Recharging method and device for sweeping robot, sweeping robot and readable medium

Abstract

The present application discloses a recharging method, device, sweeping robot, and readable storage medium for a sweeping robot. The method comprises obtaining signal information of each location on a map, wherein the signal information comprises an infrared signal and a radar signature code; determining different types of locations to be recharged based on the signal information; and performing recharging confirmation for each of the locations to be recharged according to preset rules to complete the recharging process. Different locations are classified using infrared signal information and radar signature code signal information, and then different types of recharging locations are confirmed in turn, thereby enabling faster determination of the most likely location of a charging station, shortening the time it takes for the sweeping robot to find a charging station, and improving the efficiency of the recharging process.

Description

Technical Field

[0001] The present invention relates to the technical field of sweeping robots, and in particular to a recharging method and device for a sweeping robot, a sweeping robot, and a readable storage medium. Background Art

[0002] Existing robots generally have an automatic recharge function. This has become an essential feature for intelligent robots. When the robot is running low on power, it automatically returns to the charging station for recharging. This automatic recharge function enables the robot to operate autonomously for extended periods of time, even without human supervision.

[0003] The current charging solution for sweeping robots is infrared-guided charging. This can detect the presence of charging stations from a distance. However, the infrared signal only provides a rough direction, not the distance to the robot. This means the robot only knows the general direction of the charging station, not its exact location. This can lead to inaccurate positioning during charging, resulting in a lengthy search for the charging station. Summary of the Invention

[0004] The main purpose of this application is to provide a recharging method and device for a sweeping robot, a sweeping robot and a readable storage medium, aiming to solve the problem of low positioning efficiency during the recharging process of the current sweeping robot.

[0005] To achieve the above objectives, the present application provides a recharging method for a sweeping robot, the recharging method for the sweeping robot comprising the following steps:

[0006] Acquiring signal information of each location on the map, the signal information including infrared signals and radar signature codes;

[0007] Determining different types of locations to be recharged based on the signal information;

[0008] For each of the locations to be recharged, recharge confirmation is performed according to preset rules to complete the recharge process.

[0009] Optionally, the step of obtaining signal information of each location in the map includes:

[0010] The specific infrared signals at each location are obtained through the infrared signal receiving device of the sweeping robot;

[0011] Obtain point cloud information of the current environment through the sweeping robot's laser radar;

[0012] The radar signature code at each location is obtained through the point cloud information.

[0013] Optionally, the location where the signal information exists is used as the target location, and the step of determining different types of locations to be recharged according to the signal information includes:

[0014] If the target location has both infrared signals and radar signature codes, it is marked as a first type of waiting recharging location;

[0015] If there is only an infrared signal at the target location, it is marked as a second type of waiting recharging location;

[0016] If only a radar signature code exists at the target location, it is marked as a third type of location to be recharged.

[0017] Optionally, for each of the locations to be recharged, the step of performing recharge confirmation according to preset rules to complete the recharge process includes:

[0018] Selecting a first to-be-recharged location from the first type of to-be-recharged locations;

[0019] Controlling the sweeping robot to move to the first to-be-recharged position according to the radar signature of the first to-be-recharged position;

[0020] Detecting whether there is a charging pile at the first recharging location;

[0021] If there is a charging pile, the posture of the sweeping robot is adjusted according to the radar signature to complete the recharging process.

[0022] Optionally, after the step of detecting whether there is a charging pile at the first location to be recharged, the method further includes:

[0023] If there is no charging pile at the first waiting recharging location and the first type of waiting recharging locations have been traversed, selecting a second waiting recharging location from the second type of waiting recharging locations;

[0024] Controlling the cleaning robot to move to the second waiting-for-recharging position according to the infrared signal of the second waiting-for-recharging position;

[0025] Perform infrared docking at the second waiting recharging position;

[0026] If the infrared docking is successful, it is determined that there is a charging pile and the recharging process is completed.

[0027] Optionally, after the step of performing infrared docking at the second waiting recharging position, the method further includes:

[0028] If the infrared docking fails and the second type of waiting recharging positions have been traversed, selecting the closest third waiting recharging position from the third type of waiting recharging positions;

[0029] Controlling the sweeping robot to move to the third waiting-for-recharging position;

[0030] Re-detecting whether there is an infrared signal at the third recharging location;

[0031] If there is an infrared signal, it is determined that there is a charging pile and the posture of the sweeping robot is adjusted according to the radar characteristic code to complete the recharging process.

[0032] Optionally, after the step of detecting whether an infrared signal is present at the third recharging location, the method further includes:

[0033] If there is no infrared signal, selecting a fourth waiting-for-recharging position closest to the third waiting-for-recharging position from the third type of waiting-for-recharging positions;

[0034] Controlling the sweeping robot to move to the fourth waiting-for-recharging position;

[0035] re-detecting whether there is an infrared signal at the fourth recharging location;

[0036] If there is no infrared signal and the third type of recharging location has been traversed, it is determined that there is no charging pile in the current environment and the recharging process is terminated.

[0037] Optionally, after determining that no charging pile exists in the current environment and ending the recharging process, the method further includes:

[0038] Get the location information of all locations to be recharged;

[0039] The map is marked according to the location information to update the map.

[0040] Optionally, the step of acquiring specific infrared signals existing at each position by the infrared signal receiving device of the sweeping robot includes:

[0041] Receive infrared signals through the infrared signal receiving device of the sweeping robot;

[0042] Decoding the infrared signal;

[0043] determining whether the device information matches according to the decoded infrared signal;

[0044] If they match, it is determined that a specific infrared signal exists.

[0045] Optionally, the recharging method of the sweeping robot further includes:

[0046] If the locations to be recharged are traversed and no charging pile is found, the sweeping robot is controlled to enter a dormant state and an abnormal prompt message is sent to a user terminal corresponding to the sweeping robot.

[0047] The present application also provides a recharging device for a sweeping robot, the recharging device for the sweeping robot comprising:

[0048] An acquisition module is used to acquire signal information of each location in the map, wherein the signal information includes infrared signals and radar signature codes;

[0049] a determination module, configured to determine different types of locations to be recharged based on the signal information;

[0050] The confirmation module is used to perform recharging confirmation for each of the locations to be recharged according to preset rules to complete the recharging process.

[0051] Optionally, the acquisition module includes:

[0052] The first judgment unit is used to obtain specific infrared signals at each position through the infrared signal receiving device of the sweeping robot;

[0053] The first acquisition unit is used to acquire point cloud information of the current environment through the laser radar of the sweeping robot;

[0054] The second judgment unit is used to obtain the radar signature code existing at each position through the point cloud information.

[0055] Optionally, the determination module includes:

[0056] a first marking unit, configured to mark the target location as a first type of waiting recharging location if both an infrared signal and a radar signature code are present at the target location;

[0057] a second marking unit, configured to mark the target location as a second type of waiting recharging location if only an infrared signal is present;

[0058] The third marking unit is used to mark the target position as a third type of waiting recharging position if only the radar signature code exists at the target position.

[0059] Optionally, the confirmation module includes:

[0060] a first selecting unit, configured to select a first to-be-recharged location from the first type of to-be-recharged locations;

[0061] a first control unit, configured to control the sweeping robot to move to the first to-be-recharged position according to a radar signature code of the first to-be-recharged position;

[0062] A first detection unit is configured to detect whether there is a charging pile at the first recharging location;

[0063] The first adjustment unit is used to adjust the posture of the sweeping robot according to the radar characteristic code to complete the recharging process if a charging pile exists.

[0064] Optionally, the confirmation module further includes:

[0065] a second selecting unit, configured to select a second location to be recharged from the second type of locations to be recharged if no charging pile exists at the first location to be recharged and the first type of locations to be recharged have been traversed;

[0066] a second control unit, configured to control the sweeping robot to move to the second to-be-recharged position according to the infrared signal of the second to-be-recharged position;

[0067] A docking unit, configured to perform infrared docking at the second waiting-for-recharging position;

[0068] The second adjustment unit is used to determine the presence of a charging pile and complete the recharging process if the infrared docking is successful.

[0069] Optionally, the confirmation module further includes:

[0070] a third selecting unit, configured to select a closest third recharging location from the third type of recharging locations if the infrared docking fails and the second type of recharging locations have been traversed;

[0071] a third control unit, configured to control the sweeping robot to move to the third waiting-for-recharging position;

[0072] a second detection unit, configured to re-detect whether an infrared signal exists at the third recharging location;

[0073] The third adjustment unit is used to determine the presence of a charging pile if an infrared signal is present and adjust the posture of the sweeping robot according to the radar characteristic code information to complete the recharging process.

[0074] Optionally, the confirmation module further includes:

[0075] a fourth selecting unit, configured to select, from the third type of to-be-recharged locations, a fourth to-be-recharged location closest to the third to-be-recharged location if no infrared signal is present;

[0076] a fourth control unit, configured to control the sweeping robot to move to the fourth waiting-for-recharging position;

[0077] a third detection unit, configured to re-detect whether an infrared signal exists at the fourth recharging location;

[0078] The ending unit is configured to determine that there is no charging pile in the current environment and end the recharging process if there is no infrared signal and the third type of recharging location has been traversed.

[0079] Optionally, the recharging device of the sweeping robot further includes:

[0080] The sending module is used to control the sweeping robot to enter a dormant state and send an abnormal prompt message to the user terminal corresponding to the sweeping robot if the location to be recharged is traversed and no charging pile is found.

[0081] The present application also provides a sweeping robot, which includes: a memory, a processor, and a sweeping robot recharging program stored in the memory and runnable on the processor. When the sweeping robot recharging program is executed by the processor, the steps of the sweeping robot recharging method as described above are implemented.

[0082] The present application also provides a readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the steps of the recharging method of the sweeping robot as described above are implemented.

[0083] This application obtains signal information from each location on the map, including infrared signals and radar signature codes; based on the signal information, different types of locations to be recharged are determined; for each of the locations to be recharged, recharge confirmation is performed according to preset rules to complete the recharge process. Different locations are classified using infrared signal information and radar signature code signal information, and then different types of recharge locations are confirmed in turn, so that the most likely location of the charging station can be determined more quickly, shortening the time it takes for the sweeping robot to find the charging station and improving the efficiency of the recharge process. BRIEF DESCRIPTION OF THE DRAWINGS

[0084] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0085] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0086] Figure 1 A schematic diagram of the device structure of the hardware operating environment involved in the embodiment of the present application;

[0087] Figure 2 This is a flow chart of the first embodiment of the recharging method for the sweeping robot of the present application;

[0088] Figure 3 This is a schematic diagram of the system structure of an embodiment of the pen tip implementation device of this application.

[0089] The realization of the objectives, functional features and advantages of this application will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0090] It should be understood that the specific embodiments described herein are only used to explain the present application and are not intended to limit the present application.

[0091] In the subsequent description, suffixes such as "module," "component," or "unit" used to represent elements are only used to facilitate the description of the present invention and have no specific meaning. Therefore, "module," "component," or "unit" can be used interchangeably.

[0092] like Figure 1 As shown, Figure 1 It is a schematic diagram of the terminal structure of the hardware operating environment involved in the embodiment of the present application.

[0093] The terminal in the embodiment of the present application is a sweeping robot.

[0094] like Figure 1 As shown, the terminal may include: a processor 1001, such as a CPU, a network interface 1004, a user interface 1003, a memory 1005, and a communication bus 1002. Among them, the communication bus 1002 is used to realize the connection and communication between these components. The user interface 1003 may include a display screen (Display), an input unit such as a keyboard (Keyboard), and the user interface 1003 may also include a standard wired interface and a wireless interface. The network interface 1004 may optionally include a standard wired interface and a wireless interface (such as a WI-FI interface). The memory 1005 may be a high-speed RAM memory or a stable memory (non-volatile memory), such as a disk memory. The memory 1005 may also be a storage device independent of the aforementioned processor 1001.

[0095] Optionally, the terminal may also include a camera, an RF (Radio Frequency) circuit, a sensor, an audio circuit, a WiFi module, and the like. Among them, the sensors include light sensors, motion sensors, and other sensors. Specifically, the light sensor may include an ambient light sensor and a proximity sensor, wherein the ambient light sensor may adjust the brightness of the display screen according to the brightness of the ambient light, and the proximity sensor may turn off the display screen and / or backlight when the terminal device is moved to the ear. Of course, the terminal device may also be configured with other sensors such as a gyroscope, a barometer, a hygrometer, a thermometer, an infrared sensor, etc., which will not be repeated here.

[0096] Those skilled in the art will understand that Figure 1 The terminal structure shown in the figure does not constitute a limitation to the terminal, and may include more or fewer components than shown in the figure, or combine certain components, or arrange the components differently.

[0097] like Figure 1 As shown, the memory 1005 as a computer storage medium may include an operating system, a network communication module, a user interface module and a recharging program of the sweeping robot.

[0098] exist Figure 1 In the terminal shown, the network interface 1004 is mainly used to connect to the backend server and communicate data with the backend server; the user interface 1003 is mainly used to connect to the client (user end) and communicate data with the client; and the processor 1001 can be used to call the recharge program of the sweeping robot stored in the memory 1005 and perform the following operations:

[0099] Acquiring signal information of each location on the map, the signal information including infrared signals and radar signature codes;

[0100] Determining different types of locations to be recharged based on the signal information;

[0101] For each of the locations to be recharged, recharge confirmation is performed according to preset rules to complete the recharge process.

[0102] Based on the above terminal hardware structure, various embodiments of the present application are proposed.

[0103] The present application provides a recharging method for a sweeping robot.

[0104] Reference Figure 2 In a first embodiment of a recharging method for a sweeping robot, the method includes:

[0105] Step S10, acquiring signal information of each location in the map, wherein the signal information includes infrared signals and radar signature codes;

[0106] The robot vacuum's charging station is typically equipped with multiple infrared sensors for transmitting infrared signals, and an infrared receiver is mounted on the front of the robot to receive the infrared signals from the charging station. The robot vacuum is also equipped with a lidar (LiDAR) radar, which can acquire point cloud information from the surrounding environment. This point cloud information can be used to identify the characteristics of objects in the current environment. The charging station has its own unique radar signature. For example, a common method is to use different materials to create specific concave and convex areas on the surface of the charging station to form a radar signature. Therefore, the robot vacuum can obtain signal information from the surrounding environment through the infrared receiver and radar.

[0107] Step S20, determining different types of locations to be recharged based on the signal information;

[0108] Infrared signals can transmit over long distances but cannot provide the exact location of a charging station. Radar signature codes can provide accurate location information for charging stations, but they cannot be used to determine the location of charging stations from a distance. Furthermore, due to the complexities of the actual environment, objects with the same radar signature as the charging station may appear, causing errors in the determination of the charging station's location. Therefore, based on the signal information at each location, the locations to be recharged are determined and classified. If both an infrared signal and a radar signature are present, the location is marked as the first type of recharge location, which is the most likely location for a charging station. If only an infrared signal is present, the location is marked as the second type of recharge location, which indicates that a corresponding charging station may be nearby. If only a radar signature is present, the location is marked as the third type of recharge location, which indicates that a charging station or an object close to a charging station may be nearby.

[0109] Step S30: for each of the locations to be recharged, recharge confirmation is performed according to preset rules to complete the recharge process;

[0110] Based on the previously classified types of locations to be recharged, starting with the first type, all locations are verified. The first type of location, where both the infrared signal and the radar signature are present, is the most likely location of a charging station. Therefore, the robot vacuum is first controlled to move to the first type of location to determine if a charging station is actually present. If so, the robot vacuum's position is adjusted based on the radar signature to align the robot with the charging port on the charging station to complete the charging process. If no charging station is found at the first type of location, the second type of location is then determined to determine if a charging station is present. If the second type of location contains an infrared signal but no radar signature, this indicates that a charging station may be nearby but obscured by other nearby objects. Therefore, further exploration of the second type of location is necessary. When it is confirmed that there is no charging pile at the second type of waiting recharging location, the third type of waiting recharging location is verified. The third type of waiting recharging location only has a radar signature code. Because the radar signature code determines whether there is a charging pile based on the appearance information of the charging pile, it is prone to misjudgment due to the limitations of the radar resolution and objects of similar appearance that may exist in the surrounding environment. Therefore, the third type of waiting recharging location is the last location to be verified. When no charging pile is found at the first and second types of waiting recharging locations, the charging pile is confirmed according to the distance to the third type of waiting recharging location until a charging pile is found or there is no unconfirmed waiting recharging location.

[0111] In this embodiment, signal information is obtained from each location on the map, including infrared signals and radar signature codes. Based on this signal information, different types of locations to be recharged are determined. For each of these locations, recharge confirmation is performed according to preset rules to complete the recharge process. By categorizing different locations using infrared and radar signature signal information, and then confirming each type of recharge location in turn, the most likely location of the charging station can be determined more quickly, shortening the time it takes for the robot vacuum to find a charging station and improving the efficiency of the recharge process.

[0112] Furthermore, based on the above embodiments of the recharging method of the sweeping robot of the present application, a second embodiment of the recharging method of the sweeping robot is provided. In the second embodiment,

[0113] Step S10 includes:

[0114] Step A1: acquiring specific infrared signals at various locations through the infrared signal receiving device of the sweeping robot;

[0115] The robot vacuum's charging station is equipped with an infrared transmitter sensor that can send infrared signals to different areas. The robot vacuum also has an infrared receiver that receives infrared signals from the surrounding environment. Upon receiving the infrared signal, the robot vacuum determines whether it is from the corresponding charging station and determines the location where the infrared signal was emitted. The location where the infrared signal was emitted is marked accordingly.

[0116] Step A2: Obtaining point cloud information of the current environment through the laser radar of the sweeping robot;

[0117] The robot vacuum's LiDAR collects point cloud information about its surroundings, and uses this information to identify the features of objects within. Point cloud information is generated when laser light emitted by the LiDAR hits an obstacle and reflects off the surface of an object. The robot vacuum's LiDAR can capture 360-degree information about the surrounding environment, generating the final point cloud.

[0118] Step A3, obtaining the radar signature code at each location through the point cloud information;

[0119] The point cloud information is used to identify concave and convex areas within the area. By comparing the characteristics of these areas with pre-set radar signatures, the system can determine whether a radar signature exists at each location in the current environment and retrieve the corresponding radar signature and location. The radar signature is stored in the robot vacuum by its developers when they program it.

[0120] Wherein, step A1 includes:

[0121] Step A11, receiving an infrared signal through the infrared signal receiving device of the sweeping robot;

[0122] Step A12, decoding the infrared signal;

[0123] Step A13, judging whether the device information matches based on the decoded infrared signal;

[0124] Step A14: If there is a match, it is determined that a specific infrared signal exists;

[0125] To ensure the security of the infrared signal transmitted by the charging station, special codes are generally added to the infrared signal, allowing the robot vacuum to accurately identify the corresponding infrared signal from the charging station. After receiving the infrared signal, the robot vacuum will decode the corresponding infrared signal, obtain the device information contained therein, and determine whether the device information matches the robot vacuum's own device information. If a match is successful, the corresponding infrared signal is correct. Otherwise, it may be an infrared signal generated by another device, avoiding interference in the process of determining the recharging location during the recharging process.

[0126] In this embodiment, infrared signals and radar signature codes at various locations are obtained and verified, thereby avoiding interference of signals from other devices in the recharging process, and no wonder the positioning accuracy and efficiency in the recharging process are further improved.

[0127] Furthermore, based on the above embodiments of the recharging method of the sweeping robot of the present application, a third embodiment of the recharging method of the sweeping robot is provided. In the third embodiment,

[0128] The location where the signal information exists is used as the target location, and step S20 includes:

[0129] Step B1: If both the infrared signal and the radar signature code are present at the target location, the target location is marked as a first type of waiting recharging location;

[0130] The first type of recharging location is the most likely charging pile location because infrared signals and radar signature codes are detected, that is, the location can emit infrared signals. There are also objects with the same or similar characteristics as the charging pile, so the possibility of the existence of a charging pile is higher.

[0131] Step B2: If only an infrared signal is present at the target location, the target location is marked as a second type of location to be recharged;

[0132] The second type of location to be recharged only has an infrared signal but no radar signature code. In this case, the infrared signal emitted by other devices may be the same as the infrared signal of the charging pile, or the charging pile may be blocked by other objects and cannot be scanned by the radar. Further verification is required. The latter is more likely than the former. At the same time, the sweeping robot can use the infrared signal to approach the second type of location to be recharged and attempt infrared docking at the second type of location to be recharged to determine whether a charging pile really exists.

[0133] Step B3: If only the radar signature code exists at the target location, the target location is marked as a third type of waiting recharging location;

[0134] The third type of location to be recharged has a radar signature code but no infrared signal. Due to the resolution of the radar and the complexity of the actual home environment, it is possible to mistakenly judge other objects as being the same as the radar signature code of the charging pile. Therefore, the credibility of the third type of location to be recharged is low and requires further confirmation.

[0135] In this embodiment, the locations are classified according to the signal types existing at different locations, and the priority of moving each location is determined for the subsequent recharging process, ensuring that the sweeping robot can confirm the location of the charging pile as soon as possible to improve the positioning efficiency of the recharging process.

[0136] Furthermore, based on the above embodiments of the recharging method of the sweeping robot of the present application, a fourth embodiment of the recharging method of the sweeping robot is provided. In the fourth embodiment,

[0137] Step S30 includes:

[0138] Step C1, selecting a first to-be-recharged location from the first type of to-be-recharged locations;

[0139] The first type of waiting recharging location has both infrared signals and radar characteristic codes. There may be only one first type of waiting recharging location, there may be multiple first type of waiting recharging locations, or there may not be any first type of waiting recharging location. However, as long as there is a first type of waiting recharging location, any one of them is selected as the first waiting recharging location. Preferably, the first type of waiting recharging location that is closest to the current location is selected.

[0140] Step C2, controlling the sweeping robot to move to the first waiting-for-recharging position according to the radar signature code of the first waiting-for-recharging position;

[0141] Currently, infrared signals can only obtain the approximate location information of the charging pile, while radar signature codes can obtain the accurate angle and distance information of the charging pile through radar. Therefore, when infrared signals and radar signature codes exist at the same time, the radar signature code is used as the main positioning information, and the route to the first recharging location is planned based on the angle and distance information corresponding to the radar signature code and the map information in its environment.

[0142] Step C3, detecting whether there is a charging pile at the first recharging location;

[0143] After moving to the first recharging position, it detects whether a charging pile actually exists. For example, after moving to the designated position according to the information of the radar characteristic code, the sweeping robot actually enters the pairing state. If it enters the pairing state, it means that a charging pile exists, otherwise there is no charging pile.

[0144] Step C4: If a charging pile is present, the posture of the sweeping robot is adjusted according to the radar signature information to complete the recharging process;

[0145] When there is a charging pile, the posture of the sweeping robot is continuously adjusted according to the information of the radar characteristic code, and the position of the sweeping robot and the posture of the charging interface are continued to be adjusted. When the adjustment is completed and the robot enters the charging state, it can be recharged normally.

[0146] In this embodiment, for the first type of location to be recharged, the radar signature is used as the main positioning basis, so that the positioning of the recharging process is more accurate and efficient.

[0147] Furthermore, based on the above embodiments of the recharging method of the sweeping robot of the present application, a fifth embodiment of the recharging method of the sweeping robot is provided. In the fifth embodiment,

[0148] After step C3, the method further includes:

[0149] Step D1: If there is no charging pile at the first waiting recharging location and the first type of waiting recharging locations have been traversed, select a second waiting recharging location from the second type of waiting recharging locations;

[0150] When all the first type of recharging locations have been confirmed and no charging pile is found or the first type of recharging location does not exist at all, any one of the second type of recharging locations is selected as the second recharging location. Preferably, the second type of recharging location closest to the current location is selected as the second recharging location.

[0151] Step D2, controlling the sweeping robot to move to the second waiting recharging position according to the infrared signal of the second waiting recharging position;

[0152] There is only an infrared signal but no radar signature code at the second recharging position, and the infrared signal can only provide the approximate location information of the charging pile, such as judging the approximate location of the charging pile based on the signal strength of the infrared signal and the preset algorithm. Therefore, the sweeping robot is controlled to move to the vicinity of the second type of recharging position according to the infrared signal.

[0153] Step D3, performing infrared docking at the second recharging location;

[0154] Infrared docking is performed at the second recharging position. Infrared docking is to continuously adjust the position and angle of the sweeping robot through infrared signals, such as continuously moving forward and backward at a lower speed to adjust the docking of the charging electrode of the sweeping robot with the electrode of the charging pile.

[0155] Step D4: If the infrared docking is successful, it is determined that a charging pile exists and the recharging process is completed;

[0156] When the sweeping robot senses that it has entered the charging state, it indicates that the infrared docking is successful, that is, there is a charging pile at the second recharging location, and waits for the sweeping robot to be fully charged to complete the recharging process.

[0157] In this embodiment, for the second type of location to be recharged, recharge positioning is performed in an infrared docking manner to improve the positioning accuracy and positioning efficiency of the recharge process as much as possible.

[0158] Furthermore, based on the above embodiments of the recharging method of the sweeping robot of the present application, a sixth embodiment of the recharging method of the sweeping robot is provided. In the sixth embodiment,

[0159] After step D4, the method further includes:

[0160] Step E1: If the infrared docking fails and the second type of waiting recharging positions have been traversed, then a third waiting recharging position closest to the third type of waiting recharging positions is selected;

[0161] If both the first and second types of recharging locations have been verified and no charging piles exist, the closest location from the third type of recharging locations is selected as the third recharging location. The third recharging location only has a radar signature, which can easily lead to misjudgment due to the diversity of objects in a home environment.

[0162] Step E2, controlling the sweeping robot to move to the third waiting-for-recharging position;

[0163] The sweeping robot is controlled to move to the third recharging position according to the position and distance information obtained by the radar characteristic code.

[0164] Step E3, re-detecting whether there is an infrared signal at the third recharging location;

[0165] During the process of moving to the third recharging position, whether an infrared signal is received is determined. The method for determining whether an infrared signal is received is the same as in the second embodiment. Because the infrared signal may not have been detected during the previous detection due to environmental obstruction or other factors, it is necessary to re-detect whether an infrared signal is present during the process of moving to the third recharging position.

[0166] Step E4: If there is an infrared signal, it is determined that there is a charging pile and the posture of the sweeping robot is adjusted according to the radar characteristic code information to complete the recharging process;

[0167] If an infrared signal is received, it means that there is a charging pile here and the radar characteristic code is used as the main basis for adjusting the posture of the sweeping robot. At the same time, the acquired infrared signal is used as an auxiliary judgment to continuously adjust the posture of the sweeping robot until the sweeping robot enters the charging state, and the recharging process is completed.

[0168] After step E3, the method further includes:

[0169] Step E5: If there is no infrared signal, selecting a fourth waiting recharging position from the third type of waiting recharging positions that is closest to the third waiting recharging position;

[0170] Step E6, controlling the sweeping robot to move to the fourth waiting-for-recharging position;

[0171] Step E7, re-detecting whether there is infrared signal information at the fourth recharging location;

[0172] Step E8: If there is no infrared signal and the third type of recharging location has been traversed, it is determined that there is no charging pile in the current environment and the recharging process ends;

[0173] When there is no charging pile at the third recharging location, a fourth recharging location closest to the third type of recharging location is selected, and then the fourth recharging location is detected to see if there is a charging pile according to the detection method for the third type of recharging location. When all the third types of recharging locations have been confirmed and no charging pile is found, the entire recharging process ends. At the same time, the locations of the third type of recharging locations that only have radar signatures can be sorted. The basis for the sorting is the similarity between the scanned radar signature and the stored standard radar signature. The third type of recharging locations corresponding to radar signatures with low similarity can be omitted from traversal, thereby shortening the recharging location confirmation process and improving the efficiency of finding the charging pile location.

[0174] In this embodiment, for the third type of position to be recharged, when moving to the corresponding position according to the radar characteristic code, the corresponding infrared information is obtained. If the acquisition is successful, it means that there is a charging pile. When the third type of position to be recharged is also confirmed to be completed and no charging pile is found, the recharging process of the sweeping robot is ended.

[0175] Furthermore, based on the above embodiments of the recharging method of the sweeping robot of the present application, a seventh embodiment of the recharging method of the sweeping robot is provided. In the seventh embodiment,

[0176] Step E8 then includes:

[0177] Step F1, obtaining the location information of all locations to be recharged;

[0178] Step F2, marking the map according to the location information to update the map;

[0179] When no charging pile is found at all the locations to be recharged after detection, the location information of these locations to be recharged is obtained, and these locations are marked to indicate that there are no charging piles at these locations to avoid repeated detection in the future.

[0180] Among them, the recharging method of the sweeping robot also includes:

[0181] Step G: If the location to be recharged is traversed and no charging pile is found, the sweeping robot is controlled to enter a dormant state and an abnormal prompt message is sent to the user terminal corresponding to the sweeping robot;

[0182] When no charging pile is found to complete charging, the sweeping robot is controlled to enter a dormant state to reduce power loss, and a message is sent to the bound optimization terminal to inform the user of the current low power state of the sweeping robot and the unfound status of the charging pile.

[0183] In this embodiment, when the charging pile is not found, the map is updated and corresponding information is sent to the user terminal to remind the user of the current abnormal state of the sweeping robot.

[0184] In addition, refer to Figure 3 The embodiment of the present application further provides a recharging device for a sweeping robot, the recharging device for the sweeping robot comprising:

[0185] An acquisition module is used to acquire signal information of each location in the map, wherein the signal information includes infrared signals and radar signature codes;

[0186] a determination module, configured to determine different types of locations to be recharged based on the signal information;

[0187] The confirmation module is used to perform recharging confirmation for each of the locations to be recharged according to preset rules to complete the recharging process.

[0188] Optionally, the acquisition module includes:

[0189] The first judgment unit is used to obtain specific infrared signals at each position through the infrared signal receiving device of the sweeping robot;

[0190] The first acquisition unit is used to acquire point cloud information of the current environment through the laser radar of the sweeping robot;

[0191] The second judgment unit is used to obtain the radar signature code existing at each position through the point cloud information.

[0192] Optionally, the determining module includes:

[0193] a first marking unit, configured to mark the target location as a first type of waiting recharging location if both an infrared signal and a radar signature code are present at the target location;

[0194] a second marking unit, configured to mark the target location as a second type of waiting recharging location if only an infrared signal is present;

[0195] The third marking unit is used to mark the target position as a third type of waiting recharging position if only the radar signature code exists at the target position.

[0196] Optionally, the confirmation module includes:

[0197] a first selecting unit, configured to select a first to-be-recharged location from the first type of to-be-recharged locations;

[0198] a first control unit, configured to control the sweeping robot to move to the first to-be-recharged position according to a radar signature code of the first to-be-recharged position;

[0199] A first detection unit is configured to detect whether there is a charging pile at the first recharging location;

[0200] The first adjustment unit is used to adjust the posture of the sweeping robot according to the radar characteristic code to complete the recharging process if a charging pile exists.

[0201] Optionally, the confirmation module further includes:

[0202] a second selecting unit, configured to select a second location to be recharged from the second type of locations to be recharged if no charging pile exists at the first location to be recharged and the first type of locations to be recharged have been traversed;

[0203] a second control unit, configured to control the sweeping robot to move to the second to-be-recharged position according to the infrared signal of the second to-be-recharged position;

[0204] A docking unit, configured to perform infrared docking at the second waiting-for-recharging position;

[0205] The second adjustment unit is used to determine that a charging pile exists and complete the recharging process if the infrared docking is successful.

[0206] Optionally, the confirmation module further includes:

[0207] a third selecting unit, configured to select a closest third recharging location from the third type of recharging locations if the infrared docking fails and the second type of recharging locations have been traversed;

[0208] a third control unit, configured to control the sweeping robot to move to the third waiting-for-recharging position;

[0209] The second detection unit is used to re-detect whether there is infrared signal information at the third recharging position.

[0210] The third adjustment unit is used to determine the presence of a charging pile if there is infrared signal information and adjust the posture of the sweeping robot according to the radar characteristic code information to complete the recharging process.

[0211] Optionally, the confirmation module further includes:

[0212] a fourth selecting unit, configured to select, from the third type of to-be-recharged locations, a fourth to-be-recharged location closest to the third to-be-recharged location if no infrared signal is present;

[0213] a fourth control unit, configured to control the sweeping robot to move to the fourth waiting-for-recharging position;

[0214] a third detection unit, configured to re-detect whether infrared signal information exists at the fourth recharging location;

[0215] The ending unit is configured to determine that there is no charging pile in the current environment and end the recharging process if there is no infrared signal and the third type of recharging location has been traversed.

[0216] Optionally, the recharging device of the power-saving robot further includes:

[0217] The second acquisition module is used to obtain the location information of all locations to be recharged;

[0218] An updating module is used to mark the map according to the location information to update the map.

[0219] Optionally, the first judging unit includes:

[0220] A receiving subunit, configured to receive infrared signals through an infrared signal receiving device of the sweeping robot;

[0221] a decoding subunit, configured to decode the infrared signal;

[0222] a judging subunit, configured to judge whether the device information matches according to the decoded infrared signal;

[0223] The determination subunit is configured to determine that a specific infrared signal exists if a match is found.

[0224] Optionally, the recharging device of the sweeping robot further includes:

[0225] The sending module is used to control the sweeping robot to enter a dormant state and send an abnormal prompt message to the user terminal corresponding to the sweeping robot if the location to be recharged is traversed and no charging pile is found.

[0226] The expanded content of the specific implementation methods of the sweeping robot and the readable storage medium (i.e., computer-readable storage medium) of the present application is basically the same as the various embodiments of the recharging method of the above-mentioned sweeping robot, and will not be repeated here.

[0227] It should be noted that, in this document, the terms "comprises," "includes," or any other variations thereof are intended to encompass non-exclusive inclusion, such that a process, method, article, or apparatus comprising a series of elements includes not only those elements but also other elements not explicitly listed, or elements inherent to such process, method, article, or apparatus. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of other identical elements in the process, method, article, or apparatus comprising the element.

[0228] The serial numbers of the above embodiments of the present invention are for description only and do not represent the advantages or disadvantages of the embodiments.

[0229] Through the description of the above embodiments, those skilled in the art can clearly understand that the above-mentioned embodiment methods can be implemented by means of software plus the necessary general hardware platform, and of course can also be implemented by hardware, but in many cases the former is a better embodiment. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, can be embodied in the form of a software product, which is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk), and includes a number of instructions for enabling a terminal (which can be a mobile phone, computer, server, air conditioner, or network device, etc.) to execute the methods described in each embodiment of the present invention.

[0230] The embodiments of the present invention are described above in conjunction with the accompanying drawings, but the present invention is not limited to the above-mentioned specific implementation methods. The above-mentioned specific implementation methods are merely illustrative and not restrictive. Under the guidance of the present invention, ordinary technicians in this field can also make many forms without departing from the scope of protection of the present invention and the claims, all of which are protected by the present invention.

Claims

1. A recharging method for a sweeping robot, characterized in that: The recharging method of the sweeping robot comprises the following steps: Acquiring signal information of each location on the map, the signal information including infrared signals and radar signature codes; Determining different types of locations to be recharged based on the signal information; For each of the locations to be recharged, recharge confirmation is performed according to preset rules to complete the recharge process; The different types of locations to be recharged include at least one of the following: a first type of location to be recharged where both infrared signals and radar signature codes are present, a second type of location to be recharged where only infrared signals are present, and a third type of location to be recharged where only radar signature codes are present; The step of performing recharge confirmation according to preset rules to complete the recharge process includes: Traversing the locations to be recharged to determine whether there is a charging pile at the traversed locations to be recharged; If so, recharging is performed based on the traversed location to be recharged.

2. The recharging method of the sweeping robot according to claim 1, characterized in that: The step of obtaining signal information of each location in the map includes: The specific infrared signals at each location are obtained through the infrared signal receiving device of the sweeping robot; Obtain point cloud information of the current environment through the sweeping robot's laser radar; The radar signature code at each location is obtained through the point cloud information.

3. The recharging method of the sweeping robot according to claim 2, characterized in that: The location where the signal information exists is used as a target location, and the step of determining different types of locations to be recharged according to the signal information includes: If the target location has both infrared signals and radar signature codes, it is marked as a first type of waiting recharging location; If there is only an infrared signal at the target location, it is marked as a second type of waiting recharging location; If only a radar signature code exists at the target location, it is marked as a third type of location to be recharged.

4. The recharging method for a sweeping robot according to claim 3, wherein: The step of performing recharging confirmation according to preset rules for each of the locations to be recharged to complete the recharging process includes: Selecting a first to-be-recharged location from the first type of to-be-recharged locations; Controlling the sweeping robot to move to the first to-be-recharged position according to the radar signature of the first to-be-recharged position; Detecting whether there is a charging pile at the first recharging location; If there is a charging pile, the posture of the sweeping robot is adjusted according to the radar signature to complete the recharging process.

5. The recharging method for a sweeping robot according to claim 4, wherein: After the step of detecting whether there is a charging pile at the first location to be recharged, the method further includes: If there is no charging pile at the first waiting recharging location and the first type of waiting recharging locations have been traversed, selecting a second waiting recharging location from the second type of waiting recharging locations; Controlling the cleaning robot to move to the second waiting-for-recharging position according to the infrared signal of the second waiting-for-recharging position; Perform infrared docking at the second waiting recharging position; If the infrared docking is successful, it is determined that there is a charging pile and the recharging process is completed.

6. The recharging method for a sweeping robot according to claim 5, wherein: After the step of performing infrared docking at the second recharging position, the method further includes: If the infrared docking fails and the second type of waiting recharging positions have been traversed, selecting the closest third waiting recharging position from the third type of waiting recharging positions; Controlling the sweeping robot to move to the third waiting-for-recharging position; Re-detecting whether there is an infrared signal at the third recharging location; If there is an infrared signal, it is determined that there is a charging pile and the posture of the sweeping robot is adjusted according to the radar characteristic code to complete the recharging process.

7. The recharging method for a sweeping robot according to claim 6, wherein: After the step of detecting whether there is an infrared signal at the third recharging location, the method further includes: If there is no infrared signal, selecting a fourth waiting-for-recharging position closest to the third waiting-for-recharging position from the third type of waiting-for-recharging positions; Controlling the sweeping robot to move to the fourth waiting-for-recharging position; re-detecting whether there is an infrared signal at the fourth recharging location; If there is no infrared signal and the third type of recharging location has been traversed, it is determined that there is no charging pile in the current environment and the recharging process is terminated.

8. The recharging method for a sweeping robot according to claim 7, wherein: After the step of determining that no charging pile exists in the current environment and ending the recharging process, the method further includes: Get the location information of all locations to be recharged; The map is marked according to the location information to update the map.

9. The recharging method for a sweeping robot according to claim 2, wherein: The step of acquiring specific infrared signals existing at each position by the infrared signal receiving device of the sweeping robot includes: Receive infrared signals through the infrared signal receiving device of the sweeping robot; Decoding the infrared signal; determining whether the device information matches according to the decoded infrared signal; If they match, it is determined that a specific infrared signal exists.

10. The recharging method for a sweeping robot according to claim 1, wherein: The recharging method of the sweeping robot further includes: If the locations to be recharged are traversed and no charging pile is found, the sweeping robot is controlled to enter a dormant state and an abnormal prompt message is sent to a user terminal corresponding to the sweeping robot.

11. A recharging device for a sweeping robot, characterized in that: The recharging device of the sweeping robot includes: An acquisition module is used to acquire signal information of each location in the map, wherein the signal information includes infrared signals and radar signature codes; a determination module, configured to determine different types of locations to be recharged based on the signal information; A confirmation module, configured to perform recharging confirmation for each of the locations to be recharged according to preset rules to complete the recharging process; The different types of locations to be recharged include at least one of the following: a first type of location to be recharged where both infrared signals and radar signature codes are present, a second type of location to be recharged where only infrared signals are present, and a third type of location to be recharged where only radar signature codes are present; The confirmation module is further configured to traverse the locations to be recharged and determine whether there is a charging pile at the traversed locations to be recharged; If so, recharging is performed based on the traversed location to be recharged.

12. The recharging device for a sweeping robot according to claim 11, wherein: The acquisition module includes: The first judgment unit is used to obtain specific infrared signals at each position through the infrared signal receiving device of the sweeping robot; The first acquisition unit is used to acquire point cloud information of the current environment through the laser radar of the sweeping robot; The second judgment unit is used to obtain the radar signature code existing at each position through the point cloud information.

13. The recharging device for a sweeping robot according to claim 12, wherein: The determination module includes: A first marking unit is configured to mark a target location as a first type of waiting recharging location if both an infrared signal and a radar signature code are present at the target location; a second marking unit, configured to mark the target location as a second type of waiting recharging location if only an infrared signal is present; The third marking unit is used to mark the target position as a third type of waiting recharging position if only the radar signature code exists at the target position.

14. The recharging device for a sweeping robot according to claim 13, wherein: The confirmation module includes: a first selecting unit, configured to select a first to-be-recharged location from the first type of to-be-recharged locations; a first control unit, configured to control the sweeping robot to move to the first to-be-recharged position according to a radar signature code of the first to-be-recharged position; A first detection unit is configured to detect whether there is a charging pile at the first recharging location; The first adjustment unit is used to adjust the posture of the sweeping robot according to the radar characteristic code to complete the recharging process if a charging pile exists.

15. The recharging device for a sweeping robot according to claim 14, wherein: The confirmation module also includes: a second selecting unit, configured to select a second location to be recharged from the second type of locations to be recharged if no charging pile exists at the first location to be recharged and the first type of locations to be recharged have been traversed; a second control unit, configured to control the sweeping robot to move to the second to-be-recharged position according to the infrared signal of the second to-be-recharged position; A docking unit, configured to perform infrared docking at the second waiting-for-recharging position; The second adjustment unit is used to determine the presence of a charging pile and complete the recharging process if the infrared docking is successful.

16. The recharging device for a sweeping robot according to claim 15, wherein: The confirmation module also includes: a third selecting unit, configured to select a closest third recharging location from the third type of recharging locations if the infrared docking fails and the second type of recharging locations have been traversed; a third control unit, configured to control the sweeping robot to move to the third waiting-for-recharging position; a second detection unit, configured to re-detect whether an infrared signal exists at the third recharging location; The third adjustment unit is used to determine the presence of a charging pile if an infrared signal is present and adjust the posture of the sweeping robot according to the radar characteristic code information to complete the recharging process.

17. The recharging device for a sweeping robot according to claim 16, wherein: The confirmation module also includes: a fourth selecting unit, configured to select, from the third type of to-be-recharged locations, a fourth to-be-recharged location closest to the third to-be-recharged location if no infrared signal is present; a fourth control unit, configured to control the sweeping robot to move to the fourth waiting-for-recharging position; a third detection unit, configured to re-detect whether an infrared signal exists at the fourth recharging location; The ending unit is configured to determine that there is no charging pile in the current environment and end the recharging process if there is no infrared signal and the third type of recharging location has been traversed.

18. The recharging device for a sweeping robot according to claim 17, wherein: The recharging device of the sweeping robot further includes: The sending module is used to control the sweeping robot to enter a dormant state and send an abnormal prompt message to the user terminal corresponding to the sweeping robot if the location to be recharged is traversed and no charging pile is found.

19. A recharging device for a sweeping robot, characterized in that: The device includes: a memory, a processor, and a recharging program for a sweeping robot stored in the memory and executable on the processor, wherein the recharging program for the sweeping robot is configured to implement the steps of the recharging method for the sweeping robot as described in any one of claims 1 to 10.

20. A storage medium, characterized in that The storage medium stores a recharging program for the sweeping robot, and when the recharging program for the sweeping robot is executed by the processor, the steps of the recharging method for the sweeping robot according to any one of claims 1 to 10 are implemented.

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