Method and device for returning a robot to a charging station, robot, and storage medium

Abstract

The application provides a method and device for returning a robot to a charging pile, the robot, and a storage medium. A first end of the robot is provided with three inductors. A first inductor is arranged perpendicularly to the ground. A second inductor and a third inductor are arranged parallel to the ground and symmetrically on both sides of the first inductor. The charging pile is provided with two symmetrical power coils. The method comprises the following steps: according to the sensing data of the first inductor on the two power coils, the robot is controlled to run to a middle position where the first inductor is located on the middle line between the two power coils; according to the sensing data of the second inductor on the first power coil and the sensing data of the third inductor on the second power coil, the first distance between the second inductor and the first power coil and the second distance between the third inductor and the second power coil are determined; and according to the two distances, the robot is controlled to return to the charging pile from the middle position. The cost of returning the robot to the pile is reduced, and the success rate of returning the robot to the pile is high.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of robots, and in particular to a method and device for returning a robot to a charging pile, a robot, and a storage medium. BACKGROUND

[0002] With the increasing maturity of robot technology, the application scenarios of robots are becoming more and more extensive, for example, a meal delivery robot for meal delivery, a sweeping robot for environmental cleaning, a mower, etc. As robots play an increasingly important role in various fields, the public demand for robot intelligence is also increasing.

[0003] In recent years, the autonomous line patrol function of robots has become a research hotspot. In the related art, when a robot needs to return to a charging pile after work or during work, a combination of laser and distance measurement and position measurement sensors is usually used to achieve automatic line patrol and pile return of the robot. However, this method uses a large number of sensors, and the hardware design and production cost and the software design cost are both relatively high. Moreover, when a sensor is abnormal or the robot is disturbed by the outside world, the automatic pile return may fail, and the pile return success rate is low. SUMMARY

[0004] The present application aims to at least partially solve one of the technical problems in the related art.

[0005] To this end, a first object of the present application is to provide a method for returning a robot to a charging pile to solve the problem of high hardware design and production cost and software design cost and low pile return success rate in the related art.

[0006] A second object of the present application is to provide a device for returning a robot to a charging pile.

[0007] A third object of the present application is to provide a robot.

[0008] A fourth object of the present application is to provide a computer-readable storage medium.

[0009] To achieve the above object, the first aspect of the present application provides a method for returning a robot to a charging pile, wherein a first end of the robot is provided with a first inductor, a second inductor and a third inductor; the first inductor is arranged vertically to the ground; the second inductor and the third inductor are arranged symmetrically laterally on both sides of the first inductor; the charging pile is provided with a first energized coil and a second energized coil arranged symmetrically; the method comprises: controlling the robot to run to an intermediate position where the first inductor is located on a middle line between the first energized coil and the second energized coil according to the inductive data of the first inductor to the first energized coil and the second energized coil; determining a first distance between the second inductor and the first energized coil and a second distance between the third inductor and the second energized coil according to the inductive data of the second inductor to the first energized coil and the inductive data of the third inductor to the second energized coil; and controlling the robot to return to the charging pile from the intermediate position according to the first distance and the second distance.

[0010] The method for returning a robot to a charging pile provided by the present application controls the robot to run to an intermediate position where the first inductor is located on a middle line between the first energized coil and the second energized coil according to the inductive data of the first inductor to the first energized coil and the second energized coil, determines a first distance between the second inductor and the first energized coil and a second distance between the third inductor and the second energized coil according to the inductive data of the second inductor to the first energized coil and the inductive data of the third inductor to the second energized coil, and controls the robot to return to the charging pile from the intermediate position according to the first distance and the second distance. Since the autonomous pile returning of the robot can be realized only according to the inductive data of the inductor to the energized coil, the hardware design complexity and the software algorithm complexity of the robot pile returning are reduced, thereby reducing the cost and improving the pile returning success rate.

[0011] According to one embodiment of the present application, the controlling the robot to run to an intermediate position where the first inductor is located on a middle line between the first energized coil and the second energized coil according to the inductive data of the first inductor to the first energized coil and the second energized coil comprises: when it is determined that the first inductor is located in a coverage area of the first energized coil or a coverage area of the second energized coil and the robot meets a preset pile returning condition according to the first distance and the second distance, controlling the robot to rotate to the intermediate position in a direction close to the intermediate position.

[0012] According to one embodiment of the present application, the method of controlling the robot to run to the intermediate position where the first inductor is located on the middle line between the first energized coil and the second energized coil according to the inductive data of the first inductor to the first energized coil and the second energized coil comprises: when it is determined that the first inductor is located in the coverage area of the first energized coil or the coverage area of the second energized coil, and according to the first distance and the second distance, it is determined that the robot does not meet the preset pile returning condition, the robot is controlled to: first step, rotate to the intermediate position or outside the charging pile in the direction close to the intermediate position; second step, advance a preset distance and rotate to the intermediate position in the direction close to the intermediate position; third step, when it is determined that the robot meets the preset retreat condition, retreat from the coverage area of the first energized coil or the coverage area of the second energized coil and re-enter the coverage area of the first energized coil or the coverage area of the second energized coil; fourth step, repeat the first step to the third step until the retreat condition is not met.

[0013] According to one embodiment of the present application, the retreat condition comprises: the retreat times are less than or equal to a preset number threshold, and / or the first distance or the second distance is less than or equal to a first preset distance threshold.

[0014] According to one embodiment of the present application, the preset pile returning condition comprises: the angle between the robot and the intermediate position is less than or equal to a preset angle threshold, and / or the first distance and the second distance are less than a second preset distance threshold; wherein the angle between the robot and the intermediate position is determined by: determining the angle between the line connecting the second inductor and the third inductor and the intermediate position according to the first distance, the second distance, and the distance between the second inductor and the third inductor; and determining the angle between the robot and the intermediate position according to a preset angle value and the angle between the line and the intermediate position.

[0015] According to one embodiment of the present application, the method of controlling the robot to return to the charging pile from the intermediate position according to the first distance and the second distance comprises: controlling the robot to advance and obtaining the difference between the first distance and the second distance; determining the rotation angle of the robot according to the difference; and controlling the robot to rotate by the rotation angle.

[0016] According to one embodiment of the present application, the energized current of the first energized coil and the second energized coil has the same value, and the direction of the energized current of the first energized coil and the second energized coil is opposite.

[0017] According to one embodiment of the present application, the robot is a mower.

[0018] To achieve the above object, the second aspect of the present application provides a device for returning a robot to a charging pile, wherein a first inductor, a second inductor and a third inductor are arranged at a middle position of a first end of the robot; the first inductor is arranged vertically to the ground; the second inductor and the third inductor are arranged symmetrically laterally on both sides of the first inductor; the charging pile is provided with a first energized coil and a second energized coil arranged symmetrically; the device comprises: a first control module, configured to control the robot to run to a middle position where the first inductor is located on a middle line between the first energized coil and the second energized coil according to sensing data of the first inductor on the first energized coil and the second energized coil; a determination module, configured to determine a first distance between the second inductor and the first energized coil and a second distance between the third inductor and the second energized coil according to sensing data of the second inductor on the first energized coil and sensing data of the third inductor on the second energized coil; and a second control module, configured to control the robot to return to the charging pile from the middle position according to the first distance and the second distance.

[0019] The device for returning a robot to a charging pile provided by the present application controls the robot to run to a middle position where the first inductor is located on a middle line between the first energized coil and the second energized coil according to sensing data of the first inductor on the first energized coil and the second energized coil, determines a first distance between the second inductor and the first energized coil and a second distance between the third inductor and the second energized coil according to sensing data of the second inductor on the first energized coil and sensing data of the third inductor on the second energized coil, and controls the robot to return to the charging pile from the middle position according to the first distance and the second distance. The autonomous pile returning of the robot can be realized only according to the sensing data of the inductor on the energized coil, which reduces the hardware design complexity and the software algorithm complexity of the robot pile returning, thereby reducing the cost and improving the pile returning success rate.

[0020] According to one embodiment of the present application, the first control module is specifically configured to: when it is determined that the first inductor is located in a coverage area of the first energized coil or a coverage area of the second energized coil and the robot meets a preset pile returning condition according to the first distance and the second distance, control the robot to rotate to the middle position in a direction close to the middle position.

[0021] According to an embodiment of the present application, the first control module is further configured to: when it is determined that the first inductor is located in the coverage area of the first energized coil or the coverage area of the second energized coil, and the robot does not meet a preset pile returning condition according to the first distance and the second distance, control the robot to: first, rotate to the intermediate position or outside the charging pile in a direction close to the intermediate position; second, advance a preset distance and rotate to the intermediate position in a direction close to the intermediate position; third, when it is determined that the robot meets a preset retreat condition, retreat out of the coverage area of the first energized coil or the coverage area of the second energized coil and re-enter the coverage area of the first energized coil or the coverage area of the second energized coil; and fourth, repeat the first to third steps until the retreat condition is not met.

[0022] According to an embodiment of the present application, the retreat condition includes that the number of retreats is less than or equal to a preset number threshold, and / or the first distance or the second distance is less than or equal to a first preset distance threshold.

[0023] According to an embodiment of the present application, the preset pile returning condition includes that the angle between the robot and the intermediate position is less than or equal to a preset angle threshold, and / or the first distance and the second distance are less than a second preset distance threshold; wherein the angle between the robot and the intermediate position is determined by: determining the angle between the line connecting the second inductor and the third inductor and the intermediate position according to the first distance, the second distance, and the distance between the second inductor and the third inductor; and determining the angle between the robot and the intermediate position according to a preset angle value and the angle between the line and the intermediate position.

[0024] According to an embodiment of the present application, the second control module is configured to: control the robot to advance and obtain the difference between the first distance and the second distance; determine the rotation angle of the robot according to the difference; and control the robot to rotate by the rotation angle.

[0025] According to an embodiment of the present application, the energized currents of the first energized coil and the second energized coil have the same value and opposite directions.

[0026] According to an embodiment of the present application, the robot is a mower.

[0027] To achieve the above object, the third aspect of the present application provides a robot, a first end middle position of the robot is provided with a first inductor, a second inductor and a third inductor; the first inductor is arranged vertically to the ground; the second inductor and the third inductor are arranged parallel to the ground and symmetrically laterally on both sides of the first inductor, the robot further comprises: at least one processor; and a memory in communication connection with the at least one processor; wherein the memory stores instructions executable by the at least one processor, the instructions are executed by the at least one processor to enable the at least one processor to execute the method for returning to the charging pile of the robot according to the first aspect of the present application.

[0028] To achieve the above object, the fourth aspect of the present application provides a computer readable storage medium, which stores a computer program, the program is executed by a processor to realize the method for returning to the charging pile of the robot according to the first aspect of the present application. BRIEF DESCRIPTION OF DRAWINGS

[0029] Figure 1 Fig. 1 is a layout schematic diagram of an inductor in a robot provided by an embodiment of the present application;

[0030] Figure 2 Fig. 2 is another layout schematic diagram of an inductor in a robot provided by an embodiment of the present application;

[0031] Figure 3 Fig. 3 is a connection relationship schematic diagram of an inductor and a processor in a robot provided by an embodiment of the present application;

[0032] Figure 4 Fig. 4 is another connection relationship schematic diagram of an inductor and a processor in a robot provided by an embodiment of the present application;

[0033] Figure 5 Fig. 5 is a schematic diagram of a first distance between a second inductor and a first energized coil and a second distance between a third inductor and a second energized coil provided by an embodiment of the present application;

[0034] Figure 6 Fig. 6 is a flow chart of a method for returning to a charging pile of a robot according to an embodiment of the present application;

[0035] Figure 7 Fig. 7 is a schematic diagram of arranging an energized coil on a charging pile according to an embodiment of the present application;

[0036] Figure 8 Fig. 8 is a flow chart of another method for returning to a charging pile of a robot according to an embodiment of the present application;

[0037] Figure 9 Fig. 9 is a schematic diagram of each area of a charging pile according to an embodiment of the present application;

[0038] Figure 10 is a flowchart of another method for a robot to return to a charging pile provided by an embodiment of the present application;

[0039] Figures 11-15 is a schematic diagram of a positional relationship between a robot and a charging pile provided by an embodiment of the present application;

[0040] Figure 16 is a flowchart of controlling a robot to return to a charging pile from an intermediate position;

[0041] Figure 17 is a flowchart of another method for a robot to return to a charging pile provided by an embodiment of the present application;

[0042] Figure 18 is a flowchart of another method for a robot to return to a charging pile provided by an embodiment of the present application;

[0043] Figures 19-26 is a schematic diagram of a positional relationship between a robot and a charging pile provided by an embodiment of the present application;

[0044] Figure 27 is a structural diagram of a device for a robot to return to a charging pile provided by an embodiment of the present application;

[0045] Figure 28 is a structural diagram of a robot provided by an embodiment of the present application. DETAILED DESCRIPTION

[0046] Embodiments of the present application are described in detail below, examples of which are shown in the accompanying drawings, in which the same or similar reference numerals represent the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by reference to the accompanying drawings are exemplary and are intended to explain the present application, and cannot be understood as limiting the present application.

[0047] In the related art, when a robot needs to return to a charging pile after working or during working, a combination of laser and distance measuring and position measuring sensors is usually used to achieve automatic line-patrolling and pile-returning of the robot. However, this method uses a large number of sensors, and the hardware design and manufacturing cost and the software design cost are both relatively high. In addition, when a sensor is abnormal or the robot is disturbed by the outside world, the automatic pile-returning is likely to fail, and the pile-returning success rate is low.

[0048] The embodiments of the present application mainly aim at the technical problems existing in the prior art, and provide a method and device for returning a charging pile by a robot, the robot, and a storage medium, wherein a first inductor, a second inductor, and a third inductor are arranged at a middle position of a first end of the robot; the first inductor is arranged vertically to the ground; the second inductor and the third inductor are arranged symmetrically laterally on two sides of the first inductor and parallel to the ground; a first energized coil and a second energized coil are arranged symmetrically on the charging pile; when the robot returns to the charging pile, the robot is controlled to run to a middle position where the first inductor is located on a middle line between the first energized coil and the second energized coil according to sensing data of the first inductor to the first energized coil and the second energized coil; a first distance between the second inductor and the first energized coil and a second distance between the third inductor and the second energized coil are determined according to sensing data of the second inductor to the first energized coil and sensing data of the third inductor to the second energized coil; and then the robot is controlled to return to the charging pile from the middle position according to the first distance and the second distance. Since the autonomous returning of the robot to the charging pile can be realized only according to the sensing data of the inductors to the energized coils, the hardware design complexity and the software algorithm complexity of the returning of the robot to the charging pile are reduced, thereby reducing the cost and improving the success rate of the returning.

[0049] The method, device, robot, and storage medium for returning a charging pile by a robot according to the embodiments of the present application are described below in combination with the drawings.

[0050] To clearly illustrate the method, device, robot, and storage medium for returning a charging pile by a robot according to the embodiments of the present application, first, the method, device, robot, and storage medium for returning a charging pile by a robot according to the embodiments of the present application are described in combination with the drawings. Figures 1-5 The inductors arranged on the robot are described.

[0051] Figure 1 is a layout schematic diagram of the inductors in the robot provided by the embodiments of the present application, Figure 2 is another layout schematic diagram of the inductors in the robot provided by the embodiments of the present application. Wherein, Figure 1 is a top view, Figure 2 is a front view (the robot 2 is not shown in Figure 2 ).

[0052] As shown in Figure 1 and Figure 2 , the first end of the robot 2 can be provided with the first inductor 11, the second inductor 12, and the third inductor 13.

[0053] Wherein, the first inductor 11 is arranged vertically to the ground, and the sensing data obtained by sensing is used to determine the inside-outside relationship between the first inductor 11 and the energized coil;

[0054] The second inductor 12 and the third inductor 13 are arranged parallel to the ground, and the second inductor 12 and the third inductor 13 are arranged symmetrically laterally on two sides of the first inductor 11. The inductive data sensed by the second inductor 12 is used to determine the distance relationship between the second inductor 12 and the energized coil, and the inductive data sensed by the third inductor 13 is used to determine the distance relationship between the third inductor 13 and the energized coil.

[0055] The first inductor 11, the second inductor 12, and the third inductor 13 can be self-inductors.

[0056] It can be understood that the energized coil can be arranged in a predetermined manner. In an exemplary embodiment, the energized coil is arranged horizontally relative to the ground, and the energized coil is energized with a current signal of a specific frequency, such as a 20KHZ (Kilohertz) PWM wave signal, so that a magnetic field can be generated in the area where the energized coil is located. In an exemplary embodiment, when the robot 2 is a mower, the horizontally arranged energized coil can be an energized coil surrounded by a boundary guide line of a mowing area, or it can also be an energized coil arranged on the base plate of a charging pile, wherein the energized coil can be arranged on the upper surface or the lower surface of the base plate of the charging pile, which is not limited in the present application.

[0057] The first inductor 11 is arranged vertically relative to the ground, and when the first inductor 11 is near the horizontally arranged energized coil, the first inductor 11 can sense the magnetic field generated by the energized coil and generate inductive data. Since the first inductor 11 is located inside and outside the energized coil, the size of the inductive data such as the voltage signal is different, so the inside and outside relationship between the first inductor 11 and the horizontally arranged energized coil can be determined according to the inductive data sensed by the first inductor 11. The present application takes the horizontally arranged energized coil as an example for description.

[0058] In addition, the second inductor 12 and the third inductor 13 are arranged parallel to the ground and symmetrically laterally on two sides of the first inductor 11. Taking the second inductor 12 as an example, when the second inductor 12 is near the energized coil, the second inductor 12 can sense the magnetic field generated by the energized coil and generate inductive data. Since the distance between the second inductor 12 and the energized coil is different, the size of the inductive data such as the voltage signal generated by the second inductor 12 is different, so the distance relationship between the second inductor 12 and the energized coil can be determined according to the inductive data sensed by the second inductor 12. Similarly, the distance relationship between the third inductor 13 and the energized coil can be determined according to the inductive data sensed by the third inductor 13.

[0059] In an exemplary embodiment, as shown in Figure 1 and Figure 2As shown, the second inductor 12 and the third inductor 13 can be arranged on the circuit board 14. Among them, the first inductor 11 is arranged in the middle of the circuit board 14 vertically to the circuit board 14, and the second inductor 12 and the third inductor 13 are arranged parallel to the circuit board 14, and the second inductor 12 and the third inductor 13 are arranged symmetrically laterally on both sides of the first inductor 11.

[0060] When the robot 2 returns to the charging pile by using the inductor, the circuit board 14 can be arranged on the robot 2 parallel to the ground, so that the first inductor 11 is perpendicular to the ground, and the second inductor 12 and the third inductor 13 are parallel to the ground, so as to ensure that the first inductor 11 can sense the sensing data, the second inductor 12 can sense the sensing data, and the third inductor 13 can sense the sensing data.

[0061] In the example embodiment, the first inductor 11, the second inductor 12 and the third inductor 13 can be arranged at the middle position of the first end of the robot 2, wherein the first end can be the front end of the robot 2, so that the robot 2 can determine the inside-outside relationship between the first inductor 11 and the energized coil according to the sensing data of the first inductor 11 to the energized coil, and determine the distance relationship between the second inductor 12 and the energized coil according to the sensing data of the second inductor 12 to the energized coil, and determine the distance relationship between the third inductor 13 and the energized coil according to the sensing data of the third inductor 13 to the energized coil, and then control the robot 2 to return to the charging pile according to the inside-outside relationship between the first inductor 11 and the energized coil, and the distance relationship between the second inductor 12 and the third inductor 13 and the energized coil. Among them, when the first inductor 11, the second inductor 12 and the third inductor 13 are arranged at the middle position of the first end of the robot 2, the first inductor 11, the second inductor 12 and the third inductor 13 can be placed on the upper surface of the middle position of the front end of the robot 2, or horizontally pasted on the side surface of the middle position of the front end of the robot 2, and the present application embodiment does not limit this.

[0062] Specifically, the robot 2 can be provided with a processor 21, so as to determine the relative position relationship of the robot 2 relative to the charging pile by the processor 21 according to the sensing data collected by the first inductor 11, the sensing data collected by the second inductor 12 and the sensing data collected by the third inductor 13, so as to control the robot 2 to accurately return to the charging pile.

[0063] As Figure 3As shown, the first inductor 11 can be connected to the processor 21, allowing it to transmit its collected induced data to the processor 21. The processor 21 then determines the inner / outer relationship between the first inductor 11 and the energized coil based on this data. The second inductor 12 and the third inductor 13 can also be connected to the processor 21, transmitting their respective collected induced data. The processor 21 then determines the distance between the second inductor 12 and the energized coil based on the data transmitted by the second inductor 12, and the distance between the third inductor 13 and the energized coil based on the data transmitted by the third inductor 13. Based on the inner / outer relationship of the first inductor 11 and the energized coil, and the distance relationships between the second and third inductors 12 and the energized coil, the processor 21 can control the robot 2 to return to the charging station.

[0064] In an exemplary embodiment, such as Figure 4 As shown, an intermediate circuit 23 can also be set on the robot 2, and the first inductor 11 is connected to the processor 21 through the intermediate circuit 23. Wherein, Figure 3 and Figure 4 24 is the drive wheel of robot 2.

[0065] The intermediate circuit 23 may include an amplifier circuit 231 and a comparator circuit 232. The amplifier circuit 231 is connected to both the first inductor 11 and the comparator circuit 232, and can amplify the induced data generated on the first inductor 11. The comparator circuit 232 is connected to the processor 21, and can perform square wave processing on the amplified induced data according to a preset voltage threshold and provide it to the processor 21. Since the duty cycle of the induced data after square wave processing is different when the first inductor 11 is located inside or outside the energized coil, the processor 21 can determine whether the first inductor 11 is located inside or outside the energized coil based on the duty cycle of the induced data.

[0066] The preset voltage threshold can be set as needed, and this application embodiment does not impose any restrictions on it.

[0067] It should be noted that, in the exemplary embodiment, the number of energizing coils can be set as needed. For example, one energizing coil can be set in the charging pile area, or two energizing coils can be symmetrically set in the charging pile area. This application does not limit this.

[0068] When there is only one energized coil, the inner and outer relationships between the first inductor 11 and the energized coil can be determined based on the induction data of the first inductor 11 on the energized coil. The distance relationships between the second inductor 12 and the third inductor 13 and the energized coil can be determined based on the induction data of the second inductor 12 and the third inductor 13 on the energized coil, respectively.

[0069] When there are multiple energized coils, the inner and outer relationships between the first inductor 11 and the multiple energized coils can be determined based on the induction data of the first inductor 11 on the multiple energized coils. The distance between the second inductor 12 and a certain energized coil can be determined based on the induction data of the second inductor 12 on a certain energized coil. The distance between the third inductor 13 and a certain energized coil can be determined based on the induction data of the third inductor 13 on a certain energized coil.

[0070] by Figure 5 For example, suppose the first inductor 11, the second inductor 12, and the third inductor 13 are located at the middle position of the front end of the robot 2. Figure 5 The dashed lines 31 and 32 represent the horizontally positioned energizing coils on the charging pile. Assume two energizing coils are symmetrically positioned on the charging pile, with the left coil 31 being the first energizing coil and the right coil 32 the second energizing coil. The two coils do not share any line segments and carry the same current in opposite directions. Since the two energizing coils are located close to each other in the middle area of ​​the charging pile, therefore... Figure 5 The example shown uses only a dotted line.

[0071] Based on the induction data of the first inductor 11 on the first and second energized coils, the inner and outer relationships between the first inductor 11 and the first and second energized coils can be determined. Based on the induction data of the second inductor 12 on the first energized coil, the distance between the second inductor 12 and the first energized coil can be determined. Based on the induction data of the third inductor 13 on the second energized coil, the distance between the third inductor 13 and the second energized coil can be determined.

[0072] In this embodiment of the application, the distance between the second inductor 12 and the energized coil can be the shortest distance between the second inductor 12 and the energized coil wire, and the distance between the third inductor 13 and the energized coil can be the shortest distance between the third inductor 13 and the energized coil wire.

[0073] refer to Figure 5 Since the distance between the second inductor 12 and the first energized coil is the shortest in the intermediate region between the second inductor 12 and the second energized wire, the distance between the second inductor 12 and the first energized coil can be... Figure 5The vertical distance A of the third inductor 13 to the energized wire of the middle region between the first energized coil and the second energized coil. It should be noted that since the first energized coil and the second energized coil are close to the position of the energized wire in the middle region of the working region, the distance between the second inductor 12 and the first energized coil can also be understood as the vertical distance of the second inductor 12 to the middle line between the first energized coil and the second energized coil, and the distance between the third inductor 13 and the second energized coil can also be understood as the vertical distance of the third inductor 13 to the middle line between the first energized coil and the second energized coil. Figure 5 The vertical distance A of the third inductor 13 to the energized wire of the middle region between the first energized coil and the second energized coil. It should be noted that since the first energized coil and the second energized coil are close to the position of the energized wire in the middle region of the working region, the distance between the second inductor 12 and the first energized coil can also be understood as the vertical distance of the second inductor 12 to the middle line between the first energized coil and the second energized coil, and the distance between the third inductor 13 and the second energized coil can also be understood as the vertical distance of the third inductor 13 to the middle line between the first energized coil and the second energized coil.

[0074] It can be understood that when the distance between the first inductor 11 and the second inductor 12 and the distance between the first inductor 11 and the third inductor 13 are too small, the difference between the induction data collected by the second inductor 12 and the induction data collected by the third inductor 13 is small, and the difference between the distance between the second inductor 12 and the energized coil and the distance between the third inductor 13 and the energized coil is also small, so that the relative position relationship of the robot 2 relative to the charging pile cannot be accurately determined according to the distance between the second inductor 12 and the energized coil and the distance between the third inductor 13 and the energized coil, so as to control the robot 2 to accurately return to the charging pile. Therefore, in the embodiment of the present application, the distance between the first inductor 11 and the second inductor 12 and the distance between the first inductor 11 and the third inductor 13 are greater than or equal to a preset threshold, so that the robot 2 can accurately determine the relative position relationship of the robot 2 and the charging pile when the robot 2 returns to the pile autonomously by using the inductor.

[0075] The preset threshold can be set as needed, and the embodiment of the present application does not limit it.

[0076] The method for the robot to return to the charging pile provided by the embodiment of the present application will be described in detail below. Figure 6 The method for the robot to return to the charging pile provided by the embodiment of the present application will be described in detail below.

[0077] Figure 6 The method for the robot to return to the charging pile provided by the embodiment of the present application will be described in detail below.

[0078] The method for the robot to return to the charging pile provided by the embodiment of the present application can be executed by the device for the robot to return to the charging pile provided by the embodiment of the present application, which is referred to as a pile returning device below. The pile returning device can be configured in the robot to realize the autonomous line returning of the robot. In an exemplary embodiment, the pile returning device can be a processor in the robot.

[0079] The robot can be any type of robot such as a mower, a sweeper, etc. The embodiments of the present application do not limit the robot.

[0080] As shown in Figure 6 the method for returning to the charging pile of the robot provided by the embodiments of the present application comprises the following steps:

[0081] Step 101: According to the inductive data of the first inductor on the first energized coil and the second energized coil, the robot is controlled to run to the middle position of the first inductor on the middle line between the first energized coil and the second energized coil.

[0082] Specifically, the first end of the robot is provided with the first inductor, the second inductor and the third inductor, the first inductor is arranged vertically to the ground, the second inductor and the third inductor are arranged parallel to the ground and symmetrically on both sides of the first inductor.

[0083] The energized coil is arranged symmetrically on the charging pile, and a magnetic field can be generated in the charging pile area. In an exemplary embodiment, the arrangement of the energized coil on the charging pile can be as shown in Figure 7 It should be noted that the charging pile includes a chassis, and the energized coil can be arranged on the upper surface or the lower surface of the chassis.

[0084] As shown in Figure 7 the first energized coil 31 can be arranged in the left half area of the charging pile 3, and the second energized coil 32 can be arranged in the right half area of the charging pile 3, the first energized coil 31 and the second energized coil 32 are symmetrical, the values of the energized currents of the first energized coil 31 and the second energized coil 32 are the same, and the directions of the energized currents of the first energized coil 31 and the second energized coil 32 are opposite. It should be noted that since the positions of the energized wires of the first energized coil 31 and the second energized coil 32 are close in the middle area of the charging pile, only one dotted line is taken as an example for illustration in the drawings of the embodiments of the present application. The arrangement of the energized coil on the charging pile is taken as an example for illustration in the embodiments of the present application. Figure 7

[0085] The middle position is located on the middle line between the first energized coil and the second energized coil, and can be any position in the area of the middle line between the first energized coil and the second energized coil in the charging pile area.

[0086] It can be understood that the first energized coil and the second energized coil can generate a magnetic field in the charging pile area, and in the embodiments of the present application, the robot can be controlled to run to the middle position of the first inductor on the middle line between the first energized coil and the second energized coil according to the inductive data of the first inductor on the first energized coil and the second energized coil. ​

[0087] In step 102, the first distance between the second inductor and the first energized coil and the second distance between the third inductor and the second energized coil are determined according to the inductive data of the second inductor to the first energized coil and the inductive data of the third inductor to the second energized coil.

[0088] It can be understood that during the robot running, the first distance between the second inductor and the first energized coil can be determined in real time according to the inductive data of the second inductor to the first energized coil, and the second distance between the third inductor and the second energized coil can be determined in real time according to the inductive data of the third inductor to the second energized coil.

[0089] The first distance between the second inductor and the first energized coil is the shortest distance from the second inductor to the first energized coil, and the second distance between the third inductor and the second energized coil is the shortest distance from the third inductor to the second energized coil.

[0090] It should be noted that when the energized coils are arranged in the manner shown in Figure 7 If the first inductor is located at the middle position of the middle line between the first energized coil and the second energized coil, as shown in Figure 5 The first distance is the vertical distance from the second inductor to the middle line between the first energized coil and the second energized coil, and the second distance is the vertical distance from the third inductor to the middle line between the first energized coil and the second energized coil.

[0091] In the embodiments of the present application, steps 101 and 102 can be executed simultaneously, or step 101 can be executed first and then step 102 can be executed, or step 102 can be executed first and then step 101 can be executed. The present application does not limit the execution time of steps 101 and 102.

[0092] In step 103, the robot is controlled to return to the charging pile from the middle position according to the first distance and the second distance.

[0093] It can be understood that when the energized coils are arranged on the charging pile in the manner shown in Figure 7 When the robot runs to the middle position of the middle line between the first energized coil and the second energized coil, the robot can return to the charging pile from the middle position, and during the process of returning to the charging pile, the pose of the robot can be adjusted to make the robot always run along the energized coil in the middle area of the charging pile until the robot is in place.

[0094] In specific implementation, during the process that the robot returns to the charging pile from the middle position, the pose of the robot can be adjusted in real time according to the first distance and the second distance, so as to realize the precise returning of the robot to the energized coil in the middle area.

[0095] The method for returning the robot to the charging pile according to the robot returning the charging pile method provided in the application embodiment can return the robot to the charging pile only by using the inductive data of the inductor, reduces the hardware design complexity and the software algorithm complexity, and can return the robot to the charging pile accurately without the user arranging a long guide line, thereby saving the user burden and use cost. Moreover, the relative position relationship of the robot relative to the charging pile can be accurately determined by using the inductive data of the inductor, so that the robot can accurately patrol the line, and then the robot can be accurately returned to the charging pile, the pile returning process is not easily affected by external interference such as light, and the pile returning success rate is improved.

[0096] The method for returning the robot to the charging pile provided in the application embodiment can control the robot to run to the middle position of the first inductor located on the middle line between the first energized coil and the second energized coil according to the inductive data of the first inductor to the first energized coil and the second energized coil, determine the first distance between the second inductor and the first energized coil and the second distance between the third inductor and the second energized coil according to the inductive data of the second inductor to the first energized coil and the inductive data of the third inductor to the second energized coil, and then control the robot to return to the charging pile from the middle position according to the first distance and the second distance. Since the robot can be returned to the charging pile autonomously only by using the inductive data of the inductor to the energized coil, the hardware design complexity and the software algorithm complexity of the robot returning to the charging pile are reduced, thereby reducing the cost, and the pile returning success rate is high.

[0097] The method for returning the robot to the charging pile provided in the application embodiment will be further described below. Figure 8 The method for returning the robot to the charging pile provided in the application embodiment will be further described below.

[0098] Figure 8 The method for returning the robot to the charging pile provided in the application embodiment will be further described below. Figure 7 The method for returning the robot to the charging pile provided in the application embodiment will be further described below.

[0099] As shown in FIG. 1, the method for returning the robot to the charging pile provided in the application embodiment can include the following steps: Figure 8 As shown in FIG. 1, the method for returning the robot to the charging pile provided in the application embodiment can include the following steps:

[0100] Step 201, determining a first distance between the second inductor and the first energized coil and a second distance between the third inductor and the second energized coil according to the inductive data of the second inductor to the first energized coil and the inductive data of the third inductor to the second energized coil.

[0101] Specifically, when the robot returns to the charging pile, the first distance between the second inductor and the first energized coil can be determined according to the inductive data of the second inductor to the first energized coil in the advancing process of the robot, and the second distance between the third inductor and the second energized coil can be determined according to the inductive data of the third inductor to the second energized coil. Moreover, the inside-outside relationship between the first inductor and the first energized coil and the second energized coil can be determined according to the inductive data of the first inductor to the first energized coil and the second energized coil.

[0102] In step 202, when it is determined that the first inductor is located in the coverage area of the first energized coil or the coverage area of the second energized coil, and the robot meets the preset pile returning condition according to the first distance and the second distance, the robot is controlled to rotate to the intermediate position in the direction close to the intermediate position.

[0103] In step 203, the robot is controlled to return to the charging pile from the intermediate position according to the first distance and the second distance.

[0104] Specifically, in the advancing process of the robot, the inside-outside relationship between the first inductor and the first energized coil and the second energized coil can be determined according to the inductive data of the first inductor to the first energized coil and the second energized coil, and then the region where the first inductor is located can be determined according to the inside-outside relationship between the first inductor and the first energized coil and the second energized coil, the first distance and the second distance. The region where the first inductor is located can include a charging pile region and a non-charging pile region, wherein the charging pile region includes the coverage area of the first energized coil, the coverage area of the second energized coil, and the region where the middle line between the first energized coil and the second energized coil is located.

[0105] When the energized coils are arranged in the manner shown in FIG. 8, the coverage area of the first energized coil can be region A' shown in FIG. 8, the coverage area of the second energized coil can be region C' shown in FIG. 8, and the region where the middle line between the first energized coil and the second energized coil is located can be region B' shown in FIG. 8. The non-charging pile region is the region outside regions A', B' and C'. Figure 7 Figure 9 Figure 9 Figure 9 Figure 9 a is the boundary of the coverage area of the second energized coil, b is the boundary of the second energized coil, and c is the boundary of the supporting plate of the charging pile.

[0106] ​​​​In the example embodiment, when the first inductor is located in the non-charging pile region, the robot is switched to the coverage region of the first energized coil or the coverage region of the second energized coil, and the first distance and the second distance are both less than the third preset distance threshold, it can be determined that the first inductor is located in the region of the middle line between the first energized coil and the second energized coil; when the first inductor is located outside the first energized coil and the second energized coil, and the first distance and the second distance are both greater than or equal to the third preset distance threshold, it can be determined that the first inductor is located in the non-charging pile region; when the first inductor is located inside the first energized coil and outside the second energized coil, it can be determined that the first inductor is located in the coverage region of the first energized coil; when the first inductor is located inside the second energized coil and outside the first energized coil, it can be determined that the first inductor is located in the coverage region of the second energized coil. The third preset distance threshold can be set as needed, and the example embodiment does not limit this.

[0107] In the example embodiment, when the robot is switched from the first inductor being located in the non-charging pile region to the coverage region of the first energized coil or the coverage region of the second energized coil, the pile returning device can determine whether the robot meets the preset pile returning condition according to the first distance and the second distance.

[0108] The preset pile returning condition is used to determine whether the robot is controlled to return to the charging pile from the intermediate position on the middle line between the first energized coil and the second energized coil after the robot is operated to the intermediate position by one rotation, or whether the robot is controlled to return to the charging pile from the intermediate position after the robot is operated to the intermediate position by adjusting the pose of the robot multiple times. When the robot meets the preset pile returning condition, the robot is controlled to rotate to the intermediate position in the direction close to the intermediate position, and then the robot is controlled to return to the charging pile from the intermediate position. When the robot does not meet the preset pile returning condition, the robot is operated to the intermediate position by adjusting the pose of the robot multiple times, and then the robot is controlled to return to the charging pile from the intermediate position.

[0109] In the example embodiment, the preset pile returning condition can include that the angle between the robot and the intermediate position is less than or equal to a preset angle threshold, and / or the first distance and the second distance are less than a second preset distance threshold.

[0110] The preset angle threshold and the second preset distance threshold can be set as needed, and the example embodiment does not limit this.

[0111] The angle between the robot and the intermediate position is determined according to the first distance, the second distance, and the distance between the second inductor and the third inductor, to determine the angle between the line connecting the second inductor and the third inductor and the intermediate position; and according to the preset angle value and the angle between the line and the intermediate position, to determine the angle between the robot and the intermediate position.

[0112] The angle between the robot and the intermediate position can be understood as the angle between the longitudinal symmetry center line of the robot and the center line between the first energized coil and the second energized coil. The longitudinal direction here can be perpendicular to the line connecting the second inductor and the third inductor.

[0113] The preset angle value can be 90 degrees.

[0114] Specifically, the preset angle value, the angle between the line connecting the second inductor and the third inductor and the intermediate position, and the difference between the two angle values, i.e., the angle between the robot and the intermediate position.

[0115] It can be understood that when the angle between the robot and the intermediate position is less than or equal to the preset angle threshold, it indicates that the yaw angle of the robot relative to the direction of the center line between the first energized coil and the second energized coil is small, and at this time, the robot is controlled to run once to the intermediate position where the first inductor is located on the center line between the first energized coil and the second energized coil, and then the robot is controlled to return to the charging pile from the intermediate position, so as to realize the accurate return of the robot to the charging pile. When the first distance between the second inductor and the first energized coil and the second distance between the third inductor and the second energized coil are both less than the second preset distance threshold, it indicates that the distance from the first inductor to the center line between the first energized coil and the second energized coil is small, and at this time, the robot is controlled to run once to the intermediate position where the first inductor is located on the center line between the first energized coil and the second energized coil, and then the robot is controlled to return to the charging pile from the intermediate position, so as to realize the accurate return of the robot to the charging pile. When the angle between the robot and the intermediate position is less than or equal to the preset angle threshold, and the first distance between the second inductor and the first energized coil and the second distance between the third inductor and the second energized coil are both less than the second preset distance threshold, it indicates that the yaw angle of the robot relative to the direction of the center line between the first energized coil and the second energized coil is small, and the distance from the first inductor to the center line between the first energized coil and the second energized coil is small, and at this time, the robot is controlled to run once to the intermediate position where the first inductor is located on the center line between the first energized coil and the second energized coil, and then the robot is controlled to return to the charging pile from the intermediate position, so as to realize the accurate return of the robot to the charging pile.

[0116] In the example embodiment, when the robot meets the preset pile returning condition, in order to control the robot to rotate to the intermediate position where the first inductor is located on the middle line between the first energized coil and the second energized coil, when the first inductor is located in the coverage area of the first energized coil or the coverage area of the second energized coil, the robot can be controlled to rotate to the intermediate position in the direction close to the intermediate position. Wherein, when the first inductor is located in the coverage area of the first energized coil, the robot can be controlled to turn right until the first inductor is located in the intermediate position on the middle line between the first energized coil and the second energized coil, and stop rotating; when the first inductor is located in the coverage area of the second energized coil, the robot can be controlled to turn left until the first inductor is located in the intermediate position on the middle line between the first energized coil and the second energized coil, and stop rotating.

[0117] It should be noted that when the robot is controlled to rotate to the intermediate position in the direction close to the intermediate position, the first inductor may switch to the non-charging pile area, which indicates that the robot is still a distance away from the charging pile at this time, and the robot can be controlled to advance at this time. Then when the robot advances to the region to which the first inductor belongs and switches from the non-charging pile area to the charging pile area, steps 202-203 are repeatedly executed again.

[0118] In the example embodiment, after the robot is controlled to run to the intermediate position where the first inductor is located on the middle line between the first energized coil and the second energized coil, the robot can be controlled to return to the charging pile from the intermediate position according to the first distance and the second distance.

[0119] In the example embodiment, there is a case that the robot directly runs from the position where the first inductor is located in the non-charging pile area to the intermediate position where the first inductor is located on the middle line between the first energized coil and the second energized coil, and at this time, the robot can be directly controlled to return to the charging pile from the intermediate position according to the first distance and the second distance.

[0120] When the robot is controlled to return to the charging pile from the intermediate position according to the first distance and the second distance, the following method can be used: the robot is controlled to advance, and the difference between the first distance and the second distance is obtained; the rotation angle of the robot is determined according to the difference; and the robot is controlled to rotate by the rotation angle.

[0121] Specifically, the robot can be controlled to advance, and in the process of advancing, the difference between the first distance and the second distance is obtained, the rotation angle of the robot is determined according to the difference, the robot is controlled to rotate by the rotation angle, and then the robot is controlled to advance. In this way, by controlling the robot to rotate in real time according to the difference between the first distance and the second distance in the process of advancing, the robot can be accurately returned to the charging pile along the energized coil passing through the intermediate position.

[0122] The rotation angle can be an angle required for the robot to rotate when a difference between the first distance and the second distance is 0 or less than a preset difference threshold. The rotation angle can be obtained by real-time calculation, or can be obtained by determining a corresponding relationship between different distance differences and rotation angles in advance, and then obtaining the rotation angle from the corresponding relationship according to the obtained difference between the first distance and the second distance. The rotation angle can also be obtained by other methods, which are not limited in the embodiments of the present application.

[0123] In an example embodiment, a PID (Proportion Integration Differentiation) controller can be used to determine the rotation angle of the robot according to the difference between the first distance and the second distance. The input of the PID controller is the difference between the first distance and the second distance, and the output of the PID controller is the rotation angle of the robot.

[0124] Alternatively, the rotation angular velocity of the robot can also be determined according to the difference between the first distance and the second distance, and then the robot is controlled to rotate at the rotation angular velocity, and the robot is controlled to advance to realize the line-patrolling pile-returning of the robot, which is not limited in the embodiments of the present application.

[0125] The above process will be further described below. Figures 10-16 The above process will be further described below. Figure 10 is a flowchart of another method for returning a charging pile by a robot provided in the embodiments of the present application. Figures 11-15 is a schematic diagram of a position relationship between the robot and the charging pile. Figure 16 is a flowchart of controlling the robot to return to the charging pile from the middle position. Wherein 1 simply represents the first inductor 11, the second inductor 12 and the third inductor 13.

[0126] As shown in Figures 10-15 When the robot returns to the charging pile, the robot drives to the vicinity of the charging pile (step 301) (the position relationship between the robot and the charging pile is shown in Figure 11), the robot can continue to advance (step 302), and in the process of advancing, the first inductor obtains the inductive data of the first energized coil and the second energized coil, the second inductor obtains the inductive data of the first energized coil, and the third inductor obtains the inductive data of the second energized coil, and in combination with the inductive data of the first inductor to the first energized coil and the second energized coil, the first distance and the second distance, it is determined whether the first inductor switches from the non-charging pile area to the charging pile area. When the first inductor switches from the non-charging pile area to the charging pile area (step 303) and the first inductor is located at a middle position on the middle line between the first energized coil and the second energized coil (step 304), the robot can be controlled to return to the charging pile from the middle position (step 305) (the positional relationship between the robot and the charging pile is shown in the following figure Figure 14 ), until the pile returning succeeds (the positional relationship between the robot and the charging pile is shown in the following figure Figure 15 ). If the first inductor switches from the non-charging pile area to the coverage area of the first energized coil (the positional relationship between the robot and the charging pile is shown in the following figure Figure 12 ) and the robot meets the preset pile returning condition (step 306), the robot can be controlled to turn right (step 307) (the positional relationship between the robot and the charging pile is shown in the following figure Figure 13 ), until the first inductor is located at a middle position on the middle line between the first energized coil and the second energized coil (step 308), the rotation operation of the robot is stopped, and then the robot is controlled to return to the charging pile from the middle position (step 305) (the positional relationship between the robot and the charging pile is shown in the following figure Figure 14 ), until the pile returning succeeds (the positional relationship between the robot and the charging pile is shown in the following figure Figure 15 ). If the first inductor switches from the non-charging pile area to the coverage area of the second energized coil and the robot meets the preset pile returning condition (step 309), the robot can be controlled to turn left (step 310), until the first inductor is located at a middle position on the middle line between the first energized coil and the second energized coil (step 311), the rotation operation of the robot is stopped, and then the robot is controlled to return to the charging pile from the middle position (step 305) (the positional relationship between the robot and the charging pile is shown in the following figure Figure 14 ), until the pile returning succeeds (the positional relationship between the robot and the charging pile is shown in the following figure Figure 15 ).

[0127] As Figure 16As shown, after controlling the robot to enter the process of returning to the charging pile from the intermediate position (step 401), the robot can be controlled to advance (step 402), and the difference between the first distance and the second distance is obtained during the advancing (step 403), and the rotation angle of the robot is determined according to the difference (step 404), and then the robot is controlled to rotate the rotation angle (405), and it is judged whether the pile is returned to the position (step 406), if the pile is returned to the position, the pile returning is ended (step 407), if the pile is not returned to the position, the robot is continuously controlled to advance (step 402), and then the robot is continuously controlled to rotate according to the difference between the first distance and the second distance, until the robot returns to the pile.

[0128] The method for returning the robot to the charging pile provided by the embodiment of the application determines the first distance between the second inductor and the first energized coil and the second distance between the third inductor and the second energized coil according to the inductive data of the second inductor on the first energized coil and the inductive data of the third inductor on the second energized coil, controls the robot to rotate to the intermediate position in the direction close to the intermediate position when it is determined that the first inductor is located in the coverage area of the first energized coil or the coverage area of the second energized coil and the robot meets the preset pile returning condition according to the first distance and the second distance, and then controls the robot to return to the charging pile from the intermediate position according to the first distance and the second distance, so that the autonomous pile returning of the robot can be realized only by using the inductive data of the inductor when it is determined that the first inductor is located in the coverage area of the first energized coil or the coverage area of the second energized coil and the robot meets the preset pile returning condition according to the first distance and the second distance, the hardware design complexity and the software algorithm complexity of the robot pile returning are reduced, thereby reducing the cost, and the pose of the robot is adjusted according to the first distance and the second distance, so that the robot can accurately return to the pile, the pile returning success rate is improved, and the pile returning efficiency is improved because the robot can be directly controlled to rotate to the intermediate position in which the first inductor is located on the middle line between the first energized coil and the second energized coil.

[0129] The method for returning the robot to the charging pile provided by the embodiment of the application will be further described below. Figure 17 The method for returning the robot to the charging pile provided by the embodiment of the application will be further described below.

[0130] Figure 17 The method for returning the robot to the charging pile provided by the embodiment of the application will be further described below.

[0131] As shown in Figure 17 The method for returning the robot to the charging pile provided by the embodiment of the application can include the following steps:

[0132] In step 501, the first distance between the second inductor and the first energized coil and the second distance between the third inductor and the second energized coil are determined according to the inductive data of the second inductor to the first energized coil and the inductive data of the third inductor to the second energized coil.

[0133] The specific implementation process and principle of step 501 can refer to the description of the above embodiments, which will not be repeated here.

[0134] In step 502, it is determined that the first inductor is located in the coverage area of the first energized coil or the coverage area of the second energized coil, and it is determined that the robot does not meet the preset pile returning condition according to the first distance and the second distance.

[0135] In step 503, the robot is controlled to rotate to the intermediate position or outside the charging pile in the direction close to the intermediate position.

[0136] The implementation process and principle of determining which area the first inductor is located in, and the description of the preset pile returning condition can refer to the description of the above embodiments, which will not be repeated here.

[0137] It can be understood that when the angle between the robot and the intermediate position is greater than the preset angle threshold, it means that the yaw angle of the robot relative to the direction of the center line between the first energized coil and the second energized coil is large. At this time, if the robot is controlled to run to the intermediate position where the first inductor is located on the center line between the first energized coil and the second energized coil after one rotation, and then the robot is controlled to return to the charging pile from the intermediate position, the robot may not be able to return to the charging pile accurately. When the first distance between the second inductor and the first energized coil or the second distance between the third inductor and the second energized coil is greater than or equal to the second preset distance threshold, it means that the distance from the first inductor to the center line between the first energized coil and the second energized coil is large. At this time, if the robot is controlled to run to the intermediate position where the first inductor is located on the center line between the first energized coil and the second energized coil after one rotation, and then the robot is controlled to return to the charging pile from the intermediate position, the robot may not be able to return to the charging pile accurately. When the angle between the robot and the intermediate position is greater than the preset angle threshold, and the first distance between the second inductor and the first energized coil or the second distance between the third inductor and the second energized coil is greater than or equal to the second preset distance threshold, it means that the yaw angle of the robot relative to the direction of the center line between the first energized coil and the second energized coil is large, and the distance from the first inductor to the center line between the first energized coil and the second energized coil is large. At this time, if the robot is controlled to run to the intermediate position where the first inductor is located on the center line between the first energized coil and the second energized coil after one rotation, and then the robot is controlled to return to the charging pile from the intermediate position, the robot may not be able to return to the charging pile accurately.

[0138] If the robot is controlled to rotate once to the middle position where the first inductor is located on the middle line between the first energized coil and the second energized coil, and then the robot is controlled to return to the charging pile from the middle position, the robot may not return to the charging pile accurately. In this case, the robot can be adjusted multiple times to run to the middle position where the first inductor is located on the middle line between the first energized coil and the second energized coil, and then the robot is controlled to return to the charging pile from the middle position, so as to realize the accurate return of the robot to the charging pile.

[0139] Specifically, the robot can be first controlled to rotate to the middle position or outside the charging pile in the direction close to the middle position. When the first inductor is located in the coverage area of the first energized coil and the robot does not meet the preset pile return condition, the robot can be controlled to turn right until the first inductor is located at the middle position on the middle line between the first energized coil and the second energized coil or outside the charging pile (non-charging pile area), and stop rotating. When the first inductor is located in the coverage area of the second energized coil and the robot does not meet the preset pile return condition, the robot can be controlled to turn left until the first inductor is located at the middle position on the middle line between the first energized coil and the second energized coil or outside the charging pile (non-charging pile area), and stop rotating. Then, the robot can be adjusted multiple times to run to the middle position where the first inductor is located on the middle line between the first energized coil and the second energized coil by the following steps 504-507.

[0140] Step 504: Advance a preset distance and rotate to the middle position in the direction close to the middle position.

[0141] The preset distance can be set arbitrarily according to needs. For example, when the charging pile area is large, the preset distance can be set to a large value, such as 1 meter, 2 meters, etc. When the charging pile area is small, the preset distance can be set to a small value, such as 0.3 meters, 0.6 meters, etc.

[0142] It can be understood that after the robot is controlled to rotate to the middle position where the first inductor is located or outside the charging pile, and the robot is controlled to advance a preset distance, the first inductor may no longer be located at the middle position. In this case, the robot can be controlled to rotate again in the direction close to the middle position, so that the first inductor is located at the middle position.

[0143] Specifically, after the robot is controlled to advance a preset distance, if the first inductor is located in the coverage area of the first energized coil, the robot can be controlled to turn right so that the first inductor is located at the middle position. If the first inductor is located in the coverage area of the second energized coil, the robot can be controlled to turn left so that the first inductor is located at the middle position.

[0144] Step 505, judging whether the robot meets the preset retreat condition, if yes, executing step 506, otherwise, executing step 508.

[0145] The retreat condition can include that the retreat times are less than or equal to a preset times threshold, and / or the first distance or the second distance is less than or equal to a first preset distance threshold. The preset times threshold and the first preset distance threshold can be set as needed, and the embodiments of the present application do not limit this.

[0146] The first inductor is located at the intermediate position, and when the first distance or the second distance is less than or equal to the first preset distance threshold, it means that the yaw angle of the robot relative to the direction of the middle line between the first energized coil and the second energized coil is relatively large.

[0147] Step 506, retreating out of the coverage area of the first energized coil or the coverage area of the second energized coil.

[0148] Step 507, entering the coverage area of the first energized coil or the coverage area of the second energized coil again.

[0149] Specifically, after step 504 is executed, it can be judged whether the robot meets the retreat condition, if yes, the robot is controlled to retreat out of the coverage area of the first energized coil or the coverage area of the second energized coil, and the retreat times are increased by 1, and then the robot is controlled to enter the coverage area of the first energized coil or the coverage area of the second energized coil, and returns to repeat steps 503-507 until the robot does not meet the preset retreat condition.

[0150] It should be noted that in the embodiments of the present application, when step 507 is executed, there is a case that the first inductor does not enter the coverage area of the first energized coil or the coverage area of the second energized coil, but directly enters the area where the middle line between the first energized coil and the second energized coil is located, at this time, step 503 does not need to be executed again. In addition, when step 504 is executed, there is a case that after the robot advances the preset distance, the first inductor is still located at the intermediate position, at this time, the subsequent step 508 can be directly executed.

[0151] Step 508, controlling the robot to return to the charging pile from the intermediate position according to the first distance and the second distance.

[0152] It can be understood that, in the embodiments of the present application, when the number of robot backward movements is greater than the preset number threshold, and / or the first distance and the second distance are greater than the first preset distance threshold, it can be considered that the deviation of the first inductor from the middle position is small, and the yaw angle of the robot relative to the direction of the middle line between the first energized coil and the second energized coil is small, at this time, the robot can be controlled to return to the charging pile from the middle position according to the first distance and the second distance. By setting the preset backward condition, when the robot does not meet the preset backward condition, the robot is controlled to return to the charging pile from the middle position, which can avoid the situation that the robot cannot always reach the line patrol and pile returning state.

[0153] By adjusting the posture of the robot multiple times, the robot is controlled to rotate to the middle position in the direction close to the middle position, and then the robot is controlled to return to the charging pile from the middle position, which avoids the situation that when the initial state of the robot is that the yaw angle of the robot relative to the direction of the middle line between the first energized coil and the second energized coil is large, and the distance from the first inductor to the middle line between the first energized coil and the second energized coil is large, the robot enters the line patrol process (the process of returning to the charging pile from the middle position) and cannot accurately return to the pile.

[0154] The specific method of controlling the robot to return to the charging pile from the middle position can refer to the description of the above embodiments, which will not be repeated here.

[0155] The above process will be further described below. Figures 18-26 Figure 18 is a flowchart of another method of returning a robot to a charging pile provided by the embodiments of the present application. Figures 19-26 is a schematic diagram of the positional relationship between the robot and the charging pile. Wherein 1 simply represents the first inductor 11, the second inductor 12 and the third inductor 13.

[0156] As Figures 18-26 shown, when the robot returns to the charging pile, after the robot drives to the vicinity of the charging pile (step 601) (the positional relationship between the robot and the charging pile is shown in Figure 19 ), the robot can be further controlled to advance (step 602), and in the process of advancing, the inductive data of the first inductor to the first energized coil and the second energized coil, the inductive data of the second inductor to the first energized coil, and the inductive data of the third inductor to the second energized coil are acquired, and the first inductor is determined whether it is switched from the non-charging pile area to the charging pile area (step 603) in combination with the inductive data of the first inductor to the first energized coil and the second energized coil, and the first distance and the second distance.

[0157] ​When the first inductor switches from the non-charging pile area to the charging pile area, if it is determined that the robot does not meet the preset pile returning condition (step 604) and the first inductor is located in the coverage area of the first energized coil (step 605) (the positional relationship between the robot and the charging pile is shown in Figure 20 ), the robot can be controlled to turn right (step 606) (the positional relationship between the robot and the charging pile is shown in Figure 21 ), until the first inductor is located in the middle position or outside the charging pile (step 607), the rotation operation of the robot is stopped, and then the robot is controlled to advance by a preset distance (step 608) (the positional relationship between the robot and the charging pile is shown in Figure 22 ). After that, the robot can continue to be controlled to rotate in the direction close to the middle position (step 609), until the first inductor is located in the middle position (step 610), wherein if the first inductor is located in the coverage range of the first energized coil, the robot is controlled to turn right (the positional relationship between the robot and the charging pile is shown in Figure 23 ), so that the first inductor is located in the middle position, and if the first inductor is located in the coverage range of the second energized coil, the robot is controlled to turn left, so that the first inductor is located in the middle position. Then the number of times of backward movement of the robot can be obtained, and it is determined whether the number of times of backward movement is less than or equal to a preset number threshold (step 611).

[0158] When the number of times of backward movement of the robot is less than or equal to the preset number threshold, the robot is controlled to move backward (step 612), until the first inductor exits the coverage range of the first energized coil or the coverage range of the second energized coil (step 613) (the positional relationship between the robot and the charging pile is shown in Figure 24 ), and then the robot is controlled to move forward (returning to execute step 605, 623 or 614). When the robot runs to the first inductor located in the coverage area of the first energized coil (step 605), step 605 can be continued to be executed; when the robot runs to the first inductor located in the coverage area of the second energized coil (step 614), step 615 can be continued to be executed; and when the robot runs to the first inductor located in the middle position on the middle line between the first energized coil and the second energized coil, step 624 can be continued to be executed.

[0159] When the number of times of backward movement of the robot is greater than the preset number threshold, the robot can be directly controlled to return to the charging pile from the middle position (step 626) (the positional relationship between the robot and the charging pile is shown in Figure 25 ), until the pile returning succeeds (the positional relationship between the robot and the charging pile is shown in Figure 26 ).

[0160] When the first inductor switches from the non-charging pile area to the charging pile area (step 603), if it is determined that the robot does not meet the preset pile returning condition (step 604) and it is determined that the first inductor is located in the coverage area of the second energized coil (step 614), the robot can be controlled to turn left (step 615) until the first inductor is located in the middle position or outside the charging pile (step 616), the rotation operation of the robot is stopped, and then the robot is controlled to advance by a preset distance (step 617). After that, the robot can continue to be controlled to rotate in the direction close to the middle position (step 618) until the first inductor is located in the middle position (step 619), wherein if the first inductor is located in the coverage range of the first energized coil, the robot is controlled to turn right so that the first inductor is located in the middle position, and if the first inductor is located in the coverage range of the second energized coil, the robot is controlled to turn left so that the first inductor is located in the middle position. Then the number of backward movements of the robot can be obtained, and it is determined whether the number of backward movements is less than or equal to a preset number threshold (step 620).

[0161] When the number of backward movements of the robot is less than or equal to the preset number threshold, the robot is controlled to move backward (step 621) until the first inductor exits the coverage range of the first energized coil or the coverage range of the second energized coil (step 622), and then the robot is controlled to move forward (return to execute step 605, 623 or 614). When the robot runs to the first inductor located in the coverage area of the first energized coil (step 605), step 605 can be continued to be executed; when the robot runs to the first inductor located in the coverage area of the second energized coil (step 614), step 615 can be continued to be executed; and when the robot runs to the first inductor located in the middle position on the middle line between the first energized coil and the second energized coil, step 624 can be continued to be executed.

[0162] When the number of backward movements of the robot is greater than or equal to the preset number threshold, the robot can be directly controlled to return to the charging pile from the middle position (step 626).

[0163] When the first inductor switches from the non-charging pile area to the charging pile area (step 603) (for the position relationship between the robot and the charging pile, refer to Figure 20If it is determined that the robot does not meet the preset pile returning condition (step 604) and it is determined that the first inductor is located at the intermediate position on the middle line between the first energized coil and the second energized coil (step 623), the robot can be directly controlled to advance by a preset distance (step 624), and after the robot advances by the preset distance, it can be determined whether the first inductor is still located at the intermediate position (step 625), and if so, the robot is controlled to return to the charging pile from the intermediate position (step 626). After the robot advances by the preset distance (step 624), if the first inductor is located at the first energized coil, step 605 and the subsequent process are performed. After the robot advances by the preset distance (step 624), if the first inductor is located at the second energized coil, step 614 and the subsequent process are performed.

[0164] By controlling the robot to return to the charging pile in the above manner, the robot can return to the charging pile only by using the inductive data of the inductor, which reduces the hardware design complexity and software algorithm complexity of the robot pile returning, thereby reducing the cost, and by adjusting the pose of the robot multiple times to locate the first inductor at the intermediate position on the middle line between the first energized coil and the second energized coil, the robot can accurately return to the charging pile, further improving the pile returning success rate.

[0165] To achieve the above-mentioned embodiments, the embodiment of the present application also provides a device for returning a robot to a charging pile.

[0166] Figure 27 is a structural diagram of a device for returning a robot to a charging pile provided by the embodiment of the present application.

[0167] Among them, the first end of the robot is provided with a first inductor, a second inductor and a third inductor; the first inductor is arranged vertically to the ground; the second inductor and the third inductor are arranged horizontally to the ground and symmetrically arranged on both sides of the first inductor, and the charging pile is provided with symmetrically arranged first energized coils and second energized coils.

[0168] As shown in Figure 27 The device 4 for returning a robot to a charging pile provided by the embodiment of the present application can specifically include a first control module 41, a determination module 42 and a second control module 43. Among them:

[0169] The first control module 41 is configured to control the robot to run to an intermediate position of a first inductor on a middle line between a first energized coil and a second energized coil according to inductive data of the first inductor to the first energized coil and the second energized coil.

[0170] determining module 42 is configured to determine a first distance between the second inductor and the first energized coil and a second distance between the third inductor and the second energized coil according to the inductive data of the second inductor to the first energized coil and the inductive data of the third inductor to the second energized coil; and

[0171] The second control module 43 is configured to control the robot to return to the charging pile from the intermediate position according to the first distance and the second distance.

[0172] Further, in a possible implementation manner of the embodiment of the present application, the first control module 41 is specifically configured to:

[0173] When it is determined that the first inductor is located in the coverage area of the first energized coil or the coverage area of the second energized coil, and it is determined that the robot meets the preset pile returning condition according to the first distance and the second distance, the robot is controlled to rotate to the intermediate position in a direction close to the intermediate position.

[0174] Further, in a possible implementation manner of the embodiment of the present application, the first control module 41 is specifically configured to:

[0175] When it is determined that the first inductor is located in the coverage area of the first energized coil or the coverage area of the second energized coil, and it is determined that the robot does not meet the preset pile returning condition according to the first distance and the second distance, the robot is controlled to:

[0176] First step: rotate to the intermediate position in a direction close to the intermediate position or outside the charging pile;

[0177] Second step: advance a preset distance and rotate to the intermediate position in a direction close to the intermediate position;

[0178] Third step: when it is determined that the robot meets a preset retreat condition, retreat out of the coverage area of the first energized coil or the coverage area of the second energized coil, and re-enter the coverage area of the first energized coil or the coverage area of the second energized coil;

[0179] Fourth step: repeat the first step to the third step until the robot does not meet the retreat condition.

[0180] Further, in a possible implementation manner of the embodiment of the present application, the retreat condition includes that the retreat times are less than or equal to a preset times threshold, and / or the first distance or the second distance is less than or equal to a first preset distance threshold.

[0181] Further, in a possible implementation manner of the embodiment of the present application, the preset pile returning condition includes that an angle between the robot and the intermediate position is less than or equal to a preset angle threshold, and / or the first distance and the second distance are less than a second preset distance threshold.

[0182] The angle between the robot and the intermediate position is determined in the following manner: according to the first distance, the second distance, and the distance between the second inductor and the third inductor, the angle between the line connecting the second inductor and the third inductor and the intermediate position is determined; and according to the preset angle value and the angle between the line and the intermediate position, the angle between the robot and the intermediate position is determined.

[0183] Further, in a possible implementation manner of the embodiment of the present application, the second control module 43 is specifically used for:

[0184] controlling the robot to advance, and obtaining a difference value of the first distance and the second distance;

[0185] determining a rotation angle of the robot according to the difference value;

[0186] controlling the robot to rotate the rotation angle.

[0187] Further, in a possible implementation manner of the embodiment of the present application, the current values of the first current coil and the second current coil are the same, and the directions of the currents of the first current coil and the second current coil are opposite.

[0188] Further, in a possible implementation manner of the embodiment of the present application, the robot is a mower.

[0189] It should be noted that the above description of the method for returning the robot to the charging pile is also applicable to the device for returning the robot to the charging pile, which will not be described here.

[0190] The device for returning the robot to the charging pile provided by the embodiment of the present application controls the robot to run to an intermediate position of a first inductor located on a middle line between a first current coil and a second current coil according to the inductive data of the first inductor on the first current coil and the second current coil, determines a first distance between a second inductor and the first current coil and a second distance between a third inductor and the second current coil according to inductive data of the second inductor on the first current coil and inductive data of the third inductor on the second current coil, and then controls the robot to return to the charging pile from the intermediate position according to the first distance and the second distance. Since the autonomous pile returning of the robot can be realized only according to the inductive data of the inductor on the current coil, the hardware design complexity and the software algorithm complexity of the robot pile returning are reduced, thereby reducing the cost and improving the pile returning success rate.

[0191] In order to realize the above-mentioned embodiment, the embodiment of the present application further provides a robot 2.

[0192] Figure 28 is a structural diagram of a robot provided by the embodiment of the present application.

[0193] AsFigure 28 As shown, the first end intermediate position of the robot 2 is provided with a first inductor 11, a second inductor 12 and a third inductor 12; the first inductor 11 is arranged vertically to the ground; the second inductor 12 and the third inductor 13 are arranged parallel to the ground and symmetrically on both sides of the first inductor 11, the robot 2 can further include at least one processor 21 (one processor is taken as an example in the figure), a memory 22 in communication connection with the at least one processor 21, the memory stores instructions executable by the at least one processor 21, and the instructions are executed by the at least one processor 21 to enable the at least one processor 21 to execute the method for returning to the charging pile of the robot as shown in the above embodiment.

[0194] In order to implement the above-mentioned embodiments, the embodiment of the present application further proposes a computer readable storage medium, which stores a computer program, and the program is executed by a processor to implement the method for returning to the charging pile of the robot as shown in the above embodiment.

[0195] In the description of the present specification, the description of the terms "one embodiment", "some embodiments", "an example", "a specific example" or "some examples" means that the specific features, structures, materials or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present application. In the present specification, the illustrative description of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any appropriate manner in any one or more embodiments or examples. In addition, different embodiments or examples described in the present specification and the features of different embodiments or examples can be combined and combined by those skilled in the art without contradiction.

[0196] Although the embodiments of the present application have been shown and described above, it can be understood that the above-mentioned embodiments are exemplary and cannot be understood as limiting the present application, and those skilled in the art can make changes, modifications, replacements and variations to the above-mentioned embodiments within the scope of the present application.

Claims

1. A method for a robot to return to a charging station, characterized in that, A first inductor, a second inductor, and a third inductor are disposed at the middle position of the first end of the robot; the first inductor is disposed perpendicular to the ground; the second and third inductors are disposed parallel to the ground and are symmetrically disposed laterally on both sides of the first inductor; a first energizing coil and a second energizing coil are disposed symmetrically on the charging pile; the method includes: Based on the sensing data of the first inductor to the first energized coil and the second energized coil, the robot is controlled to run to the middle position where the first inductor is located on the center line between the first energized coil and the second energized coil. Based on the induction data of the second inductor to the first energized coil and the induction data of the third inductor to the second energized coil, a first distance between the second inductor and the first energized coil and a second distance between the third inductor and the second energized coil are determined; and Based on the first distance and the second distance, the robot is controlled to return to the charging station from the intermediate position; The step of controlling the robot to move to the middle position where the first inductor is located on the center line between the first energized coil and the second energized coil, based on the sensing data of the first inductor to the first energized coil and the second energized coil, includes: When it is determined that the first inductor is located within the coverage area of ​​the first energized coil or the coverage area of ​​the second energized coil, and it is determined based on the first distance and the second distance that the robot does not meet the preset retraction conditions, the robot is controlled to: Step 1: Rotate the device towards the center position to the center position or outside the charging station; Step 2: Advance a preset distance and rotate towards the center position; Step 3: When it is determined that the robot meets the preset backward conditions, it exits the coverage area of ​​the first energized coil or the coverage area of ​​the second energized coil and re-enters the coverage area of ​​the first energized coil or the coverage area of ​​the second energized coil. Step 4: Repeat steps 1 through 3 until the backtracking condition is no longer met.

2. The method for returning a robot to its charging station according to claim 1, characterized in that, The step of controlling the robot to move to the middle position where the first inductor is located on the center line between the first energized coil and the second energized coil, based on the sensing data of the first inductor to the first energized coil and the second energized coil, further includes: When it is determined that the first inductor is located in the coverage area of ​​the first energized coil or the coverage area of ​​the second energized coil, and the robot meets the preset return-to-base conditions based on the first distance and the second distance, the robot is controlled to rotate towards the middle position.

3. The method for returning a robot to its charging station according to claim 1, characterized in that, The back-away conditions include: the number of back-aways is less than or equal to a preset number threshold, and / or, the first distance or the second distance is less than or equal to a first preset distance threshold.

4. The method for returning a robot to its charging station according to claim 1 or 2, characterized in that, The preset return conditions include: the angle between the robot and the intermediate position is less than or equal to a preset angle threshold, and / or, the first distance and the second distance are less than a second preset distance threshold; The angle between the robot and the intermediate position is determined as follows: based on the first distance, the second distance, and the distance between the second inductor and the third inductor, the angle between the line connecting the second inductor and the third inductor and the intermediate position is determined; based on a preset angle value and the angle between the line connecting the second inductor and the intermediate position, the angle between the robot and the intermediate position is determined.

5. The method for returning a robot to its charging station according to claim 1, characterized in that, The step of controlling the robot to return from the intermediate position to the charging station based on the first distance and the second distance includes: Control the robot to move forward and obtain the difference between the first distance and the second distance; The rotation angle of the robot is determined based on the difference. Control the robot to rotate by the specified rotation angle.

6. The method for returning a robot to a charging station according to any one of claims 1 to 3, characterized in that, The first energized coil and the second energized coil have the same value of current, and the directions of current flow in the first energized coil and the second energized coil are opposite.

7. The method for returning a robot to a charging station according to any one of claims 1 to 3, characterized in that, The robot in question is a lawnmower.

8. A device for a robot to return to a charging station, characterized in that, The robot has a first inductor, a second inductor, and a third inductor positioned at the middle of its first end. The first inductor is perpendicular to the ground. The second and third inductors are parallel to the ground and symmetrically arranged laterally on both sides of the first inductor. The charging station has a first energizing coil and a second energizing coil symmetrically arranged. The device includes: The first control module is used to control the robot to run to the middle position where the first inductor is located on the center line between the first energized coil and the second energized coil, based on the sensing data of the first inductor to the first energized coil and the second energized coil. The determining module is configured to determine a first distance between the second inductor and the first energized coil and a second distance between the third inductor and the second energized coil based on the induction data of the second inductor to the first energized coil and the induction data of the third inductor to the second energized coil; and The second control module is used to control the robot to return from the intermediate position to the charging pile based on the first distance and the second distance; The first control module is specifically used for: When it is determined that the first inductor is located within the coverage area of ​​the first energized coil or the coverage area of ​​the second energized coil, and it is determined based on the first distance and the second distance that the robot does not meet the preset retraction conditions, the robot is controlled to: Step 1: Rotate the device towards the center position to the center position or outside the charging station; Step 2: Advance a preset distance and rotate towards the center position; Step 3: When it is determined that the robot meets the preset backward conditions, it exits the coverage area of ​​the first energized coil or the coverage area of ​​the second energized coil and re-enters the coverage area of ​​the first energized coil or the coverage area of ​​the second energized coil. Step 4: Repeat steps 1 through 3 until the backtracking condition is no longer met.

9. The device for returning a robot to its charging station according to claim 8, characterized in that, The first control module is also specifically used for: When it is determined that the first inductor is located in the coverage area of ​​the first energized coil or the coverage area of ​​the second energized coil, and the robot meets the preset return-to-base conditions based on the first distance and the second distance, the robot is controlled to rotate towards the middle position.

10. The device for returning a robot to its charging station according to claim 8, characterized in that, The back-away conditions include: the number of back-aways is less than or equal to a preset number threshold, and / or, the first distance or the second distance is less than or equal to a first preset distance threshold.

11. The device for returning a robot to its charging station according to claim 8 or 9, characterized in that, The preset return conditions include: the angle between the robot and the intermediate position is less than or equal to a preset angle threshold, and / or, the first distance and the second distance are less than a second preset distance threshold; The angle between the robot and the intermediate position is determined as follows: based on the first distance, the second distance, and the distance between the second inductor and the third inductor, the angle between the line connecting the second inductor and the third inductor and the intermediate position is determined; based on a preset angle value and the angle between the line connecting the second inductor and the intermediate position, the angle between the robot and the intermediate position is determined.

12. The device for returning a robot to its charging station according to claim 8, characterized in that, The second control module is specifically used for: Control the robot to move forward and obtain the difference between the first distance and the second distance; The rotation angle of the robot is determined based on the difference. Control the robot to rotate by the specified rotation angle.

13. The device for returning a robot to its charging station according to any one of claims 8 to 10, characterized in that, The first energized coil and the second energized coil have the same value of current, and the directions of current flow in the first energized coil and the second energized coil are opposite.

14. The device for returning a robot to its charging station according to any one of claims 8 to 10, characterized in that, The robot in question is a lawnmower.

15. A robot, characterized in that, A first inductor, a second inductor, and a third inductor are disposed at the middle position of the first end of the robot; the first inductor is disposed perpendicular to the ground; the second inductor and the third inductor are disposed parallel to the ground and are symmetrically arranged laterally on both sides of the first inductor. The robot also includes: At least one processor; and A memory communicatively connected to the at least one processor; wherein, The memory stores instructions that can be executed by the at least one processor to enable the at least one processor to perform the method of returning the robot to the charging station according to any one of claims 1-7.

16. A computer-readable storage medium having a computer program stored thereon, characterized in that, When executed by the processor, the program implements the method for returning the robot to the charging station as described in any one of claims 1-7.

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