updated first travel path.

[0146] In some embodiments, controlling the first robot to travel to the target parking space based on the first travel path includes:

[0147] During the travel based on the first travel path, first environment data of the first robot is collected;

[0148] Based on the first environment data, a local travel map of the first robot is generated;

[0149] According to the local travel map of the first robot, the first travel path is updated to control the first robot to travel to the target parking space according to the updated first travel path.

[0150] The first environment data can refer to the environment data collected by the first robot during the travel according to the first travel path. The specific content of the first environment data can be determined according to the type of the built-in sensor, which is not limited in the embodiment.

[0151] In the specific embodiment, during the travel of the first robot based on the first travel path, the first environment data of the first robot can be collected. For example, the data collected by the laser radar or the vision module can be used to generate a local cost map (i.e. local travel map) around the robot, to complete real-time obstacle avoidance and call the path planning algorithm again to update the path, so that the first robot can be controlled to travel to the target parking space according to the updated first travel path.

[0152] S103, after the first robot drives to the target parking space, sending a cleaning control instruction to a second robot equipped on the first robot to instruct the second robot to clean foreign matters in a target area based on coordinate information of the target area carried in the cleaning control instruction.

[0153] The cleaning control instruction can carry coordinate information of the target area, i.e. coordinate information of the target area in the target parking space for providing wireless charging function.

[0154] Through the above steps, after the first robot drives to the target parking space, the first robot can send a cleaning control instruction to a second robot equipped on the first robot. For example, the first robot can be equipped with one or more second robots. At this time, the first robot can send a cleaning control instruction to any second robot, so that the second robot lands and starts to perform the task of cleaning foreign matters in the target area based on the coordinate information of the target area.

[0155] In some embodiments, before sending the cleaning control instruction to the second robot equipped on the first robot, the method further comprises:

[0156] sending a landing control instruction to the second robot, the landing control instruction being used to instruct the second robot to drive out of the first robot;

[0157] receiving relative position coordinates sent by the second robot;

[0158] calculating initial position coordinates of the second robot according to the relative position coordinates and the global map;

[0159] sending the cleaning control instruction to the second robot equipped on the first robot, comprising:

[0160] sending the cleaning control instruction carrying the initial position coordinates and the coordinate information of the target area to the second robot.

[0161] The landing control instruction can be used to instruct the second robot to drive out of the first robot, and the relative position coordinates can be relative coordinates between the second robot and the first robot.

[0162] In the specific embodiment, after the first robot reaches the target parking space, and before sending the cleaning control instruction to the second robot equipped on the first robot, the first robot can select a suitable area to temporarily stay, and first send a landing control instruction to the second robot to indicate the second robot to drive out of the first robot. For example, the rear flap door can be opened and a slope is formed to assist the second robot to drive out of the first robot, so that the second robot can complete the position coordinate calculation and correction with the first robot after landing. For example, the first robot can send a relative position coordinate to the first robot to request the first robot to calculate the initial position coordinate of the second robot according to the relative position coordinate and the global map. Specifically, the coordinate calculation of the second robot can be completed by using the distance measurement module of the robot to measure the distance of a specific part, so that the first robot can send the cleaning control instruction carrying the initial position coordinate and the coordinate information of the target area to the second robot.

[0163] The foreign matter cleaning method provided by the embodiment is applied to a first robot, and in response to a foreign matter cleaning instruction for a target parking space, a first travel path of the first robot is generated according to a global map of the target parking space and current position information of the first robot, wherein the target parking space is a parking space that is currently providing a wireless charging function for a target vehicle; the first robot is controlled to travel to the target parking space based on the first travel path, and the target parking space at least includes a target area for providing the wireless charging function; after the first robot travels to the target parking space, a cleaning control instruction is sent to a second robot equipped on the first robot to instruct the second robot to clean foreign matter in the target area based on coordinate information of the target area carried in the cleaning control instruction. By using this method, the equipped first robot and second robot are used to cooperatively clean foreign matter, which can enrich the means of cleaning foreign matter and improve the cleaning effect of foreign matter on the basis of reducing the cleaning cost.

[0164] In some embodiments, after sending the cleaning control instruction to the second robot equipped on the first robot, the method further includes:

[0165] receiving a cleaning request for foreign matter sent by the second robot;

[0166] based on the cleaning request, performing a first cleaning action on the foreign matter, the first cleaning action being used to clean the foreign matter into a recycling device of the first robot.

[0167] It can be considered that the result of the second robot executing the foreign matter cleaning in the target area is not limited, and in some special cases (such as thinner metal foreign matter, etc.), there may be a case where the second robot fails to clean the foreign matter. At this time, the second robot can send a cleaning request for the foreign matter to the first robot, so that the first robot can perform a corresponding first cleaning action on the foreign matter based on the cleaning request to achieve the effect of cleaning the foreign matter into the recycling device of the first robot. On this basis, the first robot can assist in realizing the cleaning of the foreign matter, and improve the efficiency and effect of the foreign matter cleaning.

[0168] Figure 9 is a flowchart of an embodiment of a foreign matter cleaning method provided by the present application. As an example but not limitation, the method can be applied to the second robot.

[0169] S201, receiving a cleaning control instruction sent by the first robot, the cleaning control instruction being used to instruct the second robot to clean foreign matter in a target area based on coordinate information of the target area carried in the cleaning control instruction, the target area being an area in the target parking space that is providing wireless charging function for the target vehicle.

[0170] S202, controlling the second robot to travel to the target area based on the coordinate information.

[0171] In this embodiment, the second robot can receive the cleaning control instruction sent by the first robot, and only use the coordinate information of the target area carried in the cleaning control instruction to realize the subsequent cleaning of the foreign matter, or can also combine other information to comprehensively execute the subsequent cleaning process.

[0172] In some embodiments, before receiving the cleaning control instruction sent by the first robot, the method further comprises:

[0173] receiving a landing control instruction sent by the first robot;

[0174] in response to the landing control instruction, controlling the second robot to drive out of the first robot;

[0175] after the second robot lands, sending relative position coordinates to the first robot to request the first robot to calculate initial position coordinates of the second robot based on the relative position coordinates, the relative position coordinates being relative coordinates between the second robot and the first robot;

[0176] receiving the cleaning control instruction sent by the first robot, comprising:

[0177] receiving the cleaning control instruction returned by the first robot based on the relative position coordinates, the cleaning control instruction carrying the initial position coordinates of the second robot and the coordinate information of the target area.

[0178] In some embodiments, the second robot is controlled to travel to the target area based on the coordinate information, including:

[0179] A second travel path of the second robot is generated based on the initial position coordinate and the coordinate information.

[0180] The second robot is controlled to travel to the target area based on the second travel path.

[0181] In the specific implementation, after the second robot confirms the initial position coordinate of the global map where the second robot is located, the second travel path of the second robot is generated according to the path planning algorithm, so that the second robot can be directly controlled to travel to the charging abnormal area at the bottom of the vehicle (i.e., the target area) according to the second travel path; and the local obstacle avoidance and path update can be completed through the data returned by the sensor such as the vision module.

[0182] For example, the top of the second sensor can be configured with a planar array ranging module, so that the second environment data and distance data of the second robot can be collected in real time during the travel based on the second travel path, and a local travel map of the second robot is generated according to the collected second environment data and distance data, so as to update the second travel path, so as to control the second robot to travel to the target area according to the updated second travel path. For example, during the travel to the target area, the planar array ranging module can be used to monitor the distance from the highest point of the second robot to the bottom of the charging vehicle in real time, so as to ensure that the second robot does not scratch the target vehicle during the operation.

[0183] S203, after the second robot travels to the target area, a second cleaning action corresponding to the foreign matter is performed, and the second cleaning action is used to clean the foreign matter into the recycling device of the second robot.

[0184] Through the above steps, after the second robot travels to the target area, the second robot can perform different second cleaning actions according to different foreign matters in the target area, for example, the second cleaning action corresponding to the type of the foreign matter can be performed according to the type of the foreign matter, and different second cleaning actions can be distinguished in combination with other parameters.

[0185] In some embodiments, the second cleaning action corresponding to the foreign matter is performed, including:

[0186] Image data of the foreign matter is collected.

[0187] The image data is processed to obtain foreign matter parameters of the foreign matter, and the foreign matter parameters at least include a foreign matter size and a foreign matter type.

[0188] The second cleaning action is performed on the foreign matter according to the foreign matter size and the foreign matter type.

[0189] In the specific embodiment, the specific position and size of the foreign matter can be calculated by the image data collected by the vision module through the optical three-dimensional measurement method, and the foreign matter category can be identified by using a traditional image processing method or a large model such as Yolo (You Only Look Once), so that the second removal action of the foreign matter can be performed according to the specific parameters of the foreign matter. For example, when the foreign matter is a metal foreign matter, the foreign matter can be collected into the recycling device of the second robot through a clamping action; and when the foreign matter is a large living thing, the foreign matter can be recycled into the recycling device of the second robot through a suitable whole vehicle movement.

[0190] Further, if the second robot stores the foreign matter, the foreign matter can be poured into the foreign matter recycling device in front of the second robot and in front of the first robot.

[0191] Further, the second robot can pass through the flap door slope, and the information of the vision module and the infrared detection module can be collected to assist the second robot to correctly return to the inside of the first robot. After all the cleaning operations are completed, the foreign matter cleaning system can return to the base station. If the first robot receives a foreign matter cleaning instruction during the return, the first robot can immediately respond and go to the next target parking space; if the return is successful, the first robot can enter a sleep mode and wait for subsequent instructions.

[0192] During the operation of the overall foreign matter cleaning method, if the robot is blocked at a certain position or the path is wrong, an alarm signal can be sent to the background server, at which time human intervention can be used to escape through remote control or on-site processing.

[0193] The foreign matter cleaning method provided in the embodiment is applied to a second robot, receives a cleaning control instruction sent by a first robot, the cleaning control instruction is used to instruct the second robot to clean a foreign matter in a target area based on coordinate information of the target area carried in the cleaning control instruction, the target area is an area in a target parking space that is providing a wireless charging function for a target vehicle, controls the second robot to travel to the target area based on the coordinate information, and after the second robot travels to the target area, a second removal action corresponding to the foreign matter is performed, the second removal action is used to clean the foreign matter into a recycling device of the second robot. By using the method, the second robot performs the second removal action corresponding to the foreign matter, the foreign matter can be cleaned in a targeted manner, the situation of the complex foreign matter can be effectively dealt with, and the cleaning effect of the foreign matter is improved.

[0194] In some embodiments, after the second removal action corresponding to the foreign matter is performed, the method further includes:

[0195] If the execution result of the second cleaning action fails, a third cleaning action is performed on the foreign matter, and the third cleaning action is used to temporarily clean the foreign matter from the target area to an area outside the target parking space.

[0196] The cleaning request for the foreign matter is sent to the first robot to request the first robot to clean the foreign matter into the recycling device of the first robot based on the cleaning request.

[0197] In the specific embodiment, if the second robot still fails to successfully clean the foreign matter after performing the second cleaning action for a specified number of times, it can be considered that the execution result of the second cleaning action fails, and the second robot can perform a third cleaning action on the foreign matter to temporarily clean the foreign matter from the target area to an area outside the target parking space, such as driving away from the vehicle bottom area with the foreign matter or dragging the foreign matter out of the vehicle bottom. If the foreign matter needs further grabbing to complete the storage operation, the first robot can be requested to clean the foreign matter, and the first robot can store the foreign matter in the opened recycling device through a mechanical arm or the like.

[0198] Figure 10 is a whole flowchart of a foreign matter cleaning method provided by an embodiment of the present application, as shown in Figure 10 The parent robot (i.e., the first robot) can first complete overall analysis and global mapping of the environment it is in to determine the positions of all charging areas. The child and parent robots can be in a sleep mode when they are at the base station, waiting for the triggering of a foreign matter cleaning instruction. If the triggering of the foreign matter cleaning instruction is detected, the source of the foreign matter cleaning instruction is determined, and under the set traffic constraint rules, a driving trajectory of the foreign matter cleaning system from the current position (such as the base station) to the target area is planned, and the motor controls the tire to start the driving task to go to the target parking space according to the driving trajectory.

[0199] During driving, real-time monitoring of the surrounding environment can be performed to complete real-time obstacle avoidance and path updating. For example, path correction information contained in the surrounding environment can be obtained to correct the driving action and ensure that it operates under the traffic constraint rules. The driving monitoring data of the robot itself can also be obtained to complete synchronous updating of the position where the robot is located.

[0200] After reaching the vicinity of the target area, the child robot (i.e., the second robot) can drive out of the parent robot to perform child and parent positioning calibration, and then the child robot can go to the vehicle bottom charging position to complete real-time obstacle avoidance through real-time monitoring of the surrounding environment. After the child robot reaches the charging area, it can detect the foreign matter and clean / store the foreign matter. The shape and position of the foreign matter can also be determined to transfer the foreign matter out of the charging area through a corresponding module.

[0201] After the completion of the cleaning action, the foreign matter can be recycled to the recycling device, the child robot returns to the inside of the parent robot, and the child-parent robot can return to the base station. During the return, the behavior of monitoring the foreign matter cleaning instruction in real time can be maintained. If the triggering of the foreign matter cleaning instruction is monitored, the source of the foreign matter cleaning instruction is determined, and the new target position is continued to be traveled to, and the above operation is repeated. If the triggering of the foreign matter cleaning instruction is not monitored during the travel, the base station is traveled to.

[0202] Optionally, the child-parent robot can be equipped with modules of different models, different shapes and different mechanisms to complete the removal / picking action of the foreign matter.

[0203] Optionally, after returning to the base station, the foreign matter cleaning system can enter a dormant mode, only retaining the function of monitoring the foreign matter cleaning instruction.

[0204] Optionally, in the base station, the foreign matter cleaning system can be wirelessly charged, improving the endurance of the device while ensuring that the response speed is not affected.

[0205] As can be seen from the above description, the foreign matter cleaning system and method provided by the embodiment is in the form of a child-parent robot, integrates technologies including autonomous mapping, autonomous navigation, vehicle positioning and recycling, real-time obstacle avoidance, foreign matter processing and storage, etc., realizes the function of discovering and cleaning the safety hazards that are prone to occur in new energy vehicles during wireless charging, and can help complete the safety and health analysis of the surrounding environment, and ensure the environmental safety of wireless charging.

[0206] Corresponding to the foreign matter cleaning method of the above embodiment, Figure 11 is a structural block diagram of a foreign matter cleaning device provided by an embodiment of the present application. For ease of illustration, only parts related to the embodiments of the present application are shown.

[0207] Referring to Figure 11 The device comprises:

[0208] The generating module 301 is configured to, in response to a foreign matter cleaning instruction for a target parking space, generate a first travel path of a first robot according to a global map of the target parking space and current position information of the first robot, wherein the target parking space is a parking space that is currently providing a wireless charging function for a target vehicle.

[0209] The first control module 302 is configured to control the first robot to travel to the target parking space based on the first travel path, and the target parking space at least includes a target area for providing the wireless charging function.

[0210] The first sending module 303 is configured to send a cleaning control instruction to a second robot equipped on the first robot after the first robot drives to the target parking space, so as to instruct the second robot to clean foreign matters in a target area based on coordinate information of the target area carried in the cleaning control instruction.

[0211] The foreign matter cleaning device provided in the embodiment is configured on the first robot, and the generating module generates a first driving path of the first robot in response to a foreign matter cleaning instruction for a target parking space according to a global map of the target parking space and current position information of the first robot, wherein the target parking space is a parking space currently providing a wireless charging function for a target vehicle; the first control module controls the first robot to drive to the target parking space based on the first driving path, and the target parking space at least includes a target area for providing the wireless charging function; and the sending module sends a cleaning control instruction to a second robot equipped on the first robot after the first robot drives to the target parking space, so as to instruct the second robot to clean foreign matters in the target area based on coordinate information of the target area carried in the cleaning control instruction. By using the device, the foreign matters can be cleaned by the first robot and the second robot equipped in cooperation, so that the means for cleaning the foreign matters is enriched, and the cleaning effect of the foreign matters is improved on the basis of reducing the cleaning cost.

[0212] Optionally, the foreign matter cleaning device provided in the embodiment further comprises:

[0213] The second sending module is configured to send a landing control instruction to the second robot before sending the cleaning control instruction to the second robot equipped on the first robot, and the landing control instruction is used to instruct the second robot to drive out of the first robot;

[0214] The second receiving module is configured to receive relative position coordinates sent by the second robot before sending the cleaning control instruction to the second robot equipped on the first robot.

[0215] The calculating module is configured to calculate initial position coordinates of the second robot according to the relative position coordinates and the global map before sending the cleaning control instruction to the second robot equipped on the first robot.

[0216] The first sending module is specifically configured to:

[0217] send the cleaning control instruction carrying the initial position coordinates and the coordinate information of the target area to the second robot.

[0218] Optionally, the first control module is specifically configured to:

[0219] collect first environment data of the first robot in the process of driving based on the first driving path.

[0220] generate a local travel map of the first robot based on the first environment data;

[0221] update the first travel path according to the local travel map of the first robot, so as to control the first robot to travel to the target parking space according to the updated first travel path.

[0222] Optionally, the foreign matter cleaning device provided in the embodiment further includes:

[0223] The third receiving module is configured to receive a cleaning request for the foreign matter sent by the second robot after sending the cleaning control instruction to the second robot equipped on the first robot.

[0224] The second execution module is configured to perform a first cleaning action on the foreign matter based on the cleaning request, and the first cleaning action is used to clean the foreign matter into the recycling device of the first robot.

[0225] The foreign matter cleaning method corresponding to the above embodiment, Figure 12 is a structural block diagram of a foreign matter cleaning device provided in another embodiment of the present application. For ease of illustration, only parts related to the embodiments of the present application are shown.

[0226] Referring to Figure 12 The device includes:

[0227] The first receiving module 401 is configured to receive a cleaning control instruction sent by the first robot, and the cleaning control instruction is used to instruct the second robot to clean foreign matter in a target area based on coordinate information of the target area carried in the cleaning control instruction. The target area is an area in the target parking space that is providing wireless charging function for the target vehicle;

[0228] The second control module 402 is configured to control the second robot to travel to the target area based on the coordinate information.

[0229] The first execution module 403 is configured to perform a second cleaning action corresponding to the foreign matter after the second robot travels to the target area, and the second cleaning action is used to clean the foreign matter into the recycling device of the second robot.

[0230] The embodiment provides a foreign matter removing device, which is arranged on a second robot, receives a removing control instruction sent by a first robot through a first receiving module, the removing control instruction is used for instructing the second robot to remove foreign matter in a target area based on coordinate information of the target area carried in the removing control instruction, and the target area is an area in a target parking space that is providing a wireless charging function for a target vehicle; the second robot is controlled to drive to the target area based on the coordinate information through a second control module; and a second removing action corresponding to the foreign matter is performed through a first executing module after the second robot drives to the target area, and the second removing action is used for removing the foreign matter into a recycling device of the second robot. By using the device, the second robot is used to perform the second removing action corresponding to the foreign matter, the foreign matter can be removed in a targeted manner, the situation of complex foreign matter can be effectively coped with, and the removing effect of the foreign matter is improved.

[0231] Optionally, the foreign matter removing device provided by the embodiment further comprises:

[0232] The fourth receiving module is used for receiving a landing control instruction sent by the first robot before receiving the removing control instruction sent by the first robot.

[0233] The third control module is used for controlling the second robot to drive out of the first robot in response to the landing control instruction.

[0234] The third sending module is used for sending relative position coordinates to the first robot after the second robot lands, so as to request the first robot to calculate initial position coordinates of the second robot based on the relative position coordinates, and the relative position coordinates are relative coordinates between the second robot and the first robot.

[0235] The first receiving module is specifically used for:

[0236] Receiving the removing control instruction returned by the first robot based on the relative position coordinates, and the removing control instruction carries the initial position coordinates of the second robot and the coordinate information of the target area.

[0237] Optionally, the third control module comprises:

[0238] The generating unit is used for generating a second driving path of the second robot based on the initial position coordinates and the coordinate information.

[0239] The control unit is used for controlling the second robot to drive to the target area based on the second driving path.

[0240] Optionally, the control unit is specifically used for:

[0241] In the process of driving based on the second driving path, second environment data and distance data of the second robot are collected, the distance data being used to represent a distance between a highest point of the second robot and a bottom of the target vehicle;

[0242] Based on the second environment data and the distance data, a local driving map of the second robot is generated.

[0243] According to the local driving map of the second robot, the second driving path is updated, so as to control the second robot to drive to the target area according to the updated second driving path.

[0244] Optionally, the first execution module is specifically configured to:

[0245] Collect image data of the foreign matter;

[0246] Process the image data to obtain foreign matter parameters of the foreign matter, the foreign matter parameters at least including a foreign matter size and a foreign matter type;

[0247] According to the foreign matter size and the foreign matter type, a second removal action is performed on the foreign matter.

[0248] Optionally, the foreign matter removal device provided in the embodiment further includes:

[0249] The third execution module is configured to, after performing the second removal action corresponding to the foreign matter, if an execution result of the second removal action fails, perform a third removal action on the foreign matter, the third removal action being used to temporarily remove the foreign matter from the target area to an area outside the target parking space.

[0250] The fourth sending module is configured to send a removal request for the foreign matter to the first robot, so as to request the first robot to remove the foreign matter into a recycling device of the first robot based on the removal request.

[0251] It should be noted that the information interaction, execution process and the like between the above devices / units are based on the same concept as the method embodiments of the present application, and the specific functions and the technical effects brought by the same can be referred to the method embodiment part, and will not be described here.

[0252] Those skilled in the art can clearly understand that, for the convenience and brevity of description, only the division of the above functional units and modules is exemplified, and in actual application, the above functions can be completed by different functional units and modules according to needs, that is, the internal structure of the device is divided into different functional units or modules to complete all or part of the above described functions. Each functional unit and module in the embodiment can be integrated in one processing unit, or each unit can exist physically, or two or more units can be integrated in one unit, and the integrated unit can be realized in the form of hardware or software. In addition, the specific name of each functional unit and module is only for convenient distinction, and does not limit the protection scope of the present application. The specific working process of the unit and module in the system can refer to the corresponding process in the foregoing method embodiments, and will not be repeated here.

[0253] The embodiment of the present application further provides a robot, and the robot can be any robot in the foreign matter removing system, Figure 13 is a structural schematic diagram of a robot provided by an embodiment of the present application, as Figure 13 shown, the robot comprises at least one processor 501, a memory 502, an input device 503, an output device 504, and a computer program stored in the memory 502 and executable on the at least one processor 501, and the processor 501 implements the steps in any of the method embodiments described above when executing the computer program.

[0254] The input device 503 can be used to receive input digital or character information, and generate key signal input related to user settings and function control of the robot. The output device 504 can include a display device such as a display screen.

[0255] The embodiment of the present application further provides a computer readable storage medium, and the computer readable storage medium stores a computer program, and the computer program is executed by the processor 501 to implement the steps in the method embodiments described above.

[0256] The embodiment of the present application provides a computer program product, when the computer program product is executed on the mobile terminal, so that the mobile terminal executes to implement the steps in the method embodiments described above.

[0257] The integrated unit, if implemented in the form of a software function unit and sold or used as an independent product, can be stored in a computer readable storage medium. Based on such understanding, the present application can implement all or part of the processes in the above-mentioned embodiment methods through a computer program to instruct related hardware to complete, and the computer program can be stored in a computer readable storage medium. The computer program can implement the steps of each method embodiment when executed by the processor 501. The computer program includes computer program code, which can be in the form of source code, object code, executable files or some intermediate forms. The computer readable medium at least includes any entity or device capable of carrying the computer program code to the system / robot, recording medium, computer memory, read-only memory (ROM), random access memory (RAM), electrical carrier signal, telecommunication signal and software distribution medium. For example, U disk, mobile hard disk, magnetic disk or optical disk, etc.

[0258] In the above embodiments, the description of each embodiment has its own focus, and the parts not described or recorded in detail in a certain embodiment can be referred to the related description of other embodiments.

[0259] Those of ordinary skill in the art can realize that the units and algorithm steps of each example described in combination with the embodiments disclosed herein can be realized in electronic hardware or a combination of computer software and electronic hardware. Whether the functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of the present application.

[0260] In the embodiments provided in the present application, it should be understood that the disclosed system / robot and method can be implemented in other ways. For example, the above-described system / robot embodiments are only schematic, for example, the division of modules or units is only a logical function division, and there can be another division in actual implementation, for example, a plurality of units or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the displayed or discussed mutual coupling or direct coupling or communication connection can be indirect coupling or communication connection through some interface, device or unit, and can be electrical, mechanical or other forms.

[0261] The units described as separate components may or may not be physically separate, and the components displayed as units may or may not be physical units, that is, may be located in one place, or may also be distributed to multiple network units. Part or all of the units can be selected to achieve the purpose of the embodiment scheme according to actual needs.

[0262] The above embodiments are only used to illustrate the technical solutions of the present application, but not limit them; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that the technical solutions recorded in the foregoing embodiments can still be modified, or some technical features can be replaced by equivalents; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application, and should be included in the protection scope of the present application.

Claims

1. A foreign object removal system, characterized in that, The application relates to a wireless charging system for a vehicle, comprising: a first robot, which is used for sending a cleaning control instruction to a second robot after driving to a target parking space according to a foreign matter cleaning instruction, wherein the target parking space is a parking space currently providing a wireless charging function for a target vehicle, the target parking space at least comprises a target area for providing the wireless charging function, and the cleaning control instruction carries coordinate information of the target area; the second robot is arranged on the first robot, is in communication connection with the first robot, is used for receiving the cleaning control instruction, and is used for cleaning foreign matters in the target area.

2. The foreign object clearing system of claim 1, wherein, The first robot at least comprises a first processing unit, a first motor and a first tire, the first processing unit is used for generating a first driving path of the first robot according to the foreign matter cleaning instruction; the first motor is used for driving the first tire of the first robot to drive to the target parking space based on the first driving path.

3. The foreign object clearing system of claim 2, wherein, The first robot further comprises a first sensor unit, the first sensor unit is used for collecting first environment data of the first robot; the first processing unit is further used for updating the first driving path based on the first environment data; the first motor is further used for driving the first tire of the first robot to drive to the target parking space according to the updated first driving path.

4. The foreign object clearing system of claim 3, wherein, The first sensor unit at least comprises a first image collecting device and a first laser radar, the first image collecting device is used for collecting first environment image data of the first robot; the first laser radar is used for collecting first radar data of the first robot.

5. The foreign object clearing system of claim 1, wherein, The first robot at least comprises a first steering engine, a first foreign matter cleaning unit and a first recycling device, the first steering engine is used for controlling the first foreign matter cleaning unit to perform a first cleaning action after receiving a cleaning request of the second robot; the first foreign matter cleaning unit is used for cleaning the foreign matters into the first recycling device of the first robot.

6. The foreign object clearing system of claim 1, wherein, The second robot at least comprises a second processing unit, a second motor and a second tire, the second processing unit is used for generating a second driving path of the second robot according to the coordinate information; the second motor is used for driving the second tire of the second robot to drive to the target area based on the second driving path.

7. The foreign object clearing system of claim 6, wherein, The second robot further comprises a second sensor unit, the second sensor unit is used for collecting second environment data of the second robot; the second processing unit is further used for updating the second driving path based on the second environment data; the second motor is further used for driving the second tire of the second robot to drive to the target area according to the updated second driving path.

8. The foreign object clearing system of claim 7, wherein, The second sensor unit at least comprises a second image collecting unit, a second laser radar and a planar array ranging unit, the second image collecting unit is used for collecting second environment image data of the second robot; the second laser radar is used for collecting second radar data of the second robot; The area array ranging unit is configured to collect distance data of the second robot, and the distance data is used to represent a distance between a highest point of the second robot and a bottom of the target vehicle.

9. The foreign object clearing system of claim 1, wherein, The second robot further comprises a second steering engine, a second foreign matter removing unit and a second recycling device, The second steering engine is configured to control the second foreign matter removing unit to perform a second removing action. The second foreign matter removing unit is configured to remove the foreign matter into the second recycling device of the second robot.

10. The foreign object clearing system of claim 1, wherein, The first robot at least comprises a movable gate plate, The movable gate plate is configured to form a slope for the second robot to drive out of the first robot.

11. The foreign object clearing system of claim 1, wherein, The first robot further comprises a first communication unit, and the second robot further comprises a second communication unit, and the first communication unit and the second communication unit communicate through wireless network connection.

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