A robot control method, a robot system, and a computer storage medium.

Abstract

This application relates to the field of robotics, and discloses a robot control method, a robot system, and a computer storage medium. The robot generates a docking request and sends it to the charging station. The charging station generates an infrared guidance signal based on the docking request. The robot receives the infrared guidance signal and parses it to obtain a control signal corresponding to the infrared guidance signal. The robot moves based on the control signal. Through this method, the robot and the charging station transmit the infrared guidance signal using the USART protocol, thereby improving the efficiency and stability of signal transmission during robot docking, resulting in a low bit error rate and enhanced anti-interference capability.

Description

Technical Field

[0001] This application relates to the field of robotics, and in particular to a robot control method, a robot system, and a computer storage medium. Background Technology

[0002] Robots, as automated equipment integrating advanced technologies from multiple disciplines such as mechanics, electronics, control, sensing, and artificial intelligence, are driving changes in human society's lifestyles through their convergence with artificial intelligence, advanced manufacturing, and mobile internet technologies. With the development of robotics technology, industrial robots are being used extensively worldwide, while the potential demand for service robots is enormous.

[0003] In existing applications, mobile robots need to autonomously recharge when their battery level drops below a preset threshold. After returning to the charging station via navigation technology, the robot needs to align with the station to complete the charging docking. Traditional charging docking techniques for mobile robots utilize infrared, sensors, or a combination of both. Among these, sensor-based or hybrid infrared / sensor solutions are costly and difficult to develop, while traditional infrared solutions typically employ simple time-division multiplexing, resulting in low efficiency and high error rates. Summary of the Invention

[0004] This application provides a robot control method, a robot system, and a computer storage medium to solve the problems of unstable charging signals, low efficiency, and high bit error rate in the prior art when robots are charging and aligning with charging piles.

[0005] To address the above problems, this application provides a robot control method, the control method comprising:

[0006] The robot generates a docking request message and sends the docking request message to the charging pile.

[0007] The charging pile generates an infrared guidance signal based on the charging pile request information;

[0008] The robot receives the infrared guidance signal and analyzes the infrared guidance signal to obtain the control signal corresponding to the infrared guidance signal;

[0009] The robot moves based on the control signals.

[0010] Furthermore, the charging pile includes a first infrared transmitter and a second infrared transmitter, and the step of the charging pile generating an infrared guidance signal based on the charging pile request information includes: the charging pile controlling the first infrared transmitter to generate a first infrared guidance signal and controlling the second infrared transmitter to generate a second infrared guidance signal based on the charging pile request information;

[0011] Based on the coverage of the first infrared guidance signal and the second infrared guidance signal, the robot is sequentially configured with a first area, a second area, a third area, a fourth area, and a fifth area;

[0012] The robot includes a first infrared receiver and a second infrared receiver. The step of the robot receiving the infrared guidance signal includes: the robot receiving the first infrared guidance signal and / or the second infrared guidance signal through the first infrared receiver, and receiving the first infrared guidance signal and / or the second infrared guidance signal through the second infrared receiver.

[0013] Furthermore, the method further includes: the charging pile determining whether the robot is pressing the pile; in response to the robot pressing the pile, the charging pile stops generating the infrared guidance signal and sends an infrared stop signal to the robot so that the robot completes the alignment with the pile; in response to the robot not pressing the pile, the charging pile continues to generate the infrared guidance signal.

[0014] To address the aforementioned issues, this application also provides a robot system, comprising a robot and a charging station, wherein: the robot generates a charging station connection request and sends the connection request to the charging station; the charging station generates an infrared guidance signal based on the connection request; the robot receives the infrared guidance signal and parses the infrared guidance signal to obtain a control signal corresponding to the infrared guidance signal; the robot moves based on the control signal.

[0015] To address the aforementioned problems, this application also provides a computer storage medium for storing program data, which, when executed by a computer, is used to implement the robot control method described above.

[0016] The robot control method provided in this application involves the robot generating a docking request and sending it to the charging pile. The charging pile generates an infrared guidance signal based on the docking request. The robot receives the infrared guidance signal, parses it, and obtains a control signal corresponding to the infrared guidance signal. The robot then moves based on the control signal. This method involves the charging pile sending an infrared guidance signal to the robot, and the robot generating a control signal after parsing the infrared guidance signal to control its own movement, thereby achieving docking with the charging pile. By using the infrared guidance signal provided in this application, superimposed signal data can be obtained, thus solving the problems of unstable docking signals, low efficiency, and high bit error rate in existing technologies when robots dock with charging piles. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the structure of the first embodiment of the robot system of this application;

[0018] Figure 2 This is a flowchart illustrating the first embodiment of the robot control method of this application;

[0019] Figure 3 This is a flowchart illustrating the second embodiment of the robot control method of this application;

[0020] Figure 4 This is a schematic diagram of the structure of an embodiment of the computer storage medium of this application. Detailed Implementation

[0021] To make the above-mentioned objectives, features, and advantages of this application more apparent and understandable, the specific embodiments of this application will be described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are for illustrative purposes only and are not intended to limit the scope of this application. Furthermore, it should be noted that, for ease of description, only the parts relevant to this application are shown in the accompanying drawings, not the entire structure. Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without inventive effort are within the scope of protection of this application.

[0022] The terms "first," "second," etc., used in this application are used to distinguish different objects, not to describe a specific order. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or apparatus that includes a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units not listed, or may optionally include other steps or units inherent to these processes, methods, products, or apparatuses.

[0023] In this document, the term "embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0024] Please see Figure 1-2 , Figure 1 This is a schematic diagram of the structure of the first embodiment of the robot system of this application; Figure 2 This is a flowchart illustrating the first embodiment of the robot control method of this application. The robot system in this embodiment includes a robot 10 and a charging station 20.

[0025] Specifically, the charging pile 20 includes a first infrared transmitter 21 and a second infrared transmitter 22. Upon receiving a charging request from the robot 10, the first infrared transmitter 21 generates a first infrared guidance signal, and the second infrared transmitter 22 generates a second infrared guidance signal. Based on the coverage areas of the first and second infrared guidance signals, the charging pile 20 is sequentially configured with a first area 24, a second area 25, a third area 26, a fourth area 27, and a fifth area 28.

[0026] Optionally, the charging pile 20 also includes a control module 23 and a timer 231 located in the control module 23, which is used to control the pulse width modulation frequency of the first infrared guide signal and the second infrared guide signal, and to ensure that the waveforms of the first infrared guide signal and the second infrared guide signal are the same.

[0027] The robot 10 includes a first infrared receiver 11 and a second infrared receiver 12, for receiving a first infrared guidance signal and / or a second infrared guidance signal through the first infrared receiver 11, and for receiving the first infrared guidance signal and / or the second infrared guidance signal through the second infrared receiver 12.

[0028] The following details the implementation process of the robot's control method. Please refer to [link / reference]. Figure 2 , Figure 2 This is a flowchart illustrating the first embodiment of the robot control method of this application. The method includes the following steps:

[0029] S101: Robot 10 generates a charging pile request message and sends the charging pile request message to charging pile 20.

[0030] Specifically, when the robot 10 detects that the battery is low, it requests to be paired with a charging station. It then navigates to the initial pairing point, generates a pairing request message upon arrival, and sends the message to the charging station 20.

[0031] It should be noted that the initial alignment point is the location recorded by the robot 10 after the charging pile 20 is first installed, achieved by manually pushing the pile. During subsequent alignment processes, the robot 10 navigates back a certain distance from the initial alignment location. The distance between the preset alignment point and the initial alignment location depends on the model of the robot 10. The alignment request information uses a 38 kHz pulse width modulated infrared signal as the carrier.

[0032] S102: The charging pile 20 generates an infrared guidance signal based on the charging pile request information.

[0033] After receiving the charging request information from the robot 10, the charging pile 20 generates an infrared guidance signal based on the charging request information.

[0034] Optionally, after receiving a docking request from the robot 10, the charging pile 20 controls the first infrared transmitter 21 to generate a first infrared guidance signal and the second infrared transmitter 22 to generate a second infrared guidance signal, and sends both the first and second infrared guidance signals to the robot 10. Based on the coverage of the first and second infrared guidance signals, the charging pile 20 can sequentially set a first area 24, a second area 25, a third area 26, a fourth area 27, and a fifth area 28 in front of the charging pile 20. The first area 24 and the fifth area 28 are not covered by the first and second infrared guidance signals; the second area 25 is covered by the first infrared guidance signal; the fourth area 27 is covered by the second infrared guidance signal; and the third area 26 is covered by both the first and second infrared guidance signals, resulting in superposition of the infrared guidance signals.

[0035] Optionally, the first infrared transmitter 21 and the second infrared transmitter 22 are USART serial transmitters, transmitting data using the USART protocol. The charging pile 20 controls the first infrared transmitter 21 and the second infrared transmitter 22 respectively using the timer 231 in the control module 23, ensuring that the generated first infrared guiding signal and the second infrared guiding signal have the same pulse width modulation waveform.

[0036] The infrared guidance signals generated by the first infrared transmitter 21 and the second infrared transmitter 22 are carried by a 38 kHz pulse width modulated infrared signal. At the same time, the waveform of the infrared guidance signal is also modulated by a timer 231, so that the outputs of the first infrared transmitter 21 and the second infrared transmitter 22 are independent and do not interfere with each other, and the infrared guidance signal can be transmitted in bytes.

[0037] The data of the first infrared guidance signal includes the first byte and the second byte, and the data of the second infrared guidance signal includes the third byte and the fourth byte.

[0038] The first byte of the first infrared guidance signal and the third byte of the second infrared guidance signal correspond to the identity information codes of the charging pile 20 and the robot 10, respectively. These codes are random numbers generated by the robot 10 through a program. The charging pile 20 receives the random numbers generated by the robot 10 and generates infrared guidance signal data for alignment based on these random numbers. These random numbers are used to distinguish between different, corresponding charging piles 20 and robots 10 distributed in the same space, enabling simultaneous alignment when different, corresponding charging piles 20 and robots 10 are distributed in the same space.

[0039] The infrared guidance signal covered by the second area 25 is the first guidance signal. The robot 10 receives the first infrared guidance signal through the first infrared receiver 11 and / or the second infrared receiver 12, and obtains the first signal value based on the first byte and the second byte of the first infrared guidance signal.

[0040] The infrared guidance signal covered by the third region 26 is the first infrared guidance signal and the second infrared guidance signal. The first infrared guidance signal and the second infrared guidance signal are superimposed in the third region. The robot 10 receives the first infrared guidance signal and the second infrared guidance signal through the first infrared receiver 11 and / or the second infrared receiver 12. The second signal value is obtained by superimposing the first byte of the first infrared guidance signal and the second infrared guidance signal with the third byte and the second byte with the fourth byte.

[0041] The infrared guidance signal covered by the fourth region 27 is the second infrared guidance signal. The robot 10 receives the second infrared guidance signal through the first infrared receiver 11 and / or the second infrared receiver 12, and obtains the third signal value based on the third and fourth bytes of the second infrared guidance signal.

[0042] The first region 24 and the fifth region 28 are not covered by infrared guidance signals, and the first infrared receiver 11 and / or the second infrared receiver 12 of the robot 10 do not receive infrared guidance signals. The fourth signal value is obtained based on the absence of infrared guidance signals.

[0043] It should be noted that pulse width modulation (PWM) is a method of digitally encoding signal levels. By using a high-resolution counter, the duty cycle of a square wave is modulated to encode the level of a specific signal, ensuring the output signal remains constant despite changes in operating conditions. Furthermore, the charging station 20 and the robot 10 independently receive and transmit data using the USART protocol, preventing interference between data transmitted via infrared guidance signals. Simultaneously, superimposed data can be obtained in the overlapping area of ​​the first and second infrared guidance signals in front of the charging station 20.

[0044] S103: Robot 10 receives the infrared guidance signal and analyzes it to obtain the control signal corresponding to the infrared guidance signal.

[0045] Robot 10 receives infrared guidance signals and analyzes them to obtain control signals corresponding to the infrared guidance signals.

[0046] Optionally, the robot 10 receives the first infrared guidance signal and / or the second infrared guidance signal generated by the charging pile 20 through the first infrared receiver 11, and receives the first infrared guidance signal and / or the second infrared guidance signal generated by the charging pile 20 through the second infrared receiver 12, and independently analyzes the received signals to obtain the corresponding control signals.

[0047] In the area covered by the first and second infrared guidance signals of the charging pile 20, the robot 10 obtains the signal value of the corresponding infrared guidance signal based on the signals received by the first infrared receiver 11 and the second infrared receiver 12, and obtains the corresponding control based on the signal value of the infrared guidance signal.

[0048] When neither the first infrared receiver 11 nor the second infrared receiver 12 of robot 10 receives an infrared guidance signal, i.e., neither the first infrared receiver 11 nor the second infrared receiver 12 receives the first infrared guidance signal or the second infrared guidance signal, robot 10 determines the signal value of the infrared guidance signal obtained by robot 10 in the previous moment. Robot 10 determines that it obtained the first signal value and the first signal value in the previous moment, and it obtained the fourth signal value and the fourth signal value. In response to the first signal value and the first signal value obtained by robot 10 in the previous moment, and the fourth signal value and the fourth signal value obtained by robot 10, robot 10 identifies that robot 10 is located in the first region 24 and obtains the first control signal corresponding to the fourth signal value and the fourth signal value.

[0049] When the first infrared receiver of robot 10 does not receive the infrared guidance signal and the second infrared receiver 12 receives the first infrared guidance signal, robot 10 obtains the fourth signal value and the first signal value. Robot 10 identifies that robot 10 is located between the first region 24 and the second region 25, and obtains the sixth control signal corresponding to the fourth signal value and the first signal value.

[0050] When the first infrared receiver 11 of robot 10 receives the first infrared guidance signal and the second infrared receiver 12 receives the first infrared guidance signal, robot 10 obtains the first signal value and the first signal value. Robot 10 identifies that robot 10 is located in the second region 25 and obtains the second control signal corresponding to the first signal value and the first signal value.

[0051] When the first infrared receiver 11 of robot 10 receives the first infrared guidance signal and the second infrared receiver 12 receives the first infrared guidance signal and the second infrared guidance signal, robot 10 obtains the first signal value and the second signal value. Robot 10 identifies that robot 10 is located between the second region 25 and the third region 26, and obtains the seventh control signal corresponding to the first signal value and the second signal value.

[0052] When the first infrared receiver 11 of robot 10 receives the first infrared guidance signal and the second infrared guidance signal, and the second infrared receiver 12 receives the first infrared guidance signal and the second infrared guidance signal, robot 10 obtains the second signal value and the second signal value. Robot 10 identifies that it is located in the third region 26 and obtains the third control signal corresponding to the second signal value and the second signal value. The beneficial effects of using the USART protocol between robot 10 and charging pile 20 are: enabling byte transmission of infrared guidance signals, and ensuring that the data transmitted by the infrared guidance signals do not interfere with each other, thus improving anti-interference capability; and enabling robot 10 to obtain superimposed data in the superposition area of ​​the first infrared guidance signal and the second infrared guidance signal in front of charging pile 20.

[0053] When the first infrared receiver 11 of robot 10 receives the first infrared guidance signal and the second infrared guidance signal, and the second infrared receiver 12 receives the second infrared guidance signal, robot 10 obtains the second signal value and the third signal value. Robot 10 identifies that robot 10 is located between the third region 26 and the fourth region 27, and obtains the eighth control signal corresponding to the second signal value and the third signal value.

[0054] When the first infrared receiver 11 of robot 10 receives the second infrared guidance signal and the second infrared receiver 12 receives the second infrared guidance signal, robot 10 obtains the third signal value and the third signal value. Robot 10 recognizes that robot 10 is located in the fourth region 27 and obtains the fourth control signal corresponding to the third signal value and the third signal value.

[0055] When the first infrared receiver 11 of robot 10 receives the second infrared guidance signal and the second infrared receiver does not receive the infrared guidance signal, robot 10 obtains the third signal value and the fourth signal value. Robot 10 identifies that robot 10 is located between the fourth region 27 and the fifth region 28, and obtains the ninth control signal corresponding to the third signal value and the fourth signal value.

[0056] When neither the first infrared receiver 11 nor the second infrared receiver 12 of robot 10 receives an infrared guidance signal, i.e., the first infrared receiver 11 does not receive the first infrared guidance signal and the second infrared guidance signal, and the second infrared receiver 12 does not receive the first infrared guidance signal and the second infrared guidance signal, robot 10 determines the signal value of the infrared guidance signal obtained by robot 10 in the previous moment. Robot 10 determines that it obtained the third signal value and the third signal value in the previous moment, and robot 10 obtained the fourth signal value and the fourth signal value. In response to the third signal value and the third signal value obtained by robot 10 in the previous moment, robot 10 identifies that robot 10 is located in the fifth region 28 and obtains the fifth control signal corresponding to the fourth signal value and the fourth signal value.

[0057] S104: Robot 10 moves based on control signals.

[0058] Specifically, after the robot 10 analyzes the received infrared guidance signal and obtains the corresponding control signal, the robot 10 executes the corresponding movement mode based on the control signal.

[0059] The robot 10, based on control signals, performs the following corresponding movement methods:

[0060] Based on the first control signal corresponding to the fourth signal value and the fourth signal value, the second control signal corresponding to the first signal value and the first signal value, the sixth control signal corresponding to the fourth signal value and the first signal value, and the seventh control signal corresponding to the first signal value and the second signal value, the robot 10 is controlled to move to the right front. The angle of the robot 10 turning to the right is different and is related to the model of the robot 10 and the control signal.

[0061] Robot 10 moves forward based on a third control signal corresponding to the second signal value.

[0062] Based on the third signal value and the fourth control signal corresponding to the third signal value, the fifth control signal corresponding to the fourth signal value and the fourth signal value, the eighth control signal corresponding to the second signal value and the third signal value, and the ninth control signal corresponding to the third signal value and the fourth signal value, the robot 10 is controlled to move to the left front. The leftward rotation angle of the robot 10 is different and is related to the model of the robot 10 and the control signal.

[0063] In this embodiment, the robot control method involves the robot 10 generating a docking request and sending it to the charging pile 20. The charging pile 20 generates an infrared guidance signal based on the docking request. The robot 10 receives the infrared guidance signal, parses it, and obtains a control signal corresponding to the infrared guidance signal. The robot 10 then moves based on the control signal. Through this control method, the robot 10 and the charging pile 20 confirm the docking guidance information through two modulated infrared guidance signals. Simultaneously, the infrared guidance signal transmits data using the USART protocol, thereby improving the efficiency and stability of signal transmission during robot 10 docking, resulting in a low bit error rate and enhanced anti-interference capability.

[0064] Please see Figure 3 , Figure 3 This is a flowchart illustrating the second embodiment of the robot control method of this application. Figure 2 The implementation steps following step S104 include the following steps:

[0065] S201: The charging pile 20 determines whether the robot 10 is pressing the pile.

[0066] Specifically, after the robot 10 executes the movement mode corresponding to the received infrared guidance signal, the charging pile 20 needs to determine whether the robot 10 has reached the position point of successful pile alignment and press the pile.

[0067] S202: In response to the robot 10 pressing the pile, the charging pile 20 stops generating infrared guidance signals and sends an infrared stop signal to the robot 10 so that the robot 10 completes the pile alignment.

[0068] Specifically, when the charging pile 20 detects that the robot 10 is pressing the pile, the charging pile 20 responds to the robot 10 pressing the pile by stopping the first infrared transmitter 21 and the second infrared transmitter 22 of the charging pile 20 from generating infrared guidance signals and sending an infrared stop signal to the robot 10. When the first infrared receiver 11 and the second infrared receiver 12 of the robot 10 receive the infrared stop signal, the robot 10 completes the alignment with the pile and uses the charging pile 20 to charge.

[0069] S203: In response to the robot 10 not pressing the charging pile, the charging pile 20 continues to generate infrared guidance signals.

[0070] Specifically, when the charging pile 20 determines that the robot 10 is not pressing the pile, the charging pile 20 responds to the robot 10 not pressing the pile by having its first infrared transmitter 21 and second infrared transmitter 22 continue to generate infrared guidance signals. The robot 10 continues to execute the corresponding movement mode according to the received infrared guidance signals until the charging pile 20 determines that the robot 10 is pressing the pile and sends an infrared stop signal to the robot 10.

[0071] The robot control method in this embodiment determines whether the robot 10 is pressing the pile. In response to the robot 10 pressing the pile, the charging pile 20 stops generating infrared guidance signals and sends an infrared stop signal to the robot 10, enabling the robot 10 to complete the alignment. In response to the robot 10 not pressing the pile, the charging pile 20 continues to generate infrared guidance signals. Through this control method, the charging pile 20 controls the generation of infrared guidance and stop signals by determining whether the robot 10 is pressing the pile, thereby completing the alignment operation between the charging pile 20 and the robot 10. This simplifies the alignment process for the robot 10. Furthermore, the charging pile 20 only uses the first infrared transmitter 21 and the second infrared transmitter 22 to generate two types of guidance signals, reducing device costs, improving signal transmission efficiency, and increasing alignment speed.

[0072] The structure of the robot system is described in detail below. Please refer to [link / reference]. Figure 1 , Figure 1 This is a schematic diagram of the structure of the first embodiment of the robot system of this application. The robot system of this embodiment includes a robot 10 and a charging station 20.

[0073] Specifically, the charging pile 20 includes a first infrared transmitter 21 and a second infrared transmitter 22, wherein the first infrared transmitter 21 generates a first infrared guiding signal and the second infrared transmitter 22 generates a second infrared guiding signal. The charging pile 20 also includes a control module 23, which uses a timer 231 to control the pulse width modulation frequency of the first and second infrared guiding signals and ensures that the output waveforms of the first and second infrared guiding signals are the same.

[0074] The robot 10 includes a first infrared receiver 11 and a second infrared receiver 12, wherein the first infrared receiver 11 receives a first infrared guidance signal and / or a second infrared guidance signal, and the second infrared receiver 12 receives the first infrared guidance signal and / or the second infrared guidance signal.

[0075] The first infrared transmitter 21 and the second infrared transmitter 22 are USART serial transmitters; the first infrared receiver 11 and the second infrared receiver 12 are USART serial receivers; the first infrared transmitter 21 and the second infrared transmitter 22 transmit infrared guidance signal data with the first infrared receiver 11 and the second infrared receiver 12 using the USART protocol.

[0076] Specifically, in this embodiment, when the robot 10 detects insufficient power, the robot system begins to align with the charging station. The robot 10 navigates to the initial alignment point and sends the generated alignment request information to the charging station 20. After receiving the alignment request information, the charging station 20, based on the alignment request information, controls the first infrared transmitter 21 to generate a first infrared guiding signal with the same pulse width modulation frequency and waveform as the second infrared guiding signal generated by the second infrared transmitter 22.

[0077] The first infrared receiver 11 and the second infrared receiver 12 of the robot 10 receive the infrared guidance signal and independently analyze the received infrared guidance signal to obtain the signal value of the infrared guidance signal, identify the area where the robot 10 is located, and obtain the control signal corresponding to the signal value of the infrared guidance signal.

[0078] Robot 10 executes the corresponding movement mode according to the received control signals. Charging pile 20 needs to determine whether the robot 10 has pressed the pile after movement; when charging pile 20 determines that robot 10 has pressed the pile, the control module 23 of charging pile 20 controls the first infrared transmitter 21 and the second infrared transmitter 22 to stop generating infrared guidance signals and generates an infrared stop signal to be sent to robot 10. When robot 10 receives the infrared stop signal, it completes the pile alignment; when charging pile 20 determines that robot 10 has not pressed the pile, the control module 23 of charging pile 20 controls the first infrared transmitter 21 and the second infrared transmitter 22 to continue generating infrared guidance signals until charging pile 20 determines that robot 10 has pressed the pile.

[0079] It should be noted that the control module 23 in the charging pile 20 uses a timer 231 located in the control module 23 to ensure that the pulse width modulation waveforms of the first infrared guiding signal and the second infrared guiding signal are the same. The first infrared transmitter 21 and the second infrared transmitter 22, which are also USART serial transmitters, can modulate the signal waveforms, enabling byte transmission of the infrared guiding signal. The two infrared guiding signals have different encodings and independent outputs. The information transmission efficiency of the infrared guiding signal can be 1200 baud rate, and the data transmission frequency can be 40 Hz.

[0080] The robot system of this embodiment includes a robot 10 and a charging pile 20. The robot 10 generates a charging pile connection request and sends it to the charging pile 20. The charging pile 20 generates an infrared guidance signal based on the connection request. The robot 10 receives the infrared guidance signal and analyzes it to obtain a control signal corresponding to the infrared guidance signal. The robot 10 moves based on the control signal. In the above robot system, the robot 10 includes a first infrared receiver 11 and a second infrared receiver 12. The charging pile 20 includes a first infrared transmitter 21, a second infrared transmitter 22, a control module 23, and a timer 231 located in the control module 23. Through the robot system of this application, the charging connection process between the robot 10 and the charging pile 20 can be quickly completed. Simultaneously, the charging pile 20 uses the first and second infrared guidance signals as guidance signals, reducing device costs, simplifying the area division in front of the charging pile 20, reducing the complexity of device maintenance, and improving signal transmission efficiency and stability.

[0081] Please see Figure 4 , Figure 4 This is a schematic diagram of the structure of an embodiment of the computer storage medium of this application. Figure 4 As shown, the computer storage medium 800 is used to store program data 801. When the program data 801 is executed by the processor, it is used to implement the robot control method described in the above embodiments.

[0082] The methods involved in the robot control method embodiments provided in this application, when implemented as software functional units and sold or used as independent products, can be stored in a device, such as a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) or processor to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0083] The above description is merely an embodiment of this application and does not limit the patent scope of this application. Any equivalent structural or procedural transformations made using the content of this application's specification and drawings, or direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of this application.

Claims

1. A method for controlling a robot, characterized in that, The control method includes: The robot generates a docking request message and sends the docking request message to the charging pile. The charging pile generates an infrared guidance signal based on the charging pile request information; The robot receives the infrared guidance signal and analyzes the infrared guidance signal to obtain the control signal corresponding to the infrared guidance signal; The robot moves based on the control signals; The charging pile includes a first infrared transmitter and a second infrared transmitter. The step of the charging pile generating an infrared guidance signal based on the charging pile request information includes: The charging pile controls the first infrared transmitter to generate a first infrared guidance signal and controls the second infrared transmitter to generate a second infrared guidance signal based on the charging pile request information. Based on the coverage of the first infrared guiding signal and the second infrared guiding signal, the charging pile is sequentially set with a first area, a second area, a third area, a fourth area and a fifth area; The robot includes a first infrared receiver and a second infrared receiver, and the step of the robot receiving the infrared guidance signal includes: The robot receives the first infrared guidance signal and / or the second infrared guidance signal through the first infrared receiver, and receives the first infrared guidance signal and / or the second infrared guidance signal through the second infrared receiver; The first infrared transmitter and the second infrared transmitter transmit the infrared guidance signal data to the first infrared receiver and the second infrared receiver via the USART protocol; The data of the first infrared guidance signal includes a first byte and a second byte, and the data of the second infrared guidance signal includes a third byte and a fourth byte; The first byte and the third byte correspond to the robot's identity information encoding; The infrared guidance signal covered by the second area is the first infrared guidance signal. The robot receives the first infrared guidance signal through the first infrared receiver and / or the second infrared receiver, and obtains a first signal value based on the first byte and the second byte of the first infrared guidance signal. The infrared guidance signal covered by the third region is the first infrared guidance signal and the second infrared guidance signal. The robot receives the first infrared guidance signal and the second infrared guidance signal through the first infrared receiver and / or the second infrared receiver. The second signal value is obtained by superimposing the first byte of the first infrared guidance signal and the second infrared guidance signal with the third byte and the second byte with the fourth byte. The infrared guidance signal covered by the fourth region is the second infrared guidance signal. The robot receives the second infrared guidance signal through the first infrared receiver and / or the second infrared receiver, and obtains the third signal value based on the third byte and the fourth byte of the second infrared guidance signal. The first region and the fifth region do not cover the infrared guidance signal, and the first infrared receiver and / or the second infrared receiver of the robot do not receive the infrared guidance signal. A fourth signal value is obtained based on the fact that the infrared guidance signal is not received. The step of parsing the infrared guidance signal to obtain the control signal corresponding to the infrared guidance signal further includes: In response to receiving the fourth signal value and the fourth signal value, the robot determines the signal value it received at the previous moment. If the robot determines that it obtained the first signal value and the first signal value in the previous moment, then in response to the first signal value and the first signal value obtained in the previous moment, the robot obtains the fourth signal value and the fourth signal value, identifies that the robot is located in the first area, and obtains a first control signal corresponding to the fourth signal value and the fourth signal value. If the robot determines that it obtained the third signal value and the third signal value at the previous moment, then in response to the robot obtaining the third signal value and the third signal value at the previous moment, the robot obtains the fourth signal value and the fourth signal value, identifies that the robot is located in the fifth region, and obtains the fifth control signal corresponding to the fourth signal value and the fourth signal value.

2. The control method according to claim 1, characterized in that, The step of parsing the infrared guidance signal to obtain the control signal corresponding to the infrared guidance signal includes: In response to receiving the first signal value and the first signal value, the robot identifies that it is located in the second region and receives a second control signal corresponding to the first signal value and the first signal value; In response to receiving the second signal value and the second signal value, the robot identifies that it is located in the third region and receives a third control signal corresponding to the second signal value and the second signal value; In response to receiving the third signal value and the third signal value, the robot identifies that it is located in the fourth region and receives a fourth control signal corresponding to the third signal value and the third signal value.

3. The control method according to claim 1, characterized in that, The step of parsing the infrared guidance signal to obtain the control signal corresponding to the infrared guidance signal further includes: In response to receiving the fourth signal value and the first signal value, the robot identifies that it is located between the first region and the second region, and receives a sixth control signal corresponding to the fourth signal value and the first signal value. In response to receiving the first signal value and the second signal value, the robot identifies that it is located between the second region and the third region, and receives a seventh control signal corresponding to the first signal value and the second signal value; In response to receiving the second signal value and the third signal value, the robot identifies that it is located between the third region and the fourth region, and receives an eighth control signal corresponding to the second signal value and the third signal value; In response to receiving the third signal value and the fourth signal value, the robot identifies that it is located between the fourth region and the fifth region, and receives a ninth control signal corresponding to the third signal value and the fourth signal value.

4. The control method according to claim 1, characterized in that, The method further includes: The charging pile determines whether the robot is pressing the pile; In response to the robot pressing the pile, the charging pile stops generating the infrared guidance signal and sends an infrared stop signal to the robot, so that the robot completes the pile alignment; In response to the robot not pressing the charging pile, the charging pile continues to generate the infrared guidance signal.

5. A robot system, characterized in that, This includes robots and charging stations, among which: The robot is used to generate a charging pile request information and send the charging pile request information to the charging pile. The charging pile generates an infrared guidance signal based on the charging pile request information; The robot is used to receive the infrared guidance signal and analyze the infrared guidance signal to obtain the control signal corresponding to the infrared guidance signal; The robot moves based on the control signals; The charging pile includes a first infrared transmitter and a second infrared transmitter. Based on the charging pile request information, the charging pile controls the first infrared transmitter to generate a first infrared guidance signal and controls the second infrared transmitter to generate a second infrared guidance signal. Based on the coverage of the first infrared guiding signal and the second infrared guiding signal, the charging pile is sequentially set with a first area, a second area, a third area, a fourth area and a fifth area; The robot includes a first infrared receiver and a second infrared receiver. The robot is used to receive the first infrared guidance signal and / or the second infrared guidance signal through the first infrared receiver, and to receive the first infrared guidance signal and / or the second infrared guidance signal through the second infrared receiver. The charging pile also includes a control module and a timer located in the control module, used to control the pulse width modulation frequency of the first infrared guiding signal and the second infrared guiding signal, and to make the waveforms of the first infrared guiding signal and the second infrared guiding signal the same; The data of the first infrared guidance signal includes a first byte and a second byte, and the data of the second infrared guidance signal includes a third byte and a fourth byte; The first byte and the third byte correspond to the robot's identity information encoding; The infrared guidance signal covered by the second area is the first infrared guidance signal. The robot receives the first infrared guidance signal through the first infrared receiver and / or the second infrared receiver, and obtains a first signal value based on the first byte and the second byte of the first infrared guidance signal. The infrared guidance signal covered by the third region is the first infrared guidance signal and the second infrared guidance signal. The robot receives the first infrared guidance signal and the second infrared guidance signal through the first infrared receiver and / or the second infrared receiver. The second signal value is obtained by superimposing the first byte of the first infrared guidance signal and the second infrared guidance signal with the third byte and the second byte with the fourth byte. The infrared guidance signal covered by the fourth region is the second infrared guidance signal. The robot receives the second infrared guidance signal through the first infrared receiver and / or the second infrared receiver, and obtains the third signal value based on the third byte and the fourth byte of the second infrared guidance signal. The first region and the fifth region do not cover the infrared guidance signal, and the first infrared receiver and / or the second infrared receiver of the robot do not receive the infrared guidance signal. A fourth signal value is obtained based on the fact that the infrared guidance signal is not received. In response to receiving the fourth signal value and the fourth signal value, the robot determines the signal value it received at the previous moment. If the robot determines that it obtained the first signal value and the first signal value in the previous moment, then in response to the first signal value and the first signal value obtained in the previous moment, the robot obtains the fourth signal value and the fourth signal value, identifies that the robot is located in the first area, and obtains a first control signal corresponding to the fourth signal value and the fourth signal value. If the robot determines that it obtained the third signal value and the third signal value at the previous moment, then in response to the robot obtaining the third signal value and the third signal value at the previous moment, the robot obtains the fourth signal value and the fourth signal value, identifies that the robot is located in the fifth region, and obtains the fifth control signal corresponding to the fourth signal value and the fourth signal value.

6. The robot system according to claim 5, characterized in that, The first infrared transmitter and the second infrared transmitter transmit the infrared guidance signal data to the first infrared receiver and the second infrared receiver via the USART protocol.

7. A computer storage medium, characterized in that, The computer storage medium is used to store program data, which, when executed by the computer, is used to implement the robot control method as described in any one of claims 1 to 4.

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