Recharge Control Method Based on Reference Guidance Direction

Abstract

The present application discloses a recharge control method based on a reference guiding direction, including: Step A, based on the charging guiding signal emitted by the charging pile, set a reference guiding direction and a guiding priority for the corresponding grid within a pre-set grid map; then enter Step B; Step B, according to the pointing relationship between the reference guiding directions in two adjacent grids, adjust the reference guiding direction in the grid with a relatively lower guiding priority among the two adjacent grids, and then update the adjusted reference guiding direction as the reference guiding direction in the same grid; then enter Step C; Step C, starting from the pre-set recharge starting grid, control the robot to walk towards the charging pile based on the reference guiding direction in the grid, so that the robot walks to a position where it docks with the charging pile for charging. It is realized that the recharge signal information is fixed within the grid area covered by the signal through the reference guiding direction in the grid, simplifying and fixing the recharge logic.

Description

Technical Field

[0001] This application relates to the technical field of robot control, and specifically relates to a recharge control method based on a reference guiding direction. Background Art

[0002] The charging guiding signal is emitted by the emission sensors on the charging pile. The emission probes of the emission sensors at multiple positions correspondingly emit to form a signal distribution map within a certain range, which can be divided into a middle signal, a left signal, and a right signal. At this time, left side emission sensors and right side emission sensors are arranged on both sides of the charging pile to make up for the detection blind area. Conventional floor-sweeping robots are specially equipped with 2 to 6 signal receivers. Therefore, there will be a very large number of signal reception situations for the floor-sweeping robot. For example, after the middle signal is divided into a middle-left signal and a middle-right signal, the corresponding signal overlapping area is not centered (it may be that the internal base structure design of the charging pile causes infrared signals to reflect inside the base, resulting in the skewing of the overlapping area), the signals emitted by the left side emission sensor and the right side emission sensor will cross the boundary, the signal distribution density formed by the charging pile emitting within a regular-shaped area is inconsistent, etc., resulting in the charging information marked in the uniformly distributed cell area being not fixed. Then, during the process of returning to the seat according to the guidance of the charging guiding signal, it increases the complexity of exploring and applying the charging guiding signal, and also triggers a large number of unstable motion control business logics, increasing the time and effort for humans to train the robot to recharge. Summary of the Invention

[0003] This application discloses a recharge control method based on a reference guiding direction, and the specific technical solution is as follows:

[0004] A recharge control method based on a reference guiding direction, comprising: Step A: Based on a charging guiding signal emitted by a charging pile, set a reference guiding direction and a guiding priority for corresponding grids within a pre-set grid map; then proceed to Step B; Step B: According to the pointing relationship between the reference guiding directions in two adjacent grids, adjust the reference guiding direction in the grid with a relatively lower guiding priority among the two adjacent grids, and then update the adjusted reference guiding direction as the reference guiding direction in the same grid; then proceed to Step C; Step C: Starting from a pre-set recharge starting grid, control a robot to walk towards the charging pile based on the reference guiding direction in the grid, so that the robot walks to a position where it docks with the charging pile for charging. Compared with the prior art, in this application, a reference guiding direction and a guiding priority are set for corresponding grids within a pre-set grid map, and the reference guiding direction in the grid with a lower guiding priority is adjusted according to the pointing relationship between the reference guiding directions in two adjacent grids to approach the grid area where the charging pile is located. On this basis, the recharge signal information is fixed within the grid area covered by the signal through the reference guiding direction in the grid, and quantified into a direction element (becoming the only variable in the corresponding position of a single grid); then, using the direction element as a recharge guiding reference and controlling the robot to walk towards the charging pile according to the pointing corresponding to the reference guiding direction, simplifies and fixes the recharge logic, reduces the complexity of exploring and using the charging guiding signal; furthermore, enables the robot to autonomously train based on the reference guiding direction in the established grid to find out the recharge route, reduces human interference, and saves R & D costs and labor. BRIEF DESCRIPTION OF THE DRAWINGS

[0005] Figure 1 FIG. is a schematic diagram showing a first reference guiding direction is set directly in front of the grid area where the charging pile is located in an embodiment of the present application.

[0006] Figure 2 FIG. is a schematic diagram showing a second two reference guiding direction and a second four reference guiding direction are respectively set on the left and right sides of the grid area where the charging pile is located, and a second one reference guiding direction and a second three reference guiding direction are respectively set on the left and right sides of a vertical line directly in front of the grid area where the charging pile is located (extending along the vertical forward direction in the middle position of the grid area where the charging pile is located) in an embodiment of the present application.

[0007] Figure 3 FIG. is a schematic diagram showing a third two reference guiding direction and a third four reference guiding direction are respectively set on the left and right sides of the grid area where the charging pile is located, and a third one reference guiding direction and a third three reference guiding direction are respectively set on the left and right sides of a vertical line directly in front of the grid area where the charging pile is located (extending along the vertical forward direction in the middle position of the grid area where the charging pile is located) in an embodiment of the present application.

[0008] Figure 4 This is a schematic diagram of an embodiment of the present application, which discloses setting a turning grid and an edge guiding grid in two adjacent grids with opposite direction hedging and adjusting the third reference guiding direction.

[0009] Figure 5 This is a schematic diagram of an embodiment of the present application, which discloses that in a grid area composed of four grids, the reference guiding directions in two grids distributed along the diagonal show opposite direction hedging.

[0010] Figure 6 This is a schematic diagram of an embodiment of the present application, which discloses that in the same row of grid areas, the reference guiding directions in two adjacent grids show opposite direction hedging.

[0011] Figure 7 This is a schematic diagram of an embodiment of the present application, which discloses that when the recharge starting grid is the grid area on the left side of the first guiding grid, starting from the recharge starting grid and walking along the reference guiding direction in the corresponding grid to the recharge route (the route formed by connecting black thick dots) vertically pointing to the charging pile.

[0012] Figure 8 This is a schematic diagram of an embodiment of the present application, which discloses that when the recharge starting grid is the grid area on the right side of the first guiding grid, starting from the recharge starting grid and walking along the reference guiding direction in the corresponding grid to the recharge route (the route formed by connecting black thick dots) vertically pointing to the charging pile.

[0013] Figure 9 This is a schematic diagram of a method flow of an embodiment of the present application for controlling a robot to walk towards the position of the charging pile based on the reference guiding direction in the grid in step C. Embodiment

[0014] Next, the technical solutions in the embodiments of the present application will be described in detail with reference to the accompanying drawings in the embodiments of the present invention. Without conflict, the following embodiments and the features in the embodiments can be combined with each other. In the present application, it is necessary to understand terms such as "center", "middle position", "central axis", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. The indicated orientation or positional relationship is based on the orientation or positional relationship shown in the accompanying drawings, and is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation or be constructed and operated in a specific orientation, so it cannot be understood as a limitation to the present invention. If terms such as "first", "second", "third", etc. appear in the embodiments, they are for the convenience of distinguishing related features and cannot be understood as indicating or implying their relative importance, order of precedence, or the number of technical features.

[0015] The present application discloses a recharge control method based on a reference guiding direction. The charging pile is a device for charging a robot, and the charging pile can emit a charging guiding signal and be received by the robot to guide the robot back to the charging pile for charging. The robot includes, but is not limited to, cleaning intelligent robots such as a sweeping robot, a mopping robot, a polishing robot, or a waxing robot, etc.

[0016] The robot will continuously detect the charging guiding signal emitted by the charging pile while walking. The charging guiding signal is a signal of various coverage ranges emitted by the charging pile for guiding the robot to return to its seat. According to the number and installation positions of the infrared emission sensors set in the charging pile, the charging guiding signal can be divided into different signal types. For example, the middle docking signal emitted by the emission sensor located on the front side of the charging pile, the side left signal emitted by the infrared emission sensor located on the left side of the charging pile, the side right signal emitted by the infrared emission sensor located on the right side of the charging seat, and the close guard signal (a guardrail signal scattered around with the top light as the center, and direction information will be given to it in this application) emitted by the infrared emission sensor of the top light of the charging pile. In addition, multiple infrared receiving sensors capable of receiving the charging guiding signal emitted by the infrared emission sensor of the charging pile can be provided on the body of the robot and are respectively arranged at different positions on the body. In some embodiments, the infrared receiving sensor of the robot is arranged on the top of the robot and is covered with a round bubble structure, so as to facilitate the robot to receive the charging guiding signal in all directions. Thus, the robot's attitude is adjusted according to the signal direction information, so that the robot walks towards the charging pile and then goes to the charging pile for seating and charging. Preferably, the robot can adopt a contact or inductive charging method, and the front and side surfaces of the robot can be defined according to the installation position of the charging structure. Here, the front side can also refer to the side of the body where the walking direction of the robot points, so that the front side of the robot is the area convenient for the seating and charging operation, and the infrared receiving sensors can also be arranged on both sides of the front side of the robot.

[0017] In this application, the recharge control method includes:

[0018] Step A, based on the charging guidance signal emitted by the charging pile, set the reference guidance direction and guidance priority for the corresponding grid in the pre-set grid map; then enter step B. Among them, the corresponding grid is pre-gridded by the coverage range of the charging guidance signal, and the robot senses the direction of the charging pile emitting the charging guidance signal and the position relationship of one of the grids relative to the charging pile at the position corresponding to one of the grids. In step A, by setting the form of the reference guidance direction for the corresponding grid, the guidance role that the signal of different types or different positions can play is indicated; thereby, the storage amount can be saved in a relatively simplified vector form, and the processing rate of the guidance information can be improved, so that the robot can more quickly plan the movement direction required for recharging from the position corresponding to each grid. Step A also sets the guidance priority for the corresponding grid based on the distance of the coverage range of the charging guidance signal emitted by the charging pile relative to the charging pile. In some embodiments, the farther the grid deviates from the center line directly in front of the charging pile, the lower the guidance priority set for the grid.

[0019] Before setting a reference guidance direction for the grid, there may be: a grid map constructed in the process of the robot walking in a working area centered on the charging pile and detecting the charging guidance signal, wherein the origin of the two-dimensional coordinate system of the grid map is the center of the grid area where the charging pile is located. At each position where the robot has walked, the position of the grid corresponding to the position relative to the charging pile, as well as the situation of the charging guidance signal that can be detected at the position are calculated; when the robot walks to the position where the charging guidance signal needs to be detected, the direction of the head will be adjusted to be consistent with the emission direction of the detected charging guidance signal, and the receiving probe in front of the robot will be aimed at the charging pile, so that the emission direction of the charging guidance signal can be calculated at the current position. Then the calculated position and the detected signal situation are recorded in the grid corresponding to the position walked, and a grid with charging guidance information is obtained; the robot can also record the set reference guidance direction in correspondence with the grid where it is located as the signal direction quantitative distribution information to form a signal quantitative distribution map, such as Figure 3 As shown in the grid map, the pre-detected charging guidance signal is quantized in the corresponding grid, and the relationship between the robot's recharging guidance direction and the corresponding position of the grid it walks is established.

[0020] Moreover, the different types of charging guidance signals emitted by the charging pile will result in differences in the coverage angle range and coverage distance generated by the corresponding types of charging guidance signals relative to the charging pile. Therefore, in the signal quantization distribution diagram, the guidance priority will be set according to the angle and distance of the grid from the center line of the charging pile. Generally, the farther the grid deviates from the center line of the charging pile, the lower the guidance priority is set.

[0021] During the process of detecting the charging guidance signal and constructing the grid map, the robot can walk through the area on the right side of the charging pile, the front - right area of the charging pile, the directly - in - front area of the charging pile, the area on the left side of the charging pile, and the front - left area of the charging pile in sequence to detect the charging guidance signal at each position. Here, each position includes positions arranged at a certain horizontal interval or a certain vertical interval, or positions arranged at a certain angular interval centered on the charging pile, which can enable the robot to record the charging guidance signals that are more evenly distributed in the area near the charging pile within the grid map.

[0022] Step B: According to the pointing relationship between the reference guidance directions in two adjacent grids, adjust the reference guidance direction in the grid with a relatively lower guidance priority among the two adjacent grids, and then update the adjusted reference guidance direction as the reference guidance direction in the same grid; then enter Step C. In the grid map, in Step B, it is necessary to extract the reference guidance directions in each of the two adjacent grids for judgment in order to adjust the reference guidance direction in the corresponding grid and update the reference guidance direction in the grid map. Moreover, it is the reference guidance direction in the grid with a relatively lower guidance priority among the two adjacent grids that is adjusted, that is, the reference guidance direction in the grid that is farther away from the center line or central axis of the charging pile needs to be adjusted more to make it closer to vertically pointing to the grid area where the charging pile is located; then record the updated reference guidance direction corresponding to its grid to form the final signal direction quantization distribution information, providing a reference basis for the robot to return to the charging pile later.

[0023] In Step B, the pointing relationship between the reference guidance directions in the two adjacent grids includes whether the positions pointed to by the reference guidance directions in the two adjacent grids are the same, specifically manifested as Figure 5 and Figure 6 the arrows in the two grids in contact to form a pair of opposite directions, thereby using the shape characteristics of the grid to set up the guidance direction information that is convenient for adjustment and storage recording.

[0024] Step C: Starting from the pre - set return - charging starting grid, control the robot to walk towards the charging pile based on the reference guidance direction in the grid, so that the robot walks to the position where it docks with the charging pile for charging. During the execution of Step C, the reference guidance directions in the grids relied on include the reference guidance directions updated in Step B and the reference guidance directions set in Step A but not updated; when the robot walks towards the charging pile or plans the corresponding return - charging route based on the reference guidance direction in the grid, the robot starts from the pre - set return - charging starting grid and walks to the next position according to the reference guidance direction in the corresponding grid at the position it walks through, until it walks to the position where it docks with the charging pile for charging (corresponding to Figure 7 orFigure 8 the grid adjacent to the front of the charging pile therein).

[0025] Compared with the prior art, in the preset grid map of the present application, a reference guiding direction and a guiding priority are set for the corresponding grid, and the reference guiding direction in the grid with a lower guiding priority is adjusted according to the pointing relationship between the reference guiding directions in two adjacent grids to approach the grid area where the charging pile is located. On this basis, the recharge signal information is fixed in the grid area covered by the signal through the reference guiding direction in the grid and quantified into a direction element (becoming the only variable in the corresponding position of a single grid); then, the direction element is used as a reference for the recharge guidance, and the robot is controlled to walk towards the charging pile according to the pointing corresponding to the reference guiding direction, simplifying and fixing the recharge logic, reducing the complexity of exploring and using the charging guidance signal; furthermore, the robot autonomously trains based on the reference guiding direction in the established grid to find out the recharge route, reducing manual interference and saving R & D costs and labor.

[0026] Specifically, in the step A, the method for setting a reference guiding direction and a guiding priority for the corresponding grid in the preset grid map based on the charging guidance signal emitted by the charging pile includes:

[0027] Set a first guiding grid based on the vertically forward direction in the middle of the front side of the charging pile, and set a first reference guiding direction and a guiding priority in the first guiding grid. In the present application, the robot sets the first reference guiding direction in the first guiding grid according to the vertically forward direction in the middle of the front side of the charging pile, and configures a guiding priority for each first guiding grid to indicate the priority of the first guiding grid being adjusted in the step B. Preferably, the front side of the charging pile is used to emit an intermediate docking signal, and the coverage range of the intermediate docking signal includes the direction extending forward from the middle of the front side of the charging pile, specifically, it can be the vertically forward direction in the middle of the front side of the charging pile; the first guiding grid is the grid falling within the coverage range corresponding to the intermediate docking signal emitted by the charging pile, and it can be distributed along the central axis of the charging pile forward, forming the grid with the most guiding value for the robot to directly dock with the charging pile, so the guiding priority set for the grid in the grid map is the highest.

[0028] As Figure 1 shown, the first reference guiding direction set in the first guiding grid is Figure 1 the vertically upward arrow pointing in the grid that is perpendicular to the grid area where the charging pile is located and directly below the charging pile in Figure 1Walk straight in the direction of the arrow shown to the front of the charging pile for docking charging. Corresponding to the robot walking environment, in front of the charging pile, the middle docking signal emitted from the front side of the charging pile can be regarded as the signal distributed in the area defined by the two forward-extending diagonal lines in the middle of the charging pile.

[0029] Set the second guiding grid according to the coverage range of the close guard signal emitted by the charging pile, and set the second reference guiding direction and guiding priority in the second guiding grid; specifically, the second reference guiding direction can be set in the second guiding grid according to the relationship between the direction of the close guard signal emitted by the charging pile and the first reference guiding direction, and a guiding priority is configured for each second guiding grid to indicate the priority of the second guiding grid being adjusted in step B. It may be necessary to set the second guiding grid in the grid area other than the first guiding grid. For example, let the second guiding grid be distributed in the area near the charging pile and on the left and right sides of the first guiding grid to exclude the influence of the grid where the first reference guiding direction has been set in the vertical forward direction in the middle of the front side of the charging pile, and reduce the repeated marking of direction information for the grid. Therefore, the guiding priority configured for the second guiding grid is lower than the guiding priority configured for the first guiding grid, forming the second-highest guiding priority set for the grid in the grid map.

[0030] Combined with Figure 1 and Figure 2 It can be seen that the second guiding grids are located on both sides of the charging pile and on both sides of the first guiding grid directly in front of the charging pile. Among them, horizontal arrows are respectively set as the second reference guiding direction in the second guiding grids on both sides of the charging pile. For example, the second reference guiding direction is set in the second guiding grid on the left side, and the second reference guiding direction is set in the second guiding grid on the right side; among the second guiding grids on both sides of the first guiding grid directly in front of the charging pile, arrows shooting outwards from the central axis of the charging pile at a fixed angle are respectively set as the second reference guiding direction. For example, the second reference guiding direction is set in the second guiding grid on the left side, and the second reference guiding direction is set in the second guiding grid on the right side; thus, the divergent signal distribution characteristics (arc distribution characteristics in front of the charging pile) of the close guard signal in the area centered on the charging pile are quantified in the grid map, reducing the marking of multiple emission directions (at least more than 4 emission directions), but quantifying the close guard signal into the grid map with a single angle of emission direction, and reducing the influence of the overboundary phenomenon of the close guard signal.

[0031] Within the coverage range of the alignment signal emitted by the charging pile, the range other than the coverage range of the guard signal is set as the effective detection range of the guiding signal; wherein, the charging guiding signal includes an intermediate docking signal, a guard signal, and a side guiding signal; the intermediate docking signal and the side guiding signal form the alignment signal. In some embodiments, the signals other than the guard signal in the charging guiding signal can be classified as the alignment signal, and this alignment signal can be divided into left and right signal processing. Since the first guiding grid and the first reference guiding direction have been set in the foregoing embodiments, the intermediate signal is not divided from this alignment signal.

[0032] Then, a third guiding grid is set according to the effective detection range of the alignment signal, and a third reference guiding direction and a guiding priority are set in the third guiding grid; specifically, the second reference guiding direction can be set in the third guiding grid according to the relationship between the direction of the alignment signal emitted by the charging pile and the first reference guiding direction, and a guiding priority is configured for each third guiding grid to indicate the priority of the third guiding grid being adjusted in step B. Thus, in the area outside the coverage range of the guard signal, a third guiding grid is set and the third reference guiding direction is set therein, so that starting from the grid area where the charging pile is located, the foregoing first reference guiding direction, the foregoing second reference guiding direction, and the foregoing third reference guiding direction can be set from near to far, such that the third guiding grid is distributed on the periphery of the grid area composed of the second guiding grids and is farther from the central axis of the grid area where the charging pile is located relative to the second guiding grids; therefore, the guiding priority configured for the third guiding grid is lower than the guiding priority configured for the second guiding grid, forming the grid information with the lowest guiding priority in the grid map, and then the foregoing third reference guiding direction is used as the most prioritized guiding direction to be adjusted in step B.

[0033] Combined Figure 2 and Figure 3 it can be known that the third guiding grids are located on both the left and right sides of the charging pile and on both sides of the first guiding grid directly in front of the charging pile. The third guiding grids are distributed on the periphery of the grid area composed of the second guiding grids and tend to be distributed Figure 2 below the area occupied by the second guiding grids in Figure 3 relative to Figure 2Add a grid with marked arrows. Among the third guiding grids on the left and right sides of the charging pile, horizontal arrows are respectively set as the third reference guiding directions. For example, the third two reference guiding direction is set in the third guiding grid on the left side, and the third four reference guiding direction is set in the third guiding grid on the right side; among the third guiding grids on the left and right sides of the first guiding grid directly in front of the charging pile, arrows shooting towards the center of the charging pile at a fixed angle relative to the central axis of the charging pile are respectively set as the third reference guiding directions. For example, the third one reference guiding direction is set in the third guiding grid on the left side, and the third three reference guiding direction is set in the third guiding grid on the right side.

[0034] In this application, the guiding priority set in the first guiding grid is higher than that set in the second guiding grid, and the guiding priority set in the second guiding grid is higher than that set in the third guiding grid, so that the third reference guiding direction in the third guiding grid is preferentially adjusted; if the two adjacent grids described in step B are a second guiding grid and a third guiding grid, then the reference guiding direction in the grid with relatively lower guiding priority among the two adjacent grids to be adjusted is the third reference guiding direction set in the third guiding grid; if the two adjacent grids described in step B are a second guiding grid and a third guiding grid, then the reference guiding direction in the grid with relatively lower guiding priority among the two adjacent grids to be adjusted is the third reference guiding direction set in the third guiding grid; if the two adjacent grids described in step B are a first guiding grid and a third guiding grid, then the reference guiding direction in the grid with relatively lower guiding priority among the two adjacent grids to be adjusted is the third reference guiding direction; if the two adjacent grids described in step B are a first guiding grid and a second guiding grid, then the reference guiding direction in the grid with relatively lower guiding priority among the two adjacent grids to be adjusted is the second reference guiding direction set in the third guiding grid.

[0035] In summary, this application rasterizes the coverage area based on various types of charging guiding signals, and correspondingly sets reference guiding directions, so that the return charging information on the grid map is quantified into direction elements (the reference guiding directions set in each grid) according to certain rules, enabling the robot to find the direction required for return charging faster through the quantified direction elements (the reference guiding directions set in each grid).

[0036] It should be noted that the charging guidance signals emitted by the charging pile include intermediate docking signals, near-guard signals, and side guidance signals. Specifically, the intermediate docking signals can be emitted from the front side of the charging pile, the side guidance signals can be emitted by the infrared emission sensors located on the front side and both sides of the charging pile, and the near-guard signals can be emitted by the infrared emission sensors located on the top of the charging pile. All of them are processed by only dividing into left and right signals, reducing the influence of problems such as the non-centered overlapping area of the divided intermediate signal, left signal, and right signal.

[0037] Based on the position of the charging pile, the robot can determine a preset range. The shape and size of the preset range can be set accordingly according to specific design requirements. It can be set to shapes such as rectangles, squares, or ellipses, and the area sizes can be set to 2 square meters, 3 square meters, or 4 square meters, etc. Corresponding to Figures 1 to 3 the area enclosed by the outermost rectangular border is used as the preset range. The robot rasterizes the preset range to form multiple grids, which are also recorded as grid cells. A grid is a virtual grid with a certain length and width. The length and width can be the same or different, but each grid must be the same. For example, they can all be set to squares of 0.1 meter * 0.1 meter, or they can all be set to rectangular grids of 0.1 meter * 0.15 meter, or they can all be set to squares of 0.15 meter * 0.15 meter, etc. Figures 1 to 8 The illustrated square grid is the grid described in this application. The illustrated grid can be a square virtual cell of 0.1 meter * 0.1 meter, constituting the pre-set grid map of this application. The grid map can be divided into multiple such square virtual cells. Each grid correspondingly records the situation of the charging guidance signals collected when the robot is at the position of that grid.

[0038] As an embodiment, the method of setting a first guiding grid in the vertical forward direction in the middle of the front side of the charging pile and setting a first reference guiding direction in the first guiding grid includes: Refer to Figure 1 It can be known that

[0039] Within the grid map, starting from the middle position of the grid area where the charging pile is located, all the grids passed through in the vertical forward direction of the middle position of the grid area where the charging pile is located are marked as the first guiding grids, forming a plurality of first guiding grids distributed along the central axis of the charging pile. Among them, the front side of the grid area where the charging pile is located is used to represent the side of the charging pile that docks and charges with the robot. The vertical forward direction in the middle of the front side of the charging pile is configured as the vertical forward direction of the middle position of the grid area where the charging pile is located. The grid area composed of the plurality of first guiding grids is perpendicular to the front of the grid area where the charging pile is located. Among them, the vertical forward direction of the middle position of the grid area where the charging pile is located can be used within the grid map disclosed in this application Figure 1The opposite direction of the arrow direction shown is regarded as being emitted perpendicularly in front of the charging pile, or as the direction perpendicular to the front side of the charging pile in the perspective of extracting the intermediate docking signal emitted from the front side of the charging pile, which is used as the direction for the front side of the charging pile to emit the intermediate docking signal. In this application, it needs to be simplified and marked in the corresponding grid in the form of a single direction to rasterize the central axis directly in front of the charging pile, forming the first guiding grid for guiding the robot to dock and recharge in a straight line.

[0040] Corresponding to Figure 1 Among them, the grid area composed of multiple first guiding grids is perpendicular to the directly below of the grid area where the charging pile is located and is on the central axis of the charging pile.

[0041] In this embodiment, the opposite direction of the vertically forward direction at the middle position of the grid area where the charging pile is located is set as the first reference guiding direction, and then the first reference guiding direction is recorded in each first guiding grid. The specific recording form includes storing the angle information of the first reference guiding direction in the two-dimensional coordinate system of the grid map, the starting point and ending point of the first reference guiding direction (regarded as a vector line segment) in a single first guiding grid and other direction information into the cache space corresponding to the first guiding grid; Therefore, in each first guiding grid, the opposite direction of the vertically forward direction at the middle position of the grid area where the charging pile is located is set as the first reference guiding direction, so that the first reference guiding direction vertically points to the grid area where the charging pile is located in the pre-set grid map. Thus, each position passed by the central axis directly in front of the charging pile is converted into a grid with the first reference guiding direction set on the grid map, so that the front of the robot faces the docking charging surface of the charging pile. Reduce the influence of the overlapping area of the alignment signals formed after the intermediate signal is divided into the middle left signal and the middle right signal on the robot's return charging not being centered.

[0042] As an embodiment, the method of setting the second guiding grid according to the coverage range of the near guard signal emitted by the charging pile and setting the second reference guiding direction in the second guiding grid includes:

[0043] Centering on the grid area where the charging pile is located, by rasterizing the coverage range of the near guard signal, multiple second guiding grids are formed in the grid area except for the first guiding grid, so that one second guiding grid is the grid corresponding to a position within the coverage range of the near guard signal; Among them, the multiple second guiding grids are located on both sides of the grid area composed of the multiple first guiding grids and the grid area where the charging pile is located; The coverage range of the near guard signal can be regarded as a semi-circular coverage area with a certain radius centered on the grid area where the charging pile is located, and the already set first guiding grid will be excluded, that is, except for the linear grid area (the grid area composed of the first guiding grids) perpendicular to the center of the charging pile; As Figure 2As shown, starting from a row of the grid area where the charging pile is located, traverse the grid row by row. The multiple second guiding grids are distributed in a gradient pattern, with the number of second guiding grids increasing as the distance from the grid area where the charging pile is located decreases, and the number of second guiding grids decreasing as the distance from the grid area where the charging pile is located increases.

[0044] In this embodiment, the guard signals are divided into a middle-left guard signal and a side-left guard signal according to different emission directions on the left side of the charging pile. Among them, the distribution of guard signals on the left side of the charging pile (including the emission angles of the guard signals detected by the robot at the corresponding positions in advance and the corresponding mapped grids) is pre-marked in the corresponding grid area of the grid map. Infrared emission sensors can be installed on the top of the charging pile, and the emitted guard signals can be divided into a middle-left guard signal and a side-left guard signal. A straight emission direction of the guard signal emitted from the front left side of the charging pile can represent the direction of emitting the middle-left guard signal; a straight emission direction of the guard signal emitted from the left side of the charging pile can represent the direction of emitting the side-left guard signal.

[0045] In this embodiment, the direction obtained by deflecting the first reference guiding direction to the left by a first target guiding angle is set as the second reference guiding direction. It can also be understood that the direction obtained by deflecting the first reference guiding direction counterclockwise by a first target guiding angle is the second reference guiding direction; then record the second reference guiding direction in each second guiding grid on the left side of the grid area composed of the multiple first guiding grids, so that the reverse direction of the set second reference guiding direction points between the middle front position of the charging pile and the left side of the charging pile. The involved recording form includes storing the angle information of the second reference guiding direction in the two-dimensional coordinate system of the grid map, and the azimuth information such as the starting point and ending point of the second reference guiding direction (regarded as a vector line segment) in a single second guiding grid into the cache space corresponding to the second guiding grid; specifically, the second reference guiding direction can represent a straight emission direction of the aforementioned middle-left guard signal emitted by the charging pile. Schematically, Figure 2 As shown, the arrow of the second reference guiding direction in the grid points at an angle of 135 degrees with the vertically upward direction (regarded as the first reference guiding direction), making the first target guiding angle equal to 135 degrees.

[0046] In this embodiment, the direction that is deflected to the left by a second target guiding angle relative to the first reference guiding direction is set as the second reference guiding direction. It can also be understood that the direction that is deflected counterclockwise by the second target guiding angle relative to the first reference guiding direction is the second reference guiding direction. Then, the second reference guiding direction is recorded in each second guiding grid on the left side of the grid area where the charging pile is located, so that the opposite direction of the set second reference guiding direction points to the left side of the charging pile. The recording form involved includes storing the angle information of the second reference guiding direction in the two-dimensional coordinate system of the grid map, and the azimuth information such as the starting point and ending point of the second reference guiding direction (regarded as a vector line segment) in a single second guiding grid into the corresponding cache space of the second guiding grid. Specifically, the second reference guiding direction can be used to represent a linear emission direction for the charging pile to emit the aforementioned left near-edge guard signal. Schematically, Figure 2 The arrow direction of the shown second reference guiding direction in the grid points horizontally to the left, Figure 2 The arrow direction of the shown second reference guiding direction in the grid forms a 90-degree angle with the vertically upward direction (regarded as the first reference guiding direction), so that the second target guiding angle is equal to 90 degrees.

[0047] It should be noted that the included angle formed by the second-first reference guiding direction and the first reference guiding direction is within the included angle formed by the second reference guiding direction and the first reference guiding direction. When both the second target guiding angle and the first target guiding angle are between 0 and 180 degrees, the second target guiding angle is less than the first target guiding angle. If the directions for the charging pile to emit the middle left near-edge guard signal and the edge left near-edge guard signal are respectively represented by a linear emission direction configured at the corresponding position on the left side of the charging pile, and the emission tasks can be undertaken by the same infrared emission sensor, then based on the first reference guiding direction, the second-first reference guiding direction and the second reference guiding direction can be quantified within the same circular arc viewing angle range on the left side of the emission sensor.

[0048] In this embodiment, the guard signals can also be divided into middle-right guard signals and edge-right guard signals according to different emission directions on the right side of the charging pile. Among them, the distribution of guard signals on the right side of the charging pile (including the emission angles of the guard signals detected by the robot at the corresponding positions in advance and the corresponding mapped grids) is pre-marked in the corresponding grid areas of the grid map. An infrared emission sensor can be installed on the top of the charging pile, and the emitted guard signals can be divided into middle-right guard signals and edge-right guard signals. A linear emission direction of the guard signal emitted from the right front side of the charging pile can be regarded as the direction of emitting the middle-right guard signal; a linear emission direction of the guard signal emitted from the right side of the charging pile can be regarded as the direction of emitting the edge-right guard signal. A linear emission direction of the guard signal emitted from the right front side of the charging pile can be regarded as the direction of emitting the middle-right guard signal; a linear emission direction of the guard signal emitted from the right side of the charging pile can be regarded as the direction of emitting the edge-right guard signal.

[0049] In this embodiment, the direction deflected by a first target guiding angle to the right relative to the first reference guiding direction is set as the second reference guiding direction. It can also be understood that the direction deflected clockwise by the first target guiding angle relative to the first reference guiding direction is the second reference guiding direction; then the second reference guiding direction is recorded in each second guiding grid on the right side of the grid area composed of the multiple first guiding grids, so that the reverse direction of the set second reference guiding direction points to the middle position of the front side of the charging pile and the right side of the charging pile; the recording form involved in the second reference guiding direction includes storing the angle information of the second reference guiding direction in the two-dimensional coordinate system of the grid map, the starting point and the ending point and other azimuth information of the second reference guiding direction (regarded as a vector line segment) in a single second guiding grid into the cache space corresponding to the second guiding grid; specifically, the second reference guiding direction can represent a linear emission direction of the charging pile emitting the aforementioned middle-right guard signal. Schematically, Figure 2 As shown, the arrow in the grid of the second reference guiding direction points at an angle of 135 degrees with the vertically upward direction (regarded as the first reference guiding direction), so that the first target guiding angle is equal to 135 degrees.

[0050] In this embodiment, the direction that is deflected to the right by a second target guiding angle relative to the first reference guiding direction is set as the second four-reference guiding direction. It can also be understood that the direction that is deflected clockwise by the second target guiding angle relative to the first reference guiding direction is the second four-reference guiding direction. Then, the second four-reference guiding direction is recorded in each second guiding grid on the right side of the grid area where the charging pile is located, so that the reverse direction of the set second four-reference guiding direction points to the right side of the charging pile. The recording form related to the second four-reference guiding direction includes storing the angle information of the second four-reference guiding direction in the two-dimensional coordinate system of the grid map, and the azimuth information such as the starting point and the ending point of the second four-reference guiding direction (regarded as a vector line segment) in a single second guiding grid into the corresponding buffer space of the second guiding grid. Specifically, the second four-reference guiding direction can be used to represent a linear emission direction of the charging pile for emitting the aforementioned left near-guard signal on the side. Schematically, Figure 2 The arrow direction of the shown second four-reference guiding direction in the grid points horizontally to the right, Figure 2 The arrow direction of the shown second four-reference guiding direction in the grid forms a 90-degree angle with the vertically upward direction (regarded as the first reference guiding direction), so that the second target guiding angle is equal to 90 degrees.

[0051] It should be noted that the included angle between the second four-reference guiding direction and the first reference guiding direction is within the included angle between the second three-reference guiding direction and the first reference guiding direction. When both the second target guiding angle and the first target guiding angle are between 0 and 180 degrees, the second target guiding angle is less than the first target guiding angle. If the directions of the charging pile for emitting the middle right near-guard signal and the side right near-guard signal are respectively represented by a linear emission direction configured at the corresponding position on the right side of the charging pile, and the emission task can be undertaken by the same infrared emission sensor, then based on the first reference guiding direction, the second three-reference guiding direction and the second four-reference guiding direction can be quantified within the same circular arc viewing angle range on the right side of the emission sensor.

[0052] In summary, in the foregoing embodiment, the near-guard signals are quantified according to the corresponding coverage ranges on both sides of the charging pile, so as to convert the second one-reference guiding direction, the second two-reference guiding direction, the second three-reference guiding direction, and the second four-reference guiding direction in the second guiding grids at different azimuths, and represent the coverage range of the near-guard signals with simplified direction information.

[0053] If the grid area where the charging pile is located is distributed in a row of grid areas in the grid map, corresponding to Figure 2For the charging pile distribution area, the second guiding grids on the left side of the grid area where the charging pile is located and the second guiding grids on the right side of the grid area where the charging pile is located are both distributed in the grid areas with the same row sequence as the grid area where the charging pile is located, that is Figure 2 The grids with the second two reference guiding directions and the grids with the second four reference guiding directions set therein both occupy the same row of grid areas as the grid area where the charging pile is located; moreover, the grid area composed of the multiple first guiding grids is distributed in a column of grid areas in the grid map, corresponding to Figure 2 For the grid distribution area marked with an arrow pointing vertically upward, the second guiding grids on the left side of the grid area composed of the multiple first guiding grids and the second guiding grids on the right side of the grid area composed of the multiple first guiding grids are both distributed in the grid areas with the same row sequence as some of the first guiding grids, corresponding to Figure 2 The grids with the second one reference guiding direction (diagonal direction to the lower left) and the grids with the second three reference guiding directions (diagonal direction to the lower right) set therein both have the same row sequence as the first guiding grids in the three consecutive rows below the grid area where the charging pile is located.

[0054] In Figure 2 In the grid map, the left side of the grid area corresponds to the negative direction of the horizontal axis of the two-dimensional coordinate system of the grid map, the right side of the grid area corresponds to the positive direction of the horizontal axis of the two-dimensional coordinate system of the grid map, the row sequence is represented by the ordinate in the two-dimensional coordinate system of the grid map, and the column sequence is represented by the abscissa in the two-dimensional coordinate system of the grid map; the middle position of the grid area where the charging pile is located is the origin of the two-dimensional coordinate system of the grid map.

[0055] In addition, if the grid area where the charging pile is located is distributed in a column of grid areas in the grid map, the second guiding grids on the left side of the grid area where the charging pile is located and the second guiding grids on the right side of the grid area where the charging pile is located are both distributed in the grid areas with the same column sequence as the grid area where the charging pile is located, corresponding to Figure 2In the corresponding embodiment, the second guiding grid is transposed in rows and columns compared with the first guiding grid, but this is not shown in the accompanying drawings of the specification of the present application. Moreover, if the grid area composed of the multiple first guiding grids is distributed in a row of grid areas in the grid map by rows, then the second guiding grids on the left side of the grid area composed of the multiple first guiding grids and the second guiding grids on the right side of the grid area composed of the multiple first guiding grids are both distributed in the grid areas with the same column order as some of the first guiding grids, and the column order of this part of the first guiding grids is in one-to-one correspondence and equality with the column order of the second guiding grids where the second one-reference guiding direction or the second three-reference guiding direction is set. Among them, the left side of the grid area corresponds to the negative direction of the vertical coordinate axis of the two-dimensional coordinate system of the grid map, the right side of the grid area corresponds to the positive direction of the vertical coordinate axis of the two-dimensional coordinate system of the grid map, the column order is represented by the vertical coordinate in the two-dimensional coordinate system of the grid map, and the row order is represented by the horizontal coordinate in the two-dimensional coordinate system of the grid map, and is the same as Figure 2 In the corresponding embodiment, the horizontal and vertical coordinate axes in the two-dimensional coordinate system are transposed.

[0056] It should be noted that the second guiding grids on the left side of the grid area composed of the multiple first guiding grids do not overlap with the second guiding grids on the left side of the grid area where the charging pile is located; the second guiding grids on the right side of the grid area composed of the multiple first guiding grids do not overlap with the second guiding grids on the right side of the grid area where the charging pile is located. The grid area composed of the multiple first guiding grids does not overlap with the grid area where the charging pile is located, the left area of the grid area composed of the multiple first guiding grids does not overlap with the same-side area of the grid area where the charging pile is located, and the right area of the grid area composed of the multiple first guiding grids does not overlap with the same-side area of the grid area where the charging pile is located.

[0057] As an embodiment, the method of setting the third guiding grid according to the effective detection range of the alignment signal and setting the third reference guiding direction in the third guiding grid includes: rasterizing the effective detection range of the alignment signal to form multiple third guiding grids, that is, setting the third guiding grids in the grid areas except for the first guiding grids and the second guiding grids; moreover, the multiple third guiding grids are distributed on both sides of the grid area composed of the multiple first guiding grids and the grid area where the charging pile is located together; thus, multiple third guiding grids are set outside the coverage range of the proximity signal, and their corresponding positions all fall within the coverage range of the alignment signal, such as Figure 3As shown, starting from a row of the grid area where the charging pile is located, traverse the grid row by row. Set the third guiding grids with the third reference guiding direction (the arrow direction opposite to the second reference guiding direction shown in the figure) to be filled on the left and right sides of the grid area composed of the multiple second guiding grids. Since there are many signal types included in the alignment signal, the number of third guiding grids formed within the effective detection range of the alignment signal is greater than the number of second guiding grids formed within the coverage range of the close-in signal.

[0058] Among the alignment signals, the middle docking signal includes a middle-left docking signal emitted from the left side of the front of the charging pile and a middle-right docking signal emitted from the right side of the front of the charging pile. Thus, the middle docking signal is divided into a middle-left docking signal and a middle-right docking signal according to the left and right emission directions on the front side of the charging pile. Among the alignment signals, the side guiding signal includes a side-left guiding signal emitted from the left side of the charging pile and a side-right guiding signal emitted from the right side of the charging pile. Thus, the middle docking signal is divided into a side-left guiding signal and a side-right guiding signal according to the left and right sides of the charging pile. Among them, the emission angle of the alignment signal detected by the robot at the corresponding position in advance and the corresponding mapped grid are pre-marked in the corresponding grid area of the grid map.

[0059] Preferably, on the left side of the central axis of the charging pile, the middle docking signal emitted in a straight-line emission direction approaching the middle of the front of the charging pile is denoted as the middle-left docking signal, and this straight-line emission direction approaching the middle of the front of the charging pile is preferably at an angle of 45 degrees with the central axis of the charging pile; and the side guiding signal emitted in an emission direction on the left side of the charging pile is denoted as the side-left guiding signal, and this emission direction on the left side of the charging pile is preferably at an angle of 90 degrees with the central axis of the charging pile.

[0060] Preferably, on the right side of the central axis of the charging pile, the middle docking signal emitted in a straight-line emission direction approaching the middle of the front of the charging pile is denoted as the middle-right docking signal, and this straight-line emission direction approaching the middle of the front of the charging pile is preferably at an angle of 45 degrees with the central axis of the charging pile; and the side guiding signal emitted in an emission direction on the right side of the charging pile is denoted as the side-right guiding signal, and this emission direction on the right side of the charging pile is preferably at an angle of 90 degrees with the central axis of the charging pile.

[0061] In this embodiment, the direction that is deflected to the right by a third target guiding angle relative to the first reference guiding direction is set as the third one reference guiding direction. It can also be understood that the direction that is deflected clockwise by the third target guiding angle relative to the first reference guiding direction is the third one reference guiding direction. Then, the third one reference guiding direction is recorded in each of the third guiding grids on the left side of the grid area composed of the multiple first guiding grids, so that the set third one reference guiding direction points between the middle position on the front side of the charging pile and the left side of the charging pile. Specifically, the recording form related to the third one reference guiding direction includes storing the angle information of the third one reference guiding direction in the two-dimensional coordinate system of the grid map, and the azimuth information such as the starting point and the ending point of the third one reference guiding direction (regarded as a vector line segment) in a single third guiding grid into the corresponding buffer space of the third guiding grid. The third one reference guiding direction can represent the reverse direction of a straight-line emission direction for the charging pile to emit the aforementioned middle-left docking signal. Schematically, Figure 3 As shown, the arrow of the third one reference guiding direction in the grid points at a 45-degree angle to the vertically upward direction (regarded as the first reference guiding direction), making the third target guiding angle equal to 45 degrees.

[0062] In this embodiment, the direction that is deflected to the right by a second target guiding angle relative to the first reference guiding direction is set as the third two reference guiding direction. It can also be understood that the direction that is deflected clockwise by the second target guiding angle relative to the first reference guiding direction is the third two reference guiding direction. Then, the third two reference guiding direction is recorded in each of the third guiding grids on the left side of the grid area composed of the multiple first guiding grids, so that the set third two reference guiding direction points between the middle position on the front side of the charging pile and the left side of the charging pile. Specifically, the recording form related to the third two reference guiding direction includes storing the angle information of the third two reference guiding direction in the two-dimensional coordinate system of the grid map, and the azimuth information such as the starting point and the ending point of the third two reference guiding direction (regarded as a vector line segment) in a single third guiding grid into the corresponding buffer space of the third guiding grid. The third two reference guiding direction can represent the reverse direction of a straight-line emission direction for the charging pile to emit the aforementioned edge-left guiding signal. Schematically, Figure 3 As shown, the arrow of the third two reference guiding direction in the grid points at a 90-degree angle to the vertically upward direction (regarded as the first reference guiding direction), making the second target guiding angle equal to 90 degrees, that is Figure 3 As shown, the arrow of the third two reference guiding direction in the grid points horizontally to the right.

[0063] It should be noted that the included angle formed by the third reference guiding direction and the first reference guiding direction is within the included angle formed by the second reference guiding direction and the first reference guiding direction; when both the second target guiding angle and the third target guiding angle are between 0 and 180 degrees, the second target guiding angle is greater than the third target guiding angle. If the directions of the left-middle docking signal and the left-side guiding signal emitted by the charging pile are respectively represented by a straight-line emission direction configured at the corresponding position on the left side of the charging pile, and the emission tasks can be respectively undertaken by multiple infrared emission sensors, then based on the first reference guiding direction, the third reference guiding direction and the second reference guiding direction are quantified within the circular arc viewing angles of the emission sensors on the left side.

[0064] In this embodiment, the direction deflected by the third target guiding angle to the left relative to the first reference guiding direction is set as the third reference guiding direction, which can also be understood as the direction deflected counterclockwise by the third target guiding angle relative to the first reference guiding direction is the third reference guiding direction; then the third reference guiding direction is recorded in each third guiding grid on the right side of the grid area composed of the multiple first guiding grids, so that the set third reference guiding direction points to the area between the middle position in the front of the charging pile and the right side of the charging pile; specifically, the recording form related to the third reference guiding direction includes storing the angle information of the third reference guiding direction in the two-dimensional coordinate system of the grid map, the starting point and the ending point and other azimuth information of the third reference guiding direction (regarded as a vector line segment) in a single third guiding grid into the cache space corresponding to the third guiding grid; the third reference guiding direction can represent the reverse direction of a straight-line emission direction for the charging pile to emit the aforementioned middle-right docking signal. Schematically, Figure 3 The arrow of the third reference guiding direction shown in the grid points at an angle of 45 degrees with the vertically upward direction (regarded as the first reference guiding direction), making the third target guiding angle equal to 45 degrees.

[0065] In this embodiment, the direction that is deflected to the left by a second target guiding angle relative to the first reference guiding direction is set as the third and fourth reference guiding directions. It can also be understood that the direction that is deflected counterclockwise by a third target guiding angle relative to the first reference guiding direction is the third and fourth reference guiding directions. Then, the third and fourth reference guiding directions are recorded in each of the third guiding grids on the right side of the grid area composed of the multiple first guiding grids, so that the set third and fourth reference guiding directions point to the middle position on the front side of the charging pile and the right side of the charging pile. Specifically, the recording form related to the third and fourth reference guiding directions includes storing the angle information of the third and fourth reference guiding directions in the two-dimensional coordinate system of the grid map, and the azimuth information such as the starting point and the ending point of the third and fourth reference guiding directions (regarded as vector line segments) in a single third guiding grid into the corresponding cache space of the third guiding grid. The third and fourth reference guiding directions can represent the reverse direction of a straight-line emission direction for the charging pile to emit the aforementioned right-side guiding signal. Schematically, Figure 3 The arrow in the grid indicating the third and fourth reference guiding directions is at a 90-degree angle to the vertically upward direction (regarded as the first reference guiding direction), making the second target guiding angle equal to 90 degrees, that is, Figure 3 the arrow in the grid indicating the third and fourth reference guiding directions points to the horizontally leftward direction.

[0066] It should be noted that the included angle between the third and third reference guiding directions and the first reference guiding direction is within the included angle between the third and fourth reference guiding directions and the first reference guiding direction. When both the second target guiding angle and the third target guiding angle are between 0 and 180 degrees, the second target guiding angle is greater than the third target guiding angle. If the directions for the charging pile to emit the middle-right docking signal and the right-side guiding signal are respectively represented by a straight-line emission direction configured at the corresponding position on the right side of the charging pile, and can be respectively undertaken by multiple infrared emission sensors for emission, then based on the first reference guiding direction, the third and third reference guiding directions and the third and fourth reference guiding directions are quantified within the circular arc viewing angles emitted by the respective emission sensors on the right side.

[0067] In summary, in the foregoing embodiment, according to the front-side emission direction and the left and right side emission directions of the charging pile, the alignment signal divides two different reference guiding directions on each of the left and right sides of the central axis of the charging pile, realizing a limited number and type of direction quantization in the signal coverage ranges corresponding to the front side and the left and right sides of the charging pile and setting them into the corresponding grids of the grid map, achieving the purpose of converting the charging guiding signals with originally multiple emission directions or a large viewing angle into two relatively fixed reference guiding directions on each side of the central axis of the charging pile, and accelerating the efficiency of the robot to return to the charging pile for docking and charging through the reference guiding directions set in the grid map.

[0068] If the grid area where the charging pile is located is distributed in a row of grid areas in the grid map, the third guiding grid on the left side of the grid area where the charging pile is located and the third guiding grid on the right side of the grid area where the charging pile is located are both distributed in the grid areas with the same row sequence and adjacent row sequences as the row sequence of the grid area where the charging pile is located, that is Figure 3 The grids with the third two reference guiding directions and the grids with the third four reference guiding directions set in the first row of grid areas from top to bottom in Figure 3 occupy the same row of grid areas as the grid area where the charging pile is located;

[0069] The grid area composed of the multiple first guiding grids is distributed in a column of grid areas in the grid map, corresponding to Figure 3 the grid distribution area marked with an arrow pointing vertically upward, then the third guiding grid on the left side of the grid area composed of the multiple first guiding grids and the third guiding grid on the right side of the grid area composed of the multiple first guiding grids are both distributed in the grid areas with the same row sequence as part of the first guiding grids, corresponding to Figure 3 the grids with the third one reference guiding direction (diagonal direction to the upper right) and the grids with the third three reference guiding directions (diagonal direction to the upper left) have the same row sequence as the continuous six rows of first guiding grids in the grid area where the charging pile is located.

[0070] In Figure 3 the grid map, the left side of the grid area corresponds to the negative direction of the horizontal axis of the two-dimensional coordinate system of the grid map, the right side of the grid area corresponds to the positive direction of the horizontal axis of the two-dimensional coordinate system of the grid map, the row sequence is represented by the ordinate in the two-dimensional coordinate system of the grid map, and the column sequence is represented by the abscissa in the two-dimensional coordinate system of the grid map; the middle position of the grid area where the charging pile is located is the origin of the two-dimensional coordinate system of the grid map.

[0071] In addition, not shown in the figure, if the grid area where the charging pile is located is distributed in a column of grid areas in the grid map, the third guiding grid on the left side of the grid area where the charging pile is located and the third guiding grid on the right side of the grid area where the charging pile is located are both distributed in the grid areas with the same column sequence and adjacent column sequences as the column sequence of the grid area where the charging pile is located, similar to Figure 3In the corresponding embodiment, the third guiding grid is transposed in rows and columns compared with that in the embodiment, but it is not shown in the accompanying drawings of the specification of the present application. Moreover, if the grid area composed of the plurality of first guiding grids is distributed in a row in the grid map as a row of grid areas, then the third guiding grid on the left side of the grid area composed of the plurality of first guiding grids and the third guiding grid on the right side of the grid area composed of the plurality of first guiding grids are both distributed in the grid area with the same column order as that of a part of the first guiding grids, and the column order of this part of the first guiding grids is in one-to-one correspondence and equality with the column order of the second guiding grid where the third one reference guiding direction or the third three reference guiding direction is set. Among them, the left side of the grid area corresponds to the negative direction of the vertical coordinate axis of the two-dimensional coordinate system of the grid map, the right side of the grid area corresponds to the positive direction of the vertical coordinate axis of the two-dimensional coordinate system of the grid map, the column order is represented by the vertical coordinate in the two-dimensional coordinate system of the grid map, and the row order is represented by the horizontal coordinate in the two-dimensional coordinate system of the grid map, which is the same as that in the Figure 3 In the corresponding embodiment, the horizontal and vertical coordinate axes in the two-dimensional coordinate system are transposed.

[0072] It should be noted that the third guiding grid on the left side of the grid area composed of the plurality of first guiding grids does not overlap with the third guiding grid on the left side of the grid area where the charging pile is located; the third guiding grid on the right side of the grid area composed of the plurality of first guiding grids does not overlap with the third guiding grid on the right side of the grid area where the charging pile is located.

[0073] Combined with Figure 2 and Figure 3 it can be known that by performing step A, the second one reference guiding direction is set to be parallel to the diagonal of the second guiding grid where it is located and point to the end point / corner point of the grid towards the lower left; and the second two reference guiding direction is set to be perpendicular to the first reference guiding direction. Schematically, the second two reference guiding direction can be set to be parallel to the boundary of the second guiding grid where it is located and perpendicular to the grid area composed of the plurality of first guiding grids to point to the midpoint of the grid side, corresponding to the Figure 2 and Figure 3 horizontal left arrow direction shown in the figure.

[0074] Combined with Figure 2 and Figure 3 it can be known that by performing step A, the second three reference guiding direction is set to be parallel to the diagonal of the second guiding grid where it is located and point to the end point / corner point of the grid towards the lower right; and the third two reference guiding direction is set to be perpendicular to the first reference guiding direction. Schematically, the second four reference guiding direction can be set to be parallel to the boundary of the second guiding grid where it is located and perpendicular to the grid area composed of the plurality of first guiding grids to point to the midpoint of the grid side, corresponding to the Figure 2 and Figure 3 horizontal right arrow direction shown in the figure.

[0075] Combined with Figure 2 and Figure 3 it can be known that by performing step A, the third one reference guiding direction is set to be parallel to the diagonal of the third guiding grid where it is located and points towards the end point / corner point of the grid in the upper right; and the third two reference guiding direction is set to be perpendicular to the first reference guiding direction, that is, the third two reference guiding direction can be set to be parallel to the boundary of the third guiding grid where it is located and perpendicular to the grid area composed of the multiple first guiding grids, corresponding to Figure 2 and Figure 3 the arrow pointing horizontally to the right in; wherein, the second one reference guiding direction is opposite to the third one reference guiding direction, and the second two reference guiding direction is opposite to the third two reference guiding direction.

[0076] By performing step A, the third three reference guiding direction is set to be parallel to the diagonal of the third guiding grid where it is located and points towards the end point / corner point of the grid in the upper left; and the third four reference guiding direction is set to be perpendicular to the first reference guiding direction, that is, the third four reference guiding direction can be set to be parallel to the boundary of the third guiding grid where it is located and perpendicular to the grid area composed of the multiple first guiding grids, corresponding to Figure 2 and Figure 3 the arrow pointing horizontally to the left in; wherein, the second three reference guiding direction is opposite to the third three reference guiding direction, and the second four reference guiding direction is opposite to the third four reference guiding direction.

[0077] In summary, the relationship between the second one reference guiding direction and the third one reference guiding direction, the relationship between the second two reference guiding direction and the third two reference guiding direction, the relationship between the second three reference guiding direction and the third three reference guiding direction, and the relationship between the second four reference guiding direction and the third four reference guiding direction can be determined; in this way, the robot can more accurately know which reference guiding directions are in which orientation of the vertical forward center line / central axis in the middle of the front side of the charging pile, which is convenient for the robot to return to the charging pile for docking and charging.

[0078] On the basis of the above embodiments, combined with Figure 4 , Figure 5 and Figure 6It can be known that the first reference guiding direction is set to pass through the center of the first guiding grid where it is located and perpendicular to one boundary of the first guiding grid. The first reference guiding direction is perpendicular to the horizontal boundary of the first guiding grid, and can be represented in the form of the perpendicular bisector of the horizontal boundary of the first guiding grid and point to the middle position of the grid area where the charging pile is located. If the middle position of the grid area where the charging pile is located is used as the origin of the two-dimensional coordinate system of the grid map, the first reference guiding direction is the straight line direction pointing to the origin to guide the robot to dock with the charging pile linearly.

[0079] Combined with Figure 3 It can be known that within the area where the second guiding grid is located, the second first reference guiding direction, the second second reference guiding direction, the second third reference guiding direction, and the second fourth reference guiding direction are all set to pass through the center of the second guiding grid where they are located. Among them, starting from the grid area where the charging pile is located and counting in the vertical direction away from the charging pile, the second second reference guiding direction and the second fourth reference guiding direction set in the second guiding grid in the first row are both perpendicular to the first reference guiding direction, making the second target guiding angle equal to 90 degrees. Starting from the grid area where the charging pile is located and counting in the vertical direction away from the charging pile, the second first reference guiding direction and the second third reference guiding direction set in the second guiding grid in the second row to the fourth row both form an angle of 135 degrees with the first reference guiding direction, making the first target guiding angle equal to 135 degrees.

[0080] Combined with Figure 3 It can be known that within the area where the third guiding grid is located, the third first reference guiding direction, the third second reference guiding direction, the third third reference guiding direction, and the third fourth reference guiding direction are all set to pass through the center of the third guiding grid where they are located. Among them, starting from the grid area where the charging pile is located and counting in the vertical downward direction away from the charging pile, the third second reference guiding direction and the third fourth reference guiding direction set in the third guiding grid in the first row are both perpendicular to the first reference guiding direction, making the second target guiding angle equal to 90 degrees. Starting from the grid area where the charging pile is located and counting in the vertical downward direction away from the charging pile, the third first reference guiding direction and the third third reference guiding direction set in the third guiding grid in the second row to the eighth row both form an angle of 45 degrees with the first reference guiding direction, making the third target guiding angle equal to 45 degrees.

[0081] Thus, the second one reference guiding direction and the second three reference guiding directions are symmetrically arranged on the left and right sides of the vertical forward central axis in the middle of the front side of the charging pile; the second two reference guiding directions and the second four reference guiding directions are symmetrically arranged on the left and right sides of the vertical forward central axis in the middle of the front side of the charging pile; the third one reference guiding directions and the third three reference guiding directions are symmetrically arranged on the left and right sides of the vertical forward central axis in the middle of the front side of the charging pile; the third two reference guiding directions and the third four reference guiding directions are symmetrically arranged on the left and right sides of the vertical forward central axis in the middle of the front side of the charging pile.

[0082] It should be noted that the first reference guiding direction, the second one reference guiding direction, the second two reference guiding directions, the second three reference guiding directions, the second four reference guiding directions, the third one reference guiding directions, the third two reference guiding directions, the third three reference guiding directions and the third four reference guiding directions all support being represented by vector line segments within the corresponding grids. For each reference guiding direction, there will be a starting point of the vector line segment and an ending point of the vector line segment within the grid to determine the direction angle. The starting point of the vector line segment, or the ending point of the vector line segment, or the midpoint of the vector line segment can be the center point of the grid. The reference guiding directions can be represented by the arrows inside the grids in Figure 3 , and the line segments with arrows in the grid represent the reference guiding directions. Thus, the direction information including the starting and ending positions of the vector line segment and the pointing angle can be stored in the cache space corresponding to the grid.

[0083] As an embodiment, in step B, the method of adjusting the reference guiding direction in the grid with a relatively lower guiding priority among two adjacent grids according to the pointing relationship between the reference guiding directions in two adjacent grids includes:

[0084] The robot searches for the grids with reference guiding directions set in the pre-set grid map and detects the reference guiding directions set in the searched grids. The grids with reference guiding directions set searched by the robot include the first guiding grid, the second guiding grid and the third guiding grid.

[0085] Whenever the robot searches for two adjacent grids, in the currently searched two adjacent grids, it detects whether the corner positions pointed to by the reference guiding directions in each grid within the grid are the same; among them, the corner position is the position in the boundary of a single grid, including the corner points of the grid and the midpoints on the sides of the grid; two adjacent grids are two adjacent grids located on the same column or on the same row or distributed along the same grid diagonal. The grid areas where the two adjacent grids are located can be grid areas including the first guiding grid, the second guiding grid and the third guiding grid.

[0086] When it is detected that the corner positions pointed to by the reference guiding directions in the two adjacent grids within the grids where they are located are the same, it is determined that the reference guiding directions in the two adjacent grids are in opposition to form a pair of opposite reference guiding directions; and the reference guiding direction in the grid with a relatively lower guiding priority among the two adjacent grids is adjusted so that the adjusted reference guiding direction points to the grid area where the charging pile is located, and the reference guiding direction in one of the two adjacent grids that is far from the central axis of the charging pile can be adjusted to tend to point to the middle position of the grid area where the charging pile is located.

[0087] When it is detected that the corner positions pointed to by the reference guiding directions in the two adjacent grids within the grids where they are located are not the same, it is determined that the reference guiding directions in the two adjacent grids are not in opposition, and the reference guiding directions in the two adjacent grids are not adjusted, and then new adjacent grids are searched; among them, the new adjacent grids are two grids that have not participated in the detection among the grids where the reference guiding directions have been set, and the adjacent grids can be searched sequentially along the established coordinate axis direction, or two adjacent grids can be searched within the neighborhood (such as a four-neighborhood, that is, the area composed of the four grids shown by Figure 5 ), until each grid in the grid map has been searched.

[0088] In this embodiment, a pair of opposite reference guiding directions are respectively set in the grids covered by different signal types. For example, in the second guiding grid and the third guiding grid that are adjacent in the row or column or diagonal direction, it corresponds to Figure 3 The arrow direction inside the third guiding grid located in the two adjacent grids where the direction opposition occurs in Figure 4 is converted into the arrow direction inside the turning grid or the edge guiding grid at the same row and column position (coordinate position); before the reference guiding direction is adjusted, the first reference guiding directions correspondingly set in each first guiding grid, second guiding grid, or third guiding grid are the same.

[0089] It should be noted that the two adjacent grids are two first guiding grids adjacent in position and located in the same column or the same row, or two second guiding grids adjacent in position and located in the same column or the same row or distributed along the diagonal of the same grid, or the two adjacent grids are two third guiding grids adjacent in position and located in the same column or the same row or distributed along the diagonal of the same grid, or the two adjacent grids are a second guiding grid and a third guiding grid adjacent in position and located in the same column or the same row or distributed along the diagonal of the same grid; or the two adjacent grids are a first guiding grid and a third guiding grid adjacent in position and located in the same column or the same row or distributed along the diagonal of the same grid; or the two adjacent grids are a first guiding grid and a second guiding grid adjacent in position and located in the same column or the same row or distributed along the diagonal of the same grid. One grid distributed in the neighborhood centered on the current grid and the current grid form the two adjacent grids.

[0090] In each second guiding grid on one side of the grid area composed of the multiple first guiding grids, the reference guiding directions in two second guiding grids located in the same column or the same row or distributed along the diagonal of the same grid are the same. As Figure 3 shown, the arrows in the second guiding grids corresponding to the left side of the grid area composed of the multiple first guiding grids all point to the lower left and are parallel to the diagonal of the grid slanting to the lower left, and the arrows in the second guiding grids corresponding to the right side of the grid area composed of the multiple first guiding grids all point to the lower right and are parallel to the diagonal of the grid slanting to the lower right.

[0091] In each second guiding grid on one side of the grid area where the charging pile is located, the reference guiding directions in two second guiding grids located in the same column or the same row are the same; it should be noted that, as Figure 3 shown, the second guiding grids on the left side of the grid area where the charging pile is located and the second guiding grids on the right side of the grid area where the charging pile is located are both distributed in the grid area with the same column sequence as the grid area where the charging pile is located. Moreover, the arrows in the second guiding grids corresponding to the left side of the grid area composed of the multiple first guiding grids all point horizontally to the left and are parallel to the horizontal side of the grid, and the arrows in the second guiding grids corresponding to the right side of the grid area composed of the multiple first guiding grids all point horizontally to the right and are parallel to the horizontal side of the grid.

[0092] In each third guiding grid on one side of the grid area composed of the multiple first guiding grids, the reference guiding directions in two third guiding grids located in the same column or the same row or distributed along the diagonal of the same grid are the same; as Figure 3As shown, the arrows in the third guiding grids corresponding to the left side of the grid area formed by the multiple first guiding grids all point to the upper right and are parallel to the diagonal line of the grid slanting to the upper right. The arrows in the third guiding grids corresponding to the right side of the grid area formed by the multiple first guiding grids all point to the upper left and are parallel to the diagonal line of the grid slanting to the upper left.

[0093] In each of the third guiding grids on one side of the grid area where the charging pile is located, the reference guiding directions in two third guiding grids located in the same column or the same row are the same. It should be noted that, as Figure 3 shown, the third guiding grids on the left side of the grid area where the charging pile is located and the third guiding grids on the right side of the grid area where the charging pile is located are both distributed in the grid areas with the same column sequence and adjacent column sequences as the grid area where the charging pile is located. Moreover, the arrows in the third guiding grids corresponding to the left side of the grid area formed by the multiple first guiding grids all point horizontally to the right and are parallel to the horizontal side of the grid. The arrows in the third guiding grids corresponding to the right side of the grid area formed by the multiple first guiding grids all point horizontally to the left and are parallel to the horizontal side of the grid, as Figure 3 shown by the directions of the arrows in the third guiding grids in the first row grid and the second row grid area counted from top to bottom along the opposite direction of the first reference guiding direction.

[0094] Based on the foregoing embodiments, when the adjacent two grids are a second guiding grid and a third guiding grid located in the same column or the same row, if the reference guiding directions in the adjacent two grids both point to the midpoint position of the same grid boundary within the grids where they are located, it is determined that the reference guiding directions in the adjacent two grids are in counterbalance.

[0095] Combined with Figure 3 and Figure 6 it can be known that if it is determined that the reference guiding directions in the adjacent two grids are in counterbalance within the left side of the grid area formed by the multiple first guiding grids and the grid area where the charging pile is located together in Figure 3 , then the second reference guiding direction and the third reference guiding direction in the adjacent two grids are opposite and point to the midpoint position of the same grid boundary. Corresponding to the adjacent two grids shown in Figure 6 , the direction of the arrow in the left grid represents the third reference guiding direction, and the direction of the arrow in the right grid represents the second reference guiding direction.

[0096] If in Figure 3If it is determined that the reference guiding directions in the two adjacent grids are in counter-direction within the right side of the grid area formed by the multiple first guiding grids and the grid area where the charging pile is located as described in Figure 6 For the two adjacent grids shown, the arrow direction in the left grid represents the second four-reference guiding direction, and the arrow direction in the right grid represents the third four-reference guiding direction.

[0097] When the two adjacent grids are a second guiding grid and a third guiding grid distributed along the same grid diagonal, if the reference guiding directions in the two adjacent grids both point to the same corner position within the grids where they are located, it is determined that the reference guiding directions in the two adjacent grids are in counter-direction. Among them, the corner position can be the midpoint position of a single grid boundary or the corner position of the grid; generally, the grid farther from the central axis of the charging pile among the two adjacent grids selects the third guiding grid to form a grid with the lowest guiding priority so that the robot can adjust its reference guiding direction first.

[0098] Combined with Figure 3 and Figure 5 it can be known that if it is determined that the reference guiding directions in the two adjacent grids are in counter-direction within the left side of the grid area formed by the multiple first guiding grids and the grid area where the charging pile is located as described in Figure 3 then the second one-reference guiding direction and the third one-reference guiding direction in the two adjacent grids are opposite and point to the same corner position (i.e., an end point of the grid), corresponding to the four grids shown in Figure 5 For the four grids shown, the arrow direction in the lower left grid represents the third one-reference guiding direction, and the arrow direction in the upper right grid represents the second one-reference guiding direction, both pointing to Figure 5 the center point of the four grids shown.

[0099] As an embodiment, within the left side of the grid area formed by the multiple first guiding grids and the grid area where the charging pile is located, the method for adjusting the reference guiding direction in the grid with relatively low guiding priority among the two adjacent grids according to the pointing relationship between the reference guiding directions in the two adjacent grids includes:

[0100] Comparing Figure 3 and Figure 4 it can be seen from the left area of the first reference guiding direction in

[0101] Among the third guiding grids where the reference guiding direction is in opposition to the second reference guiding direction of the second guiding grid, the third guiding grid that is the farthest from the grid area where the charging pile is located in the first reference guiding direction is set as the turning grid. Then, the third reference guiding direction in the turning grid is adjusted to be perpendicular to the first reference guiding direction, and then the third reference guiding direction adjusted to be perpendicular to the first reference guiding direction is updated as the reference guiding direction in the turning grid, so as to guide the robot from the turning grid to the first guiding grid; corresponding to Figure 3 In [reference], within the grid area of the fifth row, the third guiding grid where both the third reference guiding direction and the second reference guiding direction of the fourth row point to the corner position is set as Figure 4 the turning grid within the grid area of the fifth row in [reference], and let Figure 3 the two third reference guiding directions within the grid area of the fifth row in [reference] rotate clockwise by 45 degrees to become Figure 4 the horizontal rightward arrow directions (perpendicular to the first reference guiding direction) in the two adjacent turning grids, that is, the reference guiding direction in the turning grid is updated to Figure 4 the third reference guiding direction in the third guiding grid in [reference], enabling the robot to accelerate and walk towards the charging docking position pointed by the vertically forward direction in the middle of the front side of the charging pile after walking to the corresponding position of the turning grid.

[0102] Among the third guiding grids where the reference guiding direction is in opposition to the second reference guiding direction of the second guiding grid, the third reference guiding direction in the third guiding grids except the turning grid is adjusted to form a 135-degree angle with the first reference guiding direction. Then, the third reference guiding direction adjusted to form a 135-degree angle with the first reference guiding direction is updated as the reference guiding direction in the third guiding grids except the turning grid, so as to adjust the third reference guiding direction biased to the left side of the charging pile to be perpendicular to the grid where the first reference guiding direction is located, and guide the robot from the third guiding grid to directly in front of the grid area where the charging pile is located. Corresponding to Figure 3 In [reference], within the grid areas of the third row and the fourth row, the third guiding grid where both the third reference guiding direction and the second reference guiding direction of the row above their respective grids point to the corner position is set as Figure 4 the grid that needs to adjust the reference guiding direction in [reference], and let Figure 3 the two third reference guiding directions within the grid area of the third row in [reference] rotate clockwise by 90 degrees to become Figure 4 the diagonally right-downward arrow directions (forming a 135-degree angle clockwise relative to the first reference guiding direction) in the two adjacent grids within the grid area of the third row, and let Figure 3 the two third reference guiding directions within the grid area of the fourth row in [reference] rotate clockwise by 90 degrees to become Figure 4In the fourth row raster region, the diagonally downward right arrows in two adjacent rasters point (forming a 135-degree clockwise angle relative to the first reference guiding direction), thus being updated to Figure 4 the third reference guiding direction in the third guiding raster in , enabling the robot to walk faster through the third guiding raster to the front of the raster region where the charging pile is located or in the vertical direction of the central axis of the charging pile (regarded as the straight line where the first reference guiding direction is located), that is, pointing the direction for guiding the robot to recharge to the front area of the charging pile. Then, when the robot enters the front area of the charging pile, it quickly adjusts its posture to recharge.

[0103] Set the third guiding raster where the reference guiding direction counteracts the second reference guiding direction of the second guiding raster as the side guiding raster. Then, adjust the third reference guiding direction in the side guiding raster to form a 135-degree angle with the first reference guiding direction. Then, update the third reference guiding direction adjusted to form a 135-degree angle with the first reference guiding direction as the third reference guiding direction in the side guiding raster to guide the robot from the side guiding raster to the front of the raster region where the charging pile is located. Corresponding to Figure 3 In , within the first row raster region, set the third guiding raster where the third reference guiding direction and the second reference guiding direction in the adjacent raster of the raster where it is located point to the midpoint position of the same boundary as Figure 4 the side guiding raster in , and let Figure 3 in , within the first row raster region, a third reference guiding direction rotates 45 degrees clockwise to become Figure 4 the diagonally downward right arrow pointing (forming a 135-degree clockwise angle relative to the first reference guiding direction) in the rasters with the same column sequence in the first row raster region of , that is, the reference guiding direction in the side guiding raster, and update it to Figure 4 the third reference guiding direction in the third guiding raster in , enabling the robot to walk faster through the side guiding raster to the front of the raster region where the charging pile is located or in the vertical direction of the central axis of the charging pile (regarded as the straight line where the first reference guiding direction is located), that is, pointing the direction for guiding the robot to recharge to the front area of the charging pile. Then, when the robot enters the front area of the charging pile, it quickly adjusts its posture to recharge.

[0104] As an embodiment, within the right side of the raster region formed by the multiple first guiding rasters and the raster region where the charging pile is located, the method for adjusting the reference guiding direction in the raster with a relatively lower guiding priority among two adjacent rasters according to the pointing relationship between the reference guiding directions in two adjacent rasters includes:

[0105] Compare Figure 3 and Figure 4 It can be seen from the right side region of the first reference guiding direction in that by traversing in the opposite direction of the first reference guiding direction, within the first, third, fourth, and fifth row raster regions, there exist:

[0106] Among the third guiding grids where the reference guiding direction is in conflict with the second and third reference guiding directions of the second guiding grid, the third guiding grid that is farthest from the grid area where the charging pile is located in the first reference guiding direction is set as the turning grid. Then, the third and third reference guiding directions in the turning grid are adjusted to be perpendicular to the first reference guiding direction, and then the third and third reference guiding directions adjusted to be perpendicular to the first reference guiding direction are updated as the reference guiding directions in the turning grid, so as to guide the robot from the turning grid to the first guiding grid; corresponding to Figure 3 In the fifth row grid area, the third guiding grid where both the third reference guiding direction and the second reference guiding direction of the fourth row point to the corner position is set as Figure 4 the turning grid in the fifth row grid area in Figure 3 Let the two third reference guiding directions in the fifth row grid area in Figure 4 rotate counterclockwise by 45 degrees to become the horizontal left arrow directions (perpendicular to the first reference guiding direction) in the two adjacent turning grids in Figure 4 That is, the reference guiding directions in the turning grid are updated to the third and third reference guiding directions in the third guiding grid in

[0107] Among the third guiding grids where the reference guiding direction is in conflict with the second and third reference guiding directions of the second guiding grid, the third and third reference guiding directions in the third guiding grids except the turning grid are adjusted to form a 135-degree angle with the first reference guiding direction, and then the third and third reference guiding directions adjusted to form a 135-degree angle with the first reference guiding direction are updated as the reference guiding directions in the third guiding grids except the turning grid, so as to adjust the third and third reference guiding directions biased to the right side of the charging pile to be perpendicular to the grid where the first reference guiding direction is located, so as to guide the robot from the third guiding grid to the front of the grid area where the charging pile is located. Corresponding to Figure 3 In the third row grid area and the fourth row grid area, the third guiding grid where both the third reference guiding direction and the second reference guiding direction of the row above their respective grids point to the corner position is set as Figure 4 the grid that needs to adjust the reference guiding direction in Figure 3 Let the two third reference guiding directions in the third row grid area in Figure 4 rotate counterclockwise by 90 degrees to become the diagonally left-down arrow directions (forming a 135-degree angle clockwise relative to the first reference guiding direction) in the two adjacent grids in the third row grid area in Figure 3 Let the two third reference guiding directions in the fourth row grid area rotate counterclockwise by 90 degrees to become Figure 4In the fourth row grid area, the diagonally downward left arrows in two adjacent grids point (forming a 135-degree clockwise angle relative to the first reference guiding direction), thus being updated to Figure 4 the third three-reference guiding direction in the third guiding grid in

[0108] Set the third guiding grid where the reference guiding direction cancels out with the second four-reference guiding direction of the second guiding grid as the side guiding grid, then adjust the third four-reference guiding direction in the side guiding grid to form a 135-degree angle with the first reference guiding direction, and then update the third four-reference guiding direction adjusted to form a 135-degree angle with the first reference guiding direction as the third four-reference guiding direction in the side guiding grid, so as to guide the robot from the side guiding grid to the front of the grid area where the charging pile is located. Corresponding to Figure 3 In Figure 4 the first row grid area, set the third guiding grid where the third reference guiding direction and the second reference guiding direction in the adjacent grid of the grid where it is located point to the midpoint position of the same boundary as Figure 3 the side guiding grid in Figure 4 In the first row grid area of Figure 4 the grid with the same column sequence, the diagonally downward left arrow points (forming a 135-degree angle relative to the first reference guiding direction), that is, the reference guiding direction in the side guiding grid, and update it to

[0109] As an embodiment, in the step C, a method for controlling the robot to walk towards the charging pile from a pre-set recharge starting grid based on the reference guiding direction in the grid, so that the robot walks to the position where it docks with the charging pile for charging, as Figure 9 shown, includes the following steps:

[0110] Step C1: Determine whether the pre-set recharge starting grid is a grid with a reference guiding direction set. If so, execute Step C2; otherwise, execute Step C6. The grid with a reference guiding direction set can be the first guiding grid, the second guiding grid, or the third guiding grid disclosed in the foregoing embodiments. When the robot starts to return to the charging pile from the first guiding grid, the second guiding grid, or the third guiding grid, it can walk in sequence towards the front of the charging pile according to the corresponding reference guiding directions set in Steps A and B and can adjust its pose to dock with the charging pile for charging.

[0111] Step C2: Starting from the recharge starting grid, the robot determines the next grid according to the reference guiding direction in the recharge starting grid to shorten the distance between the grid where the robot is located and the first guiding grid, or to cover the next grid to the first guiding grid. Among them, the next grid is set with a reference guiding direction; and the next grid includes the grid whose reference guiding direction has been adjusted in Step B, or can also be a grid without the reference guiding direction adjusted and only with the reference guiding direction set in Step A. Then execute Step C3.

[0112] Step C3: Determine whether the next grid is located in the grid area where the charging pile is located. If so, execute Step C5; otherwise, execute Step C4, so as to detect in real time whether the robot has completed the recharge route.

[0113] Step C4: Control the robot to walk to the position corresponding to the next grid, update the next grid to the recharge starting grid, update the reference guiding direction in the next grid to the reference guiding direction in the recharge starting grid, and then update the grid to which the robot needs to walk next time to the current position of the robot. Then execute Step C2.

[0114] Step C5: Determine the position where the robot arrives at the charging pile for docking and charging, that is, the robot walks to a position where it can contact the front side of the charging pile, that is, walks to the central axis in front of the charging pile; and form a route connecting in sequence from the recharge starting grid that has never been updated to the grid area where the charging pile is located, so as to plan a recharge route extending towards the charging pile. Among them, the grid corresponding to the position where the robot docks and charges with the charging pile is the first guiding grid. At this time, the head direction of the robot is adjusted to the first reference guiding direction.

[0115] Schematically, Figure 7 In an embodiment of the present application, the recharge starting grid is in the grid area on the left side of the first guiding grid. Starting from the recharge starting grid, the schematic diagram of the recharge route (the route formed by connecting the black thick dots) that walks along the reference guiding direction in the corresponding grid to be perpendicular to the charging pile is shown in Figure 7The corresponding charging-back route formed therein is the dotted line with arrows formed by sequentially connecting the illustrated black thick dots, and is located on the left side of the central axis of the charging pile (the grid area formed by the multiple first guiding grids), so as to guide the robot to dock for charging-back starting from the left side of the central axis of the charging pile. Or, Figure 8 In an embodiment of the present application, the charging-back starting grid is a grid area on the right side of the first guiding grid. Starting from the charging-back starting grid, the schematic diagram of the charging-back route (the route formed by connecting black thick dots) that walks along the reference guiding direction in the corresponding grid and is vertically pointed to the charging pile is shown. In Figure 8 The corresponding charging-back route formed therein is the dotted line with arrows formed by sequentially connecting the illustrated black thick dots, and is located on the right side of the central axis of the charging pile (the grid area formed by the multiple first guiding grids), so as to guide the robot to dock for charging-back starting from the right side of the central axis of the charging pile.

[0116] Step C6: Select the grid with a set reference guiding direction that is closest to the charging-back starting grid in the grid map and update it to the charging-back starting grid, and then control the robot to walk from the current position to the position corresponding to the updated charging-back starting grid; then execute step C2; wherein, the grid with a set reference guiding direction that is closest to the charging-back starting grid can be the first guiding grid, the second guiding grid, and the third guiding grid. If the position where the robot starts charging-back is outside the coverage range of the alignment signal, generally select the third guiding grid as the charging-back starting grid; if the position where the robot starts charging-back is outside the coverage range of the close-guard signal but not beyond the coverage range of the alignment signal, generally select the second guiding grid as the charging-back starting grid; if the position where the robot starts charging-back is within the adjacent grid area of the grid area where the charging pile is located, then select the first guiding grid as the charging-back starting grid.

[0117] In this embodiment, the reference guiding direction in the grid is configured to point to the direction of the next grid to represent the next walking direction of the robot; by repeatedly executing step C2, the charging-back route can be connected according to the reference guiding direction in the grid corresponding to the position passed through starting from the original charging-back starting grid, so that the robot is finally vertically pointed to the charging pile, and thus the charging-back function is completed through step C on the basis of setting the reference guiding direction in step A and step B.

[0118] When executing steps C2 to C4, the method for determining the next grid according to the reference guiding direction in the charging-back starting grid includes:

[0119] If the charging-back starting grid is the third guiding grid or the second guiding grid, then set the grid pointed to by the reference guiding direction in the charging-back starting grid as the next grid, so as to configure the next grid as the first guiding grid, the second guiding grid, or the third guiding grid; schematically, inFigure 7 In the case where the recharge starting grid is the third guiding grid, by performing step C2, it can be determined that the next grid is the third guiding grid adjacent on the diagonal. Then, in step C4, continue walking along this diagonal and in the direction pointing to the center of the charging pile to the next third guiding grid adjacent in position. Then, by repeatedly performing step C4 to update the next grid, the robot can walk along the corresponding reference guiding direction to the position corresponding to the next grid until the next grid is the turning grid, and it is determined to cover the next grid among the third guiding grids where the reference guiding direction and the second reference guiding direction of the second guiding grid are in opposition; then, the robot can be guided to the position corresponding to the first guiding grid through the reference guiding direction in the turning grid, as Figure 7 and Figure 8 shown, the third reference guiding direction in the illustrated turning grid is vertically pointing to the first guiding grid. After the robot walks through two adjacent turning grids in the same row, it walks to the position corresponding to the third guiding grid that is adjacent to the first guiding grid and where no turning grid is configured. Then, using the reference guiding direction in the grid that obliquely points to the vertical line directly in front of the grid area where the charging pile is located, it walks to the first guiding grid, and the walking route is as Figure 7 the arrowed dotted line (formed by connecting black thick dots) extending diagonally upwards to the right in Figure 8 (which can be regarded as the extension direction of the diagonal pointing diagonally upwards to the right), or it can also be as Figure 7 and Figure 8 the arrowed dotted line (formed by connecting black thick dots) extending diagonally upwards to the left in

[0120] In Figure 7 when the next grid is configured as the third guiding grid, the third guiding grid can be repeatedly updated to the next grid until the next grid covers the turning grid, and then the next grid is set to the first guiding grid through the reference guiding direction adjusted by step B in the turning grid.

[0121] In Figure 8 when the recharge starting grid is updated to the second guiding grid, it can be determined that the next grid is the third guiding grid, and then the robot can pass through Figure 8The virtual dotted line with an arrow pointing to the lower right as shown walks to the position corresponding to the third guiding grid. At this time, the third guiding grid walked by the robot is exactly the third guiding grid of the reference guiding direction adjusted in step B. Then, the next grid can be set to the turning grid through the reference guiding direction adjusted in step B in the third guiding grid, and then the robot can be quickly guided to the first guiding grid.

[0122] In step C2, the charging start grid and the next grid form the adjacent two grids.

[0123] On the basis of the foregoing embodiments, if the charging start grid is the first guiding grid, the grid pointed to by the reference guiding direction in the charging start grid is set as the next grid, and the next grid is configured as another first guiding grid, so that the robot sets the navigation priority of the first guiding grid to the highest; since the first reference guiding direction in each first guiding grid in the grid map is vertically pointed to the front side of the charging pile, therefore, in the first guiding grid, the robot will walk along the vertical line directly in front of the grid area where the charging pile is located to the front of the charging pile.

[0124] Therefore, by combining steps A to C, from the perspective of priority, the direction elements quantified at the corresponding grid positions are adjusted from far to near to connect a charging route whose walking direction approaches the charging docking direction in the middle of the charging pile.

[0125] Obviously, the above-mentioned embodiments are only a part of the embodiments of the present invention, rather than all the embodiments, and the technical solutions between the various embodiments can be combined with each other. Since the foregoing embodiments combine the grid map with the charging guiding signal, other methods can be introduced to strengthen the positioning relationship. For example, bar identification codes added to the charging pile, cameras to identify the charging pile, etc. The method of strengthening the positioning relationship is not limited herein. Specifically, it can be improved by those skilled in the relevant art using the conventional methods of visually identifying the charging pile; the foregoing embodiments can also build an aging environment and improve the setting method of the reference guiding direction and guiding priority, or adopt other relevant conversion conditions to improve the charging effect, and then signal quantization information can be formed and stored as firmware, which is packaged and burned in cooperation with the firmware during the production of the robot. If the charging effect of the robot is ideal, the hardware device can also be reduced in configuration. For example, some infrared emission sensors in the charging pile and infrared receiving sensors in the robot can be removed.

[0126] Although the present invention has been described in detail with reference to the preferred embodiments, those of ordinary skill in the art should understand that: the specific embodiments of the present invention can still be modified or some technical features can be equivalently replaced; without departing from the spirit of the technical solution of the present invention, they should all be covered within the scope of the technical solution claimed by the present invention.

Claims

1. A recharge control method based on a reference guiding direction, characterized in that Including: Step A: Based on the charging guidance signal emitted by the charging pile, set a reference guidance direction and a guidance priority for the corresponding grid within a pre-set grid map; Then proceed to Step B; Step B: According to the pointing relationship between the reference guidance directions in two adjacent grids, adjust the reference guidance direction in the grid with a relatively lower guidance priority among the two adjacent grids, and then update the adjusted reference guidance direction as the reference guidance direction in the same grid; Then proceed to Step C; Step C: Starting from the pre-set recharge starting point grid, control the robot to walk towards the charging pile based on the reference guidance direction in the grid, so that the robot walks to the position where it docks with the charging pile for charging; In Step A, the method of setting a reference guidance direction and a guidance priority for the corresponding grid within a pre-set grid map based on the charging guidance signal emitted by the charging pile includes: Set a first guidance grid based on the vertically forward direction in the middle of the front side of the charging pile, and set a first reference guidance direction and a guidance priority in the first guidance grid; Set a second guidance grid according to the coverage range of the near-guard signal emitted by the charging pile, and set a second reference guidance direction and a guidance priority in the second guidance grid; Within the coverage range of the alignment signal emitted by the charging pile, set the range other than the coverage range of the near-guard signal as the effective detection range of the alignment signal; Then set a third guidance grid according to the effective detection range of the alignment signal, and set a third reference guidance direction and a guidance priority in the third guidance grid; Among them, the middle docking signal and the side guidance signal form the alignment signal; Among them, the charging guidance signal includes a middle docking signal, a near-guard signal, and a side guidance signal; Among them, the guidance priority set in the first guidance grid is higher than the guidance priority set in the second guidance grid, and the guidance priority set in the second guidance grid is higher than the guidance priority set in the third guidance grid, so that the third reference guidance direction in the third guidance grid is preferentially adjusted; Among them, the reference guidance direction includes a first reference guidance direction, a second reference guidance direction, and a third reference guidance direction; The corresponding grids include a first guidance grid, a second guidance grid, and a third guidance grid.

2. The recharge control method according to claim 1, wherein The method of setting a first guidance grid based on the vertically forward direction in the middle of the front side of the charging pile and setting a first reference guidance direction in the first guidance grid includes: Within the grid map, starting from the middle position of the grid area where the charging pile is located, mark the grids passed by the vertically forward direction of the middle position of the grid area where the charging pile is located as the first guidance grid, forming a plurality of first guidance grids distributed along the central axis of the charging pile; Among them, the front side of the grid area where the charging pile is located is used to represent the side of the charging pile that docks with the robot for charging; The vertically forward direction in the middle of the front side of the charging pile is configured as the vertically forward direction of the middle position of the grid area where the charging pile is located; Set the opposite direction of the vertical forward direction at the middle position of the grid area where the charging pile is located as the first reference guiding direction, and then record the first reference guiding direction into each first guiding grid, so that the first reference guiding direction vertically points to the grid area where the charging pile is located within the pre-set grid map.

3. The recharge control method according to claim 2, wherein The method of setting the second guiding grid according to the coverage range of the near-guard signal emitted by the charging pile and setting the second reference guiding direction in the second guiding grid includes: Centering on the grid area where the charging pile is located, by rasterizing the coverage range of the near-guard signal, multiple second guiding grids are formed within the grid area except for the first guiding grids, such that one second guiding grid is the grid corresponding to a position within the coverage range of the near-guard signal; wherein, the multiple second guiding grids are located on both sides of the grid area composed of the multiple first guiding grids and the grid area where the charging pile is located; Set the direction deflected to the left by the first target guiding angle relative to the first reference guiding direction as the second one reference guiding direction, and then record the second one reference guiding direction into each second guiding grid on the left side of the grid area composed of the multiple first guiding grids, so that the opposite direction of the set second one reference guiding direction points between the middle position in the front of the charging pile and the left side of the charging pile; Set the direction deflected to the left by the second target guiding angle relative to the first reference guiding direction as the second two reference guiding direction, and then record the second two reference guiding direction into each second guiding grid on the left side of the grid area where the charging pile is located, so that the opposite direction of the set second two reference guiding direction points to the left side of the charging pile; Set the direction deflected to the right by the first target guiding angle relative to the first reference guiding direction as the second three reference guiding direction, and then record the second three reference guiding direction into each second guiding grid on the right side of the grid area composed of the multiple first guiding grids, so that the opposite direction of the set second three reference guiding direction points between the middle position in the front of the charging pile and the right side of the charging pile; Set the direction deflected to the right by the second target guiding angle relative to the first reference guiding direction as the second four reference guiding direction, and then record the second four reference guiding direction into each second guiding grid on the right side of the grid area where the charging pile is located, so that the opposite direction of the set second four reference guiding direction points to the right side of the charging pile; Wherein, when both the second target guiding angle and the first target guiding angle are between 0 and 180 degrees, the second target guiding angle is less than the first target guiding angle; Wherein, the second reference guiding direction includes the second one reference guiding direction, the second two reference guiding direction, the second three reference guiding direction, and the second four reference guiding direction.

4. The recharge control method according to claim 3, wherein If the grid area where the charging pile is located is distributed in a row of grid areas in the grid map, the second guiding grid on the left side of the grid area where the charging pile is located and the second guiding grid on the right side of the grid area where the charging pile is located are both distributed in the grid areas with the same row sequence as the grid area where the charging pile is located; moreover, if the grid area composed of the multiple first guiding grids is distributed in a column of grid areas in the grid map, the second guiding grid on the left side of the grid area composed of the multiple first guiding grids and the second guiding grid on the right side of the grid area composed of the multiple first guiding grids are both distributed in the grid areas with the same row sequence as some of the first guiding grids; wherein, the left side of the grid area corresponds to the negative direction of the horizontal coordinate axis of the two-dimensional coordinate system of the grid map, the right side of the grid area corresponds to the positive direction of the horizontal coordinate axis of the two-dimensional coordinate system of the grid map, the row sequence is represented by the vertical coordinate in the two-dimensional coordinate system of the grid map, and the column sequence is represented by the horizontal coordinate in the two-dimensional coordinate system of the grid map; If the grid area where the charging pile is located is distributed in a column of grid areas in the grid map, the second guiding grid on the left side of the grid area where the charging pile is located and the second guiding grid on the right side of the grid area where the charging pile is located are both distributed in the grid areas with the same column sequence as the grid area where the charging pile is located; moreover, if the grid area composed of the multiple first guiding grids is distributed in a row of grid areas in the grid map, the second guiding grid on the left side of the grid area composed of the multiple first guiding grids and the second guiding grid on the right side of the grid area composed of the multiple first guiding grids are both distributed in the grid areas with the same column sequence as some of the first guiding grids; wherein, the left side of the grid area corresponds to the negative direction of the vertical coordinate axis of the two-dimensional coordinate system of the grid map, the right side of the grid area corresponds to the positive direction of the vertical coordinate axis of the two-dimensional coordinate system of the grid map, the column sequence is represented by the vertical coordinate in the two-dimensional coordinate system of the grid map, and the row sequence is represented by the horizontal coordinate in the two-dimensional coordinate system of the grid map; Wherein, the second guiding grid on the left side of the grid area composed of the multiple first guiding grids does not overlap with the second guiding grid on the left side of the grid area where the charging pile is located; the second guiding grid on the right side of the grid area composed of the multiple first guiding grids does not overlap with the second guiding grid on the right side of the grid area where the charging pile is located.

5. The recharge control method according to claim 3, characterized in that The method of setting the third guiding grid according to the effective detection range of the alignment signal and setting the third reference guiding direction in the third guiding grid includes: By rasterizing the effective detection range of the alignment signal, a plurality of third guiding grids are formed, so that each position of the effective detection range of the alignment signal corresponds to a third guiding grid; moreover, the plurality of third guiding grids are located on both sides of the grid area composed of the plurality of first guiding grids and the grid area where the charging pile is located together; Set the direction that deflects the third target guiding angle to the right relative to the first reference guiding direction as the third one-reference guiding direction, and then record the third one-reference guiding direction in each third guiding grid on the left side of the grid area composed of the multiple first guiding grids, so that the set third one-reference guiding direction points between the middle position of the front side of the charging pile and the left side of the charging pile; Set the direction that deflects the second target guiding angle to the right relative to the first reference guiding direction as the third two-reference guiding direction, and then record the third two-reference guiding direction in each third guiding grid on the left side of the grid area where the charging pile is located, so that the set third two-reference guiding direction points to the left side of the charging pile; Set the direction that deflects the third target guiding angle to the left relative to the first reference guiding direction as the third three-reference guiding direction, and then record the third three-reference guiding direction in each third guiding grid on the right side of the grid area composed of the multiple first guiding grids, so that the set third three-reference guiding direction points between the middle position of the front side of the charging pile and the right side of the charging pile; Set the direction that deflects the second target guiding angle to the left relative to the first reference guiding direction as the third four-reference guiding direction, and then record the third four-reference guiding direction in each third guiding grid on the right side of the grid area where the charging pile is located, so that the set third four-reference guiding direction points to the right side of the charging pile; Wherein, when both the second target guiding angle and the third target guiding angle are between 0 and 180 degrees, the third target guiding angle is less than the second target guiding angle; Wherein, the third reference guiding direction includes the third one-reference guiding direction, the third two-reference guiding direction, the third three-reference guiding direction, and the third four-reference guiding direction.

6. The recharge control method according to claim 5, wherein If the grid area where the charging pile is located is distributed in a row of grid areas in the grid map, the third guiding grids on the left side of the grid area where the charging pile is located and the third guiding grids on the right side of the grid area where the charging pile is located are both distributed in the grid areas with the same row sequence and adjacent row sequences as the row sequence of the grid area where the charging pile is located; moreover, if the grid area composed of the multiple first guiding grids is distributed in a column of grid areas in the grid map, the third guiding grids on the left side of the grid area composed of the multiple first guiding grids and the third guiding grids on the right side of the grid area composed of the multiple first guiding grids are both distributed in the grid areas with the same row sequence as that of some of the first guiding grids; wherein, the left side of the grid area corresponds to the negative direction of the horizontal coordinate axis of the two-dimensional coordinate system of the grid map, the right side of the grid area corresponds to the positive direction of the horizontal coordinate axis of the two-dimensional coordinate system of the grid map, the row sequence is represented by the vertical coordinate in the two-dimensional coordinate system of the grid map, and the column sequence is represented by the horizontal coordinate in the two-dimensional coordinate system of the grid map; If the grid area where the charging pile is located is distributed in a column of grid areas in the grid map, the third guiding grid on the left of the grid area where the charging pile is located and the third guiding grid on the right of the grid area where the charging pile is located are both distributed in the grid areas with the same column sequence and adjacent column sequences as the column sequence of the grid area where the charging pile is located; moreover, if the grid area composed of the multiple first guiding grids is distributed in a row of grid areas in the grid map, the third guiding grid on the left of the grid area composed of the multiple first guiding grids and the third guiding grid on the right of the grid area composed of the multiple first guiding grids are both distributed in the grid areas with the same column sequence as some of the first guiding grids; wherein, the left side of the grid area corresponds to the negative direction of the vertical coordinate axis of the two-dimensional coordinate system of the grid map, the right side of the grid area corresponds to the positive direction of the vertical coordinate axis of the two-dimensional coordinate system of the grid map, the column sequence is represented by the vertical coordinate in the two-dimensional coordinate system of the grid map, and the row sequence is represented by the horizontal coordinate in the two-dimensional coordinate system of the grid map; Among them, the third guiding grid on the left of the grid area composed of the multiple first guiding grids does not overlap with the third guiding grid on the left of the grid area where the charging pile is located; the third guiding grid on the right of the grid area composed of the multiple first guiding grids does not overlap with the third guiding grid on the right of the grid area where the charging pile is located.

7. The recharge control method according to claim 5, wherein Set the first reference guiding direction to be parallel to the diagonal of the second guiding grid where it is located, and set the second reference guiding direction to be perpendicular to the first reference guiding direction; Set the third reference guiding direction to be parallel to the diagonal of the second guiding grid where it is located, and set the fourth reference guiding direction to be perpendicular to the first reference guiding direction; Set the first reference guiding direction of the third to be parallel to the diagonal of the third guiding grid where it is located, and set the second reference guiding direction of the third to be perpendicular to the first reference guiding direction; wherein, the first reference guiding direction of the second is opposite to the first reference guiding direction of the third, and the second reference guiding direction of the second is opposite to the second reference guiding direction of the third; Set the third reference guiding direction of the third to be parallel to the diagonal of the third guiding grid where it is located, and set the fourth reference guiding direction of the third to be perpendicular to the first reference guiding direction; wherein, the third reference guiding direction of the second is opposite to the third reference guiding direction of the third, and the fourth reference guiding direction of the second is opposite to the fourth reference guiding direction of the third.

8. The recharge control method according to claim 7, wherein Set the first reference guiding direction to pass through the center of the first guiding grid where it is located and be perpendicular to one boundary of the first guiding grid; Set the first reference guiding direction of the second, the second reference guiding direction of the second, the third reference guiding direction of the second and the fourth reference guiding direction of the second to all pass through the center of the second guiding grid where they are located; Set the first reference guiding direction of the third, the second reference guiding direction of the third, the third reference guiding direction of the third and the fourth reference guiding direction of the third to all pass through the center of the third guiding grid where they are located; Among them, the first reference guiding direction, the second one reference guiding direction, the second two reference guiding directions, the second three reference guiding directions, the second four reference guiding directions, the third one reference guiding direction, the third two reference guiding directions, the third three reference guiding directions, and the third four reference guiding directions all support being represented by vector line segments within the corresponding grids.

9. The recharge control method according to claim 7, wherein In step B, the method of adjusting the reference guiding direction in the grid with a relatively lower guiding priority among two adjacent grids according to the pointing relationship between the reference guiding directions in the two adjacent grids includes: The robot searches for the grids with reference guiding directions set in the pre-set grid map and detects the reference guiding directions and guiding priorities set in the searched grids. Whenever the robot searches for two adjacent grids, it detects whether the corner positions pointed to by the reference guiding directions in each grid within the currently searched two adjacent grids are the same; among them, the corner position is the position within the boundary of a single grid. When it is detected that the corner positions pointed to by the reference guiding directions in the two adjacent grids within the grids where they are located are the same, it is determined that the reference guiding directions in the two adjacent grids are in opposition to form a pair of opposite reference guiding directions, and the reference guiding direction in the grid with a relatively lower guiding priority among the two adjacent grids is adjusted so that the adjusted reference guiding direction points to the grid area where the charging pile is located. When it is detected that the corner positions pointed to by the reference guiding directions in the two adjacent grids within the grids where they are located are not the same, it is determined that the reference guiding directions in the two adjacent grids are not in opposition, the reference guiding directions in the two adjacent grids are not adjusted, and then new two adjacent grids are searched; among them, the new two adjacent grids are two grids that have not participated in the detection among the grids with reference guiding directions already set.

10. The recharge control method according to claim 9, wherein When the two adjacent grids are a second guiding grid and a third guiding grid located in the same column or the same row, if the reference guiding directions in the two adjacent grids both point to the midpoint position of the same grid boundary within the grids where they are located, it is determined that the reference guiding directions in the two adjacent grids are in opposition. When the two adjacent grids are a second guiding grid and a third guiding grid distributed along the same grid diagonal, if the reference guiding directions in the two adjacent grids both point to the same corner position within the grids where they are located, it is determined that the reference guiding directions in the two adjacent grids are in opposition. Among them, the corner position includes the midpoint position of the boundary of a single grid and the corner position of the grid.

11. The recharge control method according to claim 10, wherein Within the left side of the grid area composed of the multiple first guiding grids and the grid area where the charging pile is located, the method of adjusting the reference guiding direction in the grid with a relatively lower guiding priority among two adjacent grids according to the pointing relationship between the reference guiding directions in the two adjacent grids includes: Among the third guiding grids where the reference guiding direction is opposite to the second reference guiding direction of the second guiding grid, the third guiding grid that is the farthest from the grid area where the charging pile is located in the first reference guiding direction is set as the turning grid. Then, the third reference guiding direction in the turning grid is adjusted to be perpendicular to the first reference guiding direction, and then the third reference guiding direction adjusted to be perpendicular to the first reference guiding direction is updated as the reference guiding direction in the turning grid, so as to guide the robot from the turning grid to the first guiding grid; wherein, the guiding priority of the turning grid is lower than that of the second guiding grid; Among the third guiding grids where the reference guiding direction is opposite to the second reference guiding direction of the second guiding grid, the third reference guiding direction in the third guiding grids except the turning grid is adjusted to form an angle of 135 degrees with the first reference guiding direction. Then, the third reference guiding direction adjusted to form an angle of 135 degrees with the first reference guiding direction is updated as the reference guiding direction in the third guiding grids except the turning grid, so as to guide the robot to the front of the grid area where the charging pile is located; The third guiding grid where the reference guiding direction is opposite to the second reference guiding direction of the second guiding grid is set as the side guiding grid. Then, the third reference guiding direction in the side guiding grid is adjusted to form an angle of 135 degrees with the first reference guiding direction. Then, the third reference guiding direction adjusted to form an angle of 135 degrees with the first reference guiding direction is updated as the third reference guiding direction in the side guiding grid, so as to guide the robot from the side guiding grid to the front of the grid area where the charging pile is located; wherein, the guiding priority of the side guiding grid is lower than that of the second guiding grid.

12. The recharge control method according to claim 10, wherein Inside the right side of the grid area composed of the multiple first guiding grids and the grid area where the charging pile is located, the method of adjusting the reference guiding direction in the grid with relatively lower guiding priority among two adjacent grids according to the pointing relationship between the reference guiding directions in two adjacent grids includes: Among the third guiding grids where the reference guiding direction is opposite to the second reference guiding direction of the second guiding grid, the third guiding grid that is the farthest from the grid area where the charging pile is located in the first reference guiding direction is set as the turning grid. Then, the third reference guiding direction in the turning grid is adjusted to be perpendicular to the first reference guiding direction, and then the third reference guiding direction adjusted to be perpendicular to the first reference guiding direction is updated as the reference guiding direction in the turning grid, so as to guide the robot from the turning grid to the first guiding grid; wherein, the guiding priority of the turning grid is lower than that of the second guiding grid; Among the third guiding grids where the reference guiding direction is in conflict with the second reference guiding direction of the second guiding grid, adjust the third reference guiding direction in the third guiding grids except the turning grids to be 135 degrees with the first reference guiding direction, and then update the third reference guiding direction adjusted to be 135 degrees with the first reference guiding direction as the reference guiding direction in the third guiding grids except the turning grids, so as to guide the robot from the third guiding grid to the front of the grid area where the charging pile is located; Set the third guiding grid where the reference guiding direction is in conflict with the second reference guiding direction of the second guiding grid as the side guiding grid, then adjust the third reference guiding direction in the side guiding grid to be 135 degrees with the first reference guiding direction, and then update the third reference guiding direction adjusted to be 135 degrees with the first reference guiding direction as the third reference guiding direction in the side guiding grid, so as to guide the robot from the side guiding grid to the front of the grid area where the charging pile is located; wherein, the guiding priority of the side guiding grid is lower than that of the second guiding grid.

13. The recharge control method according to claim 11 or 12, characterized in that, In the step C, starting from the preset recharge starting grid, the method for controlling the robot to walk towards the charging pile based on the reference guiding direction in the grid and enabling the robot to walk to the position for docking and charging with the charging pile includes: Step C1: Judge whether the preset recharge starting grid is a grid with a set reference guiding direction. If yes, execute step C2; otherwise, execute step C6; Step C2: The robot starts from the recharge starting grid and determines the next grid according to the reference guiding direction in the recharge starting grid; wherein, the next grid has a set reference guiding direction, and the next grid includes the grids whose reference guiding directions are adjusted in step B; then execute step C3; Step C3: Judge whether the next grid is located in the grid area where the charging pile is located. If yes, execute step C5; otherwise, execute step C4; Step C4: Control the robot to walk to the position corresponding to the next grid, update the next grid as the recharge starting grid, and update the reference guiding direction in the next grid as the reference guiding direction in the recharge starting grid, and then execute step C2; Step C5: Determine that the robot reaches the position for docking and charging with the charging pile, and form a route connecting from the recharge starting grid that has never been updated to the grid area where the charging pile is located in sequence; wherein, the grid corresponding to the position for docking and charging with the charging pile is the first guiding grid; Step C6: Select the grid with the set reference guiding direction that is closest to the recharge starting grid in the grid map and update it as the recharge starting grid, and then control the robot to walk from the current position to the position corresponding to the updated recharge starting grid; then execute step C2; Wherein, the reference guiding direction in the grid is configured to point to the direction of the next grid to represent the direction of the robot's next walk; Wherein, the grids with set reference guiding directions include the first guiding grid, the second guiding grid, and the third guiding grid.

14. The recharge control method according to claim 13, wherein In performing the steps C2 to C4, the method for determining the next grid according to the reference guiding direction in the recharge starting grid includes: If the recharge starting grid is the third guiding grid or the second guiding grid, set the grid pointed to by the reference guiding direction in the recharge starting grid as the next grid; then update the next grid by repeatedly performing step C4 until the next grid is the turning grid, and guide the robot to the corresponding position of the first guiding grid through the reference guiding direction in the turning grid; If the recharge starting grid is the first guiding grid, set the grid pointed to by the reference guiding direction in the recharge starting grid as the next grid, and configure the next grid as another first guiding grid; In step C2, the recharge starting grid and the next grid form the two adjacent grids.

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