Robot and its automatic recharging method, system, electronic device, and storage medium

Abstract

The invention provides a robot and its automatic recharging method, system, electronic equipment and storage medium. The robot automatic recharging method includes: the robot moves from an initial position to a docking position, and the docking position is opposite to the charging interface of the charging pile; the robot travels from the docking position to the charging position according to a first path so that The robot docks the charging pile at the charging position, the first path is a straight line or an approximate straight line path, and during the driving process of the first path, the robot maintains a docking posture and always recognizes in the images collected by the robot in real time The charging pile. The invention can realize the automatic recharging of the robot without the guidance of the active light source, thereby reducing the cost of the robot, and meanwhile, the equipment has high flexibility.

Description

technical field [0001] The invention relates to the field of robots, in particular to a robot and its automatic recharging method, system, electronic equipment and storage medium. Background technique [0002] At present, mobile robots, such as sweeping robots, have been accepted and actually used by more and more families. When the power of the sweeping robot is not enough to continue cleaning, the sweeping robot will automatically return to the charging pile for charging. The automatic recharging method of the existing sweeping robot is: 1) The charging base emits an infrared signal. After the robot enters the area of ​​the infrared signal during the movement, it receives the infrared signal through the infrared receiving head at the front end of the robot, and continuously adjusts the direction of motion until it is in contact with the charging base. 2) Using navigation technology, two beacon spots are projected to the ceiling through the charging base, and a four-quadra...

AI Technical Summary

Problems solved by technology

[0003] In the above two automatic recharging methods, it is necessary to add additional equipment on the robot and the charging stand, or to add an infrared transmitter and an induction device for receiving infrared signals on the charging stand and the robot respectively, or to install an infrared sensor on the charging stand. Adding a device for projecting beacon light spots to project beacon light spots, the cost of equipment is high

At the same time, for the automatic recharging scheme using infrared technology, the launch device of the charging stand needs to be turned on all the time, and the infrared transmitter itself consumes a lot of energy, which makes the robot costly

For the technical solutions guided by active light sources, such as the automatic recharging scheme using infrared technology and the automatic recharging scheme using active light guidance, long-wavelength beams are usually used, and the penetration of long-wavelength beams to obstacles is poor. When charging piles When there is an obstacle between the robot and the sweeping robot, the active light source cannot penetrate the obstacle and is received by the beam sensing device on the robot, the automatic pile return is blocked, the environmental adaptability is poor, the equipment is easily damaged, and the service life is short

In addition, if active light is used to guide the robot to recharge, a matching light emitting device and a light sensing receiving device are required. If one of them is damaged, a matching emitting device or sensing receiving device needs to be replaced, which has great limitations and poor flexibility.

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