Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present application more apparent, the technical solutions of the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application, and it is apparent that the described embodiments are some embodiments of the present application, but not all embodiments of the present application. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.
The terminology used in the embodiments of the application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. As used in this application and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise, the "plurality" generally includes at least two, but does not exclude the case of at least one.
It should be understood that the term "and/or" as used herein is merely one relationship describing the association of the associated objects, meaning that there may be three relationships, e.g., a and/or B, may represent: a exists alone, A and B exist together, and B exists alone. In addition, the character "/" herein generally indicates that the front and rear associated objects are an "or" relationship.
The words "if", as used herein, may be interpreted as "at … …" or "at … …" or "in response to a determination" or "in response to a detection", depending on the context. Similarly, the phrase "if determined" or "if detected (stated condition or event)" may be interpreted as "when determined" or "in response to determination" or "when detected (stated condition or event)" or "in response to detection (stated condition or event), depending on the context.
It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a product or system that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such product or system. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a commodity or system comprising such elements.
In addition, the sequence of steps in the method embodiments described below is only an example and is not strictly limited.
In order to facilitate understanding of the technical solution provided by the embodiments of the present application by those skilled in the art, a technical environment in which the technical solution is implemented is first described below.
In the charging method of the robot, the charging interface of the robot needs to be in butt joint with the charging pile so as to charge the robot through the charging pile, however, the charging mode of the robot has larger limitation on the robot. There is therefore a need in the art for a robot charging system that reduces the limitations of charging on the robot.
Based on practical technical requirements similar to those described above, the robot charging method provided by the application can reduce the limitation of charging on the robot by using a technical means.
The following specifically describes a robot charging method provided by each embodiment of the present application through an exemplary application scenario.
As shown in fig. 1, the application scenario may include a scheduling apparatus 11 and a plurality of robots 12 in a target area. Wherein the communication connection between the scheduling device 11 and the robot 12, in one embodiment, the communication connection between the scheduling device 11 and the robot 12 may be a wireless communication connection, based on which the scheduling device 11 and the robot 12 may comprise a wireless communication module, for example, may be a wireless fidelity (WIRELESS FIDELITY, WIFI) module. Of course, in other embodiments, the dispatching device 11 and the robot 12 may be communicatively connected by other methods, which is not limited by the present application. The Robot (Robot) 12 may be, for example, a Robot device capable of automatically performing work such as an automated guided vehicle or a dispensing Robot.
In an embodiment, the scheduling device 11 may be a server for the target area, which may be, for example, any form of data processing server such as a cloud server, a distributed server, etc.
In another embodiment, the scheduling device may in particular be a robot in the target area, which may be understood as a master (master) robot, and the other robots may be understood as slave (slave) robots.
The robots in the target area may perform tasks according to the scheduling of the server. For example, the server may issue a task to the robots in the target area according to the task demand, so as to schedule the robots in the target area to execute the corresponding task. Of course, in other embodiments, the robot in the target area may be scheduled to perform tasks by other devices, which the present application is not limited to. The task performed by the robot 12 may be, for example, an express package delivery task, however, in other embodiments, the task may be in other forms, which is not limited by the present application. The battery inside the robot 12 may provide power to the robot so that the robot 12 may complete the tasks issued by the server 11.
In the process of the robots in the target area performing the task, the scheduling apparatus 11 may determine that the first robot 12A is charged by the second robot 12B of the plurality of robots 12 and transmit charge control information for controlling the charging of the first robot 12A by the second robot 12B to the first robot 12A and the second robot 12B, as shown in fig. 1, using a charge scheduling algorithm in a case where it is determined that the first robot 12A of the plurality of robots 12 needs to be charged. Note that, the specific content of the charging control information sent by the scheduling device 11 to the first robot 12A and the second robot 12B may be different, for example, the charging control information sent by the scheduling device to the first robot 12A may control the first robot as a charged device, and the charging control device sent by the scheduling device to the second robot 12B may control the second robot as a charging power source.
After the first robot 12A and the second robot 12B receive the charging control information, corresponding control processing may be performed according to the charging control information, and after the first robot 12A and the second robot 12B perform corresponding control processing according to the charging control information, the charging interface of the first robot 12A and the discharging interface of the second robot 12B can be docked as shown in fig. 1, so that charging of the first robot 12A by the second robot 12B is achieved.
In the case where the dispatch device 11 is a robot in the target area, the first robot and the second robot other than the robot are dispatched by the robot in fig. 1, and the first robot is charged by the second robot as an example. It will be appreciated that in case the scheduling device 11 is a robot, the scheduling device 11 may also schedule itself as the first robot or the second robot. The differences are mainly that: when the dispatch device 11 is used as the first robot, the charging control information may be sent only to the second robot to control the charging itself by the second robot; when the dispatch device 11 is the second robot, the charging control information may be sent only to the first robot to control the charging of the first robot by itself.
In fig. 1, the charging interface of the first robot 12A and the discharging interface of the second robot 12B are charged by a contactless charging method.
It should be noted that the number of the second robots 12B in fig. 1 is 1, and the number of the robots 12 in the target area is 3 is merely an example.
Some embodiments of the present application are described in detail below with reference to the accompanying drawings. The following embodiments and features of the embodiments may be combined with each other without conflict.
Fig. 2 is a flow chart of a robot charging method according to an embodiment of the present application, as shown in fig. 2, the method of the present embodiment may include:
in step 201, during the process of executing a task by a robot in a target area, the scheduling device determines that a first robot of the plurality of robots needs to be charged.
Step 202, the dispatching device adopts a charging dispatching algorithm to determine that the first robot is charged by a second robot in the plurality of robots.
In step 203, the dispatching device sends charging control information to the first robot and the second robot, wherein the charging control information is used for controlling charging of the first robot through the second robot.
And 204, the first robot executes corresponding control processing according to the charging control information.
Step 205, the second robot executes corresponding control processing according to the charging control information.
For convenience of description, in the embodiment of the present application, a server is mainly used as a scheduling device for illustration.
In one embodiment, the power of the robot may be monitored by a server. Based on this, the determining that the first robot of the plurality of robots needs to be charged may specifically include: the server determines that a first robot of the plurality of robots needs to be charged based on the power information of the plurality of robots. For example, when it is determined that the remaining power of one of the plurality of robots is less than the power threshold according to the power information of the plurality of robots, it may be determined that the robot is the first robot of the plurality of robots that needs to be charged. The power information may be reported to the server by the robot at regular time, however, in other embodiments, the server may obtain the power information by other methods, which is not limited in the present application.
In another embodiment, the robot may monitor its own power. Based on this, the determining that the first robot of the plurality of robots needs to be charged may specifically include: and when receiving a charging request sent by a first robot in the plurality of robots, determining that the first robot needs to be charged. For example, when the remaining power of a robot of the plurality of robots is less than the power threshold, the robot may send a charging request to the server, and the server may determine that the robot needs to be charged after receiving the charging request sent by the robot.
After determining that a first robot of the plurality of robots needs to be charged, the server may employ a charge scheduling algorithm to determine that the first robot is charged by a second robot of the plurality of robots. It will be appreciated that the second robot and the first robot are different robots.
Alternatively, the second robot may be used as a charging power source, that is, after the first robot and the second robot are docked, the second robot may output the electric quantity of the battery to the first robot to charge the first robot. Referring to fig. 3, the robot 1 may include a battery, a charging circuit, and a charging interface, and the robot 2 may include a battery, a discharging circuit, and a discharging interface. The discharging interface of the robot 2 is in butt joint with the charging interface of the robot 1, and the battery of the robot 2 can charge the battery of the robot 1 through the discharging circuit and the discharging interface of the robot 2 and the charging interface and the charging circuit of the robot 1. Therefore, the robots can be mutually charged, and compared with the condition that the robots are charged by the charging piles, the limitation of charging on the robots is reduced.
In fig. 3, robot 1 is a first robot, and robot 2 is a second robot. Considering that the charging roles can be interchanged, the robot 1 and the robot 2 each include a charging interface, a charging circuit, a discharging interface, and a discharging circuit as an example in fig. 3. In fig. 3, taking the communication between the robot and the server through the wireless communication module as an example, the sensor in fig. 3 may include, for example, a beidou satellite navigation system to locate the robot.
Based on this, the charge scheduling algorithm includes a first charge scheduling algorithm; the determining, by using a charging schedule algorithm, charging the first robot by a second robot of the plurality of robots may specifically include: and determining a second robot serving as a charging power supply of the first robot in the plurality of robots by adopting a first charging scheduling algorithm based on the electric quantity information of the robots so as to output the electric quantity of the second robot to the first robot.
The first charging scheduling algorithm is a scheduling algorithm for selecting a robot serving as a charging power supply for the first robot, and can be flexibly realized according to requirements. Since the selected robot needs to be a charging power source, the power thereof needs to be considered when the robot is selected, and thus, the second robot, which is used as the charging power source of the first robot, among the plurality of robots can be determined by adopting the first charging schedule algorithm based on the power information of the robot.
When the second robots are used as the charging power source, the number of the second robots may be one or more. When the number of the second robots is plural, the plural second robots may charge the same first robot at different periods.
In one embodiment, the first charging scheduling algorithm may be to select one or more robots having a power level greater than a power level threshold from among the peripheral robots as the charging power source based on the current location of the first robot and the current location and power level conditions of the peripheral robots. It is understood that the peripheral robot is a robot having a distance from the first robot smaller than a certain distance among the plurality of robots.
For example, referring to fig. 4A, assuming that the task performed by the robot a and the robot B is to transport goods from the location a to the location B and the task performed by the robot C and the robot d is to transport goods from the location C to the location B, during the task performed by the robot a, if the electric quantity is less than the electric quantity threshold value when the robot a moves to the location A1, the server may determine that the robot a is the first robot that needs to be charged. Further, assuming that robots b, c, and d are all peripheral robots of robot a, and the power of robot d in robots b, c, and d is greater than the power threshold, the server may select robot d as the charging power source of robot a, whereby robot d is a second robot charged for robot a (i.e., the first robot) determined using the first charging schedule algorithm.
In another embodiment, the first charge scheduling algorithm may be to select a robot from a plurality of robots that is about to (e.g., within 30 seconds of the future) approach the current location of the first robot and that has a current power level greater than a power level threshold as the charging power source based on a route of the task performed by the robot.
For example, referring to fig. 4B, assuming that the task performed by the robot a and the robot B is to transport goods from the location a to the location B and the task performed by the robot C and the robot d is to transport goods from the location C to the location B, during the task performed by the robot a, if the electric quantity is less than the electric quantity threshold value when the robot a moves to the location A1, the server may determine that the robot a is the first robot that needs to be charged, wherein the robot B, the robot C, and the robot d are robots of the future path location A1. Further, assuming that robot c and robot d of robots b, c, and d are approaching robot a, and the power of robot d is greater than the power threshold, the server may select robot d as the charging power source for robot a, whereby robot d is a second robot charged for robot a (i.e., the first robot) determined using the first charging schedule algorithm.
In yet another embodiment, the first charging scheduling algorithm may be to select, as the charging power source of the first robot, a robot that is located behind the first robot, at a distance from the first robot that is less than a certain distance, and at which a current power amount is greater than a power amount threshold, from among the plurality of robots, based on a task performed by the second robot.
For example, referring to fig. 4C, assuming that the task performed by robots a, B, C, and d is to transport goods from a location a to a location B, during the task performed by robot a, if the amount of electricity is less than the threshold value of electricity when robot a moves to a location A1, the server may determine that robot a is a first robot that needs to be charged, wherein robot C and robot d are the same robots as robot a performs the task and are located behind the first robot. Further, assuming that the electric quantity of the robot d in the robot c and the robot d is greater than the electric quantity threshold, the server may select the robot d as the charging power source of the robot a, so that the robot d is a second robot that is charged for the robot a (i.e., the first robot) determined by adopting the first charging scheduling algorithm.
Fig. 4A, 4B and 4C are schematic views of the robot at a certain time.
In a second mode, optionally, the second robot may be used as a charging relay, that is, after the first robot and the second robot are docked, the second robot may output at least part of the electric quantity output by the charging pile to the first robot as a relay to charge the first robot. Referring to fig. 5, the robot 1 may include a battery, a charging circuit, and a charging interface, and the second robot may include a charging interface, a charging circuit, a battery, and a discharging interface. The charging interface of the robot 2 is in butt joint with a charging pile, and the charging pile charges a battery of the robot 2 through the charging interface of the robot 2 and a charging circuit. In addition, the discharging interface of the robot 2 is in butt joint with the charging interface of the robot 1, and the charging pile can charge the battery of the robot 1 through the discharging interface of the robot 2, the charging interface of the robot 1 and the charging circuit. Therefore, a plurality of robots can share the same charging pile for charging, and compared with the fact that a single charging pile can only charge one robot at the same time, the limitation of charging on the robots is reduced.
In fig. 5, robot 1 is a first robot, and robot 2 is a second robot. Considering that the charging roles can be interchanged, the robot 1 and the robot 2 each include a charging interface, a charging circuit, a discharging interface, and a discharging circuit as an example in fig. 5. In fig. 5, taking the communication between the robot and the server through the wireless communication module as an example, the sensor in fig. 5 may include, for example, a beidou satellite navigation system to locate the robot.
Based on this, the charge scheduling algorithm includes a second charge scheduling algorithm; the determining, by using a charging schedule algorithm, charging the first robot by a second robot of the plurality of robots may specifically include: and determining a second robot serving as a charging relay of the first robot in the plurality of robots by adopting a second charging scheduling algorithm based on the occupation information of the charging pile so as to output the electric quantity of the charging pile to the first robot through the second robot.
The second charging scheduling algorithm is a scheduling algorithm for selecting the first robot as a charging relay, and can be flexibly realized according to requirements. Because the selected robot needs to be used as a charging relay, the occupation condition of the charging piles needs to be considered when the robot is selected, therefore, based on the occupation information of the charging piles, a second charging scheduling algorithm can be adopted to determine one charging pile as a charging power supply for charging the first robot, and the last-stage robot connected with the charging pile as the charging power supply is the second robot for charging the relay to the first robot.
In one embodiment, the charging pile with the least number of connected robots in a certain range around can be used as the charging pile for charging the first robot, and the last-stage robot connected with the charging pile is the charging relay of the first robot.
For example, referring to fig. 6, assuming that three charging piles 1,2 and 3 are provided around the robot a in a certain range to charge the robot, and the charging pile 1 charges the robot b and the robot c at the same time, the charging pile 2 charges the robot d and the robot e at the same time, and the charging pile 3 charges the robot f, the server may select the charging pile 3 as a charging power source of the robot a, as shown in fig. 6, whereby the charging pile f is a charging power source for the robot a (i.e., the first robot) determined by using the second charging schedule algorithm. Further, since the last-stage robot to which the charging pile is connected is the robot f, the robot f is a charging relay of the robot a.
It should be noted that, in fig. 6, a single charging pile may charge 2 robots at the same time is merely an example. It can be understood that in the case where the charging post X not occupied by other robots is further provided around the robot a, the server may select the charging post X as the charging power source of the robot a, and thus the charging post X is the charging power source for charging the robot a (i.e., the first robot) determined by using the second charging schedule algorithm.
In the third mode, optionally, in order to improve flexibility of charging mode selection, the charging scheduling algorithm may include a first charging scheduling algorithm and a second charging scheduling algorithm; the determining, by using a charging schedule algorithm, charging the first robot by a second robot of the plurality of robots may specifically include:
Based on the electric quantity information of the robots, a first charging scheduling algorithm is adopted to determine candidate robots serving as charging power supplies of the first robots in the plurality of robots so as to obtain a first candidate charging mode; based on the occupation information of the charging piles, a second charging scheduling algorithm is adopted to determine candidate charging piles used as charging power sources of the first robot in the plurality of charging piles so as to obtain a second candidate charging mode; and determining a final charging mode aiming at the first robot according to the first candidate charging mode and the second candidate charging mode so as to determine a second robot corresponding to the final charging mode in the plurality of robots.
The main difference between the third and first modes is that: in the first mode, the robot determined by the first charge scheduling algorithm as the charging source is directly used as the second robot, however, in the third mode, the robot determined by the first charge scheduling algorithm as the charging source is used as the candidate robot, so as to obtain the first candidate charging mode, and further judgment needs to be made as to whether the first candidate charging mode can be used as the final charging mode. The specific manner of determining the candidate robot as the charging source by using the first charging scheduling algorithm in the third mode is similar to the specific manner of determining the candidate robot as the charging source by using the first charging scheduling algorithm in the first mode, and will not be described again here.
The main difference between the third and second modes is that: in the second mode, the charging pile used as the charging power supply and determined by the second charging scheduling algorithm is directly used as the charging power supply, and the last-stage robot is directly used as the second robot. The specific manner of determining the candidate charging pile as the charging source by using the second charging scheduling algorithm in the third mode is similar to the specific manner of determining the charging pile as the charging source by using the second charging scheduling algorithm in the second mode, and will not be described herein.
After the first candidate charging mode and the second candidate charging mode are obtained, an individual scheduling optimization strategy or a global scheduling optimization strategy can be adopted to determine a final charging mode for the first robot. The individual scheduling optimization strategy aims at a single robot, is small in calculated amount and strong in real-time performance, and is not a global optimization method. The individual scheduling optimization strategy can obtain the optimization selection for the single robot through a set certain rule. The global scheduling optimization strategy can optimize the individual scheduling scheme by adopting a large-scale optimization algorithm, and is large in calculated amount, weak in real-time performance and a global optimization method. The global scheduling optimization strategy can carry out global optimization solution on the basis of the optimization selection of a plurality of robots obtained by considering the individual scheduling optimization strategy, and a final optimization result meeting global optimization is obtained.
For example, the determining, for the individual scheduling optimization strategy, a final charging mode for the first robot according to the first candidate charging mode and the second candidate charging mode may specifically include: selecting a candidate charging mode with low charging cost from the first candidate charging mode and the second candidate charging mode as a final charging mode; under the condition that the charging cost of the first candidate charging mode is lower than that of the second candidate charging mode, the candidate robot is the second robot; and under the condition that the charging cost of the first candidate charging mode is higher than that of the second candidate charging mode, the last-stage robot electrically connected with the candidate charging pile is the second robot.
It should be noted that, in practical application, the candidate charging pile determined by the second charging scheduling algorithm may be in an occupied state or may also be in an idle state. If the candidate charging pile is in an occupied state and the second candidate charging mode is used as a final charging mode, the candidate charging pile determined by the second charging scheduling algorithm is a charging power supply of the first robot, the last-stage robot of the charging pile used as the charging power supply is a second robot used as a charging relay of the first robot, and the first robot can be directly in butt joint with the second robot used as the charging relay. If the candidate charging pile is in an idle state and the second candidate charging mode is used as a final charging mode, the candidate charging pile determined by adopting the second charging scheduling algorithm is a charging power supply of the first robot, and the first robot can be directly in butt joint with the charging pile used as the charging power supply.
For example, for a global scheduling optimization policy, determining, according to the first candidate charging mode and the second candidate charging mode, a final charging mode for the first robot may specifically include: and optimizing the charging mode by taking the lowest total charging cost as an optimization target based on a first candidate charging mode and a second candidate charging mode which are respectively determined for the first robot and other robots in a period of time, so as to obtain an optimization result, wherein the optimization result comprises a final charging mode for the first robot.
The optimization selection of the first robot and the other robots obtained by the individual scheduling optimization strategy can be used as an initial value of the global scheduling optimization strategy. It is understood that the final charging regime of the robot may be different from the first and second candidate charging regimes of the robot. The global optimization algorithm for optimizing the charging mode may be, for example, a genetic algorithm, a simulated degradation algorithm, a deep learning algorithm, etc., and in other embodiments, the global optimization algorithm for optimizing the charging mode may be in other forms, which is not limited in the present application.
It should be noted that, the final charging mode of the first robot obtained by adopting the global optimization strategy may be a charging mode (charging mode 1 for short) in which one or more robots are used as charging power sources, and the one or more robots are second robots used as charging power sources of the first robot; or the final charging mode of the first robot obtained by adopting the global optimization strategy can be a charging mode (called charging mode 2 for short) in which a certain charging pile is used as a charging power supply and a certain robot is used as a charging relay, and the robot is the second robot used as the charging relay of the first robot. The final charging mode of other robots obtained by adopting the global optimization strategy can be a charging mode (called charging mode 3 for short) in which a certain charging pile is used as a charging power supply and no charging relay exists.
The total charging cost can be calculated, for example, as follows:
Assuming that N robots to be charged exist in a certain area within a period of time, wherein the number of robots using the charging method 1 is Np, the number of robots using the charging method 2+the charging method 3 is Nc, the average power consumption of each robot to complete the task is predicted to be Qr, the average power charged when a single charging pile is used as the charging power source is Qc, and the average power charged when a single robot is used as the charging power source is Qp, the constraint of the following equation 1 needs to be satisfied:
NcQc+NpQp≥NQr equation 1
Since the cost of the battery in the robot is relatively high and the service life is limited, compared with the charging pile as the charging power source, the battery loss cost is generated each time the robot is charged as the charging power source, and the extra loss of the battery is represented as the following formula 2, wherein Cp is the total cost of the robot as the charging power source, cp is the unit cost of the robot as the charging power source, and Np is the number of robots using the charging mode 1.
Cp＝NpQpcp equation 2
Since the robot returns to the charging pile to charge, the battery power loss and the additional time cost that would be lost per se can be expressed as the following equation 3, where Cc is the total cost of charging the charging pile as the charging power source, Cc is the unit cost of charging the pile as the charging power source, and Nc is the number of robots using the charging mode 2+charging mode 3.
Cc＝NcQccc equation 3
The total cost of the entire system is Ctotal as shown in equation 4:
Ctotal＝Cp+Cc equation 4
In the process of considering individual scheduling optimization, the final charging mode of each of N robots to be charged is calculated through an optimization algorithm under the constraint condition that the value of the formula 4 is the lowest and the formula 1 is satisfied.
Optionally, the method provided by the embodiment of the application further may include: and acquiring a modification operation aiming at the charging scheduling algorithm, and updating the charging scheduling algorithm according to the modification operation. The modification operation may be, for example, the modification operation of the power threshold described above with respect to the charging schedule algorithm, and of course, in other embodiments, the modification operation may be other types of modification with respect to the charging schedule algorithm, which is not limited by the present application. By updating the charging scheduling algorithm according to the modification operation for the charging scheduling algorithm, the interactive interface for modifying the charging scheduling algorithm is realized, so that the charging scheduling algorithm can be flexibly modified according to the requirements, and the charging scheduling algorithm used by the scheduling equipment for controlling the robot charging is more in accordance with the actual requirements.
After determining the first robot and the second robot, charging control information for the determined first robot and second robot may be generated, the charging control information being used to control charging of the second robot by the first robot. The specific content of the charging control information sent to the first robot and the second robot by the server may be different. The specific content of the charging control information transmitted by the server to the plurality of first robots may be different.
Optionally, in order to facilitate the robot to learn the respective roles, the implementation of the robot is simplified, and the charging control information may explicitly indicate the charging roles to the robot. Based on this, for the charging mode 1, the charging control information may include charging role information, the charging role information of the first robot is a charged device, and the charging role information of the second robot is a charging power source. For charging mode 2, the charging control information may include charging role information; the charging role information of the first robot is a charged device, and the charging role information of the second robot is a charging relay.
Alternatively, the charging control information may include charging position information, which may be used to indicate a charging position at which the first robot is charged by the second robot. The charging control information comprises charging position information, so that the server can flexibly control the position of charging the first robot through the second robot. The charging position indicated by the charging position information may be, for example, a position where the first robot or the second robot is located, however, in other embodiments, the charging position may also be other positions, which is not limited in the present application.
Alternatively, the charge control information may include charge amount information, which may be used to indicate a charge amount of charging the first robot through the second robot. The charging control information comprises charging electric quantity information, so that the server can flexibly control the electric quantity charged to the first robot through the second robot.
Optionally, in case that the charging role of the second robot is a charging source, the charging control information may further include motion state information. The motion state information may specifically be information capable of controlling the motion states of the robots under the condition that the first robot and the second robot are docked, so that the motion states of the first robot and the second robot are synchronized, and charging in motion can be achieved. The charging control information comprises the motion state information, so that the first robot can be charged through the second robot in the motion process of the robot, and the efficiency of executing tasks by the robot can be improved.
After the server transmits the charging control information to the first robot and the second robot, the first robot and the second robot may perform corresponding control processing according to the charging control information to realize charging of the first robot by the second robot.
For the first robot, the executing corresponding control processing according to the charging control information may specifically include: and controlling to conduct the electric connection between the charging interface in the first robot and the battery in the first robot so as to charge the battery with the electric energy input by the charging interface. Referring to fig. 3 and 5, in the case of an electrical connection between a charging interface in the robot 1 as a first robot and a battery in the robot 1, electrical energy input from the charging interface may charge the battery in the robot 1 through a charging circuit.
By controlling and conducting the electrical connection between the charging interface in the first robot and the battery in the first robot, adjustment of the electrical connection relationship of the internal circuit when the first robot is required as the charged device can be achieved. The specific configuration of the charging circuit is not limited to this.
In an embodiment, in a case where the charging control information includes charging role information, the controlling to conduct an electrical connection between a charging interface in the first robot and a battery in the first robot may specifically include: and controlling to conduct an electrical connection between a charging interface in the first robot and a battery in the first robot in a case where the charging information includes charging role information and the charging role information is a charged device.
For the second robot, the executing corresponding control processing according to the charging control information may specifically include: and controlling to conduct the electrical connection between the battery in the second robot and the discharge interface in the second robot so as to output the electric energy of the battery through the discharge interface. Referring to fig. 3, in the case of an electrical connection between a discharge interface in the robot 2 as the second robot and a battery in the robot 2, the electrical energy of the battery in the robot 2 may be finally output from the discharge interface of the robot 2 via a discharge circuit of the robot 2.
By controlling and conducting the electrical connection between the discharge interface in the second robot and the battery in the second robot, the adjustment of the electrical connection relation of the internal circuit when the second robot is required as a charging power source can be achieved. The specific configuration of the discharge circuit is not limited in this way.
In one embodiment, where the charging control information includes charging role information, the controlling turns on an electrical connection between a battery in the second robot and a discharge interface in the second robot, comprising: and controlling to conduct an electrical connection between a battery in the second robot and a discharge interface in the second robot in a case where the charge control information includes charge character information and the charge character information is a charge power source.
Or for the second robot, the executing corresponding control processing according to the charging control information may specifically include: and controlling and conducting the electric connection between the charging interface in the second robot and the discharging interface in the second robot so as to output the electric energy provided by the charging pile electrically connected with the second robot through the discharging interface. Referring to fig. 5, in the case where the charging interface in the robot 2 as the second robot is electrically connected with the discharging interface in the robot 2, the electric power provided by the charging stake may be finally output from the discharging interface of the robot 2 after passing through the charging interface of the robot 2.
By controlling and conducting the electrical connection between the discharge interface in the second robot and the charging interface in the second robot, adjustment of the electrical connection relationship of the internal circuit when the second robot is required as a charging relay can be achieved. When the first robot is used as a charging relay, the first robot may be charged through a charging circuit of the second robot, or the first robot may not be charged through a charging circuit of the second robot, which may be specifically and flexibly implemented.
In an embodiment, in a case where the charging control information includes charging role information, the controlling to conduct the electrical connection between the charging interface in the second robot and the discharging interface in the second robot may specifically include: and controlling to conduct an electrical connection between a charging interface in the second robot and a discharging interface in the second robot in a case where the charging control information includes charging role information and the charging role information is a charging relay.
It will be appreciated that the discharge interface of the second robot is matched to the charge interface of the first robot, which may be a plug-in interface or may also be a contactless interface. For example, the charging interface of the second robot may be a socket, and the charging interface of the first robot may be a plug. Of course, in other embodiments, the discharging interface of the second robot and the charging interface of the first robot may also take other forms, which is not limited by the present application.
Optionally, in the case where the charging control information further includes charging power information, executing the corresponding control process according to the charging control information may further include: determining that charging is completed based on the charge amount indicated by the charge amount information and the charged amount for the first robot; in the event that charging is determined to have been completed, control disconnects the electrical connection. By controlling the disconnection of the electrical connection in case it is determined that the charging has been completed, it is possible to stop the charging when the amount of charged electricity reaches the amount of electricity controlled by the server.
Optionally, in the case where the charging control information received by the first robot further includes charging position information, the first robot performs corresponding control processing according to the charging control information, and may further include: and controlling the first robot to move to a charging position indicated by the charging position information based on the charging position information. Similarly, in the case where the charging control information received by the second robot further includes charging position information, the second robot performs a corresponding control process according to the charging control information, and may further include: and controlling the second robot to move to the charging position indicated by the charging position information based on the charging position information. It is understood that the charging control information received by the first robot and/or the second robot may include charging position information.
Optionally, in the case where the charging control information received by the first robot further includes motion state information, the first robot performs corresponding control processing according to the charging control information, and may further include: and controlling the motion state of the first robot based on the motion state information to control the motion state of the first robot and the motion state of the second robot to be synchronous so as to charge the moving first robot through the moving second robot under the condition that the first robot and the second robot are in butt joint. Similarly, in the case where the charging control information received by the second robot further includes motion state information, the second robot performs a corresponding control process according to the charging control information, and may further include: and controlling the motion state of the second robot based on the motion state information under the condition that the first robot and the second robot are in butt joint. The motion state may include a motion speed, a motion gesture, and a motion position.
In order to allow the robots to automatically complete the docking, in one embodiment, the first robot may actively and automatically complete the docking with the second robot. Based on this, the first robot may execute a corresponding control process according to the charging control information, and may further include: based on sensor data acquired by a sensor arranged on the first robot, the position and the posture of the first robot are adjusted, so that a first interface of the first robot faces a second interface of the robot to be docked. The first robot can be understood as a target robot, the robot to be docked of the target robot is a second robot, the first interface is a charging interface, and the second interface is a discharging interface.
In another embodiment, the second robot may actively complete the docking with the first robot automatically. Based on this, the second robot performs a corresponding control process according to the charging control information, and may further include: based on sensor data acquired by a sensor arranged on the second robot, the position and the posture of the second robot are adjusted, so that a first interface of the second robot faces a second interface of the robot to be docked. The second robot can be understood as a target robot, the robot to be docked of the target robot is a first robot, the first interface is a discharging interface, and the second interface is a charging interface.
The sensor may be, for example, a camera, a laser radar, a two-dimensional code, a visible light device, or the like. Of course, in other embodiments, the sensor may take other forms, which the present application is not limited to.
It should be noted that, to simplify the implementation, one of the first robot or the second robot may adjust its own position and posture so that the interfaces can be directly opposite to each other.
For example, taking the example that the first robot adjusts its position and posture, and the sensor includes a camera and a visible light device, first, the first robot may first rotate around the second robot based on the environmental image collected by the camera until an environmental image including a discharge interface of the second robot is obtained. Then, in case an environmental image including the discharge interface of the second robot is acquired, the first robot may be rotated in place by a certain angle such that the charge interface of the first robot is directed toward the discharge interface of the second robot. Finally, the first robot can determine the relative position between the charging interface of the first robot and the discharging interface of the second robot based on the infrared light received by the infrared receiver, and adjust the posture of the first robot according to the relative position, so that the charging interface of the first robot can be opposite to the discharging interface of the second robot. Of course, in other embodiments, the interfaces may be adjusted by other manners so that the interfaces are opposite to each other, which is not limited by the present application.
It should be noted that there may be no restriction on the sequence between the position and posture of the adjustment robot and the electrical connection relationship between the circuits inside the adjustment robot.
In the case that the charging interface of the first robot is opposite to the discharging interface of the second robot by adjusting the position and posture of the robots, the condition of charging the first robot by the second robot may not be satisfied. Based on this, the foregoing executing the corresponding control process according to the charging control information may further include: and under the condition that the first interface of the target robot is opposite to the second interface of the robot to be docked, controlling the robot to move towards the robot to be docked so as to dock the first interface of the target robot with the second interface of the robot to be docked. For example, assuming that the discharge interface of the first robot is a discharge socket and the charge interface of the second robot is a charge plug, the first robot may also move toward the second robot under the condition that the discharge interface of the first robot is opposite to the charge interface of the second robot to insert the discharge socket of the first robot into the charge plug of the second robot.
In order to improve the success rate of the charging mode of the inter-robot docking, the method provided by the embodiment of the application further comprises the following steps of: the method comprises the steps that a server receives a control instruction sent by a control terminal, wherein the control instruction is generated by the control terminal according to acquired control operation and is used for controlling the first robot to be in butt joint with a second robot; and the server forwards the control instruction to the first robot or the second robot, and the first robot or the second robot executes corresponding control processing according to the control instruction so as to interface the charging interface of the first robot with the charging interface of the discharging robot.
The control terminal may in particular be any type of terminal that can be used for controlling a robot, such as a remote control, a smart phone or the like. The control terminal may include a screen for displaying an image of the environment of the robot to a remote operator so that the remote operator can remotely manually control the robot docking. The control instruction may be, for example, a rotation instruction, a forward instruction, a backward instruction, or the like, and of course, in other embodiments, the control instruction may be another type of instruction, which is not limited by the present application.
According to the robot charging method, in the process of executing tasks by the robots in the target area, the fact that the first robots in the plurality of robots in the target area need to be charged is determined, the charging scheduling algorithm is adopted, the fact that the second robots in the plurality of robots are used for charging the first robots and sending charging control information to the first robots is determined, the charging control information is used for controlling the charging of the first robots through the second robots, the fact that the server adopts the charging scheduling algorithm to control the charging mode of the first robots to the second robots, namely the charging mode of the robot docking is achieved, and compared with the fact that the robots can be charged only by docking with charging piles in the prior art, limitation of the robot charging mode to the robots is reduced. In addition, by reducing the limitation on the robot charging, the influence of the robot charging on the task execution can be reduced, and the task execution efficiency of the robot in the target area can be improved.
Fig. 7 is a flowchart of a robot charging method according to another embodiment of the present application, and the embodiment may be applied to the scheduling apparatus in fig. 1. As shown in fig. 7, the method of the present embodiment may include:
Step 701, determining that a first robot in a plurality of robots in a target area needs to be charged in the process of executing tasks by the robots in the target area;
Step 702, determining to charge the first robot through a second robot in the plurality of robots by adopting a charging scheduling algorithm;
Step 703 of sending charging control information to the first robot and the second robot, wherein the charging control information is used for controlling charging to the first robot by the second robot.
It should be noted that, the specific content of this embodiment may refer to the related content of the scheduling device side in the embodiment shown in fig. 2, which is not described herein again.
According to the robot charging method provided by the embodiment, the charging scheduling algorithm is adopted to determine that the second robot in the plurality of robots charges the first robot and sends the charging control information to the first robot and the second robot, so that the scheduling equipment controls the charging mode of charging the second robot through the first robot, namely the charging mode of robot docking, by adopting the charging scheduling algorithm, and the limitation of the charging mode of the robot to the robot is reduced.
Fig. 8 is a flowchart of a robot charging method according to another embodiment of the present application, and the embodiment can be applied to the first robot 12A and the second robot 12B in fig. 2. As shown in fig. 8, the method of the present embodiment may include:
step 801, receiving charging control information, wherein the charging control information is used for controlling charging of a first robot through a second robot;
step 802, executing corresponding control processing according to the charging control information, so as to charge the first robot through the second robot.
It should be noted that, the specific content of the embodiment may refer to the related content of the robot side in the embodiment shown in fig. 2, which is not described herein again.
According to the robot charging method, the charging control information is received and used for controlling the first robot to be charged through the second robot, corresponding control processing is executed according to the charging control information, the fact that the robot finishes charging the first robot through the second robot according to control of the server is achieved, and limitation of a robot charging mode to the robot is reduced.
Fig. 9 is a schematic structural diagram of a robot charging apparatus according to an embodiment of the present application; referring to fig. 9, the present embodiment provides a robot charging apparatus, which may perform the method for dispatching a device side in the above-mentioned robot charging method, and specifically, the robot charging apparatus may include:
a first determining module 91, configured to determine, in a process of performing a task by a robot in a target area, that a first robot of a plurality of robots in the target area needs to be charged;
A second determining module 92 configured to determine, using a charge scheduling algorithm, charging the first robot by a second robot of the plurality of robots;
and a transmitting module 93, configured to transmit charging control information to the first robot and the second robot, where the charging control information is used to control charging of the first robot by the second robot.
Optionally, the charging scheduling algorithm includes a first charging scheduling algorithm;
The second determining module 92 is specifically configured to: and determining a second robot serving as a charging power supply of the first robot in the plurality of robots by adopting a first charging scheduling algorithm based on the electric quantity information of the robots so as to output the electric quantity of the second robot to the first robot.
Optionally, the charging scheduling algorithm includes a second charging scheduling algorithm;
the second determining module 92 is specifically configured to: and determining a second robot serving as a charging relay of the first robot in the plurality of robots by adopting a second charging scheduling algorithm based on the occupation information of the charging pile so as to output the electric quantity of the charging pile to the first robot through the second robot.
Optionally, the charging scheduling algorithm includes a first charging scheduling algorithm and a second charging scheduling algorithm;
The second determining module 92 is specifically configured to: based on the electric quantity information of the robots, a first charging scheduling algorithm is adopted to determine candidate robots serving as charging power supplies of the first robots in the plurality of robots so as to obtain a first candidate charging mode; based on the occupation information of the charging piles, a second charging scheduling algorithm is adopted to determine candidate charging piles used as charging power sources of the first robot in the plurality of charging piles so as to obtain a second candidate charging mode; and determining a final charging mode for the first robot according to the first candidate charging mode and the second candidate charging mode so as to determine a second robot corresponding to the final charging mode in the plurality of robots.
Optionally, the second determining module 92 is configured to determine a final charging mode for the first robot according to the first candidate charging mode and the second candidate charging mode, and specifically includes:
selecting a candidate charging mode with low charging cost from the first candidate charging mode and the second candidate charging mode as a final charging mode;
Under the condition that the charging cost of the first candidate charging mode is lower than that of the second candidate charging mode, the candidate robot is the second robot;
And under the condition that the charging cost of the first candidate charging mode is higher than that of the second candidate charging mode, the last-stage robot electrically connected with the candidate charging pile is the second robot.
Optionally, the second determining module 92 is configured to determine a final charging mode for the first robot according to the first candidate charging mode and the second candidate charging mode, and specifically includes:
And optimizing the charging mode by taking the lowest total charging cost as an optimization target based on a first candidate charging mode and a second candidate charging mode which are respectively determined for the first robot and other robots in a period of time, so as to obtain an optimization result, wherein the optimization result comprises a final charging mode for the first robot.
Optionally, the charging control information includes charging role information; the charging role information of the first robot is charged equipment, and the charging role information of the second robot is a charging power supply.
Optionally, the charging control information includes charging role information; the charging role information of the first robot is a charged device, and the charging role information of the second robot is a charging relay.
Optionally, the charging control information further includes any one or more of the following: charging position information, charging amount information, or movement state information.
Optionally, the second determining module 91 is specifically configured to: based on the power information of the plurality of robots, it is determined that a first robot of the plurality of robots needs to be charged.
Optionally, the second determining module 91 is specifically configured to: and when receiving a charging request sent by a first robot in the plurality of robots, determining that the first robot needs to be charged.
Optionally, the device further includes a receiving module, configured to receive a control instruction sent by a control terminal, where the control instruction is generated by the control terminal according to the obtained control operation, and is used to control the first robot to dock with the second robot;
the sending module 93 is further configured to forward the control instruction to the first robot or the second robot.
Optionally, the apparatus further includes: and the interaction module is used for acquiring a modification operation aiming at the charging scheduling algorithm and updating the charging scheduling algorithm according to the modification operation.
Optionally, the scheduling device includes a server for the target area or a robot in the target area.
The apparatus shown in fig. 9 may perform the server-side method of the embodiment shown in fig. 2 and 7, and reference is made to the relevant description of the embodiment shown in fig. 2 and 7 for a part of this embodiment that is not described in detail. The implementation process and the technical effect of this technical solution refer to the descriptions in the embodiments shown in fig. 2 and fig. 7, and are not repeated here.
In one possible implementation, the structure of the charge control device shown in fig. 9 may be implemented as a scheduling device. As shown in fig. 10, the scheduling apparatus may include: a processor 101 and a memory 102. Wherein the memory 102 is used for storing a program supporting the scheduling device to execute the scheduling device side of the charging control method provided in the embodiments shown in fig. 2 and 7, and the processor 101 is configured to execute the program stored in the memory 102.
The program comprises one or more computer instructions, wherein the one or more computer instructions, when executed by the processor 101, are capable of performing the steps of:
in the process of executing tasks by robots in a target area, determining that a first robot in a plurality of robots in the target area needs to be charged;
determining to charge the first robot through a second robot of the plurality of robots by adopting a charging scheduling algorithm;
And sending charging control information to the first robot and the second robot, wherein the charging control information is used for controlling the first robot to be charged through the second robot.
Optionally, the processor 101 is further configured to perform all or part of the steps on the scheduling device side in the embodiments shown in fig. 2 and fig. 7.
The structure of the scheduling device may further include a communication interface 103, which is used for the scheduling device to communicate with other devices or a communication network.
Fig. 11 is a schematic structural diagram of a robot charging apparatus according to another embodiment of the present application; referring to fig. 11, the present embodiment provides a robot charging apparatus, which may perform the method on the robot side in the above-mentioned robot charging method, and specifically, the robot charging apparatus may include:
a receiving module 111 for receiving charging control information for controlling charging of the first robot by the second robot;
And an execution module 112, configured to execute a corresponding control process according to the charging control information, so as to charge the first robot through the second robot.
Optionally, the target robot is a first robot; the execution module 112 is specifically configured to: and controlling to conduct the electric connection between the charging interface in the target robot and the battery in the target robot so as to charge the battery with the electric energy input by the charging interface.
Optionally, the executing module 112 is configured to control and conduct an electrical connection between the charging interface in the target robot and the battery in the target robot, and specifically includes:
and controlling to conduct electric connection between a charging interface in the target robot and a battery in the target robot in the case that the charging control information comprises charging role information and the charging role information is charged equipment.
Optionally, the target robot is a second robot; the execution module 112 is specifically configured to: and controlling and conducting the electric connection between the charging interface in the target robot and the discharging interface in the target robot so as to output the electric energy provided by the charging pile electrically connected with the target robot through the discharging interface.
Optionally, the executing module 112 is configured to control and conduct an electrical connection between a charging interface in the target robot and a discharging interface in the target robot, and specifically includes:
and controlling to conduct electric connection between a charging interface in the target robot and a discharging interface in the target robot under the condition that the charging control information comprises charging role information and the charging role information is a charging relay.
Optionally, the target robot is a second robot; the execution module 112 is specifically configured to: and controlling to conduct the electrical connection between the battery in the target robot and the discharge interface in the target robot so as to output the electric energy of the battery through the discharge interface.
Optionally, the executing module 112 is configured to control and conduct an electrical connection between the battery in the target robot and the discharge interface in the target robot, and specifically includes:
And controlling to conduct electric connection between a battery in the target robot and a discharge interface in the target robot under the condition that the charging control information comprises charging role information and the charging role information is a charging power supply.
The charging control information may further include: charging electric quantity information; the execution module 112 is further configured to: determining that charging is completed based on the charge amount indicated by the charge amount information and the charged amount for the second robot; and controlling to disconnect the electrical connection in case it is determined that the charging has been completed.
Optionally, the charging control information further includes: charging position information; the execution module 112 is further configured to: and controlling the robot to move to the charging position indicated by the charging position information based on the charging position information.
Optionally, the charging control information further includes: motion state information; the execution module 112 is further configured to: and controlling the motion state of the target robot based on the motion state information to control the motion state of the first robot and the motion state of the second robot to be synchronous so as to charge the moving first robot through the moving second robot.
Optionally, the execution module 112 is further configured to: based on sensor data acquired by a sensor arranged on the target robot, adjusting the position and the posture of the target robot so that a first interface of the target robot faces a second interface of a robot to be docked; and under the condition that the first interface of the target robot is opposite to the second interface of the robot to be docked, controlling the target robot to move towards the robot to be docked so as to dock the first interface of the robot with the second interface of the robot to be docked;
The robot to be docked is a second robot, the first interface is a charging interface, and the second interface is a discharging interface; or the target robot is a second robot, the robot to be docked is a first robot, the first interface is a discharge interface, and the second interface is a charging interface.
Optionally, the receiving module 111 is further configured to: receiving a control instruction sent by a server, wherein the control instruction is generated by a control terminal according to the acquired control operation and is used for controlling the target robot to be docked with the robot to be docked;
The execution module 112 is further configured to: according to the control instruction, corresponding control processing is executed to enable the first interface of the target robot to be in butt joint with the second interface of the robot to be in butt joint;
The robot to be docked is a second robot, the first interface is a charging interface, and the second interface is a discharging interface; or the target robot is a second robot, the robot to be docked is a first robot, the first interface is a discharge interface, and the second interface is a charging interface.
The apparatus shown in fig. 11 can perform the method on the robot side of the embodiment shown in fig. 2 and 8, and reference is made to the description of the embodiment shown in fig. 2 and 8 for a part not described in detail in this embodiment. The implementation process and the technical effect of this technical solution refer to the descriptions in the embodiments shown in fig. 2 and fig. 8, and are not repeated here.
In one possible implementation, the structure of the charge control device shown in fig. 11 may be implemented as a robot. As shown in fig. 12, the robot may include: a processor 121 and a memory 122. Wherein the memory 122 is for storing a program for supporting the robot to execute the charging control method robot side provided in the embodiments shown in fig. 2 and 8 described above, and the processor 121 is configured to execute the program stored in the memory 122.
The program comprises one or more computer instructions, wherein the one or more computer instructions, when executed by the processor 121, are capable of performing the steps of:
Receiving charging control information, wherein the charging control information is used for controlling the first robot to be charged by the second robot;
And according to the charging control information, executing corresponding control processing to charge the first robot through the second robot.
Optionally, the processor 121 is further configured to perform all or part of the steps on the robot side in the embodiments shown in fig. 2 and 8.
The structure of the robot may further include a communication interface 123 for the robot to communicate with other devices or a communication network.
In addition, an embodiment of the present application provides a computer storage medium storing computer software instructions for a server, which includes a program for executing the server side of the charge control method in the embodiment of the method shown in fig. 2 and fig. 7.
An embodiment of the present application provides a computer storage medium storing computer software instructions for a robot, which includes a program for executing the method of controlling charging in the embodiment of the method shown in fig. 2 and 8.
The apparatus embodiments described above are merely illustrative, wherein the elements illustrated as separate elements may or may not be physically separate, and the elements shown as elements may or may not be physical elements, may be located in one place, or may be distributed over a plurality of network elements. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment. Those of ordinary skill in the art will understand and implement the present invention without undue burden.
From the above description of the embodiments, it will be apparent to those skilled in the art that the embodiments may be implemented by adding necessary general purpose hardware platforms, or may be implemented by a combination of hardware and software. Based on such understanding, the foregoing aspects, in essence and portions contributing to the art, may be embodied in the form of a computer program product, which may 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.) having computer-usable program code embodied therein.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
In one typical configuration, a computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.
The memory may include volatile memory in a computer-readable medium, random Access Memory (RAM) and/or nonvolatile memory, such as Read Only Memory (ROM) or flash memory (flash RAM). Memory is an example of computer-readable media.
Computer readable media, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of storage media for a computer 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 technology, compact disc read only memory (CD-ROM), digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices, or any other non-transmission medium, which can be used to store information that can be accessed by a computing device. Computer-readable media, as defined herein, does not include transitory computer-readable media (transmission media), such as modulated data signals and carrier waves.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present application, and not for limiting the same; although the application has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some or all of the technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit of the application.