Autonomous Charging Interface
Communication Address
Section titled “Communication Address”Send UDP commands to the perception host 192.168.1.105:3333.
Charging States
Section titled “Charging States”The autonomous charging function includes the following states:
- Idle: State when charging is not activated.
- Charging Task: Robot returns to the charging dock after receiving the start charging command.
- Charging: Robot is on the charging dock and charging current is detected.
- End Charging: Robot stands up and exits the dock after receiving the end charging command.
- Dock Power Loss: Robot fails to detect charging current during charging. It will automatically return to the Charging state once current is detected again.
- Charging Error: An error occurred during the charging task.
State transitions are shown below:
Charging Request Commands
Section titled “Charging Request Commands”Autonomous charging uses a request-response interaction. The perception host processes requests and returns responses with the current charging state value.
| Command Name | Command Code | Command Value | Command Type | Function |
|---|---|---|---|---|
| Start charging | 0x91910250 | 1 | 0 | Request to start charging |
| End charging | 0x91910250 | 0 | 0 | Request to end charging |
| Reset task | 0x91910250 | 2 | 0 | Clear charging state, return to idle |
| Query status | 0x91910253 | 0 | 0 | Query autonomous charging status |
Charging States
Section titled “Charging States”After receiving command code 0x91910250, the perception host returns a response with charge_manager_state:
| Command Value | Charging State |
|---|---|
| 0x0000 | idle |
| 0x0001 | do_charge_task |
| 0x0002 | charging |
| 0x0003 | do_over_charge_task |
| 0x0004 | pile_error |
| 0x0005 | safety_warning (please unplug the charger first) |
Error States
Section titled “Error States”| Command Value | Error Description |
|---|---|
| 0x1002 | TAGRECETIMEOUT — Localization info retrieval timeout |
| 0x1003 | MARKLAUNCHFAILED — Localization algorithm launch failed |
| 0x1004 | GOTOSTACKFAILED — Arrival timeout |
| 0x1005 | TAGNOVALUE — No localization info |
| 0x1006 | TAGPOSEJUMP — Localization info jump |
| 0x1007 | NOCHARGEPLUG — Charging current detection failed, on dock |
| 0x100a | NOCHARGEPLUG_STEP_BACK — Charging current detection failed, exiting dock |
Charging Status in TCP Protocol
Section titled “Charging Status in TCP Protocol”When querying real-time basic status (Type=1002) via TCP, the response includes:
| Parameter | Description | Notes |
|---|---|---|
| ChargeState | Autonomous charging status | Not charging=0, Charging=1 |
| OnDockState | Whether on the charging dock | Not on dock=0, On dock=1 |