Autonomous mobile robot, its method for finding a charging pile, control device and autonomous mobile system

Abstract

The present invention provides an autonomous mobile robot, a method for finding a charging pile thereof, a control device and an autonomous mobile system. The main body of the autonomous mobile robot includes: a driving system, a signal receiver and a control system. The driving system is used to drive the main body of the machine and the components thereon to move for automatic walking; the signal receiver is arranged at the front end of the machine body and is used to receive the signal emitted by the charging pile; the control system is arranged inside the machine body and is used to draw an instant map of the environment where the autonomous mobile robot is located and plan a walking route based on the instant map. During the process of the autonomous mobile robot searching for the charging pile, the signal receiver determines whether the autonomous mobile robot is located in the signal coverage area of the charging pile. When the autonomous mobile robot is not located in the signal coverage area of the charging pile, the control system controls the driving system to drive the main body of the machine to walk towards the open area according to the instant map of the environment where the autonomous mobile robot is located. This solution can improve the intelligence and reliability of the device.

Description

[0001] This application is a divisional application of a Chinese patent application with an application date of September 25, 2017, an application number of 201710875075.8, and an invention title of "Autonomous Mobile Robot and Its Method for Finding Charging Pile, Control Device and Intelligent Cleaning System". Technical Field

[0002] The present invention relates to the technical field of robots, and more particularly to an autonomous mobile robot and its method for finding a charging pile, a control device and an autonomous mobile system. Background Art

[0003] Nowadays, autonomous mobile robots have become increasingly common. Autonomous mobile robots are generally equipped with a charging pile. When the battery power of the autonomous mobile robot is insufficient, it needs to return to the charging pile for charging. Currently, the return-to-pile scheme of autonomous mobile robots usually adopts the method of the charging pile emitting a signal and the autonomous mobile robot receiving the signal. When the autonomous mobile robot needs to charge, according to the return-to-pile signal sent by the charging pile, the control system controls the drive system, so that the autonomous mobile robot moves towards the location of the charging pile until it returns to the pile for charging.

[0004] However, in the actual use process, the following situations may occur: the starting position of the autonomous mobile robot is very far from the charging pile, or there is an isolation zone between the starting position and the charging pile. At this time, the autonomous mobile robot cannot sense the charging pile signal. At this time, if the autonomous mobile robot needs to recharge, there is a high probability that it cannot find the charging pile and will eventually report an error. And at this time, it is often necessary for the user to place the autonomous mobile robot near or on the charging pile and then recharge, resulting in poor user experience and lack of intelligence.

[0005] Therefore, it is necessary to provide an autonomous mobile robot and its method for finding a charging pile, a control device and an autonomous mobile system to at least partially solve the above-mentioned problems. Summary of the Invention

[0006] A series of simplified concepts are introduced in the Summary of the Invention section, which will be further detailed in the Detailed Description section. The Summary of the Invention section of the present invention does not mean to attempt to define the key features and essential technical features of the claimed technical solution, nor does it mean to attempt to determine the protection scope of the claimed technical solution.

[0007] To at least partially solve the above technical problems, according to one aspect of the present invention, there is provided an autonomous mobile robot, comprising:

[0008] A machine body;

[0009] A drive system, the drive system is used to drive the machine body and its components to move for automatic walking;

[0010] A signal receiver, which is arranged at the front end of the machine body and is used to receive signals sent by a charging pile:

[0011] A control system, which is arranged inside the machine body and is used to draw an instant map of the environment where the autonomous mobile robot is located and plan a walking route based on the instant map;

[0012] During the process of the autonomous mobile robot searching for the charging pile, the signal receiver determines whether the autonomous mobile robot is located in the signal coverage area of the charging pile. When the autonomous mobile robot is not located in the signal coverage area of the charging pile, the control system controls the drive system to drive the machine body to walk towards an open area according to the instant map of the environment where the autonomous mobile robot is located.

[0013] Optionally, when the autonomous mobile robot enters the signal coverage area of the charging pile, the control system controls the drive system to drive the machine body to approach the charging pile according to the signal of the charging pile received by the signal receiver.

[0014] Optionally, the autonomous mobile robot includes a laser ranging device, which is used to feedback obstacle information of the environment where the autonomous mobile robot is located.

[0015] Optionally, the autonomous mobile robot includes a restricted area detector.

[0016] Optionally, the restricted area detector of the autonomous mobile robot includes a virtual wall and / or a cliff sensor.

[0017] Optionally, the instant map of the autonomous mobile robot includes the virtual wall and / or the cliff edge detected by the restricted area detector.

[0018] The present invention also provides a method for an autonomous mobile robot to search for a charging pile, including:

[0019] Drawing an instant map of the environment where the autonomous mobile robot is located and planning a walking route based on the instant map;

[0020] Determining whether the autonomous mobile robot is located in the signal coverage area of the charging pile;

[0021] When the autonomous mobile robot is not located in the signal coverage area of the charging pile, controlling the autonomous mobile robot to walk towards an open area according to the instant map of the environment where the autonomous mobile robot is located.

[0022] Optionally, the method for an autonomous mobile robot to find a charging pile includes: when the autonomous mobile robot enters the signal coverage area of the charging pile, controlling the autonomous mobile robot to approach the charging pile according to the signal of the charging pile.

[0023] The present invention also provides a control device for an autonomous mobile robot, including a memory, a processor, and a computer program stored on the memory and running on the processor. When the processor executes the program, the steps of the above method for the autonomous mobile robot to find a charging pile are implemented.

[0024] The present invention also provides an autonomous mobile system, including a charging pile; and the autonomous mobile robot as described above.

[0025] According to the above solution, the ability of the robot to globally search for a charging pile can be improved. That is, when the autonomous mobile robot cannot sense the signal of the charging pile, by executing the above program of the present application, the robot can automatically find the charging pile signal through autonomous search for the pile, thereby avoiding the need to manually place the robot near or on the charging pile, reducing manual intervention, ensuring the intelligence and reliability of the robot, and improving the user experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] The embodiments of the present invention will be described in more detail below with reference to the drawings. The above and other objects, features, and advantages of the present invention will become more obvious. The drawings are used to further explain the embodiments of the present invention. The drawings form a part of the specification and are used together with the embodiments of the present invention to explain the present invention, and do not constitute a limitation to the present invention. In the drawings, the same reference numerals generally represent the same or similar components or steps.

[0027] Figure 1 is a top view of an autonomous mobile robot according to a preferred embodiment of the present invention;

[0028] Figure 2 is a bottom view of an autonomous mobile robot according to a preferred embodiment of the present invention;

[0029] Figure 3 is another top view of an autonomous mobile robot according to a preferred embodiment of the present invention;

[0030] Figure 4 is a side view of an autonomous mobile robot according to a preferred embodiment of the present invention;

[0031] Figure 5 is a flowchart of a method for an autonomous mobile robot to find a charging pile according to a preferred embodiment of the present invention;

[0032] Figures 6 - 10It is a schematic diagram of the principle of the method for an autonomous mobile robot to find a charging pile according to a preferred embodiment of the present invention;

[0033] Figure 11 Schematically shows the restricted area boundary of the autonomous mobile robot according to a preferred embodiment of the present invention;

[0034] Figure 12 Schematically shows the route of the autonomous mobile robot to find a charging pile when encountering a restricted area according to a preferred embodiment of the present invention. Detailed implementation manners

[0035] In order to make the objectives, technical solutions and advantages of the present invention more apparent, exemplary embodiments of the present invention will be described in detail below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments of the present invention. It should be understood that the present invention is not limited by the exemplary embodiments described herein. Based on the embodiments of the present invention described herein, all other embodiments obtained by those skilled in the art without creative efforts shall fall within the protection scope of the present invention.

[0036] Figure 1 and Figure 2 is a schematic structural diagram of an autonomous mobile robot shown according to an exemplary embodiment. The structure of the autonomous mobile robot will be described in detail below.

[0037] In the illustrated embodiment, the autonomous mobile robot is a cleaning robot 10. The cleaning robot 10 includes, in addition to the machine body 1 and the cleaning system, a sensing system, a control system, a driving system, an energy system, and a human-machine interaction system 9. The following will detail each main part of the cleaning robot.

[0038] The machine body 1 includes an upper cover, a front part 13, a rear part 14, a chassis 11, etc. The machine body 1 has an approximately circular shape (circular both front and rear), and may also have other shapes, including but not limited to an approximately D-shaped shape with a round front and a circular rear.

[0039] The sensing system includes a position determination device located above the machine body 1, a buffer, an ultrasonic sensor, an infrared sensor, a magnetometer, an accelerometer, a gyroscope, an odometer, and other sensing devices located in the front part 13 of the machine body 1. These sensing devices provide various position information and motion state information of the machine to the control system. The position determination device includes but is not limited to an infrared transmitting and receiving device, a camera, and a laser distance measurement device (LDS).

[0040] The cleaning system includes a dry cleaning part and a wet cleaning part. Among them, the wet cleaning part is the first cleaning part 2, and its main function is to wipe the surface to be cleaned (such as the ground) with a cleaning cloth 4 containing a cleaning liquid. The dry cleaning part is the second cleaning part, and its main function is to clean the fixed particulate pollutants on the surface to be cleaned through structures such as a sweeping brush.

[0041] As the dry cleaning part, the main cleaning function comes from the second cleaning part composed of a rotary brush 61, a dust box, a blower, an air outlet, and the connecting components between them. The rotary brush 61 that has a certain interference with the ground sweeps up the garbage on the ground and rolls it to the front of the dust suction port between the rotary brush 61 and the dust box, and then it is sucked into the dust box by the suction gas generated by the blower and passing through the dust box. The dust removal ability of the floor sweeper can be characterized by the dust pick-up efficiency DPU (Dust pick up efficiency) of the garbage. The cleaning efficiency DPU is affected by the structure and material of the rotary brush 61, affected by the wind utilization rate of the air duct composed of the dust suction port, the dust box, the blower, the air outlet, and the connecting components between them, and affected by the type and power of the blower. Compared with ordinary plug-in vacuum cleaners, the improvement of the dust removal ability is more significant for cleaning robots with limited energy. Because the improvement of the dust removal ability directly and effectively reduces the energy requirements. That is to say, a robot that could clean 80 square meters of the ground with one charge can be evolved into a robot that can clean 100 square meters or more with one charge. And the service life of the battery with fewer charging times will also be greatly increased, which will also increase the frequency of users replacing the battery. More intuitively and importantly, the improvement of the dust removal ability is the most obvious and important user experience, and users will directly draw the conclusion of whether it is swept clean / wiped clean. The dry cleaning system may also include a side brush 62 with a rotating shaft, and the rotating shaft forms a certain angle relative to the ground to be used for moving debris into the cleaning area of the rotary brush 61 of the second cleaning part.

[0042] As the wet cleaning part, the first cleaning part 2 mainly includes a liquid storage tank 3 and a cleaning cloth 4, etc. The liquid storage tank 3 serves as the basis for carrying other components of the first cleaning part 2. The cleaning cloth 4 is detachably arranged on the liquid storage tank 3. The liquid in the liquid storage tank 3 flows to the cleaning cloth 4, and the cleaning cloth 4 wipes the bottom surface after being swept by the rotary brush and the like.

[0043] The drive system is used to drive the machine body 1 and the components thereon to move for automatic walking and cleaning. The drive system includes drive wheel modules. The drive system can issue drive commands based on distance and angle information, such as x, y, and θ components, to control the robot to travel across the ground. The drive wheel modules can control the left and right wheels simultaneously. For more precise control of the movement of the machine, preferably, the drive wheel modules respectively include a left drive wheel module and a right drive wheel module. The left and right drive wheel modules are opposed (symmetrically arranged) along the transverse axis defined by the machine body 1. To enable the robot to move more stably on the ground or have stronger movement capabilities, the robot can include one or more driven wheels, and the driven wheels include, but are not limited to, omnidirectional wheels.

[0044] The drive wheel module includes a driving wheel, a drive motor, and a control circuit for controlling the drive motor. The drive wheel module can also be connected to a circuit for measuring the drive current and an odometer. The drive wheel module can be detachably connected to the machine body 1, which is convenient for disassembly, assembly, and maintenance. The drive wheel can have a biased-drop suspension system and is fastened in a movable manner, for example, rotatably attached, to the machine body 1 and is spring-biased downward and away from the machine body 1. The spring bias allows the drive wheel to maintain contact with the ground and traction with a certain ground contact force, while the cleaning elements (such as a rotary brush, etc.) of the robot also contact the ground with a certain pressure.

[0045] The forward part 13 of the machine body 1 can carry a buffer. During the cleaning process, when the drive wheel module propels the robot to walk on the ground, the buffer detects one or more events in the driving path of the robot through a sensor system, such as an infrared sensor. The robot can control the drive wheel module based on the events detected by the buffer, such as obstacles and walls, to make the robot respond to the events, such as moving away from the obstacles.

[0046] Generally, during the use of the robot, to prevent the robot from entering restricted areas in the home (such as areas where fragile items are placed, water-containing areas in the bathroom, etc.), preferably, the cleaning robot also includes a restricted area detector. The restricted area detector includes a virtual wall sensor. The virtual wall sensor will set a virtual wall according to the user's settings to define the restricted area. As Figure 11 shown, when the virtual wall sensor detects the virtual wall, it can control the drive wheel module to restrict the cleaning robot from crossing the boundary 25 of the restricted area (i.e., the virtual wall) and entering the restricted area.

[0047] In addition, during the use of the robot, to prevent the robot from falling, for example, on indoor stairs, high steps, etc., the restricted area detector also includes a cliff sensor. The cliff sensor will set a boundary according to the user's settings to define the restricted area. As Figure 11As shown, when the cliff sensor detects the boundary of the restricted area (i.e., the cliff edge), it can control the drive wheel module to limit the cleaning robot from crossing the boundary 25 of the restricted area, thus preventing the robot from falling off the steps.

[0048] The control system is set on the circuit main board inside the machine body 1 and includes a computing processor, such as a central processing unit or an application processor, communicating with a non-transitory memory, such as a hard disk, flash memory, or random access memory. The application processor uses a positioning algorithm, such as SLAM, to draw an instant map of the environment where the robot is located based on the obstacle information fed back by the laser ranging device. And by combining the distance information and speed information fed back by sensing devices such as a buffer, cliff sensor, ultrasonic sensor, infrared sensor, magnetometer, accelerometer, gyroscope, and odometer, it comprehensively judges the current working state of the sweeper, such as crossing a threshold, going onto a carpet, being at the cliff, being stuck above or below, the dust box being full, being picked up, etc. It will also give specific next action strategies for different situations, making the robot's work more in line with the owner's requirements and providing a better user experience. Further, the control system can plan the most efficient and reasonable cleaning path and cleaning method based on the instant map information drawn by SLAM, greatly improving the cleaning efficiency of the robot.

[0049] The energy system includes a rechargeable battery, such as a nickel-metal hydride battery and a lithium battery. The rechargeable battery can be connected with a charging control circuit, a battery pack charging temperature detection circuit, and a battery under-voltage monitoring circuit, and the charging control circuit, the battery pack charging temperature detection circuit, and the battery under-voltage monitoring circuit are then connected to the single-chip microcomputer control circuit. The main body is connected to the charging pile 21 (as Figure 6 shown) through the charging electrode set on the side or below of the fuselage for charging. If dust adheres to the exposed charging electrode, due to the charge accumulation effect during the charging process, it will cause the plastic body around the electrode to melt and deform, and even cause the electrode itself to deform, making it impossible to continue normal charging.

[0050] As Figure 3 and Figure 4 shown, the cleaning robot 10 is provided with a signal receiver 15 at the front end and the right end in the traveling direction to receive the signal emitted by the charging pile 21. Normally, when the robot departs from the charging pile 21, the system will remember the position of the charging pile 21. Therefore, when the robot finishes cleaning or the battery power is insufficient, it will control the drive wheel system to drive towards the position of the charging pile 21 stored in its memory and then go onto the pile for charging.

[0051] The human-machine interaction system 9 includes buttons on the main machine panel for users to select functions; it may also include a display screen and / or indicator lights and / or a speaker, which show the current state of the machine or function selection items to the user; it may also include a mobile phone client program. For a path-navigation type cleaning device, the mobile phone client can show the map of the environment where the device is located and the position of the machine to the user, and can provide more abundant and user-friendly function items.

[0052] To more clearly describe the behavior of the robot, the following direction definitions are made: The robot can move forward on the ground through various combinations of movements relative to the following three mutually perpendicular axes defined by the machine body 1: the front-back axis X (i.e., the axis along the forward part 13 and the backward part 14 of the machine body 1), the lateral axis Y (i.e., the axis perpendicular to the axis X and in the same horizontal plane as the axis X), and the central vertical axis Z (the axis perpendicular to the plane formed by the axis X and the axis Y). The forward driving direction along the front-back axis X is marked as "forward", and the backward driving direction along the front-back axis X is marked as "backward". The lateral axis Y substantially extends between the right wheel and the left wheel of the robot along the axis defined by the center point of the drive wheel module.

[0053] The robot can rotate around the Y axis. When the forward part of the robot tilts upward and the backward part tilts downward, it is "upward tilt", and when the forward part of the robot tilts downward and the backward part tilts upward, it is "downward tilt". In addition, the robot can rotate around the Z axis. In the forward direction of the robot, when the robot tilts to the right side of the X axis, it is "right turn", and when the robot tilts to the left side of the X axis, it is "left turn".

[0054] The dust box is installed in the accommodation cavity in a way of being clamped by a mechanical handle. When the handle is grasped, the clamping part contracts, and when the handle is released, the clamping part extends and is clamped in the groove in the accommodation cavity for accommodating the clamping part.

[0055] The following combines Figures 5 - 12 to describe in detail the method for an autonomous mobile robot according to the present invention to find a charging pile.

[0056] The situation where the method for an autonomous mobile robot according to the present invention to find a charging pile is most applicable is as follows: When the cleaning robot does not start from the charging pile 21, the position of the charging pile 21 is not stored in the memory of the robot, and when the cleaning robot and the charging pile 21 are at a very far distance (for example, more than 5 m) or there is an isolation belt between the cleaning robot and the charging pile 21, the robot cannot detect the signal of the charging pile 21. In this case, the robot needs to charge and needs to detect the signal of the charging pile 21.

[0057] The method for an autonomous mobile robot to find a charging pile according to the present invention generally adopts a scoring mechanism to control the robot to move as much as possible towards the position with the signal of the charging pile 21. However, since the position of the charging pile 21 cannot be determined, the present invention sets a mechanism to enable the robot to walk and find the pile in an optimized manner. Specifically, the robot is made to walk towards the relatively open area, because theoretically, the more open the area is, the easier it is to receive the pile signal. Therefore, the greater the probability of receiving the pile signal is when walking towards the more open area.

[0058] Specifically, as Figure 5 and Figure 6 shown, first, the processor of the robot controls the execution of program S1: determining the first effective area with the center of the autonomous mobile robot. Specifically, the robot takes itself as the center at the starting position to determine a circular area, and determines the first effective area 23 in this circular area. The radius of this circular area can be determined according to the model of the robot and the general area of the actual family. In one embodiment, the radius of this circular area is set to 1.5 m. Among them, the effective area does not include obstacles such as walls and does not include restricted areas. For example, an example of the effective area is Figure 6 the shaded part in the circular area of

[0059] Secondly, execute program S2: determining the best point on the boundary of the first effective area. Among them, the best point is the point where the remaining area is the largest here. The remaining area is defined as: the area of the remaining area that does not overlap with the first effective area of the second effective area determined with the best point as the center. Taking Figure 7 and Figure 8 as an example, in Figure 7 , assuming that A is the best point, then a circular second effective area 24 is determined with A as the center, and the remaining area is the area of the second effective area 24 that does not overlap with the first effective area 23 (that is, the shaded part in area 24). Similar to Figure 7 , Figure 8 the remaining area in is the area of the second effective area 24 determined with B as the center that does not overlap with the first effective area 23 (that is, the shaded part in area 24). Obviously, Figure 8 the remaining area in is larger than Figure 7 the remaining area in. Therefore Figure 8 the point B in is determined as the best point. In the actual application process, the robot can automatically determine the best point through the arithmetic program of its processor. Preferably, the detection radius when the robot determines the second effective area 24 is equal to the detection radius when determining the first effective area 23.

[0060] Next, perform step S3: control the center of the autonomous mobile robot to move to the optimal point; and step S4: when the autonomous mobile robot moves to the optimal point, repeat the above steps S1 - S3, that is, continue to determine the effective area with the center of the autonomous mobile robot, and continue to determine the optimal point on the boundary of the effective area. As Figure 9 and Figure 10 shown, according to the above method of determining the optimal point, obviously, Figure 10 the walking route of the robot in

[0061] is the optimal route. In this way, the robot can gradually tend to walk along the wide - area boundary until the robot first detects the charging pile signal, then the pile - searching step ends and enters the normal return - to - pile step.

[0062] As Figure 12 shown, when the next optimal point determined by the robot is inside the restricted area detected by the autonomous mobile robot, control the robot to move along the boundary 25 of the restricted area (that is, the virtual wall or the cliff edge) until the robot records the position of the restricted area. Specifically, the processor can mark the position of the restricted area on the constructed room map and store it in the memory, so as to control the robot not to return to the restricted area position.

[0063] The present invention also discloses a control device, including a memory, a processor, and a computer program stored on the memory and running on the processor, wherein the processor executes the above steps when executing the program. The present invention also discloses an autonomous mobile robot and an intelligent cleaning system including the control device, and the intelligent cleaning system includes a charging pile and the above - mentioned autonomous mobile robot.

[0064] The method for an autonomous mobile robot to find a charging pile, the control device of the autonomous mobile robot, the autonomous mobile robot, and the intelligent cleaning system according to the present invention can improve the global pile - searching ability of the robot. That is, when the autonomous mobile robot cannot sense the charging pile signal, by executing the above program of the present application, the robot can automatically find the charging pile signal through autonomous pile - searching, thereby avoiding the need to manually place the robot near or on the charging pile, reducing manual intervention, ensuring the intelligence and reliability of the robot, and improving the user experience.

[0065] Although example embodiments have been described herein with reference to the accompanying drawings, it should be understood that the above example embodiments are merely exemplary and are not intended to limit the scope of the present invention thereto. Those of ordinary skill in the art can make various changes and modifications therein without departing from the scope and spirit of the present invention. All such changes and modifications are intended to be included within the scope of the present invention as claimed in the appended claims.

[0066] In the specification provided herein, a large number of specific details are set forth. However, it can be understood that embodiments of the present invention may be practiced without these specific details. In some instances, well-known methods, structures, and techniques have not been shown in detail so as not to obscure the understanding of this specification.

[0067] In addition, those skilled in the art will understand that although some embodiments described herein include certain features included in other embodiments but not others, combinations of features of different embodiments are meant to be within the scope of the present invention and form different embodiments. For example, in the claims, any one of the claimed embodiments can be used in any combination.

[0068] As described above, the above is only the specific implementation manner of the present invention or the description of the specific implementation manner. The protection scope of the present invention is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present invention can easily think of changes or substitutions, which should be covered by the protection scope of the present invention. The protection scope of the present invention shall be subject to the protection scope of the claims.

Claims

1. An autonomous mobile robot, characterized in that, comprising: a machine body; a drive system for driving the machine body and components thereon to move for automatic walking; a signal receiver disposed at the front end of the machine body for receiving signals emitted by a charging pile; a control system disposed within the machine body for drawing an instant map of the environment where the autonomous mobile robot is located and planning a walking route based on the instant map; during the process of the autonomous mobile robot searching for the charging pile, the signal receiver determines whether the autonomous mobile robot is located within the signal coverage area of the charging pile. When the autonomous mobile robot is not located within the signal coverage area of the charging pile, the control system controls the drive system to drive the machine body to walk towards an open area according to the instant map of the environment where the autonomous mobile robot is located, controlling the drive system to drive the machine body to walk towards the open area includes the following steps: S1: Determine a first effective area with the center of the autonomous mobile robot, and the first effective area is a circular area determined with the robot as the center; S2: Determine the best point on the boundary of the first effective area, where the remaining area at the best point is the largest, and the remaining area is defined as: the area of the remaining area of the second effective area that does not overlap with the first effective area, where the second effective area is determined with the best point as the center, where the radius of the first effective area is equal to the radius of the second effective area, and neither the first effective area nor the second effective area includes obstacles or restricted areas; S3: Control the center of the autonomous mobile robot to move to the best point; S4: Repeat steps S1 - S3 until the autonomous mobile robot first receives the signal of the charging pile.

2. The autonomous mobile robot according to claim 1, characterized in that, when the autonomous mobile robot enters the signal coverage area of the charging pile, the control system controls the drive system to drive the machine body to approach the charging pile according to the signal of the charging pile received by the signal receiver.

3. The autonomous mobile robot according to claim 1 or 2, characterized in that, further comprising: a laser ranging device for feeding back obstacle information of the environment where the autonomous mobile robot is located.

4. The autonomous mobile robot according to claim 1 or 2, characterized in that, further comprising: a restricted area detector.

5. The autonomous mobile robot according to claim 4, characterized in that, the restricted area detector includes a virtual wall and / or a cliff sensor.

6. The autonomous mobile robot according to claim 5, characterized in that, the instant map includes the virtual wall and / or the cliff edge detected by the restricted area detector.

7. A method for an autonomous mobile robot to search for a charging pile, characterized in that, comprising: drawing an instant map of the environment where the autonomous mobile robot is located and planning a walking route based on the instant map; Determine whether the autonomous mobile robot is located in the signal coverage area of the charging pile; When the autonomous mobile robot is not located in the signal coverage area of the charging pile, control the autonomous mobile robot to walk towards the open area according to the instant map of the environment where the autonomous mobile robot is located. Controlling the autonomous mobile robot to walk towards the open area includes the following steps: S1: Determine a first effective area with the center of the autonomous mobile robot. The first effective area is a circular area determined with the robot as the center. S2: Determine the best point on the boundary of the first effective area. Among them, the remaining area at the best point is the largest. The remaining area is defined as: the area of the remaining area of the second effective area that does not overlap with the first effective area. The second effective area is determined with the best point as the center. Among them, the radius of the first effective area is equal to the radius of the second effective area. Neither the first effective area nor the second effective area includes obstacles and does not include restricted areas. S3: Control the center of the autonomous mobile robot to move to the best point. S4: Repeat steps S1 - S3 until the autonomous mobile robot first receives the signal of the charging pile.

8. According to the method described in claim 7, wherein, further comprising: When the autonomous mobile robot enters the signal coverage area of the charging pile, control the autonomous mobile robot to approach the charging pile according to the signal of the charging pile.

9. A control device for an autonomous mobile robot, wherein, comprises a memory, a processor, and a computer program stored on the memory and running on the processor. The processor, when executing the program, implements the steps of the method described in claim 7 or 8.

10. An autonomous mobile system, wherein, comprises: A charging pile; and An autonomous mobile robot according to any one of claims 1 to 6.

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