摘要：【中文】本发明公开了一种充放电控制方法、设备及计算机可读存储介质。其中，该方法包括：检测电池组的正极、负极以及至少一个控制电极的连接状态；若所述正极、所述负极以及所述控制电极同时处于导通状态，则通过所述控制电极获取所述电池组与对端设备之间的第一电阻值；若所述第一电阻值与预设的第一参考值相匹配，则通过所述控制电极将所述电池组的充电通路开关控制权转交至所述对端设备。本发明实现了一种安全、可靠，且可维护性较高的电池组充放电控制方案。 【EN】The invention discloses a charge and discharge control method, charge and discharge control equipment and a computer readable storage medium. Wherein, the method comprises the following steps: detecting the connection state of the anode, the cathode and at least one control electrode of the battery pack; if the positive electrode, the negative electrode and the control electrode are in a conducting state at the same time, acquiring a first resistance value between the battery pack and opposite-end equipment through the control electrode; and if the first resistance value is matched with a preset first reference value, transferring the control right of the charging path switch of the battery pack to the opposite terminal equipment through the control electrode. The invention realizes a safe, reliable and high maintainability battery pack charge-discharge control scheme.

摘要：【中文】一种移动电子设备自动对接方法、接驳装置、移动电子设备及存储介质，其中方法包括：采集至少两个信号接收装置检测到的对准检测信号，对其进行检波滤波处理得到至少两个电压幅值；对准检测信号由接驳装置在检测到移动电子设备时，触发至少两个信号发射装置发出；从至少两个电压幅值中选取两个不重复的元素，获取个无重组合，计算每个无重组合中两个电压幅值间的差值，得到个幅值差；判断个幅值差是否均在预设阈值范围内，若是，则控制移动电子设备执行对接插入动作；反之，控制移动电子设备调整自身姿态直至个幅值差均在预设阈值范围内，再控制其执行对接插入动作。本发明可以实现移动电子设备和接驳装置之间的快速对准，提高对准精度。 【EN】A mobile electronic device automatic docking method, a docking device, a mobile electronic device and a storage medium are provided, wherein the method comprises the following steps: acquiring alignment detection signals detected by at least two signal receiving devices, and carrying out detection filtering processing on the alignment detection signals to obtain at least two voltage amplitudes; when the connection device detects the mobile electronic equipment, the alignment detection signal triggers at least two signal emitting devices to emit; selecting two non-repeating elements from at least two voltage amplitudes to obtainThe non-recombination is carried out, and the difference value between two voltage amplitude values in each non-recombination is calculated to obtainAn amplitude difference; judgment ofWhether the amplitude differences are within a preset threshold range or not is judged, and if yes, the mobile electronic equipment is controlled to execute a butt joint insertion action; otherwise, the mobile electronic equipment is controlled to adjust the self posture untilAnd controlling the amplitude difference to execute the butt joint and insertion action when the amplitude difference is within the preset threshold range. The invention can realize the quick alignment between the mobile electronic equipment and the connecting device and improve the alignment precision.

摘要：【中文】本发明公开了一种机器人建图方法、设备及存储介质，通过机器人管理系统接收机器人录入的机器人自身在行驶建图过程中所记录的路点，并将机器人录入的所述路点按照机器人行驶的先后顺序进行编号；在机器人运行完所有可行驶的通道时，根据所述路点对应编号的先后顺序依次连接相邻路点，得到拓扑地图对应的初步路径；按照预设路点间距和最小路径角，合并满足优化规则的路点和初步路径，得到对应的拓扑地图；实现了自动化、批量化进行路点和路径录入的目的，节约了拓扑地图录入的人力成本和时间成本，降低了错误率。 【EN】The invention discloses a robot map building method, equipment and a storage medium.A robot management system receives road points recorded by a robot in the robot driving map building process and numbers the road points recorded by the robot according to the driving sequence of the robot; when the robot runs all drivable channels, sequentially connecting adjacent waypoints according to the sequence of the corresponding serial numbers of the waypoints to obtain a primary path corresponding to the topological map; according to the preset waypoint distance and the minimum path angle, combining waypoints meeting the optimization rule and the preliminary path to obtain a corresponding topological map; the purpose of automatically and massively inputting the waypoints and the paths is achieved, the labor cost and the time cost of inputting the topological map are saved, and the error rate is reduced.

摘要：【中文】本发明公开了一种集群机器人调度方法、装置、系统、设备及计算机可读存储介质，其中，该方法包括：接收并分解由服务器下发的任务，得到执行需求；然后，由各机器人获取其自身的静态属性和动态属性，并向自身的评估模型输入所述静态属性、所述动态属性、以及所述执行需求，得到所述各机器人执行所述任务的能力评估分数；将所述能力评估分数上传至所述服务器，接收由所述服务器根据所述能力评估分数生成的任务分配指令。实现了一种高时效性和准确性的集群机器人调度方案，使得任务调度更合理，节省了任务执行时间，提高了机器人的整体健康程度。 【EN】The invention discloses a method, a device, a system, equipment and a computer readable storage medium for dispatching a cluster robot, wherein the method comprises the following steps: receiving and decomposing tasks issued by a server to obtain execution requirements; then, each robot acquires the static attribute and the dynamic attribute of the robot, and inputs the static attribute, the dynamic attribute and the execution requirement into an evaluation model of the robot to obtain the evaluation score of the ability of each robot to execute the task; uploading the capability evaluation score to the server, and receiving a task allocation instruction generated by the server according to the capability evaluation score. The high-timeliness and high-accuracy cluster robot scheduling scheme is realized, so that task scheduling is more reasonable, task execution time is saved, and the overall health degree of the robot is improved.

摘要：【中文】本发明公开了一种机器人联合建图方法、设备及计算机可读存储介质，其中，该方法包括：根据建图区域的逻辑区特征、和/或功能特征得到建图分割线，通过所述建图分割线将所述建图区域分割为多个子图；扩展所述建图分割线形成所述子图之间的接缝区，同时，对所述子图进行建图，生成子图地图；识别所述接缝区的定位标识，并根据所述定位标识合并所述子图地图，生成所述建图区域的全幅地图。实现了一种更高效、更准确的多机器人联合建图方案，优化了建图流程，提高了各机器人建图过程中的协同性。 【EN】The invention discloses a robot joint graph building method, equipment and a computer readable storage medium, wherein the method comprises the following steps: obtaining a mapping dividing line according to the logic area characteristics and/or the functional characteristics of the mapping area, and dividing the mapping area into a plurality of subgraphs through the mapping dividing line; expanding the graph construction dividing line to form a joint area between the subgraphs, and simultaneously constructing the subgraph to generate a subgraph map; and identifying the positioning identifier of the joint area, merging the sub-graph map according to the positioning identifier, and generating the full-width map of the map building area. The scheme for establishing the drawing by combining multiple robots is more efficient and accurate, the drawing establishing process is optimized, and the cooperativity of each robot in the drawing establishing process is improved.

摘要：【中文】本发明公开了一种场景地图建立方法、设备及存储介质，利用机器人采集待建立地图的场景中对应的当前图像，识别采集的当前图像中存在的预设图片的四个角所分别对应的坐标，同时记录机器人的当前位姿；根据识别出的预设图片的四个角分别对应的坐标，获取预设图片的四个角在场景地图坐标系下的三维坐标；当机器人再次采集到预设图片时，根据获取的预设图片的三维坐标，计算得到机器人的当前坐标，并根据机器人的当前坐标，得到机器人的当前位置信息；将获取的机器人的当前位置信息作为建立场景地图的闭环信息，参照闭环信息以及获取的预设图片的四个角对应的所述三维坐标，建立场景地图；提高了闭环的准确性和场景地图的建图精度。 【EN】The invention discloses a scene map building method, a device and a storage medium, wherein a robot is used for collecting a current image corresponding to a scene of a map to be built, identifying coordinates corresponding to four corners of a preset picture in the collected current image respectively, and recording the current pose of the robot; acquiring three-dimensional coordinates of the four corners of the preset picture under a scene map coordinate system according to the identified coordinates corresponding to the four corners of the preset picture respectively; when the robot acquires the preset picture again, calculating to obtain the current coordinate of the robot according to the obtained three-dimensional coordinate of the preset picture, and obtaining the current position information of the robot according to the current coordinate of the robot; taking the acquired current position information of the robot as closed loop information for establishing a scene map, and establishing the scene map by referring to the closed loop information and the three-dimensional coordinates corresponding to the four corners of the acquired preset picture; the accuracy of the closed loop and the map building precision of the scene map are improved.

摘要：【中文】本发明公开了一种储位点信息生成方法、设备及存储介质，通过机器人管理系统接收机器人在移动建立仓储环境对应的环境地图时所识别得到的图形码标识；根据所述仓储环境中每行货架预先配置的货位数量，利用接收到的所述图形码标识，批量生成与所述每行货架的货位一一对应的储位点；根据批量生成的所述储位点，为每个储位点配置与所述货位相关联的关联信息，得到所述货位对应的储位点信息；达到了批量生成储位点信息的目的，提高了储位点生成的效率和准确率，节约了人力成本和时间成本。 【EN】The invention discloses a storage site information generation method, equipment and a storage medium, wherein a robot management system is used for receiving a graphic code identifier which is obtained by recognition when a robot moves to establish an environment map corresponding to a storage environment; according to the quantity of goods positions pre-configured for each row of goods shelves in the storage environment, generating storage position points corresponding to the goods positions of each row of goods shelves in batches by using the received graphic code identifications; configuring associated information associated with the goods space for each storage location according to the storage locations generated in batch to obtain storage location information corresponding to the goods space; the purpose of generating the storage site information in batches is achieved, the efficiency and the accuracy of the storage site generation are improved, and the labor cost and the time cost are saved.

摘要：【中文】本发明公开了一种机器人网络监控方法、设备及存储介质，所述方法包括：机器人本体采集自身的网络健康信息，同时，基于近距离通信技术，与机器人集群中预设范围内的其他机器人共享网络健康信息；机器人基于采集的自身网络健康信息和共享网络健康信息，按照预设规则，对机器人自身的网络状态进行实时分析和判断，识别机器人自身当前所处的网络质量；机器人同时与服务器进行数据通信，以供：服务器实时采集机器人对应的网络健康数据和/或接收机器人上报的网络健康数据，并根据机器人的所述网络健康数据，服务器对机器人的网络健康状态进行分析和判断，识别机器人的网络健康状态；达到了实时监控机器人本体网络状态的目的。 【EN】The invention discloses a robot network monitoring method, equipment and a storage medium, wherein the method comprises the following steps: the robot body collects self network health information, and meanwhile, based on a short-distance communication technology, the robot body shares the network health information with other robots in a preset range in a robot cluster; the robot analyzes and judges the network state of the robot in real time according to a preset rule based on the acquired self network health information and the shared network health information, and identifies the network quality of the robot at present; the robot simultaneously communicates data with the server for: the server collects network health data corresponding to the robot in real time and/or receives the network health data reported by the robot, analyzes and judges the network health state of the robot according to the network health data of the robot, and identifies the network health state of the robot; the purpose of monitoring the network state of the robot body in real time is achieved.

摘要：【中文】本发明公开了一种机器人访问服务器的方法、设备及存储介质，通过数据请求模块对请求信息进行封装，按照自定义通信协议，将封装后的请求信息通过IPC通信接口发送至机器人内部的云服务模块；所述云服务模块通过所述IPC通信接口接收封装后的请求信息并解析，得到解析后标准通信协议对应的请求信息，将得到的所述标准通信协议的请求信息发送至服务器；所述云服务模块接收服务器根据所述标准通信协议的请求信息返回的响应信息，通过IPC通信接口并按照所述自定义通信协议，将所述响应信息发送至所述数据请求模块；实现了将机器人访问服务器的模块和该机器人具体的产品形态进行隔离的目的，降低了维护成本。 【EN】The invention discloses a method, equipment and a storage medium for a robot to access a server.A data request module is used for packaging request information, and the packaged request information is sent to a cloud service module in the robot through an IPC communication interface according to a user-defined communication protocol; the cloud service module receives and analyzes the encapsulated request information through the IPC communication interface to obtain request information corresponding to the analyzed standard communication protocol, and sends the obtained request information of the standard communication protocol to a server; the cloud service module receives response information returned by the server according to the request information of the standard communication protocol, and sends the response information to the data request module through an IPC communication interface and according to the user-defined communication protocol; the purpose of isolating the module of the robot accessing the server from the specific product form of the robot is achieved, and maintenance cost is reduced.