Robot autonomous recharging method and system, medium and computing device

Abstract

The embodiment of the invention provides a robot autonomous recharging method and system, a medium and computing equipment. The method is applied to a robot and a charging pile, and comprises the following steps: controlling the robot to rotate until a first charging interface of the robot is aligned with a second charging interface of the charging pile; the robot is controlled to move until the robot reaches the near-satellite area; according to the third charging pile signals received by the left receiver and the right receiver, the current area where the robot is located is determined; determining a first rotation angle of the robot according to the current area; the robot is controlled to move, so that the robot leaves the interior of the near-defense area and reaches the peripheral boundary of the near-defense area; according to fourth charging pile signals received by the left receiver and the right receiver, the robot is controlled to move to the central area; and the robot is controlled to be in butt joint with the charging pile. Rapid and accurate butt joint of the robot and the charging pile can be achieved, and therefore the robot can be charged in time.

Description

Technical Field

[0001] Embodiments of the present invention relate to the field of robotics technology, and more specifically, embodiments of the present invention relate to a robot autonomous recharging method, system, medium, and computing device. Background Art

[0002] This section is intended to provide a background or context to embodiments of the invention that are recited in the claims. No description herein is admitted to be prior art by inclusion in this section.

[0003] In the existing robot recharging technology based on infrared sensors, the robot often needs to repeatedly perform a certain preset action to guide the robot to find the area directly in front of the charging pile in order to achieve docking. Patent CN117968688A guides the robot to the center of the charging pile by creating a grid and gradually recording the direction of the charging infrared signal, but this process is very complicated. Patent CN106264358B uses the robot to swing left and right near the charging pile to find the center area of ​​the charging pile, but this method may fail to find when the robot deviates too far from the front of the charging pile. It is also possible that the robot is too close to the charging pile when the signal is found and hits the charging pile, resulting in poor recharging effect. Patent CN112075891A rotates the robot left and right, finds the critical point of the signal, calculates the average angle, rotates 90 degrees to adjust the direction and moves in a straight line, and repeatedly performs this process to search for the center area of ​​the charging pile. However, calculating the average angle is relatively complicated, and simply relying on repeatedly calculating the average angle and then rotating 90 degrees and then moving the walking direction and finding the center area of ​​the robot may need to be executed multiple times when the robot deviates far from the center area, and the efficiency is significantly lower. Summary of the invention

[0004] In this context, the embodiments of the present invention are intended to provide a robot autonomous recharging method, device, medium and computing device, which aims to simplify and speed up the recharging docking process and ensure a one-time docking success rate by combining multiple search signal actions. Compared with patent CN112075891A, although this solution also has the process of vertical rotation and linear movement to find the center area of ​​the charging pile, the present invention does not need to accurately calculate the average angle. As long as the signal switching point is found during rotation, the charging pile can be aligned. In addition, the present invention also adds a "tilted movement search" strategy. In the best case, only one vertical rotation plus movement action and one tilted movement search action are required to find the center area of ​​the robot, reducing the docking time. In addition, this solution also adds the action process of guiding the robot to the guard area first, reducing the high docking complexity caused by the long distance. At the same time, combined with a variety of obstacle avoidance strategies, the center area search process can be completed without a map and in the presence of obstacles.

[0005] In a first aspect of an embodiment of the present invention, a robot autonomous recharging method is provided, the method being applied to a robot and a charging pile, the robot having a first charging interface and being provided with a left receiver and a right receiver, the charging pile having a second charging interface and being provided with a signal transmitter group, the signal transmitter group at least including a left middle signal transmitter, a right middle signal transmitter and a guard signal transmitter; the method comprising:

[0006] Controlling the robot to rotate according to the first charging pile signal received by the left receiver and the right receiver until the first charging interface is aligned with the second charging interface;

[0007] According to the second charging pile signal received by the left receiver and the right receiver, the robot is controlled to move until the robot reaches the guard area; wherein the guard area is an area covered by the guard signal emitted by the guard signal transmitter, and is used to mark the vicinity of the charging pile, and the coverage range is a semicircular area directly in front of the charging pile;

[0008] Determine the current area of ​​the robot according to the third charging pile signal received by the left receiver and the right receiver;

[0009] Determining a first rotation angle and a preset moving distance of the robot according to the current area;

[0010] Controlling the robot to move based on the first rotation angle and a preset moving distance so that the robot leaves the guard area;

[0011] According to the fourth charging pile signal received by the left receiver and the right receiver, the robot is controlled to move to a central area; wherein the central area is an area where the left central signal emitted by the left central signal transmitter overlaps with the right central signal emitted by the right central signal transmitter;

[0012] According to the fifth charging pile signal received by the left receiver and the right receiver, the robot is controlled to dock with the charging pile.

[0013] In one embodiment of this implementation, controlling the robot to rotate according to the first charging pile signal received by the left receiver and the right receiver until the first charging interface is aligned with the second charging interface includes:

[0014] Receiving a first initial left charging pile signal through the left receiver, and receiving a first initial right charging pile signal through the right receiver;

[0015] Get the preset initial angular velocity;

[0016] Control the robot to rotate according to the initial angular velocity, and receive a first left charging pile signal and a first right charging pile signal in real time through the left receiver and the right receiver;

[0017] When the first initial left charging pile signal, the first initial right charging pile signal, the first left charging pile signal and the first right charging pile signal meet preset conditions, the robot is controlled to stop rotating, and the first charging interface is determined to be aligned with the second charging interface.

[0018] In one embodiment of this implementation, controlling the robot to move according to the second charging pile signal received by the left receiver and the right receiver until the robot reaches the guard area includes:

[0019] Receiving a second left charging pile signal through the left receiver, and receiving a second right charging pile signal through the right receiver;

[0020] Determine a first angular velocity and a first linear velocity according to the second left charging pile signal and the second right charging pile signal;

[0021] Controlling the robot to move according to the first angular velocity and the first linear velocity, and monitoring the guard signal in real time;

[0022] If the guard signal is not detected, the steps of receiving the second left charging pile signal through the left receiver and monitoring the guard signal in real time are performed;

[0023] If the guard signal is detected, it is determined that the robot has reached the guard area, and the robot is controlled to stop moving.

[0024] In one embodiment of this implementation, the robot is further provided with a distance measuring sensor, and after real-time monitoring of the close guard signal, the method further comprises:

[0025] Obstacles are monitored by the distance measuring sensor to obtain obstacle monitoring results;

[0026] If the obstacle monitoring result indicates that there is a target obstacle, the robot is controlled to perform an obstacle avoidance operation so that the robot moves to a target navigation point; wherein the current distance between the target obstacle and the robot is less than a preset distance; and there is no obstacle within an area with the target navigation point as the center and the preset distance as the radius;

[0027] And execute the steps from receiving the second left charging pile signal through the left receiver to real-time monitoring of the guard signal.

[0028] In one embodiment of this implementation, determining the current area of ​​the robot according to the third charging pile signal received by the left receiver and the right receiver includes:

[0029] If the third charging pile signal received by the left receiver and the right receiver is only the left signal emitted by the left signal transmitter or the left middle signal emitted by the left middle signal transmitter, it is determined that the current area of ​​the robot is the left area;

[0030] If the third charging pile signal received by the left receiver and the right receiver is only the right signal transmitted by the right signal transmitter or the right middle signal transmitted by the right middle signal transmitter, it is determined that the current area of ​​the robot is the right area;

[0031] If the third charging pile signal received by the left receiver and the right receiver is the left center signal emitted by the left center signal transmitter and the right center signal emitted by the right center signal transmitter, it is determined that the current area where the robot is located is the central area.

[0032] In one embodiment of this implementation, controlling the robot to move to the central area according to the fourth charging pile signal received by the left receiver and the right receiver includes:

[0033] Controlling the robot to move multiple times based on the fourth charging pile signal received by the left receiver and the right receiver until the robot moves to the central area;

[0034] Among them, during each movement, a fourth current charging pile signal is received by the left receiver and the right receiver; the second rotation angle and the second moving distance of the robot are determined according to the fourth current charging pile signal; the current navigation point of the robot is determined according to the second rotation angle and the second moving distance; the robot is controlled to move to the current navigation point; and the first charging interface of the robot is controlled to align with the second charging interface.

[0035] In one embodiment of this implementation, the controlling the robot to dock with the charging pile according to the fifth charging pile signal received by the left receiver and the right receiver includes:

[0036] Receiving a fifth initial left charging pile signal through the left receiver, and receiving a fifth initial right charging pile signal through the right receiver;

[0037] Determining a second angular velocity and a second linear velocity according to the fifth initial left charging pile signal and the fifth initial right charging pile signal;

[0038] According to the second angular velocity and the second linear velocity, the robot is controlled to move, and a fifth left charging pile signal and a fifth right charging pile signal are received in real time through the left receiver and the right receiver;

[0039] Adjusting the second angular velocity based on the fifth left charging pile signal and the fifth right charging pile signal received in real time until the first charging interface is connected to the second charging interface;

[0040] Among them, during each adjustment process, the target signal transmitter that transmits the signal is determined by receiving the fifth left charging pile signal and the fifth right charging pile signal in real time; the angular velocity weight is determined according to the target signal transmitter; the second angular velocity is adjusted according to the angular velocity weight to obtain an adjusted second angular velocity; and the robot is controlled to move based on the adjusted second angular velocity.

[0041] In a second aspect of an embodiment of the present invention, a robot autonomous recharging system is provided, the system being applied to a robot and a charging pile, the robot having a first charging interface and being provided with a left receiver and a right receiver, the charging pile having a second charging interface and being provided with a signal transmitter group, the signal transmitter group including at least a left middle signal transmitter, a right middle signal transmitter and a guard signal transmitter; the system comprising:

[0042] a first control unit, configured to control the robot to rotate according to the first charging pile signal received by the left receiver and the right receiver until the first charging interface is aligned with the second charging interface;

[0043] a second control unit, configured to control the robot to move according to the second charging pile signal received by the left receiver and the right receiver and the obstacle information collected by the ranging sensor until the robot reaches a guard area; wherein the ranging sensor is arranged on the robot; and the guard area is an area covered by the guard signal emitted by the guard signal transmitter;

[0044] A first determining unit, configured to determine a current area of ​​the robot according to a third charging pile signal received by the left receiver and the right receiver;

[0045] A second determining unit, used to determine a rotation angle and a preset moving distance of the robot according to the current area;

[0046] a third control unit, configured to control the robot to move based on the rotation angle and a preset moving distance so that the robot leaves the guard area;

[0047] a fourth control unit, configured to control the robot to move to a central area according to the fourth charging pile signal received by the left receiver and the right receiver; wherein the central area is an area where the left-center signal emitted by the left-center signal transmitter overlaps with the right-center signal emitted by the right-center signal transmitter;

[0048] The fifth control unit is used to control the robot to dock with the charging pile according to the fifth charging pile signal received by the left receiver and the right receiver.

[0049] In a third aspect of an embodiment of the present invention, a computing device is provided, comprising: at least one processor, a memory, and an input-output unit; wherein the memory is used to store a computer program, and the processor is used to call the computer program stored in the memory to execute any one of the methods described in the first aspect.

[0050] In a fourth aspect of the embodiments of the present invention, a computer-readable storage medium is provided, which includes instructions, and when the instructions are executed on a computer, the computer executes the method described in any one of the first aspects.

[0051] According to the robot autonomous recharging method, system, medium and computing device of the embodiment of the present invention, the robot can quickly determine and move to the center area of ​​the charging pile according to the receiver set on the robot and the signal transmitter group set on the charging pile, and then accurately control the robot to dock with the charging pile. It can be seen that the implementation of this embodiment can achieve rapid and accurate docking between the robot and the charging pile in the scenario where the charging pile signal exists but the specific location of the charging pile is unknown, so that the robot can be charged in time. BRIEF DESCRIPTION OF THE DRAWINGS

[0052] The above and other objects, features and advantages of the exemplary embodiments of the present invention will become readily understood by reading the detailed description below with reference to the accompanying drawings. In the accompanying drawings, several embodiments of the present invention are shown in an exemplary and non-limiting manner, in which:

[0053] Figure 1 A schematic diagram of a flow chart of a robot autonomous recharging method provided by an embodiment of the present invention;

[0054] Figure 2 A schematic diagram of the structure of a robot provided by an embodiment of the present invention;

[0055] Figure 3 A schematic diagram of the structure of a charging pile provided in one embodiment of the present invention;

[0056] Figure 4 A schematic diagram of signal transmission of a signal transmitter group of a charging pile provided by an embodiment of the present invention;

[0057] Figure 5 A schematic diagram of a first charging interface of a robot provided by an embodiment of the present invention being aligned with a second charging interface of a charging pile;

[0058] Figure 6 A schematic diagram of a robot moving to a guard area provided by an embodiment of the present invention;

[0059] Figure 7 A schematic diagram of a robot leaving a guard area provided by an embodiment of the present invention;

[0060] Figure 8 A schematic diagram of a robot provided by an embodiment of the present invention moving to a central area;

[0061] Fig. 9 A schematic diagram of calculation of the robot moving toward the central area provided by an embodiment of the present invention;

[0062] Fig.10 A schematic diagram of a robot searching a central area according to an embodiment of the present invention;

[0063] Fig.11 A schematic diagram of calculating a robot search center area according to an embodiment of the present invention;

[0064] Fig.12 A schematic diagram of a robot and a charging pile docking provided by an embodiment of the present invention;

[0065] Fig.13 A schematic diagram of the structure of a model processing system provided by an embodiment of the present invention;

[0066] Fig.14 A schematic diagram of the structure of a medium according to an embodiment of the present invention is schematically shown;

[0067] Fig.15 A schematic diagram of the structure of a computing device according to an embodiment of the present invention is schematically shown.

[0068] In the drawings, the same or corresponding reference numerals represent the same or corresponding parts. DETAILED DESCRIPTION

[0069] The principles and spirit of the present invention will be described below with reference to several exemplary embodiments. It should be understood that these embodiments are provided only to enable those skilled in the art to better understand and implement the present invention, and are not intended to limit the scope of the present invention in any way. On the contrary, these embodiments are provided to make the present disclosure more thorough and complete, and to fully convey the scope of the present disclosure to those skilled in the art.

[0070] Those skilled in the art will appreciate that the embodiments of the present invention may be implemented as a system, device, apparatus, method or computer program product. Therefore, the present disclosure may be specifically implemented in the following forms, namely: complete hardware, complete software (including firmware, resident software, microcode, etc.), or a combination of hardware and software.

[0071] According to an embodiment of the present invention, a robot autonomous recharging method, system, medium and computing device are proposed.

[0072] It should be noted that any number of elements in the drawings is for illustration rather than limitation, and any naming is only for distinction and does not have any limiting meaning.

[0073] The principle and spirit of the present invention are explained in detail below with reference to several representative embodiments of the present invention.

[0074] Exemplary Methods

[0075] Reference below Figure 1 , Figure 1 A flowchart of a robot autonomous recharging method provided by an embodiment of the present invention. It should be noted that the embodiments of the present invention can be applied to a robot and a charging pile, wherein the robot is provided with a left receiver and a right receiver, wherein the left receiver and the right receiver are adjacently arranged at the first charging interface of the robot, and a signal transmitter group is arranged at the second charging interface of the charging pile, wherein the signal transmitter group includes at least a left signal transmitter, a left middle signal transmitter, a right middle signal transmitter, a right signal transmitter, and a guard signal transmitter.

[0076] Please also read Figure 2 , Figure 3 as well as Figure 4 , Figure 2 A schematic diagram of the structure of a robot provided by an embodiment of the present invention, wherein a circle may represent a robot, a left receiver A and a right receiver B are provided on the robot, and the left receiver A and the right receiver B are provided at the first charging interface of the robot, and when the robot is moving, the left receiver A and the right receiver B are in the forward direction. The left receiver A and the right receiver B may be infrared receivers.

[0077] Figure 3A schematic diagram of the structure of a charging pile provided in an embodiment of the present invention, wherein the charging pile includes a signal transmitter group, and the signal transmitter group includes at least a left signal transmitter 1, a left middle signal transmitter 2, a right middle signal transmitter 3, a right signal transmitter 4, and a guard signal transmitter 5. As shown in the figure, the left signal transmitter 1, the left middle signal transmitter 2, the right middle signal transmitter 3, and the right signal transmitter 4 are arranged side by side from left to right, and the guard signal transmitter 5 is arranged in the middle position of the signal transmitter group. Among them, the left signal transmitter 1, the left middle signal transmitter 2, the right middle signal transmitter 3, and the right signal transmitter 4 can be infrared transmitters, which can send different carrier signals.

[0078] Figure 4 A schematic diagram of signal transmission of a signal transmitter group of a charging pile provided in an embodiment of the present invention; wherein A represents a charging pile, and B represents a coverage area of ​​a guard signal transmitted by a guard signal transmitter 5, namely, a guard area, and the guard area may be a semicircular area; Figure 5 The middle left represents the left signal area, which is covered with the left signal emitted by the left signal transmitter 1; the middle left represents the left-center signal area, which is covered with the left-center signal emitted by the left-center signal transmitter 2; the middle right represents the right-center signal area, which is covered with the right-center signal emitted by the right-center signal transmitter 3; the right represents the right signal area, which is covered with the right signal emitted by the right signal transmitter 4; the center represents the center area, which is covered with both the left-center signal emitted by the left-center signal transmitter 2 and the right-center signal emitted by the right-center signal transmitter 3.

[0079] In addition, the azimuth directly in front of the charging pile can be set to 0 degrees, the azimuth on the left side perpendicular to the front is -90 degrees, and the azimuth on the right side perpendicular to the front is +90 degrees. Among them, the left signal emitted by the left signal transmitter 1 covers the interval (-90,30], which is defined as the left signal area; the right signal emitted by the right signal transmitter 4 covers the interval [30,+90), which is defined as the right signal area. Furthermore, the left center signal emitted by the left center signal transmitter 2 covers the interval (-30, 0), which is called the left center signal area; and the right center signal emitted by the right center signal transmitter 3 covers the interval (0, 30), which is the right center signal area. It is worth noting that the left center signal emitted by the left center signal transmitter 2 and the right center signal emitted by the right center signal transmitter 3 overlap in the interval (-15, +15), and this overlapping area is defined as the center area.

[0080] Figure 1 The process of the robot autonomous recharging method provided by an embodiment of the present invention shown includes:

[0081] Step S101, controlling the robot to rotate according to the first charging pile signal received by the left receiver and the right receiver until the first charging interface is aligned with the second charging interface.

[0082] In the embodiment of the present invention, the robot can be controlled to perform a directional rotation operation, and the rotation direction can be clockwise or counterclockwise, which is not limited in the embodiment of the present invention.

[0083] As an optional implementation, step S101 controls the robot to rotate according to the first charging pile signal received by the left receiver and the right receiver until the first charging interface is aligned with the second charging interface, which may include the following steps:

[0084] Receiving a first initial left charging pile signal through the left receiver, and receiving a first initial right charging pile signal through the right receiver;

[0085] Get the preset initial angular velocity;

[0086] Control the robot to rotate according to the initial angular velocity, and receive a first left charging pile signal and a first right charging pile signal in real time through the left receiver and the right receiver;

[0087] When the first initial left charging pile signal, the first initial right charging pile signal, the first left charging pile signal and the first right charging pile signal meet preset conditions, the robot is controlled to stop rotating, and the first charging interface is determined to be aligned with the second charging interface.

[0088] In the embodiment of the present invention, the charging pile signals received by the left receiver and the right receiver can be any one of the left signal left, the left middle signal mid_left, the center signal mid, the right middle signal mid_right, the right signal right or no signal unknown. That is, the first initial left charging pile signal and the first initial right charging pile signal can be any one of the above signals.

[0089] The center signal mid may be determined when the left receiver / the right receiver simultaneously receives the left center signal mid_left and the right center signal mid_right.

[0090] Furthermore, the left signal area and the left middle signal area can be uniformly classified as the "left area" of the charging pile, and the right signal area and the right middle signal area can be uniformly classified as the "right area" of the charging pile. Then, the first initial left charging pile signal and the first initial right charging pile signal can be recorded as init_left_signal and init_right_signal, respectively.

[0091] In the embodiment of the present invention, during the start-up rotation phase, the preset initial angular velocity may be set to 0.5 rad / s, which is not limited in the embodiment of the present invention. The preset initial angular velocity may be sent to the controller of the robot so that the robot performs a rotation operation according to the preset initial angular velocity. At the same time, the first left charging pile signal left_signal and the first right charging pile signal right_signal may be received in real time by the left receiver and the right receiver.

[0092] Furthermore, we monitor whether the left receiver receives the center signal mid. If it does, we mark the flag left_find_mid_signal as 1, indicating that the left receiver has found the center signal mid; otherwise, we mark it as 0. Similarly, we also monitor whether the right receiver receives the center signal mid and record the result in right_find_mid_signal.

[0093] In the embodiment of the present invention, the preset condition for determining that the first charging interface is aligned with the second charging interface may include:

[0094] (1) When the first left charging pile signal left_signal and the first right charging pile signal right_signal are valid and equal, the alignment is considered successful.

[0095] (2) If the first left charging pile signal left_signal and the first right charging pile signal right_signal are opposite, that is, left_signal and right_signal are located in opposite areas (one in the left area and the other in the right area), and both are not in the center area, it also indicates that the alignment is successful.

[0096] (3) If a receiver on one side finds the middle area during the rotation process, that is, left_find_mid_signal is 1, and left_signal is neither unknown nor the middle signal mid, then the alignment is also considered successful.

[0097] (4) When a receiver signal changes in the opposite direction, that is, compared with the initial charging pile signal of the receiver, the currently received charging pile signal changes from the left signal to the right signal, or the process is reverse, it is also considered that the alignment is successful.

[0098] (5) If the robot initially turns left and the left receiver is located in the left area, but the current signal of the right receiver is not a known signal in the left area; or if the robot initially turns right and the right receiver is located in the right area, but the current signal of the left receiver is not a known signal in the right area, the alignment is considered successful in both cases.

[0099] (6) When the robot rotates more than 360°, if an infrared signal is detected during the entire rotation process, it will continue to rotate until a signal is detected or the second rotation is completed. If there is no signal during the entire process, it is considered that the alignment has failed; otherwise, it is considered that the alignment has been successful.

[0100] Please also read Figure 5 , Figure 5 A schematic diagram of an embodiment of the present invention providing a first charging interface of a robot aligned with a second charging interface of a charging pile; wherein each circle represents a robot in a different area, namely, robot 1, robot 2, robot 3, robot 4 and robot 5, and at this time, the first charging interfaces of robot 1, robot 2, robot 3, robot 4 and robot 5 are all aligned with the second charging interface of the charging pile.

[0101] Step S102, according to the second charging pile signal received by the left receiver and the right receiver, and the obstacle information sensed by the laser sensor, control the robot to move to bypass the obstacle until the robot reaches the guard area.

[0102] In the embodiment of the present invention, the guard area is an area covered by the guard signal emitted by the guard signal transmitter, and is used to mark the vicinity of the charging pile, and the coverage range is a semicircular area directly in front of the charging pile.

[0103] As an optional implementation, step S102 may include the following steps: controlling the robot to move according to the second charging pile signal received by the left receiver and the right receiver until the robot reaches the guard area:

[0104] Receiving a second left charging pile signal through the left receiver, and receiving a second right charging pile signal through the right receiver;

[0105] Determine a first angular velocity and a first linear velocity according to the second left charging pile signal and the second right charging pile signal;

[0106] Controlling the robot to move according to the first angular velocity and the first linear velocity, and monitoring the guard signal in real time;

[0107] If the guard signal is not detected, the steps of receiving the second left charging pile signal through the left receiver and monitoring the guard signal in real time are performed;

[0108] If the guard signal is detected, it is determined that the robot has reached the guard area, and the robot is controlled to stop moving.

[0109] In the embodiment of the present invention, if the left receiver signal is lost and the right receiver signal is normal, a negative control strategy can be adopted, for example, the first angular velocity is set to -0.1 rad / s. On the contrary, if the right receiver signal is lost and the left receiver signal is normal, a positive control strategy can be adopted, for example, the first angular velocity is set to +0.1 rad / s. If both receivers receive signals normally, a first angular velocity with an amplitude less than 0.01 can be randomly generated. At the same time, the first linear velocity will remain constant and can be set to 0.1 m / s, and these first linear velocity and first angular velocity data are transmitted to the robot controller to guide the robot to move to the guard area.

[0110] As an optional implementation, the robot is further provided with a distance measuring sensor, and after the real-time monitoring of the close guard signal, the following steps may be further included:

[0111] Obstacles are monitored by the distance measuring sensor to obtain obstacle monitoring results;

[0112] If the obstacle monitoring result indicates that there is a target obstacle, the robot is controlled to perform an obstacle avoidance operation so that the robot moves to a target navigation point; wherein the current distance between the target obstacle and the robot is less than a preset distance; and there is no obstacle within an area with the target navigation point as the center and the preset distance as the radius;

[0113] And execute the steps from receiving the second left charging pile signal through the left receiver to real-time monitoring of the guard signal.

[0114] In the embodiment of the present invention, the ranging sensor may be a laser sensor or a radar sensor, etc., which is not limited in the embodiment of the present invention. When the ranging sensor detects that the current distance of the target obstacle from the robot is less than a preset threshold value th (e.g., 0.1 m), a rectangular area with a side length of L may be constructed with the current position of the robot as the center to search for an obstacle-free position. The four vertices of the rectangle may be selected as target navigation points, and autonomous obstacle avoidance navigation may be performed to these target navigation points in turn ("navigation" means autonomously planning the path and tracking the target navigation point, which may be implemented based on obstacle avoidance algorithms such as AStar, DWA, FTG, and BUG Follow). After reaching the target navigation point, the direction of the robot may be adjusted so that the first charging interface of the robot is aligned with the second charging interface of the charging pile until the current distance of the target obstacle from the robot exceeds the threshold value th. The navigation points that have been visited during the obstacle avoidance process will no longer be navigated repeatedly. If there are obstacles near all four vertices, the system will continue to construct new rectangular areas based on these vertices to find a safe area without obstacles. In addition, if the duration of signal loss during the navigation process exceeds the set threshold value dt (e.g., 3s), the above-mentioned square search strategy will also be adopted to find the signal source.

[0115] In addition, when the signals of the left receiver and the right receiver are both displayed as unknown, the signal loss time recording mechanism can be started; if the signal of either receiver returns to normal, the signal loss time record is immediately reset.

[0116] Please also read Figure 6 , Figure 6 A schematic diagram of a robot moving to a guard area provided by an embodiment of the present invention.

[0117] Step S103: Determine the current area of ​​the robot according to the third charging pile signal received by the left receiver and the right receiver.

[0118] As an optional implementation, step S103 may include the following steps to determine the current area of ​​the robot according to the third charging pile signal received by the left receiver and the right receiver:

[0119] If the third charging pile signal received by the left receiver and the right receiver is only the left signal emitted by the left signal transmitter or the left middle signal emitted by the left middle signal transmitter, it is determined that the current area of ​​the robot is the left area;

[0120] If the third charging pile signal received by the left receiver and the right receiver is only the right signal transmitted by the right signal transmitter or the right middle signal transmitted by the right middle signal transmitter, it is determined that the current area of ​​the robot is the right area;

[0121] If the third charging pile signal received by the left receiver and the right receiver is the left center signal emitted by the left center signal transmitter and the right center signal emitted by the right center signal transmitter, it is determined that the current area where the robot is located is the central area.

[0122] Step S104, determining a first rotation angle and a preset backward movement distance of the robot according to the signal of the current area.

[0123] In the embodiment of the present invention, after the robot performs the first rotation angle to align with the charging pile, it retreats and detects the guard signal until the guard signal disappears or reaches the predicted moving distance or detects an obstacle behind it, and then stops retreating;

[0124] Step S105: Control the robot to move based on the first rotation angle and a preset moving distance, so that the robot leaves the guard area.

[0125] In the embodiment of the present invention, the preset moving distance is usually greater than the guard distance, and the guard distance can be the straight-line distance from the guard signal transmitter 5 to the edge of the guard area. After the robot leaves the guard area, it can reach the outer boundary of the guard area, and the outer boundary of the guard area can be a pre-set area adjacent to the guard area.

[0126] In the embodiment of the present invention, the robot can be reversed again according to the amplitude of the first rotation angle defined in the previous step, first roughly pointing to the previous charging pile position, and then according to the method of step S101, the robot is accurately aligned with the charging pile position.

[0127] Please also read Figure 7 , Figure 7 A schematic diagram of a robot leaving a guard area provided in an embodiment of the present invention; wherein robot 1 is located in the left area, and becomes robot 1' after being guided to a non-guard area; robot 2 is located in the central area, and becomes robot 2' after being guided to a non-guard area; and robot 3 is located in the right area, and becomes robot 3' after being guided to a non-guard area.

[0128] Step S106: Control the robot to move to a central area according to the fourth charging pile signal received by the left receiver and the right receiver.

[0129] In the embodiment of the present invention, the central area is an area where the left center signal transmitted by the left center signal transmitter overlaps with the right center signal transmitted by the right center signal transmitter.

[0130] As an optional implementation, in step S106, according to the fourth charging pile signal received by the left receiver and the right receiver, the method of controlling the robot to move to the central area may include the following steps:

[0131] Controlling the robot to move multiple times based on the fourth charging pile signal received by the left receiver and the right receiver until the robot moves to the central area;

[0132] Among them, during each movement, a fourth current charging pile signal is received by the left receiver and the right receiver; the second rotation angle and the second moving distance of the robot are determined according to the fourth current charging pile signal; the current navigation point of the robot is determined according to the second rotation angle and the second moving distance; the robot is controlled to move to the current navigation point; and the first charging interface of the robot is controlled to align with the second charging interface.

[0133] In the embodiment of the present invention, the specific implementation steps of each moving process may be:

[0134] (1) According to the fourth current charging pile signal received by the left receiver and the right receiver, it can be determined whether the robot is in the left signal area, the right signal area, the left middle signal area, the right middle signal area or the guard area; if the robot is in the left signal area / right signal area, the maximum moving distance dist of a single movement when approaching the central area can be L1 (L1 can be 1.0m), and the angle theta between the robot and the positive direction of the charging pile can be 60°; if the robot is in the left middle signal area or the right middle signal area, the maximum moving distance dist of a single movement when approaching the central area is L2 (L2 can be 0.3m), and the angle theta between the robot and the positive direction of the charging pile can be 30°; if the robot is in the guard area, the maximum moving distance dist of a single movement when approaching the central area is L3 (L3 can be 1.0-obs_dist), where obs_dist is the obstacle detection distance between the robot and the detected target obstacle.

[0135] (2) Record whether the direction of the current signal area is opposite to the direction of the area last time (referring to the last time step S106 was executed), for example, the direction was in the left signal area last time and in the right signal area this time, or the direction was in the right signal area last time and in the left signal area this time. If the directions are the same, same_dir_cnt is incremented by 1, otherwise same_dir_cnt is reset to 0.

[0136] (3) Define the second adjustable moving distance each time as D, that is, D = dist-same_dir_cnt*0.05. If it is detected that the signal area where the robot is located this time is opposite to the previous area, D is forced to be set to a minimum value, such as 0.05m.

[0137] (4) If the robot is in the guard area, the second rotation angle value of the robot is 180°; otherwise, if the robot is in the left area, the second rotation angle is -90°; if the robot is in the right area, the second rotation angle is +90°.

[0138] (5) If the robot is in the guard area, the second moving distance D is set to the above L3; otherwise, the minimum value of tan(theta)*dist and adjust_dist is taken as the second moving distance D. And with the coordinates of the current position and theta as reference, according to the second rotation angle and the second moving distance D, the navigation target point Goal is calculated;

[0139] (6) Navigate the robot to the Goal and then align it with the charging station.

[0140] In the embodiment of the present invention, if the current robot is already in the central area, or the signal area is detected to have switched more than twice, it is determined that the robot is already near the center and step S107 is directly executed, otherwise the central area can be accurately searched.

[0141] Please also read Figure 8 and Fig. 9 , Figure 8 A schematic diagram of a robot moving to a central area provided in an embodiment of the present invention; wherein, if the robot executes step S106 in a loop, it will be guided from point 1 to point 6, that is, the transfer from a non-central position to near the center is completed. Fig. 9 A schematic diagram of calculation of robot movement to a central area provided in an embodiment of the present invention shows a schematic diagram of the process of calculating a single moving distance.

[0142] Optionally, if the robot has not yet entered the center area of ​​the charging station, it can perform a precise search of the center area to help quickly find the area. Fig.10 , Fig.11 , Fig.10 A schematic diagram of a robot searching a central area according to an embodiment of the present invention, Fig.11 A schematic diagram of calculating a robot search center area according to an embodiment of the present invention; Fig.10 As shown in the example, the robot searches from starting point 1 to point 2, and finally successfully reaches point 3, the center area. The specific search steps are as follows:

[0143] (1) Calculate the target rotation angle that the robot needs to rotate;

[0144] ① After the left and right receivers receive the initial orientation signals, they are marked as init_left_signal and init_right_signal respectively, and the distance obs_dist between the robot and the obstacle in front is obtained at the same time.

[0145] ② If the signals received by the left receiver and the right receiver are both unknown, or obs_dist is less than the preset close guard distance, execute step S106.

[0146] ③ If the signals received by the left receiver and the right receiver are not unknown, and the signal directions are opposite or there is an intermediate signal, and obs_dist is greater than the guard distance, it can be directly determined that the robot is close to the center and step S107 is executed;

[0147] If obs_dist is less than the close guard distance at this time, execute step S106;

[0148] If the two signals have the same direction and the signal is on the left side of the charging pile, we define the azimuth signal to be searched as the right signal, i.e. right_dir; otherwise, it is defined as the left signal left_dir. When there is a left-center signal or a right-center signal in the left and right signals, the angle theta can be defined as the azimuth angle of the left-center signal or the right-center signal, such as 30 degrees mentioned above; otherwise, we define the angle as the azimuth angle of the left signal or the right signal, such as 60 degrees mentioned above.

[0149] ④ If one of the signals of the left receiver and the right receiver is unknown, and the known signal is the middle signal mid, execute step S107;

[0150] Otherwise, the search direction may be defined according to the above method based on the direction of the known signal.

[0151] ⑤ Next, we can define the distance dy as the product of the cosine value of obs_dist and theta, and dx as the product of the sine value of obs_dist and theta. If dy is greater than the guard distance pile_dist, the target rotation angle theta_spin can be defined as pi / 2-theta-atan2(k*(dy-pile_dist), dx); wherein pi / 2-theta is the angle between the robot pointing to the charging pile and the robot being horizontally perpendicular to the center line of the charging pile, and atan2(k*(dy-near_pile_dist), dx) is the angle between the robot's orientation after the robot rotates theta_spin from the direction of the charging pile and the robot being horizontally perpendicular to the center line of the charging pile. It can be seen that when k is equal to 1, after the robot rotates theta_spin, its orientation intersects with the center line of the charging pile, and the intersection is located exactly on the guard area circle with a radius of near_pile_dist. Here, k is used to scale the size of dy-pile_dist, which can control the distance between the robot and the charging pile after finding the center area. If dy is less than the guard distance pile_dist, step S106 is executed.

[0152] (2) Control the robot to perform directional rotation;

[0153] ① Record the initial orientation angle of the robot. The robot rotates according to theta calculated in the previous step. The rotation direction refers to the search direction. If the search direction is the right signal, it rotates right, otherwise it rotates left.

[0154] ② During rotation, when only one of the signals received by the left and right receivers of the robot is not unknown, the robot stops rotating; when the signals received by the left and right receivers of the robot are all unknown, the robot performs reverse rotation until one of the receivers receives a non-unknown signal, or the robot returns to the initial orientation angle.

[0155] (3) Conduct a central area search;

[0156] ①Control the robot to go straight and receive left and right signals through the left and right receivers;

[0157] ② If the signals received by the left and right receivers are all lost, stop the car and rotate in a directional manner. The direction of rotation depends on the search direction. If the search direction is right_dir, turn left; otherwise, turn right until the signal is restored. If the signal cannot be found after rotating beyond the specified threshold angle theta_spin_th, rotate in the opposite direction to continue searching. If there is still no signal after rotating beyond 2*theta_spin_th, execute step S106; when a signal is received, control the robot to go straight and receive left and right signals through the left and right receivers.

[0158] ③ Real-time monitoring to see if the reverse signal is captured.

[0159] Specifically, when the search direction is right_dir and the left receiver captures the right center signal or the right signal, proceed to the next step ④ and determine the rotation angle;

[0160] Similarly, when the search direction is left_dir and the right receiver captures the left center signal or the left signal, it also goes to the next step ④.

[0161] If the distance between the robot and the obstacle is less than or equal to the guard distance, the robot should stop immediately and rotate left and right on the spot to try to capture the reverse signal. If the capture is successful, execute step S107; otherwise, execute step S106.

[0162] ④The robot will then move forward in a straight line, and the moving distance should be less than the robot's radius. After that, the robot will turn to align with the charging pile's azimuth signal, and the turning direction depends on the search direction, that is, turn left when the search direction is right_dir, otherwise turn right.

[0163] Step S107: Control the robot to dock with the charging pile according to the fifth charging pile signal received by the left receiver and the right receiver.

[0164] As an optional implementation manner, in step S107, according to the fifth charging pile signal received by the left receiver and the right receiver, the method of controlling the robot to dock with the charging pile may include the following steps:

[0165] Receiving a fifth initial left charging pile signal through the left receiver, and receiving a fifth initial right charging pile signal through the right receiver;

[0166] Determining a second angular velocity and a second linear velocity according to the fifth initial left charging pile signal and the fifth initial right charging pile signal;

[0167] According to the second angular velocity and the second linear velocity, the robot is controlled to move, and a fifth left charging pile signal and a fifth right charging pile signal are received in real time through the left receiver and the right receiver;

[0168] Adjusting the second angular velocity based on the fifth left charging pile signal and the fifth right charging pile signal received in real time until the first charging interface is connected to the second charging interface;

[0169] Among them, during each adjustment process, the target signal transmitter that transmits the signal is determined by receiving the fifth left charging pile signal and the fifth right charging pile signal in real time; the angular velocity weight is determined according to the target signal transmitter; the second angular velocity is adjusted according to the angular velocity weight to obtain an adjusted second angular velocity; and the robot is controlled to move based on the adjusted second angular velocity.

[0170] In the embodiment of the present invention, the fifth initial left charging pile signal may be left_signal, and the fifth initial right charging pile signal may be right_signal. If both left_signal and right_signal are unknown signals, step S106 is executed.

[0171] In an embodiment of the present invention, the target signal transmitter that transmits the signal can be determined according to the fifth left charging pile signal and the fifth right charging pile signal received in real time; the target signal transmitter can be the left signal transmitter 1, the left middle signal transmitter 2, the right middle signal transmitter 3 and the right signal transmitter 4, and the angular velocity weights corresponding to different signal transmitters are different. The angular velocity weight corresponding to the left signal transmitter 1 is -4, the angular velocity weight corresponding to the left middle signal transmitter 2 is -2, the angular velocity weight corresponding to the right middle signal transmitter 3 is 2, and the angular velocity weight corresponding to the right signal transmitter 4 is 4. In addition, when the intermediate signals of the left middle signal transmitter 2 and the right middle signal transmitter 3 are received at the same time, the corresponding angular velocity weight is 0.

[0172] Furthermore, these angular velocity weights will be used as the basis for the angular velocity control quantity, and the goal is to make this control quantity approach 0. To achieve this goal, various control strategies such as classical theoretical control, modern control theory or robot learning can be used, and the corresponding second angular velocity can be calculated accordingly. At the same time, a second linear velocity, such as 0.02m / s, is given and sent to the robot controller.

[0173] Optionally, the completion or termination of the connection is determined based on the following conditions:

[0174] If the robot receives the pole piece signal, the docking task is considered completed.

[0175] If a collision occurs or the robot is closer to the obstacle than a specified threshold (such as 0.01 m) and the obstacle is not released after a specified time (such as 5 s), the docking task will be terminated and steps S103 to S107 will be executed again.

[0176] If both the left receiver and the right receiver lose signal for a period of time exceeding a specified time (eg, 5 seconds), the docking task will also be terminated, and steps S103 to S107 will be re-executed.

[0177] Please also read Fig.12 , Fig.12 This is a schematic diagram of the docking of a robot and a charging pile provided by an embodiment of the present invention; the robot starts from point 1, gradually drives to points 2 and 3, and finally completes the docking at point 4.

[0178] The present invention can realize rapid and accurate docking of the robot with the charging pile in a scenario where the charging pile signal exists but the specific location of the charging pile is unknown, thereby enabling the robot to be charged in time.

[0179] Exemplary Systems

[0180] After introducing the method of the exemplary embodiment of the present invention, next, refer to Fig.13 A robot autonomous recharging system according to an exemplary embodiment of the present invention is described. The system is applied to a robot and a charging pile. The robot is provided with a left receiver and a right receiver. The left receiver and the right receiver are adjacently arranged at a first charging interface of the robot. A signal transmitter group is arranged at a second charging interface of the charging pile. The signal transmitter group includes at least a left signal transmitter, a left middle signal transmitter, a right middle signal transmitter, a right signal transmitter and a guard signal transmitter. The system includes:

[0181] A first control unit 1301 is used to control the robot to rotate according to the first charging pile signal received by the left receiver and the right receiver until the first charging interface is aligned with the second charging interface;

[0182] The second control unit 1302 is used to control the robot to move according to the second charging pile signal received by the left receiver and the right receiver and the obstacle information collected by the ranging sensor until the robot reaches the guard area; wherein the ranging sensor is arranged on the robot; the guard area is the area covered by the guard signal emitted by the guard signal transmitter;

[0183] A first determining unit 1303 is used to determine the current area of ​​the robot according to the third charging pile signal received by the left receiver and the right receiver;

[0184] A second determining unit 1304 is used to determine a rotation angle and a preset moving distance of the robot according to the current area;

[0185] A third control unit 1305 is used to control the robot to move based on the rotation angle and the preset moving distance so that the robot leaves the guard area;

[0186] The fourth control unit 1306 is used to control the robot to move to a central area according to the fourth charging pile signal received by the left receiver and the right receiver; wherein the central area is an area where the left-center signal emitted by the left-center signal transmitter overlaps with the right-center signal emitted by the right-center signal transmitter;

[0187] The fifth control unit 1307 is used to control the robot to dock with the charging pile according to the fifth charging pile signal received by the left receiver and the right receiver.

[0188] Exemplary Media

[0189] After introducing the method and system of the exemplary embodiment of the present invention, next, reference is made to Fig.14 For a description of a computer-readable storage medium according to an exemplary embodiment of the present invention, please refer to Fig.14, the computer-readable storage medium shown is a CD 140, on which a computer program (i.e., a program product) is stored. When the computer program is executed by the processor, the steps described in the above method implementation are implemented, for example, according to the first charging pile signal received by the left receiver and the right receiver, the robot is controlled to rotate until the first charging interface is aligned with the second charging interface; according to the second charging pile signal received by the left receiver and the right receiver, the robot is controlled to move until the robot reaches the guard area; wherein the guard area is the area covered by the guard signal emitted by the guard signal transmitter; according to the third charging pile signal received by the left receiver and the right receiver , determine the current area of ​​the robot; determine the first rotation angle and the preset moving distance of the robot according to the current area; control the robot to move based on the first rotation angle and the preset moving distance, so that the robot leaves the guard area; according to the fourth charging pile signal received by the left receiver and the right receiver, control the robot to move to the central area; wherein the central area is the area where the left middle signal emitted by the left middle signal transmitter overlaps with the right middle signal emitted by the right middle signal transmitter; according to the fifth charging pile signal received by the left receiver and the right receiver, control the robot to dock with the charging pile; the specific implementation method of each step will not be repeated here.

[0190] It should be noted that examples of the computer-readable storage medium may also include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other optical or magnetic storage media, which are not listed here one by one.

[0191] Exemplary Computing Devices

[0192] After introducing the method, system and medium of the exemplary embodiment of the present invention, next, reference is made to Fig.15 A computing device for autonomous recharging of a robot according to an exemplary embodiment of the present invention.

[0193] Fig.15 A block diagram of an exemplary computing device 150 suitable for implementing embodiments of the present invention is shown, and the computing device 150 may be a computer system or a server. Fig.15 The computing device 150 shown is merely an example and should not bring any limitation to the functionality and scope of use of embodiments of the present invention.

[0194] like Fig.15As shown, the components of computing device 150 may include, but are not limited to: one or more processors or processing units 1501, system memory 1502, and a bus 1503 connecting different system components (including system memory 1502 and processing unit 1501).

[0195] Computing device 150 typically includes a variety of computer system readable media. These media can be any available media that can be accessed by computing device 150, including volatile and nonvolatile media, removable and non-removable media.

[0196] System memory 1502 may include computer system readable media in the form of volatile memory, such as random access memory (RAM) 15021 and / or cache memory 15022. Computing device 150 may further include other removable / non-removable, volatile / non-volatile computer system storage media. By way of example only, ROM 15023 may be used to read and write non-removable, non-volatile magnetic media ( Fig.15 is not shown in the Fig.15 As shown in FIG. 1 , a disk drive for reading and writing a removable non-volatile disk (e.g., a "floppy disk") and an optical disk drive for reading and writing a removable non-volatile optical disk (e.g., a CD-ROM, a DVD-ROM, or other optical media) may be provided. In these cases, each drive may be connected to bus 1503 via one or more data medium interfaces. System memory 1502 may include at least one program product having a set (e.g., at least one) of program modules that are configured to perform the functions of various embodiments of the present invention.

[0197] A program / utility 15025 having a set (at least one) of program modules 15024 may be stored, for example, in system memory 1502, and such program modules 15024 include, but are not limited to: an operating system, one or more application programs, other program modules, and program data, each of which or some combination may include an implementation of a network environment. Program modules 15024 generally perform the functions and / or methods of the embodiments described herein.

[0198] The computing device 150 may also communicate with one or more external devices 1504 (e.g., a keyboard, a pointing device, a display, etc.). Such communication may be performed via an input / output (I / O) interface 1505. In addition, the computing device 150 may also communicate with one or more networks (e.g., a local area network (LAN), a wide area network (WAN), and / or a public network, such as the Internet) via a network adapter 1506. Fig.15As shown, the network adapter 1506 communicates with other modules (such as the processing unit 1501, etc.) of the computing device 150 via the bus 1503. It should be understood that although Fig.15 Not shown, other hardware and / or software modules may be used in conjunction with computing device 150 .

[0199] The processing unit 1501 executes various functional applications and data processing by running the program stored in the system memory 1502, for example, according to the first charging pile signal received by the left receiver and the right receiver, the robot is controlled to rotate until the first charging interface is aligned with the second charging interface; according to the second charging pile signal received by the left receiver and the right receiver, the robot is controlled to move until the robot reaches the guard area; wherein the guard area is the area covered by the guard signal emitted by the guard signal transmitter; according to the third charging pile signal received by the left receiver and the right receiver, the robot is determined The current area of ​​the robot; determining the first rotation angle and the preset moving distance of the robot according to the current area; controlling the robot to move based on the first rotation angle and the preset moving distance so that the robot leaves the close guard area; controlling the robot to move to the central area according to the fourth charging pile signal received by the left receiver and the right receiver; wherein the central area is the area where the left middle signal emitted by the left middle signal transmitter overlaps with the right middle signal emitted by the right middle signal transmitter; controlling the robot to dock with the charging pile according to the fifth charging pile signal received by the left receiver and the right receiver. The specific implementation of each step is not repeated here. It should be noted that although several units / modules or sub-units / sub-modules of the robot autonomous recharging system are mentioned in the above detailed description, this division is only exemplary and not mandatory. In fact, according to an embodiment of the present invention, the features and functions of two or more units / modules described above can be concretized in one unit / module. Conversely, the features and functions of one unit / module described above can be further divided into multiple units / modules to be concretized.

[0200] In the description of the present invention, it should be noted that the terms “first”, “second” and “third” are only used for descriptive purposes and cannot be understood as indicating or implying relative importance.

[0201] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and units described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0202] In the several embodiments provided by the present invention, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. The device embodiments described above are only schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some communication interfaces, and the indirect coupling or communication connection of devices or units can be electrical, mechanical or other forms.

[0203] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0204] In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0205] If the functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a non-volatile computer-readable storage medium that is executable by a processor. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, or the part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium, including several instructions for enabling a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the methods described in each embodiment of the present invention. The aforementioned storage medium includes: various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk.

[0206] Finally, it should be noted that the above-described embodiments are only specific implementations of the present invention, which are used to illustrate the technical solutions of the present invention, rather than to limit them. The protection scope of the present invention is not limited thereto. Although the present invention is described in detail with reference to the above-described embodiments, ordinary technicians in the field should understand that any technician familiar with the technical field can still modify the technical solutions recorded in the above-described embodiments within the technical scope disclosed by the present invention, or can easily think of changes, or make equivalent replacements for some of the technical features therein; and these modifications, changes or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present invention, and should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.

[0207] In addition, although the operations of the method of the present invention are described in a specific order in the drawings, this does not require or imply that the operations must be performed in this specific order, or that all the operations shown must be performed to achieve the desired results. Additionally or alternatively, some steps may be omitted, multiple steps may be combined into one step, and / or one step may be decomposed into multiple steps.

Claims

1. A robot autonomous recharging method, the method is applied to a robot and a charging pile, characterized in that: The robot has a first charging interface and is provided with a left receiver and a right receiver, the charging pile has a second charging interface and is provided with a signal transmitter group, and the signal transmitter group includes at least a left middle signal transmitter, a right middle signal transmitter and a guard signal transmitter; the method includes: Controlling the robot to rotate according to the first charging pile signal received by the left receiver and the right receiver until the first charging interface is aligned with the second charging interface; According to the second charging pile signal received by the left receiver and the right receiver, the robot is controlled to move until the robot reaches a guard area; wherein the guard area is an area covered by the guard signal emitted by the guard signal transmitter; Determine the current area of ​​the robot according to the third charging pile signal received by the left receiver and the right receiver; Determining a first rotation angle and a preset moving distance of the robot according to the current area; Controlling the robot to move based on the first rotation angle and a preset moving distance so that the robot leaves the guard area; According to the fourth charging pile signal received by the left receiver and the right receiver, the robot is controlled to move to a central area; wherein the central area is an area where the left central signal emitted by the left central signal transmitter overlaps with the right central signal emitted by the right central signal transmitter; According to the fifth charging pile signal received by the left receiver and the right receiver, the robot is controlled to dock with the charging pile.

2. The robot autonomous recharging method according to claim 1, characterized in that: The controlling the robot to rotate according to the first charging pile signal received by the left receiver and the right receiver until the first charging interface is aligned with the second charging interface includes: Receiving a first initial left charging pile signal through the left receiver, and receiving a first initial right charging pile signal through the right receiver; Get the preset initial angular velocity; Control the robot to rotate according to the initial angular velocity, and receive a first left charging pile signal and a first right charging pile signal in real time through the left receiver and the right receiver; When the first initial left charging pile signal, the first initial right charging pile signal, the first left charging pile signal and the first right charging pile signal meet preset conditions, the robot is controlled to stop rotating, and the first charging interface is determined to be aligned with the second charging interface.

3. The robot autonomous recharging method according to claim 1, characterized in that: According to the second charging pile signal received by the left receiver and the right receiver, controlling the robot to move until the robot reaches the guard area includes: Receiving a second left charging pile signal through the left receiver, and receiving a second right charging pile signal through the right receiver; Determine a first angular velocity and a first linear velocity according to the second left charging pile signal and the second right charging pile signal; Controlling the robot to move according to the first angular velocity and the first linear velocity, and monitoring the guard signal in real time; If the guard signal is not detected, the steps of receiving the second left charging pile signal through the left receiver and monitoring the guard signal in real time are performed; If the guard signal is detected, it is determined that the robot has reached the guard area, and the robot is controlled to stop moving.

4. The robot autonomous recharging method according to claim 3, characterized in that: The robot is also provided with a distance measuring sensor. After real-time monitoring of the close guard signal, the method further comprises: Obstacles are monitored by the distance measuring sensor to obtain obstacle monitoring results; If the obstacle monitoring result indicates that there is a target obstacle, the robot is controlled to perform an obstacle avoidance operation so that the robot moves to a target navigation point; wherein the current distance between the target obstacle and the robot is less than a preset distance; and there is no obstacle within an area with the target navigation point as the center and the preset distance as the radius; And execute the steps from receiving the second left charging pile signal through the left receiver to real-time monitoring of the guard signal.

5. The robot autonomous recharging method according to claim 1, characterized in that: The step of determining the current area of ​​the robot according to the third charging pile signal received by the left receiver and the right receiver includes: If the third charging pile signal received by the left receiver and the right receiver is only the left signal emitted by the left signal transmitter or the left middle signal emitted by the left middle signal transmitter, it is determined that the current area of ​​the robot is the left area; If the third charging pile signal received by the left receiver and the right receiver is only the right signal transmitted by the right signal transmitter or the right middle signal transmitted by the right middle signal transmitter, it is determined that the current area of ​​the robot is the right area; If the third charging pile signal received by the left receiver and the right receiver is the left center signal emitted by the left center signal transmitter and the right center signal emitted by the right center signal transmitter, it is determined that the current area where the robot is located is the central area.

6. The robot autonomous recharging method according to claim 1, characterized in that: The controlling the robot to move to the central area according to the fourth charging pile signal received by the left receiver and the right receiver includes: Controlling the robot to move multiple times based on the fourth charging pile signal received by the left receiver and the right receiver until the robot moves to the central area; Among them, during each movement, a fourth current charging pile signal is received by the left receiver and the right receiver; the second rotation angle and the second moving distance of the robot are determined according to the fourth current charging pile signal; the current navigation point of the robot is determined according to the second rotation angle and the second moving distance; the robot is controlled to move to the current navigation point; and the first charging interface of the robot is controlled to align with the second charging interface.

7. The robot autonomous recharging method according to claim 1, characterized in that: The controlling the robot to dock with the charging pile according to the fifth charging pile signal received by the left receiver and the right receiver includes: Receiving a fifth initial left charging pile signal through the left receiver, and receiving a fifth initial right charging pile signal through the right receiver; Determining a second angular velocity and a second linear velocity according to the fifth initial left charging pile signal and the fifth initial right charging pile signal; According to the second angular velocity and the second linear velocity, the robot is controlled to move, and a fifth left charging pile signal and a fifth right charging pile signal are received in real time through the left receiver and the right receiver; Adjusting the second angular velocity based on the fifth left charging pile signal and the fifth right charging pile signal received in real time until the first charging interface is connected to the second charging interface; Among them, during each adjustment process, the target signal transmitter that transmits the signal is determined by receiving the fifth left charging pile signal and the fifth right charging pile signal in real time; the angular velocity weight is determined according to the target signal transmitter; the second angular velocity is adjusted according to the angular velocity weight to obtain an adjusted second angular velocity; and the robot is controlled to move based on the adjusted second angular velocity.

8. A robot autonomous recharging system, the system is applied to the robot and the charging pile, characterized in that: The robot has a first charging interface and is provided with a left receiver and a right receiver, the charging pile has a second charging interface and is provided with a signal transmitter group, and the signal transmitter group includes at least a left middle signal transmitter, a right middle signal transmitter and a guard signal transmitter; the system includes: a first control unit, configured to control the robot to rotate according to the first charging pile signal received by the left receiver and the right receiver until the first charging interface is aligned with the second charging interface; a second control unit, configured to control the robot to move according to the second charging pile signal received by the left receiver and the right receiver and the obstacle information collected by the ranging sensor until the robot reaches a guard area; wherein the ranging sensor is arranged on the robot; and the guard area is an area covered by the guard signal emitted by the guard signal transmitter; A first determining unit, configured to determine a current area of ​​the robot according to a third charging pile signal received by the left receiver and the right receiver; A second determining unit, used to determine a rotation angle and a preset moving distance of the robot according to the current area; a third control unit, configured to control the robot to move based on the rotation angle and a preset moving distance so that the robot leaves the guard area; a fourth control unit, configured to control the robot to move to a central area according to the fourth charging pile signal received by the left receiver and the right receiver; wherein the central area is an area where the left-center signal emitted by the left-center signal transmitter overlaps with the right-center signal emitted by the right-center signal transmitter; The fifth control unit is used to control the robot to dock with the charging pile according to the fifth charging pile signal received by the left receiver and the right receiver.

9. A computing device, characterized in that The computing device comprises: at least one processor, memory, and input-output unit; The memory is used to store a computer program, and the processor is used to call the computer program stored in the memory to execute the method according to any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that: The method comprises instructions, which, when executed on a computer, enable the computer to execute the method according to any one of claims 1 to 7.

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