Charge-back method and device of floor mopping robot

Abstract

The embodiment of the invention provides a charge-back method and device of a floor mopping robot, wherein according to a charge-back method of the floor mopping robot, a preset charging seat projectstwo-dimensional code to a ceiling, an image sensor is arranged on the floor mopping robot; and a charging seat is used for charging the floor mopping robot. The method comprises the following steps that the image sensor is continuously used for collecting relative angle information of the two-dimensional code; and the floor mopping robot is controlled to move, so that the relative angle information changes according to preset information. The floor mopping robot is further controlled to approach to the charging seat to be charged by detecting the relative angle change between the floor mopping robot and the two-dimensional code and controlling the relative angle change. The charge-back efficiency of the floor mopping robot and the positioning precision of the floor mopping robot are improved.

Description

technical field [0001] The invention relates to the technical field of sweeping robots, in particular to a method for recharging a sweeping robot and a recharging device for a sweeping robot. Background technique [0002] With the continuous development of science and technology, sweeping robots have gradually entered human life and played an active role. Power supply technology is the key technology of the sweeping robot and the guarantee for the long-term autonomous work of the sweeping robot. Due to the capacity limitation of the mobile power supply, it is often necessary to manually charge the machine. [0003] At present, the technology to solve the charging problem of the sweeping robot is mainly through the autonomous return charging of the sweeping robot. The most commonly used technical method is to guide the sweeping machine back to the charging stand for docking charging based on infrared signals. Although the method and system can realize the self-recharging of...

AI Technical Summary

Problems solved by technology

Although the method and system can realize the self-recharging of the sweeper, the infrared sensor cannot completely penetrate when the infrared sensor has a small emission angle, the distance of the encoded signal is short, and there are obstacles. The space is relatively large, and the time for the sweeper to detect the infrared guidance signal while walking becomes longer. When the sweeper runs out of power and runs aground halfway, it cannot return to the base

In addition, due to the long-term work of the sweeping robot, the existence of the gyroscope error causes a large deviation in the positioning angle of the sweeper, which in turn affects the cleaning efficiency of the sweeper.

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