A robot recharging method, apparatus and system

Abstract

The application discloses a kind of robot recharging method, device and system, it is related to robot control field.The scheme, by setting positioning wire in the preset area range of robot walking, and at least one end of positioning wire is connected with charging base station, it can control robot to walk to and positioning wire induction when robot is to be charged, and based on the relative position between current induction position point and charging base station, control robot to walk to charging base station and recharges.By positioning wire to robot, to make robot can walk to charging base station with the current induction position point in each induction position point on positioning wire and generate induction and recharges, by planning the recharging path of robot, it can improve the efficiency when robot walks to charging base station, to improve the charging efficiency of robot, and when positioning robot, the interference is less, can guarantee the normal control of robot recharging process.

Description

Technical Field

[0001] This invention relates to the field of robot control, and in particular to a robot recharging method, apparatus and system. Background Technology

[0002] When robots work outdoors, they are typically equipped with charging stations to ensure high efficiency. These stations guide the robot to the charging station when its battery is low or when it needs to recharge. Current charging methods usually use infrared signals to guide the robot to the charging station. However, due to the high complexity of the robot's working environment, complex environmental factors can prevent accurate positioning and control via infrared signals, significantly interfering with the recharging process and preventing the robot from recharging properly. Summary of the Invention

[0003] The purpose of this invention is to provide a robot recharging method, device, and system. The robot is positioned using a positioning wire, enabling it to walk towards a charging base station for recharging from the current sensing position point that senses various sensing positions on the positioning wire. By planning the robot's recharging path, the efficiency of the robot walking to the charging base station can be improved, thereby increasing the robot's charging efficiency. Furthermore, the robot is less affected by interference during positioning, ensuring normal control of the robot's recharging process.

[0004] To address the aforementioned technical problems, this invention provides a robot recharging method, wherein a positioning wire is installed within a preset area where the robot travels, and at least one end of the positioning wire is connected to a charging base station. The method includes:

[0005] When the robot is waiting to be recharged, control the robot to walk to the location wire and determine the current sensing position point on the location wire that generates a connection with the robot.

[0006] The return path is determined based on the relative position between the current sensing location and the charging base station, and the robot is controlled to walk to the charging base station for recharging according to the return path.

[0007] Preferably, when the robot is waiting to be recharged, controlling the robot to walk to a position where it senses the positioning wire, and determining the current sensing position point where the positioning wire and the robot sense each other, includes:

[0008] When the robot is waiting to be recharged, the robot's current position is determined based on the robot's current pose information;

[0009] The robot is controlled to walk from its current position to a point where it is sensed by the positioning wire, and the current sensing position point that is sensed by the robot among the various sensing positions on the positioning wire is determined.

[0010] Preferably, determining the recharge path based on the relative position between the current sensing location and the charging base station, and controlling the robot to walk to the charging base station for recharge according to the recharge path, includes:

[0011] The location information of the current sensing location point and the reference location point at the charging base station is determined based on the relative position between the current sensing location point, the reference location point on the positioning wire and the charging base station; the reference location point is a sensing location point on the positioning wire whose distance from the charging base station is not greater than a preset distance.

[0012] Based on the orientation information, the return path is determined, and the robot is controlled to walk from the current sensing location point to the charging base station for recharging according to the return path, or the robot is controlled to walk from the current sensing location point to the reference location point and then walk from the reference location point to the charging base station for recharging according to the return path.

[0013] Preferably, when the robot is waiting to be recharged, controlling the robot to walk to a position where it senses the positioning wire, and determining the current sensing position point on the positioning wire where a connection is established between the robot and the wire, includes:

[0014] When the robot is waiting to be recharged, the robot is controlled to walk in a preset direction to the location wire, and the current sensing position point that generates a connection between the robot and the location wire is determined among the various sensing position points on the location wire. Alternatively, the robot is controlled to walk to a reference position point on the location wire, and the reference position point is determined as the current sensing position point that generates a connection between the robot and the location wire among the various sensing position points on the location wire.

[0015] Preferably, before controlling the robot to walk to the location point where it senses the positioning wire and determines the current sensing position point on the positioning wire where a connection is established between the robot and the positioning wire when the robot is waiting to be recharged, the method further includes:

[0016] The robot is controlled to walk to a sensing location point on the positioning power line where the distance between the positioning power line and the charging base station is no greater than a preset distance, and a marking signal is injected.

[0017] The sensing location point into which the marking signal is injected is marked as the reference location point.

[0018] Preferably, before controlling the robot to walk to the location point that senses the robot when it is waiting to recharge, and determining the current sensing point among the various sensing points on the location line that senses the robot, the method further includes:

[0019] The robot is controlled to start from the charging base station and walk along the positioning wire a preset number of times to determine each of the sensing position points on the positioning wire.

[0020] Preferably, determining a recharge path based on the relative position between the current sensing location and the charging base station, and controlling the robot to walk to the charging base station for recharge according to the recharge path, includes:

[0021] The return path is determined based on the relative position between the current sensing location and the charging base station. The robot is then controlled to walk along the positioning wire to the charging base station for recharging, or to walk from the positioning area to the charging base station for recharging, based on the return path. The positioning area is the area formed by the positioning wire and the charging base station.

[0022] Preferably, a guide wire is also provided within the preset area where the robot walks, and the direction of the guide wire corresponds to the charging port of the charging base station; the method further includes:

[0023] When the robot is waiting to be recharged, control the robot to walk to the point where it is sensed by the guide wire, and determine the guide sensing point among the various sensing points on the guide wire that generates a sense between the robot and the guide sensing point.

[0024] The movement path is determined based on the relative position between the guide sensing location point and the charging base station, and the robot is controlled to walk to the charging base station for recharging according to the movement path.

[0025] To address the aforementioned technical problems, this invention provides a robot recharging device. A positioning wire is installed within a preset area where the robot travels, and at least one end of the positioning wire is connected to a charging base station. The device includes:

[0026] The first control unit is used to control the robot to walk to the point where it is sensed by the positioning wire when the robot is waiting to be recharged, and to determine the current sensing position point that is sensed by the robot among the various sensing position points on the positioning wire.

[0027] The second control unit is used to determine the recharge path based on the relative position between the current sensing location and the charging base station, and to control the robot to walk to the charging base station for recharging according to the recharge path.

[0028] To address the aforementioned technical problems, this invention provides a robot recharging system, comprising:

[0029] A robot used to implement the robot recharging method described above when executing a robot program;

[0030] A charging base station for recharging the robot;

[0031] A positioning guide wire is used to be placed within a preset area and connected to the charging base station to locate the robot. 。

[0032] This application provides a robot recharging method, apparatus, and system, relating to the field of robot control. In this solution, by setting a positioning wire within a preset area where the robot can move, with at least one end of the positioning wire connected to a charging base station, the robot can be controlled to move towards the positioning wire when it needs charging. Based on the relative position between the current sensing point and the charging base station, the robot is then controlled to move to the charging base station for recharging. Positioning the robot using the positioning wire allows it to move towards the charging base station from the current sensing point on the positioning wire. By planning the robot's recharging path, the efficiency of the robot's movement to the charging base station is improved, thereby increasing the robot's charging efficiency. Furthermore, the robot is less susceptible to interference during positioning, ensuring normal control of the robot's recharging process. Attached Figure Description

[0033] To more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings used in the prior art and embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0034] Figure 1 This is a flowchart illustrating a robot recharging method provided by the present invention.

[0035] Figure 2 This is a schematic diagram of the structure of a robot recharging device provided by the present invention;

[0036] Figure 3 This is a schematic diagram of a robot recharging system provided by the present invention. Detailed Implementation

[0037] The core of this invention is to provide a robot recharging method, device, and system. The robot is positioned by a positioning wire, enabling it to walk towards a charging base station for recharging from the current sensing position point that senses various sensing positions on the positioning wire. By planning the robot's recharging path, the efficiency of the robot walking to the charging base station can be improved, thereby improving the robot's charging efficiency. Furthermore, the robot is less affected by interference during positioning, ensuring normal control of the robot's recharging process.

[0038] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0039] Please refer to Figure 1 , Figure 1 This is a flowchart illustrating a robot recharging method provided by the present invention. A positioning wire is installed within a preset area where the robot travels, and at least one end of the positioning wire is connected to a charging base station. The method includes:

[0040] S11: When the robot is waiting to be recharged, control the robot to walk to the location wire sensor and determine the current sensing position point on the positioning wire where the robot is sensing the sensor.

[0041] In existing technologies, when a robot's battery is low, such as less than 10% of its total battery, or in other scenarios where it needs to be recharged, such as when the robot no longer needs to work, the robot can walk to a charging station for recharging. However, existing technologies usually require many positioning devices to be installed on the robot to control its movement toward the charging station. But due to the high complexity of the robot's working environment, complex environmental factors, such as strong light, can interfere with the positioning of the robot's positioning devices, such as the signal reception of infrared sensors, which in turn affects the robot's recharging operation and causes abnormal recharging.

[0042] To address the aforementioned technical problems, this application includes a positioning wire installed within a preset working area of ​​the robot. The positioning wire may surround the preset area, or it may be located inside the edge of the preset area. Specifically, the positioning wire may be located outside or inside the edge of the preset area, or directly on the edge. When the robot senses the positioning wire, it can determine that it is located at the edge of the preset area, thus enabling robot positioning. Alternatively, the positioning wire can be laid on or under the ground. The positioning wire and the robot can sense each other via electromagnetic wave signals. When the robot moves to the edge of the preset area, it can sense the positioning wire, thus determining that the robot has reached the edge of the preset area.

[0043] When the robot is waiting to return to its charging station, the robot is guided to walk to the location where it is sensed by the positioning wire. The current sensing point on the positioning wire that is sensed by the robot is located. This means that when the positioning wire is laid on the ground, the robot is in contact with the positioning wire, or when the positioning wire is laid under the ground, the robot senses the electromagnetic wave signal on the positioning wire. This determines the robot's current position on the positioning wire and allows for robot positioning.

[0044] S12: Determine the return path based on the relative position between the current sensing location and the charging base station, and control the robot to walk to the charging base station for recharging according to the return path.

[0045] After determining the robot's specific location, the relative position between the robot's current sensing location and the charging base station is determined, thus identifying the most suitable recharge path. The robot's movement back to the charging base station is controlled according to this recharge path. Based on this, the fastest path for the robot to reach the charging base station is determined, such as the path with the shortest travel time, the shortest distance, or the fewest obstacles, or the path requiring minimal adjustments during movement, such as the path with the least adjustment when aligning with the charging base station. This improves the robot's walking efficiency, thereby increasing its recharge efficiency.

[0046] Based on this, compared to the method of controlling the robot to walk only along the positioning wire to the charging base station after sensing the robot's movement on the positioning wire, the charging path setting method in this application has more options. It can control the robot to walk along the positioning wire, or it can locate the robot through the positioning wire and control the robot to walk within the positioning area enclosed by the positioning wire and the charging base station, thereby walking to the charging base station with the shortest charging path or the shortest walking time, further improving the robot's charging efficiency.

[0047] Specifically, when the robot is waiting to recharge, it is controlled to walk to the location wire and determine the current sensing position point on the location wire that will generate a connection between the robot and the wire. This can be achieved by determining the robot's current position based on its current pose information, and then controlling the robot to walk from that position to the location wire to determine the current sensing position point between the robot and the various sensing positions on the location wire. When walking from its current position to the location wire, the robot can follow a preset direction, determine the sensing position point on the location wire with the shortest distance to its current position or the fewest obstacles, or follow a preset walking path (where the preset walking path refers to the path the robot originally needed to walk within a preset area, such as a bow-shaped path; therefore, the robot will sense the location wire based on a bow-shaped path). This allows the robot to walk to the determined sensing position point and generate a connection with the location wire. The preset direction can be a pre-set reference direction for the robot's movement, such as pre-setting the robot to move north when it is waiting to return to its charging station (e.g., the base station is located in the north of the entire preset area), or continuing to move directly along the robot's current direction, or the direction of the reference location point (e.g., if the relative position of the pre-selected reference location point to the robot's current location point is 5 meters northeast of the current location point, then this preset direction represents the northeast direction of the robot's current location point). This application does not limit this.

[0048] When determining the robot's current position based on its current pose information, specifically the position the robot would be in when it is waiting to recharge, the robot's current pose information includes its posture information or position information. The robot has its own pose sensor inside, which can be used to locate the robot. The pose sensor can only be used to acquire the robot's posture information or position information. Therefore, the accuracy of the pose sensor inside the robot is not required. It is sufficient to control the robot to walk to the positioning wire for positioning.

[0049] In summary, this application uses a positioning wire to locate the robot, enabling the robot to walk towards the charging base station for recharging from the current sensing position point that is sensed by various sensing positions on the positioning wire. By planning the robot's recharging path, the efficiency of the robot walking to the charging base station can be improved, thereby improving the robot's charging efficiency. Furthermore, the robot is less affected by interference during positioning, ensuring normal control of the robot's recharging process.

[0050] Based on the above embodiments:

[0051] As a preferred embodiment, a recharging path is determined based on the relative position between the current sensing location and the charging base station. The robot is then controlled to walk to the charging base station for recharging according to the recharging path, including:

[0052] The relative positions of the current sensing location point, the reference location point on the positioning cable, and the charging base station are used to determine the orientation information of the current sensing location point and the reference location point at the charging base station; the reference location point is the sensing location point on the positioning cable whose distance from the charging base station is no greater than a preset distance.

[0053] Based on the orientation information, the return path is determined. The robot is then controlled to walk from the current sensing location point to the charging base station for recharging, or the robot is controlled to walk from the current sensing location point to a reference location point and then walk from the reference location point to the charging base station for recharging.

[0054] In this embodiment, a reference position point is set on the positioning wire, which is a sensing position point on the positioning wire at a distance not greater than a preset distance from the charging base station. The preset distance can be, but is not limited to, 0.5m, so that the robot can accurately walk to the charging base station and connect to it. Of course, the relative position between the reference position point and the charging base station can be on the positioning wire in the direction corresponding to the charging port on the charging base station. For example, if the charging port of the charging base station is on the left side, then the reference position point is the sensing position point located at the preset distance on the positioning wire on the left side of the charging base station.

[0055] After the robot reaches its current sensing position on the positioning power line, the relative positions of the current sensing position, the reference position on the positioning power line, and the charging base station can be determined to establish the orientation information of the current sensing position and the reference position on the charging base station. For example, if the charging port of the charging base station is on the left side, and the current sensing position is located on the left side of the charging base station on the positioning power line, and the reference position is also located on the left side of the charging base station on the charging power line (i.e., the reference position and the current sensing position are on the same side of the charging base station), if the distance between the current sensing position and the charging base station is less than a preset distance, the robot can walk directly from the current sensing position to the charging base station without passing the reference position. If the distance between the current sensing position and the charging base station is greater than the preset distance, the robot needs to first walk to the reference position and the sensing position near the reference position on the positioning power line before walking to the charging base station. If the distance between the current sensing position and the charging base station is equal to the preset distance, the current sensing position is the reference position, and the robot can walk directly from the current sensing position to the charging base station. For example, if the charging port of the charging base station is on the left side, and the current sensing position is on the right side of the charging base station on the positioning wire, while the reference position is on the left side of the charging base station on the charging wire (that is, when the reference position and the current sensing position are on opposite sides of the charging base station), regardless of whether the distance between the current sensing position and the reference position is greater than a preset distance, the robot must first walk from the current sensing position to the reference position and the sensing position near the reference position and located on the positioning wire, and then walk to the charging base station.

[0056] In one preferred embodiment, when controlling the robot to walk towards the positioning wire, it can walk in a preset direction until it senses the positioning wire, or it can determine the sensing point on the positioning wire with the shortest distance to its current position or the fewest obstacles, or it can walk along a preset walking path until it senses the positioning wire. Any sensing point on the positioning wire can be the current sensing point that senses the robot. The robot is then controlled to walk from its current position to the current sensing point, then from the current sensing point to a reference point, and finally to the charging base station. Alternatively, the robot can be controlled to walk directly to the reference point, and this reference point can be set as the current sensing point on the positioning wire that senses the robot. This facilitates the robot's rapid journey from the reference point to the charging base station for recharging, improving recharging efficiency. When controlling the robot to walk to the reference point, a reference angle can be determined based on the robot's current pose information at its current position, and the robot can be controlled to walk to the reference point according to this reference angle, improving the accuracy of the robot's movement to the reference point.

[0057] As a preferred embodiment, before controlling the robot to walk to the location wire and determining the current sensing position point on the location wire where a connection between the robot and the sensing wire is established when the robot is waiting to be recharged, the method further includes:

[0058] The robot is controlled to walk to a sensor location point on the positioning power line where the distance between the positioning power line and the charging base station is no greater than a preset distance, and a marker signal is injected.

[0059] The sensing location point where the marker signal is injected is marked as the reference location point.

[0060] In this embodiment, when determining the reference position point on the positioning wire, a sensing position point on the positioning wire with a distance of no more than a preset distance between it and the charging base station can be determined first. The robot is then controlled to walk to the determined sensing position point and a marker signal is injected at that sensing position point. The sensing position point with the injected marker signal is then marked as the reference position point. Accordingly, when the robot walks on the positioning wire, it can determine whether it has walked to the reference position point by determining whether the marker signal has been detected.

[0061] Of course, users can directly select the sensor location point on the positioning power line as the reference location point on the map in the APP, and set the distance between the selected reference location point and the charging base station as the preset distance to determine the robot's preset pose data at the reference location point. When the robot walks on the positioning power line and the pose data is the preset pose data, it can be determined that the robot has walked to the reference location point.

[0062] As a preferred embodiment, before controlling the robot to walk to the current sensing position point that is connected to the robot among the various sensing positions on the positioning wire when the robot is waiting to be recharged, the method further includes:

[0063] The robot is controlled to start from the charging base station and walk along the positioning wire a preset number of times to determine the various sensing positions on the positioning wire.

[0064] In this embodiment, the robot can start from the charging base station and walk along the positioning wire a preset number of times. For example, the robot can walk from the starting point to the ending point of the positioning wire and then from the ending point back to the starting point. By walking the preset number of times, the robot's pose data at each sensing position point on the positioning wire is determined. Based on this, a map of the positioning area formed by the positioning wire and the charging base station is generated. The robot can then walk normally according to the pose data of each sensing position point on the positioning wire, ensuring that the robot can adjust its pose data after sensing the positioning wire, thereby walking stably.

[0065] Specifically, the location where the robot senses the positioning wire every time it travels a certain distance along the positioning wire can be set as a sensing location point. For example, if the robot starts from the charging base station, a sensing location point can be set every 1 cm it travels. Alternatively, the location where the robot senses the positioning wire every time it travels along the positioning wire can be set as a sensing location point. For example, if the robot starts from the charging base station, a sensing location point can be set every 1 second it travels. This application does not limit this.

[0066] As a preferred embodiment, a recharging path is determined based on the relative position between the current sensing location and the charging base station. The robot is then controlled to walk to the charging base station for recharging according to the recharging path, including:

[0067] The return path is determined based on the relative position between the current sensing location and the charging base station. The robot is then controlled to walk along the positioning wire to the charging base station for recharging, or to walk from the positioning area to the charging base station for recharging, based on the return path. The positioning area is the area enclosed by the positioning wire and the charging base station.

[0068] In this embodiment, when the robot walks to the charging base station for recharging, it can walk entirely along the positioning wire to the charging base station. For example, the robot can be controlled to walk along the section of the positioning wire where the distance between the current sensing position point and the charging base station is shorter. Alternatively, it can not walk entirely along the positioning wire. Specifically, the robot can first walk within the area formed by the charging base station and the positioning wire, and after walking for a while, it can sense and locate itself again with the positioning wire. At this point, the robot can be controlled to walk out of the positioning wire and re-enter the step of sensing and locating with the positioning wire (this step can be repeated cyclically). After the location is completed, the robot can be controlled to walk to the charging base station. Alternatively, the robot can be directly controlled to walk along the positioning wire to the charging base station. When walking from the current sensing position point to the charging base station, the robot can walk along the path with the shortest straight-line distance between the current sensing position point and the charging base station, or along the path with the fewest obstacles between the current sensing position point and the charging base station. This application does not limit this to any particular path.

[0069] When a reference point is set, considering the inherent positioning error of the robot, the robot may not be able to accurately walk to the reference point. For example, it may walk to the sensor points on the left and right sides of the reference point. In this case, the robot's movement can be controlled based on the relative position between the current sensor point and the reference point. For instance, if the current sensor point and the reference point are located on opposite sides of the charging base station, such as the current sensor point being on the right side of the charging base station on the positioning power line and the reference point being on the left side of the charging base station on the charging power line, regardless of whether the distance between the current sensor point and the charging base station is greater than a preset distance, the robot will first walk from the current sensor point to the reference point or a sensor point near the reference point on the positioning power line, and then walk from the reference point or a sensor point near the reference point on the positioning power line to the charging base station. For example, when the current sensing location and the reference location are on the same side of the charging base station, such as when both the current sensing location and the reference location are on the left side of the charging base station on the positioning power line, the robot's movement is controlled based on the relative distance between the current sensing location, the reference location, and the charging base station. Specifically, when the distance between the current sensing location and the charging base station is greater than a preset distance, the robot can be controlled to walk from the current sensing location within the positioning area, following the path with the shortest straight-line distance between the current sensing location and the reference location, or following the path with the fewest obstacles between the current sensing location and the reference location, until it reaches the reference location or a sensing location near the reference location on the positioning power line. Then, it walks from the reference location or a sensing location near the reference location on the positioning power line to the charging base station. This method in this embodiment solves the problem of the robot's inability to accurately reach the reference location due to inaccurate positioning.

[0070] In a preferred embodiment, a guide wire is also provided within the preset area where the robot walks, and the direction of the guide wire corresponds to the charging port of the charging base station; the method further includes:

[0071] When the robot is waiting to be recharged, control the robot to walk to the guide wire and determine the guide sensing point among the various sensing points on the guide wire that generates a connection with the robot.

[0072] The robot's movement path is determined based on the relative position between the guide sensor location point and the charging base station. The robot is then controlled to walk to the charging base station for recharging according to the movement path.

[0073] In this embodiment, a guide wire can also be connected to the charging base station. When the robot is waiting to recharge, it can be controlled to walk onto the guide wire and sense the guide wire, and then walk from the sensing point to the charging base station to recharge, thereby improving the recharging efficiency.

[0074] The guide wire can be connected to both ends of the positioning wire to the two sides of the charging base station. However, if the charging port of the charging base station faces forward, the guide wire should be connected to the front of the charging base station, i.e., in the direction of the charging port. Specifically, the guide wire can be located within the positioning area formed by the positioning wire and the charging base station, but it does not intersect with the positioning wire. The length of the guide wire is not limited; it only needs to be able to guide the robot to the charging base station.

[0075] Please refer to Figure 2 , Figure 2 This is a schematic diagram of a robot recharging device provided by the present invention. A positioning wire is installed within a preset area where the robot travels, and at least one end of the positioning wire is connected to a charging base station. The device includes:

[0076] The first control unit 21 is used to control the robot to walk to the point where it is sensed by the positioning wire when the robot is waiting to be recharged, and to determine the current sensing position point that is sensed by the robot among the various sensing position points on the positioning wire.

[0077] The second control unit 22 is used to determine the recharge path based on the relative position between the current sensing location point and the charging base station, and to control the robot to walk to the charging base station for recharge according to the recharge path.

[0078] For a description of the robot recharging device provided by the present invention, please refer to the above method embodiments; the present invention will not be described again here.

[0079] Please refer to Figure 3 , Figure 3 This is a schematic diagram of a robot recharging system provided by the present invention. The system includes:

[0080] Robot 31 is used to implement the steps of the robot recharging method described above when executing the robot program;

[0081] Charging base station 32 is used for the robot to recharge;

[0082] The positioning wire 33 is used to be set within a preset area and connected to the charging base station 32 to position the robot 21.

[0083] For a description of the robot recharging system provided by the present invention, please refer to the above method embodiments; the present invention will not be described again here.

[0084] It should also be noted that, in this specification, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0085] The above description of the disclosed embodiments enables those skilled in the art to make or use the invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the invention. Therefore, the invention is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A robot recharging method, characterized in that, A positioning wire is installed within a preset area where the robot walks, and at least one end of the positioning wire is connected to a charging base station. The method includes: The robot is controlled to start from the charging base station and walk along the positioning wire. The position where the robot senses the positioning wire every unit distance or unit time it walks is set as the sensing position point. The robot is controlled to walk to a sensing location point on the positioning power line where the distance between the robot and the charging base station is no greater than a preset distance, and a marking signal is injected; the sensing location point where the marking signal is injected is marked as a reference location point; When the robot is waiting to be recharged, control the robot to walk to the location wire and determine the current sensing position point on the location wire that generates a connection with the robot. Based on the relative positions between the current sensing location, the reference location, and the charging base station, a recharge path is determined. The robot is then controlled to walk to the charging base station for recharging according to the recharge path. Specifically, this includes: If the reference location point and the current sensing location point are on the same side of the charging base station, and the distance between the current sensing location point and the charging base station is less than or equal to a preset distance, the robot walks directly from the current sensing location point to the charging base station; if the distance between the current sensing location point and the charging base station is greater than the preset distance, the robot first walks to the reference location point and the sensing location point near the reference location point and located on the positioning wire, and then walks to the charging base station. If the reference location point and the current sensing location point are located on opposite sides of the charging base station, the robot is controlled to first walk from the current sensing location point to the reference location point and the sensing location point near the reference location point and located on the positioning wire, and then walk to the charging base station. Specifically, when controlling the robot to walk to the reference position point, a reference angle for walking from the current sensing position point to the reference position point is determined based on the robot's current pose information at the current sensing position point, and the robot is controlled to walk to the reference position point according to the reference angle.

2. The robot recharging method as described in claim 1, characterized in that, When the robot is waiting to be recharged, controlling the robot to walk to a position where it is connected to the positioning cable, and determining the current sensing position point on the positioning cable where the robot is connected to the cable, includes: When the robot is waiting to be recharged, the robot's current position is determined based on the robot's current pose information; The robot is controlled to walk from its current position to a point where it is sensed by the positioning wire, and the current sensing position point that is sensed by the robot among the various sensing positions on the positioning wire is determined.

3. The robot recharging method as described in claim 1, characterized in that, Determining a return-to-charge path based on the relative position between the current sensing location and the charging base station, and controlling the robot to walk to the charging base station for recharging according to the return-to-charge path, includes: The return path is determined based on the relative position between the current sensing location and the charging base station. The robot is then controlled to walk along the positioning wire to the charging base station for recharging, or to walk from the positioning area to the charging base station for recharging, based on the return path. The positioning area is the area formed by the positioning wire and the charging base station.

4. The robot recharging method according to any one of claims 1-3, characterized in that, A guide wire is also provided within the preset area where the robot walks, and the direction of the guide wire corresponds to the charging port of the charging base station; the method further includes: When the robot is waiting to be recharged, control the robot to walk to the point where it is sensed by the guide wire, and determine the guide sensing point among the various sensing points on the guide wire that generates a sense between the robot and the guide sensing point. The movement path is determined based on the relative position between the guide sensing location point and the charging base station, and the robot is controlled to walk to the charging base station for recharging according to the movement path.

5. A robot recharging device, characterized in that, A positioning wire is installed within the preset area where the robot walks, and at least one end of the positioning wire is connected to a charging base station. The robot recharging device is used to control the robot to start from the charging base station and walk along the positioning wire, and to set the position where the robot senses the positioning wire every unit distance or unit time it walks as the sensing position point. The robot recharging device is used to control the robot to walk to a sensing position point on the positioning wire and the charging base station where the distance between them is no greater than a preset distance and to inject a marking signal. The sensing location point into which the marking signal is injected is marked as a reference location point; The robot recharging device includes: The first control unit is used to control the robot to walk to the point where it is sensed by the positioning wire when the robot is waiting to be recharged, and to determine the current sensing position point on the positioning wire where the robot is sensed by the wire. The second control unit is used to determine a return-to-charge path based on the relative position between the current sensing location point, the reference location point and the charging base station, and to control the robot to walk to the charging base station for return-to-charge according to the return-to-charge path. The second control unit is specifically used for: If the reference location point and the current sensing location point are on the same side of the charging base station, and the distance between the current sensing location point and the charging base station is less than or equal to a preset distance, the robot walks directly from the current sensing location point to the charging base station; if the distance between the current sensing location point and the charging base station is greater than the preset distance, the robot first walks to the reference location point and the sensing location point near the reference location point and located on the positioning wire, and then walks to the charging base station. If the reference location point and the current sensing location point are located on opposite sides of the charging base station, the robot is controlled to first walk from the current sensing location point to the reference location point and the sensing location point near the reference location point and located on the positioning wire, and then walk to the charging base station. Specifically, when controlling the robot to walk to the reference position point, a reference angle for walking from the current sensing position point to the reference position point is determined based on the robot's current pose information at the current sensing position point, and the robot is controlled to walk to the reference position point according to the reference angle.

6. A robot recharging system, characterized in that, include: A robot, used to implement the steps of the robot recharging method as described in any one of claims 1 to 4 when executing a robot program; A charging base station for recharging the robot; A positioning cable is used to be set within a preset area and connected to the charging base station to locate the robot.

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