Robot and method for docking with a charging station, control device and storage medium

Abstract

The application discloses a robot and a docking charging base method, a control device and a storage medium thereof. The method comprises the following steps: scanning the surrounding environment by using the laser radar of the robot to obtain scanning data; determining the charging base scanned according to the scanning data; determining the relative position of the robot relative to the charging base based on the scanning data; and controlling the robot to dock with the charging base by using the relative position. Since the shape of the charging base is obviously different from the objects in the environment, the charging base can be easily scanned and recognized by the existing laser radar on the robot, and then the relative position of the charging base relative to the robot is determined to realize the docking of the robot and the charging base. Since the laser radar is the existing mechanical structure of the robot itself, and the infrared receiver and the infrared emitter do not need to be additionally arranged on the robot and the charging base, the manufacturing cost can be reduced, and the method is simple, expandable and the like.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of robot control, and in particular to a robot, a docking charging base method thereof, a control device and a storage medium. BACKGROUND

[0002] With the development of science and technology, robots are increasingly applied in people's daily life, such as common sweeping robots, mopping robots, and more advanced robot butlers, etc. The application of these robots in the family makes people's life more comfortable and convenient. However, since the use of robots, the charging problem of robots must be involved. The existing robot charging is divided into manual charging and automatic charging of robots. Automatic charging is more convenient and intelligent than manual charging.

[0003] The existing automatic charging of robots is achieved by docking the infrared receiver provided by the robot and the infrared transmitter provided on the charging base.

[0004] However, during the production of robots, the consistency, stability and installation consistency of the infrared receiver and the infrared transmitter themselves are difficult to guarantee. The infrared signal is prone to interference, reflection and other abnormalities, and requires one receiver and one transmitter, which is relatively high in cost and has the risk of device damage. SUMMARY

[0005] The present application aims to solve the above problems in the prior art and provides a robot, a docking charging base method thereof, a control device and a storage medium. The purpose is achieved through the following technical solutions.

[0006] The first aspect of the present application provides a method for docking a robot charging base, the method comprising:

[0007] scanning the surrounding environment using the laser radar of the robot to obtain scanning data;

[0008] determining that a charging base is scanned according to the scanning data, and determining the relative position of the robot relative to the charging base based on the scanning data;

[0009] controlling the robot to dock with the charging base using the relative position.

[0010] In some embodiments of the present application, the scanning of the surrounding environment using the laser radar of the robot to obtain scanning data comprises:

[0011] path planning according to pre-stored charging base position information, and controlling the robot to move according to the planned path;

[0012] In the process of moving the robot, scanning the surrounding environment using the laser radar to obtain scanning data.

[0013] In some embodiments of the present application, the determining, according to the scanning data, that a charging base is scanned, comprises:

[0014] obtaining pre-stored charging base shape features;

[0015] screening, from the scanning data, scanning data that conforms to the charging base shape features;

[0016] upon screening the scanning data that conforms to the charging base shape features, determining that a charging base is scanned.

[0017] In some embodiments of the present application, the determining, based on the scanning data, the relative position of the robot relative to the charging base, comprises:

[0018] determining, using the screened scanning data that conforms to the charging base shape features, the relative position of the robot relative to the charging base.

[0019] In some embodiments of the present application, the method can further comprise:

[0020] after the robot is docked with the charging base, upon detecting that the robot leaves the charging base, scanning and identifying, using the lidar, current shape features and current position information of the charging base;

[0021] updating, using the current shape features and the current position information, respectively, pre-stored charging base shape features and charging base position information.

[0022] In some embodiments of the present application, the updating, using the current shape features and the current position information, respectively, pre-stored charging base shape features and charging base position information, comprises:

[0023] comparing the current shape features with pre-stored charging base shape features;

[0024] according to a result of the comparison being inconsistent, updating the pre-stored charging base shape features using the current shape features;

[0025] comparing the current position information with pre-stored charging base position information;

[0026] according to a result of the comparison being inconsistent, updating the pre-stored charging base position information using the current position information.

[0027] In some embodiments of the present application, the method further comprises:

[0028] sensing, by a sensor on the robot, a ground clearance of the robot;

[0029] According to the off-ground distance being greater than the preset distance, after the robot is docked with the charging base, current shape features and current position information of the charging base are scanned and identified by using the laser radar when it is detected that the robot leaves the charging base.

[0030] The second aspect of the present application provides a robot docking charging base control device, which comprises a memory, a processor and a computer program stored on the memory and executable on the processor, and the processor implements the steps of the method according to the first aspect.

[0031] The third aspect of the present application provides a robot, comprising:

[0032] The robot docking charging base control device according to the second aspect;

[0033] A laser radar arranged on a side of the robot away from the ground, which is used to scan the surrounding environment of the robot and obtain scanning data.

[0034] The fourth aspect of the present application provides a computer readable storage medium, which stores a computer program, and the program is executed by a processor to implement the steps of the method according to the first aspect.

[0035] Based on the robot and the docking charging base method, the control device and the storage medium according to the first aspect to the fourth aspect, the technical scheme of the present application has the following beneficial effects or advantages:

[0036] Since the shape of the charging base is obviously different from that of the objects in the environment, the charging base can be easily scanned and identified by the existing laser radar on the robot, and then the relative position of the charging base to the robot is determined to realize the docking of the robot and the charging base. Since the laser radar is a mechanical structure already existing in the robot itself, and does not need to additionally set infrared receivers and infrared emitters on the robot and the charging base respectively, the manufacturing cost can be reduced, and the implementation is simple and has strong scalability. BRIEF DESCRIPTION OF DRAWINGS

[0037] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or prior art description. Obviously, the drawings in the following description are only some embodiments of the present application, and for those skilled in the art, other drawings can also be obtained from the structures shown in the drawings without creative labor.

[0038] Figure 1 A structural schematic diagram of a robot according to the present application is shown;

[0039] Figure 2 Fig. 1 is a flowchart of a method for robot docking with a charging station according to an exemplary embodiment of the present application;

[0040] Figure 3 Fig. 2 is a top view of a laser radar scanning on a robot according to an exemplary embodiment of the present application;

[0041] Figure 4 Fig. 3 is a perspective view of a charging station according to an exemplary embodiment of the present application;

[0042] Figure 5 Fig. 4 is a diagram of registration of scanning data with pre-stored charging station shape features according to an exemplary embodiment of the present application;

[0043] Figure 6 Fig. 5 is a diagram of a robot completing docking with a charging station according to an exemplary embodiment of the present application;

[0044] Figure 7 Fig. 6 is another diagram of a robot completing docking with a charging station according to an exemplary embodiment of the present application;

[0045] Figure 8 Fig. 7 is a diagram of updating of pre-stored charging station shape features and charging station position information in a robot according to an exemplary embodiment of the present application; Figure 2

[0046] Fig. 8 is another diagram of updating of pre-stored charging station shape features and charging station position information in a robot according to an exemplary embodiment of the present application; Figure 9

[0047] Fig. 9 is a diagram of a robot docking with a charging station control device according to an exemplary embodiment of the present application; Figure 10

[0048] Fig. 10 is a diagram of a storage medium according to an exemplary embodiment of the present application. Figure 11 The implementation, functional features and advantages of the present application will be further described with reference to the accompanying drawings in conjunction with the embodiments.

[0049] DETAILED DESCRIPTION DETAILED DESCRIPTION

[0050] The technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the protection scope of the present application.

[0051] It should be noted that all directional indications, such as upper, lower, left, right, front, back, etc., are only used to explain the relative position relationship, movement condition, etc. between components in a certain posture (as shown in the drawings), and if the certain posture changes, the directional indications will also change accordingly.

[0052] In addition, the description such as "first", "second" and the like in the present application is only for the purpose of description, and cannot be understood as indicating or implying the relative importance of the indicated technical features or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first", "second" can be explicitly or implicitly included at least one of the features. In the description of the present application, the meaning of "a plurality of" is at least two, for example, two, three, etc., unless otherwise specifically limited.

[0053] In the present application, unless otherwise specifically defined and limited, the terms "connection", "fixing" and the like should be understood broadly, for example, "fixing" can be fixed connection, or detachable connection, or integral; can be mechanical connection, or electrical connection; can be direct connection, or indirect connection through intermediate medium; can be internal communication of two elements or interaction relationship between two elements, unless otherwise specifically limited. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0054] In addition, the technical solutions of each embodiment of the present application can be combined with each other, but it must be based on the fact that a person skilled in the art can realize it, when the combination of technical solutions appears contradictory or unachievable, it should be considered that the combination of technical solutions does not exist, and is not within the protection scope required by the present application.

[0055] To solve the problem of high cost caused by the additional infrared sensor (including infrared receiver and infrared emitter) for realizing the docking of the robot to the charging seat in the traditional robot recharging, the present application provides a robot, as shown in the robot structure schematic diagram, which comprises a robot body 10, a robot docking charging seat control device 20 and a laser radar 30. Figure 1

[0056] Specifically, the robot body 10 is used for moving, which is electrically connected with the robot docking charging seat control device 20, and the laser radar 30 is arranged on the side of the robot body 10 away from the ground, that is, the laser radar 30 is arranged at the front of the robot. During the movement of the robot, the rotating laser head of the laser radar 30 can be controlled to rotate 360 degrees to scan the environment around the robot, so as to realize obstacle avoidance and path planning.

[0057] ​Optionally, the robot docking charging base control device 20 can be independent of the robot body 10, and of course can be integrated in the robot body 10, which is not limited in the present application.

[0058] It should be noted that the robot body 10 is provided with a motion module, a control module, various sensors and other structures for realizing the construction of the robot's environment map and path planning.

[0059] Based on the functional description of the above various structures, the control principle of the robot docking charging base control device 20 is:

[0060] When the robot needs to dock with the charging base, the surrounding environment is scanned in real time by using the laser radar 30 to obtain scanning data, and it is determined whether the charging base is scanned according to the scanning data. If it is determined that the charging base is scanned, the relative position of the robot relative to the charging base is determined based on the scanning data, and the relative position is used to control the robot to dock with the charging base.

[0061] Based on the above description, the technical effects that can be achieved are:

[0062] Since the shape of the charging base is obviously different from the objects in the environment, the charging base can be easily scanned and recognized by the existing laser radar on the robot, and then the relative position of the charging base relative to the robot is determined to realize the docking of the robot and the charging base. Since the laser radar is a mechanical structure that already exists in the robot itself, and does not need to additionally set up an infrared receiver and an infrared emitter on the robot and the charging base respectively, the manufacturing cost can be reduced, and the implementation is simple and has strong scalability.

[0063] In order for those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be described clearly and completely below in conjunction with the drawings in the embodiments of the present application.

[0064] Embodiment one:

[0065] Figure 2 An embodiment flowchart of a robot docking charging base method according to an exemplary embodiment of the present application is shown, and the robot to which the robot docking charging base method is applied includes a laser radar 30 as shown. Figure 1 The robot is taken as a sweeping robot as an example for illustrative description, as shown. Figure 2 The robot docking charging base method includes the following steps:

[0066] Step 201: Scanning the surrounding environment by using the laser radar to obtain scanning data.

[0067] In one optional implementation, the robot monitors its own battery level in real time during movement. When the battery level is detected to be below a certain value, the robot is triggered to dock with the charging dock, thereby controlling the LiDAR to scan the robot's surrounding environment to obtain scanning data.

[0068] In another optional implementation, during the robot's movement, it is also monitored in real time whether it needs to return to the charging dock for dust collection. When it is detected that dust collection is required, the robot docks with the charging dock, thereby controlling the LiDAR to scan the robot's surrounding environment to obtain scanning data.

[0069] It should be noted that the scanning data acquired by the lidar is specifically a series of coordinate point cloud data. These coordinate point cloud data are all generated by the response signals returned by objects in the surrounding environment, and these coordinate point clouds are all coordinate points in a two-dimensional scanning coordinate system with the lidar as the origin. The plane formed by this two-dimensional scanning coordinate system is parallel to the ground.

[0070] like Figure 3 The image shows a top-view diagram of the two-dimensional scanning coordinate system used in the LiDAR scanning process. In the scanned coordinate point cloud, the horizontal axis represents the distance between the object and the LiDAR in the x-direction, and the vertical axis represents the distance between the object and the LiDAR in the y-direction.

[0071] In one optional embodiment, the location of the charging dock usually does not change when the processing area where the robot is located remains unchanged. Therefore, when the process of the robot docking with the charging dock is triggered, path planning can be performed based on the historical records of the location of the charging dock, and the robot can be controlled to move along the planned path. During the robot's movement, the surrounding environment is scanned by the LiDAR to obtain scanning data, so that the LiDAR can scan the charging dock as early as possible and improve the docking efficiency between the robot and the charging dock.

[0072] Step 202: Determine whether a charging dock has been scanned based on the scan data. If yes, proceed to step 203; otherwise, return to step 201.

[0073] In one optional embodiment, since the charging dock is a known mechanical structure, the robot can pre-store the shape features of the charging dock, which are pre-scanned and identified by the lidar on the robot.

[0074] like Figure 4 The diagram shown is a 3D representation of the charging dock. The docking slot of the charging dock is used to connect with the robot, providing charging or dust removal functions. The robot's LiDAR scans the charging dock in a horizontal plane parallel to the ground, identifying its shape features, specifically the shape of the docking slot. Figure 5As shown, the laser radar scans the charging base, and the identified docking slot shape feature 50 includes the straight features on both sides of the docking slot and the bottom edge feature of the docking slot, and the bottom edge is located between the two straight lines.

[0075] As can be seen, the charging base shape feature is specifically the top view shape feature of the docking slot on the charging base.

[0076] Based on this, in the process of judging whether the charging base is scanned, the pre-stored charging base shape feature can be obtained, and then the scanning data conforming to the charging base shape feature is screened from the scanning data. If the scanning data conforming to the charging base shape feature is screened, it is determined that the charging base is scanned. If the scanning data conforming to the charging base shape feature is not screened, it is determined that the charging base is not scanned, and step 201 needs to be returned to obtain scanning data and continue to judge.

[0077] In a specific implementation, for the process of screening the scanning data conforming to the charging base shape feature from the scanning data, the scanning data can be pre-processed, and then the pre-processed scanning data is matched with the pre-stored charging base shape feature. If there is scanning data matched with the charging base shape feature, it means that the scanning data conforms to the charging base shape feature.

[0078] Optionally, the pre-processing of the scanning data includes removing discrete isolated coordinate points and screening coordinate points with a certain trajectory shape.

[0079] Continuing to refer to Figure 5 As shown, the data of the pre-stored charging base shape feature is mapped into a two-dimensional scanning coordinate system of the laser radar to obtain a series of coordinate point cloud trajectories 50. The coordinate point cloud trajectory 50 is matched with the scanning data to obtain a coordinate point cloud trajectory 40 matched with the coordinate point cloud trajectory 50. The coordinate point cloud trajectory 40 is the scanning data of the docking slot on the charging base scanned by the laser radar.

[0080] It can be understood that the application can use related technologies to implement the matching of the scanning data and the charging base shape feature, and the matching algorithm used is not specifically limited.

[0081] Step 203: determining the relative position of the robot relative to the charging base based on the scanning data.

[0082] In an optional specific embodiment, based on the description of the above step 202, the scanning data conforming to the charging base shape feature screened can be used to determine the relative position of the robot relative to the charging base.

[0083] As Figure 5As shown, the coordinate point cloud track 40 is the screened scanning data conforming to the shape feature of the charging base, and the relative position of the robot relative to the charging base is calculated by using the coordinate point cloud track 40 and the current position of the robot.

[0084] The relative position of the robot relative to the charging base can be the distance along the x direction, the distance along the y direction in the two-dimensional scanning coordinate system of the laser radar, and the yaw angle of the robot relative to the charging base.

[0085] Step 204: The relative position is used to control the robot to dock with the charging base.

[0086] In an optional embodiment, the robot can perform path planning based on the relative position, and move to the vicinity of the charging base according to the planned path, and then complete docking with the charging base according to the specific docking requirements of the robot.

[0087] For example, as shown in the Figure 6 The specific docking requirement of the robot is to align the tail of the robot with the docking slot of the charging base to complete docking with the charging base.

[0088] As shown in the Figure 7 The specific docking requirement of the robot is to align the tail of the robot with the docking slot of the charging base to complete docking with the charging base.

[0089] At this point, the docking process shown in the above Figure 2 The charging base has a distinct shape from the objects in the environment, so it can be easily scanned and recognized by the existing laser radar on the robot, and then the relative position of the charging base relative to the robot is determined to achieve docking between the robot and the charging base. Since the laser radar is a mechanical structure already existing in the robot itself, and does not require additional infrared receivers and infrared emitters to be separately provided on the robot and the charging base, the manufacturing cost is reduced, and the implementation is simple and has strong scalability.

[0090] Embodiment two:

[0091] Figure 8 The updating process of the charging base shape feature pre-stored in the robot according to the embodiment shown in the Figure 2 The updating process of the charging base shape feature pre-stored in the robot according to the embodiment shown in the Figure 2 The updating process of the charging base shape feature pre-stored in the robot according to the embodiment shown in the

[0092] Step 301: After the robot and the charging base complete docking, it is detected whether the robot leaves the charging base, if yes, step 302 is performed, and if no, step 301 is continuously performed.

[0093] It should be noted that in actual application, when the charging base of the robot fails, the charging base will be replaced, if the shape of the replaced charging base is different from that of the replaced charging base, and the robot stores the shape of the replaced charging base, then the robot will inevitably fail to dock when performing the automatic docking charging base process. In addition, if the charging base is moved to other floors, the docking failure problem will also occur.

[0094] To solve the above technical problem of docking failure, the present application can scan and identify the shape characteristics of the current charging base after the robot completes docking with the charging base each time, whether it is achieved by using the above Figure 2 automatic docking process, or the user moves the robot to the docking slot of the charging base, the shape characteristics of the current charging base can be scanned and identified by using the laser radar after the robot leaves the charging base.

[0095] Step 302: Scanning and identifying the current shape characteristics and current position information of the charging base by using the laser radar.

[0096] Step 303: Updating the pre-stored charging base shape characteristics and charging base position information by using the current shape characteristics and current position information respectively.

[0097] In an optional specific embodiment, when updating the charging base shape characteristics, the current shape characteristics can be compared with the pre-stored charging base shape characteristics, if the comparison is inconsistent, it means that the charging base has been replaced and its shape has changed, then the stored charging base shape characteristics are updated by using the newly scanned current shape characteristics, so that the robot can use the updated charging base shape characteristics to register the scanning data next time for automatic docking, to improve the success rate of automatic docking, if the comparison is consistent, it means that the charging base has not changed, and the stored charging base shape characteristics do not need to be updated.

[0098] Therefore, by verification and comparison, the number of times of updating the stored charging base shape characteristics can be reduced.

[0099] Further, when updating the charging base position information, the current position information can be compared with the pre-stored charging base position information, if the comparison is inconsistent, it means that the charging base position has changed, then the pre-stored charging base position information is updated by using the current position information, so that the robot can use the updated charging base position information to plan the path next time for automatic docking, and control the scanning data of the laser radar, so that the laser radar can scan the charging base as soon as possible, to improve the docking efficiency of the robot and the charging base.

[0100] Thus, the above Figure 8The updating flow shown, after the robot completes docking with the charging base and realizes its own demand function each time, when leaving the charging base, will use the laser radar to scan and identify the current shape features and current position information of the charging base again, and use the newly scanned current shape features to update the stored charging base shape features, to avoid the problem of subsequent automatic docking failure caused by replacing the charging base. By updating the stored charging base shape, the charging base docking success rate can be improved. In addition, by using the newly scanned current position information to update the stored charging base position information, the laser radar can scan the charging base early, and the docking efficiency of the robot and the charging base can be improved.

[0101] Embodiment three:

[0102] Figure 9 For the present application according to Figure 8 Another updating flow of the pre-stored charging base shape features in the robot shown in the embodiment is shown in the figure, which is based on the above Figure 2 And Figure 8 The updating process of the charging base shape features includes the following steps:

[0103] Step 401: sensing the ground clearance of the robot by the sensor on the robot.

[0104] Step 402: if the ground clearance is greater than the preset distance, after the robot and the charging base complete docking, according to the detection that the robot leaves the charging base, use the laser radar to scan and identify the current shape features and current position information of the charging base.

[0105] It should be noted that if it is detected that the robot has left the ground, it means that the robot has been moved, and it is likely that the charging base has been replaced, so the user needs to move the robot to the docking slot of the charging base to complete docking. Therefore, if it is detected that the robot leaves the charging base, the laser radar needs to be used to scan and identify the current shape features of the charging base, and the stored charging base shape features need to be updated to avoid the problem of subsequent automatic docking failure.

[0106] Step 403: use the laser radar to scan and identify the current shape features and current position information of the charging base.

[0107] For the process of steps 402 and 403, please refer to the related description in the above Figure 8 Embodiment, which will not be repeated here.

[0108] So far, the above Figure 9The updating flow shown, if the robot leaves the ground and is moved, in order to avoid the problem of subsequent automatic docking failure, needs to scan and identify the current shape features of the charging base again after the robot leaves the charging base, to update the stored charging base shape features, so that the docking success rate of the charging base can be improved.

[0109] The embodiment of the application also provides a robot docking charging base control device corresponding to the robot docking charging base method provided by the foregoing embodiment, to execute the robot docking charging base method.

[0110] Figure 10 A hardware structure diagram of a robot docking charging base control device according to an exemplary embodiment of the application is shown, and the robot docking charging base control device comprises a communication interface 701, a processor 702, a memory 703 and a bus 704; wherein the communication interface 701, the processor 702 and the memory 703 complete communication with each other through the bus 704. The processor 702 can execute the robot docking charging base method described above by reading and executing the machine executable instructions corresponding to the control logic of the robot docking charging base method in the memory 703, and the specific content of the method is described in the foregoing embodiment, which will not be repeated here.

[0111] The memory 703 mentioned in the application can be any electronic, magnetic, optical or other physical storage device, and can contain stored information such as executable instructions, data, etc. Specifically, the memory 703 can be a RAM (Random Access Memory), a flash memory, a storage drive (such as a hard disk drive), any type of storage disk (such as an optical disk, a DVD, etc.), or a similar storage medium, or a combination thereof. The communication connection between the system network element and at least one other network element is realized through at least one communication interface 701 (which can be wired or wireless), and the Internet, a wide area network, a local network, a metropolitan area network, etc. can be used.

[0112] The bus 704 can be an ISA bus, a PCI bus or an EISA bus, etc. The bus can be divided into an address bus, a data bus, a control bus, etc. The memory 703 is used to store programs, and the processor 702 executes the programs after receiving execution instructions.

[0113] The processor 702 can be an integrated circuit chip with signal processing capability. In implementation, each step of the above method can be completed by integrated logic circuits or instructions in the form of software in the processor 702. The processor 702 described above can be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; can also be a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a ready programmable gate array (FPGA) or other programmable logic device, a discrete gate or transistor logic device, a discrete hardware component. Each method, step and logic block diagram disclosed in the embodiments of the present application can be implemented or executed. The general-purpose processor can be a microprocessor or the processor can also be any conventional processor. The steps of the method disclosed in combination with the embodiments of the present application can be directly embodied as a hardware code processor for execution, or a combination of hardware and software modules in the code processor for execution.

[0114] The robot docking charging seat control device provided by the embodiments of the present application and the robot docking charging seat method provided by the embodiments of the present application have the same inventive concept, and have the same beneficial effects as the method adopted, run or implemented by the application program stored therein.

[0115] The present application also provides a computer readable storage medium corresponding to the robot docking charging seat method provided by the preceding embodiments. Please refer to Figure 11 The computer readable storage medium shown is a CD, and a computer program (i.e. program product) is stored thereon. When the computer program is run by a processor, the robot docking charging seat method provided by any of the preceding embodiments will be executed.

[0116] It should be noted that examples of the computer readable storage medium can also include, but are not limited to, a phase change memory (PRAM), a static random access memory (SRAM), a dynamic random access memory (DRAM), other types of random access memory (RAM), a read-only memory (ROM), an electrically erasable programmable read-only memory (EEPROM), a flash memory or other optical, magnetic storage medium, which will not be described one by one here.

[0117] The computer readable storage medium provided by the above embodiments of the present application and the robot docking charging seat method provided by the embodiments of the present application have the same inventive concept, and have the same beneficial effects as the method adopted, run or implemented by the application program stored therein.

[0118] Other embodiments of the application will be apparent to those skilled in the art from consideration of the specification and practice of the application disclosed herein. It is intended that the specification and examples be considered as exemplary only, with the true scope and spirit of the application being indicated by the following claims.

[0119] The above descriptions are only the preferred embodiment of the application, not intended to limit the application and any modification, equivalent replacement and improvement made within the spirit and principle of the application shall be included in the protection scope of the application.

Claims

1. A method of robotic docking to a charging station, the method comprising: The method comprises: scanning the surrounding environment by using the laser radar of the robot to obtain scanning data; determining that a charging base is scanned according to the scanning data, and determining the relative position of the robot relative to the charging base based on the scanning data; controlling the robot to dock with the charging base by using the relative position; after the robot and the charging base complete docking, according to detection that the robot leaves the charging base, scanning and identifying the current shape feature and the current position information of the charging base by using the laser radar; updating the pre-stored charging base shape feature and charging base position information respectively by using the current shape feature and the current position information; sensing the ground clearance of the robot by using the sensor on the robot; according to the ground clearance being greater than a preset distance, performing, after the robot and the charging base dock, according to detection that the robot leaves the charging base, scanning and identifying the current shape feature and the current position information of the charging base by using the laser radar.

2. The method of claim 1, wherein, The scanning of the surrounding environment by using the laser radar of the robot to obtain scanning data comprises: path planning according to the pre-stored charging base position information, and controlling the robot to move according to the planned path; during the movement of the robot, scanning the surrounding environment by using the laser radar to obtain scanning data.

3. The method of claim 2, wherein, The determination that a charging base is scanned according to the scanning data comprises: obtaining the pre-stored charging base shape feature; screening scanning data conforming to the charging base shape feature from the scanning data; when scanning data conforming to the charging base shape feature is screened, determining that a charging base is scanned.

4. The method of claim 3, wherein, The determination of the relative position of the robot relative to the charging base based on the scanning data comprises: determining the relative position of the robot relative to the charging base by using the screened scanning data conforming to the charging base shape feature.

5. The method of claim 1, wherein, The updating of the pre-stored charging base shape feature and charging base position information respectively by using the current shape feature and the current position information comprises: comparing the current shape feature with the pre-stored charging base shape feature; according to the inconsistent result of comparison, updating the pre-stored charging base shape feature by using the current shape feature; comparing the current position information with the pre-stored charging base position information; according to the inconsistent result of comparison, updating the pre-stored charging base position information by using the current position information.

6. A robotic docking station control device, the device comprising a memory, a processor, and a computer program stored on the memory and executable on the processor, wherein, The processor executes the computer program to realize the steps of the method according to any one of claims 1-5.

7. A robot, characterized in that Comprise: the robot docking charging base control device according to the above claim 6; the laser radar is arranged on the side of the robot away from the ground, which is used for scanning the surrounding environment of the robot and obtaining scanning data.

8. A computer-readable storage medium having stored thereon a computer program, characterized in that, The program is executed by the processor to realize the steps of the method according to any one of claims 1-5. The program is executed by the processor to realize the steps of the method according to any one of claims 1-5.

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