Robot edgewise moving method based on seat avoiding signal of charging base station and chip

Abstract

The invention discloses a charging base station seat avoiding signal-based robot edgewise moving method and a chip. The method comprises the following steps of: controlling a robot to move to a position in front of a charging base station, wherein the position is away from the charging base station by a preset radiation distance; the robot is controlled to rotate in situ, and whether a charging base station avoiding signal sent by the charging base station is received or not is detected in the rotating process; when the robot detects that a charging base station avoiding signal sent by the charging base station is received, the robot is controlled to stop rotating; and controlling the robot to execute a wall searching process based on the received charging base station seat avoiding signal, so that the robot enters an edge moving mode when searching the wall surface. According to the method, the robot is controlled to detect the charging base station seat avoiding signal, the area radiated by the charging base station seat avoiding signal is combined with the charging base station wall setting feature to assist the robot in quickly searching the wall and efficiently entering the edge walking mode, and the edge entering efficiency is effectively improved.

Description

Technical Field

[0001] The present application relates to the field of robot edge movement technology, and in particular to a robot edge movement method and chip based on a seat avoidance signal of a charging base station. Background Art

[0002] At present, in order to achieve edge movement, robots usually install collision sensors on the robot body to find the edge through collision detection, or install infrared sensors on the robot body to find the edge through infrared detection. This edge finding method is easily affected by the furniture in the environment, such as chair legs, table legs, etc., which may cause the robot to mistakenly move along the edge, resulting in poor accuracy and low efficiency of the robot's edge finding to move along the wall. Summary of the invention

[0003] The present application provides a method and chip for robot moving along the edge based on the seat avoidance signal of a charging base station. The specific technical solution is as follows: A method for robot moving along an edge based on a seat avoidance signal from a charging base station, specifically comprising: controlling the robot to move to a position in front of a charging base station that is at a preset radiation distance from the charging base station; controlling the robot to rotate in situ, and detecting whether a charging base station seat avoidance signal sent by the charging base station is received during the rotation process; when the robot detects that a charging base station seat avoidance signal sent by the charging base station is received, the robot is controlled to stop rotating; and based on the received charging base station seat avoidance signal, the robot is controlled to execute a wall-finding process, so that the robot enters an edge-finding mode when it finds a wall.

[0004] Furthermore, the process of controlling the robot to execute a wall-seeking process based on the received seat-avoidance signal from the charging base station specifically includes: taking the location of the seat-avoidance signal transmitter of the charging base station as the center of the moving circle, determining the moving radius based on the radiation distance of the seat-avoidance signal from the charging base station, and planning a circular moving trajectory based on the center of the moving circle and the moving radius; controlling the left moving structure and the right moving structure of the robot to operate at differential speeds so that the robot moves along the circular moving trajectory, and controlling the robot to search for walls based on edge sensors during the movement along the circular moving trajectory.

[0005] Furthermore, the controlling the robot to execute the wall-seeking process based on the received seating avoidance signal of the charging base station also includes: during the movement of the robot along the circular moving trajectory, the robot is controlled to execute the charging base station seating avoidance signal reception detection process at every preset first time interval; if the charging base station seating avoidance signal reception detection result is that the charging base station seating avoidance signal is unable to be received, the robot is controlled to continue to move along the circular moving trajectory; if the charging base station seating avoidance signal reception detection result is that the charging base station seating avoidance signal is able to be received, the robot is controlled to re-plan the circular moving trajectory and move according to the re-planned circular moving trajectory.

[0006] Furthermore, during the movement of the robot along the circular moving trajectory, the robot is controlled to execute the charging base station seat avoidance signal receiving detection process at each preset first time interval, which specifically includes: during the movement of the robot along the circular moving trajectory, the robot is controlled to stop moving at each preset first time interval, and the orientation of the robot when it stops moving is recorded as the marked orientation; the robot is controlled to rotate by a preset angle, and the charging base station seat avoidance signal receiving detection device carried on the robot body is controlled to continuously search for the charging base station seat avoidance signal during the rotation by the preset angle; if the charging base station seat avoidance signal receiving detection device searches for the charging base station seat avoidance signal during the rotation by the preset angle, the charging base station seat avoidance signal receiving detection result is that the robot is able to receive the charging base station seat avoidance signal, the robot is controlled to rotate until the orientation of the robot is restored to the marked orientation, the robot is controlled to end the current charging base station seat avoidance signal receiving detection process, the robot is controlled to re-plan the circular moving trajectory, the robot is controlled to continue moving according to the re-planned circular moving trajectory, and the robot is controlled to execute the charging base station seat avoidance signal receiving detection process at each preset first time interval during the movement.

[0007] Furthermore, during the movement of the robot along the circular moving trajectory, the robot is controlled to execute the charging base station seat avoidance signal receiving detection process at every preset first time interval, and the process also includes: when the robot rotates through the preset angle, and the charging base station seat avoidance signal receiving detection device continues to fail to search for the charging base station seat avoidance signal, then the charging base station seat avoidance signal receiving detection result is that the robot fails to receive the charging base station seat avoidance signal, and the robot is controlled to end the current charging base station seat avoidance signal receiving detection process, and the robot is controlled to rotate until the robot's orientation is restored to the marked orientation, and the robot continues to move along the circular moving trajectory.

[0008] Furthermore, the controlling robot replans the circular moving trajectory, specifically including: extending the moving radius of the circular moving trajectory by a preset distance to obtain a replanned moving radius; taking the location of the charging base station avoidance signal transmitter as the moving circle center, and obtaining the replanned circular moving trajectory based on the replanned moving radius.

[0009] Furthermore, the controlling robot to re-plan the circular moving trajectory also includes: after the robot obtains the re-planned circular moving trajectory, the robot performs a charging base station seat avoidance signal reception detection process on the re-planned circular moving trajectory to determine whether the circular moving trajectory needs to be re-planned again.

[0010] Furthermore, the charging base station seat avoidance signal reception detection process is performed on the re-planned circular moving trajectory to determine whether the circular moving trajectory needs to be re-planned again, specifically including: controlling the robot to move to the re-planned circular moving trajectory; adjusting the orientation of the robot on the circular moving trajectory to the marked orientation when the charging base station seat avoidance signal reception detection process was last executed; controlling the robot to rotate by a preset angle, and controlling the charging base station seat avoidance signal reception detection device carried on the robot body to continuously search for the charging base station seat avoidance signal during the rotation process of the preset angle; if the charging base station seat avoidance signal reception detection device searches for the charging base station seat avoidance signal during the rotation process of the preset angle, then the charging base station seat avoidance signal reception detection result is that the robot is able to receive the charging base station seat avoidance signal. The robot receives a seat avoidance signal from the charging base station, controls the robot to stop rotating, controls the robot to rotate until the robot's orientation returns to the marked orientation, controls the robot to end the current charging base station seat avoidance signal receiving and detection process, determines that the robot needs to re-plan the circular movement trajectory, and controls the robot to re-plan the circular movement trajectory; if the charging base station seat avoidance signal receiving and detection device continues to fail to search for the charging base station seat avoidance signal during the rotation of the preset angle, then the charging base station seat avoidance signal receiving and detection result is that the robot fails to receive the charging base station seat avoidance signal, controls the robot to end the current charging base station seat avoidance signal receiving and detection process, controls the robot to rotate until the robot's orientation returns to the marked orientation, determines that the robot does not need to re-plan the arc movement path, and controls the robot to move along the circular movement trajectory.

[0011] Furthermore, the controlling robot searches for a wall based on an edge sensor while moving along a circular trajectory, specifically comprising: controlling the robot to move along a circular trajectory by an edge sensor mounted on the robot body to continuously perform edge detection; when the edge sensor detects that there is an edge within a preset distance, it is determined that the robot has found the wall, the visual robot is controlled to stop moving along the circular trajectory, and the robot is controlled to enter an edge movement mode based on the edge sensor.

[0012] Furthermore, the method of controlling the robot to enter the edge movement mode based on the edge sensor specifically includes: controlling the robot to rotate in a direction away from the center of the circular movement trajectory, so that the forward direction of the robot's mobile structure is parallel to the edge detected by the edge sensor; controlling the edge sensor to continuously detect the edge in real time, and adjusting the forward direction of the robot's movement in real time based on the edge detected by the edge sensor, so as to enable the robot to enter the edge movement mode.

[0013] Furthermore, the robot edge movement method based on the charging base station seat avoidance signal also includes: when the robot moves based on the edge movement mode, the robot is controlled to use a line laser module to identify low obstacles in the environment, and to circumvent the identified low obstacles along the edge.

[0014] A chip stores a computer program inside. When the computer program stored inside the chip is run by a processor, the method for moving a robot along the edge based on a seat avoidance signal of a charging base station as described above is executed.

[0015] The robot moving along the edge method and chip based on the charging base station avoidance signal described in the present application controls the robot to detect the charging base station avoidance signal. The semicircular area radiated by the charging base station avoidance signal combined with the wall setting feature of the charging base station assists the robot to quickly find the wall, thereby efficiently entering the edge walking mode without being affected by the furniture in the environment. For example, it will walk along the edge of short-distance obstacles such as table legs and chair legs, effectively improving the efficiency of entering the edge. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 This is a schematic flow chart of a method for moving a robot along an edge based on a seat avoidance signal from a charging base station according to an embodiment of the present application. Implementation

[0017] The following will describe the embodiments of the present application in detail in conjunction with the accompanying drawings. It should be understood that the specific embodiments described below are only used to explain the present application and are not used to limit the present application.

[0018] The method for robot moving along the edge based on the avoid-seat signal of the charging base station provided in the present application combines the characteristic that the charging base station is set against the wall, and guides the robot to move along the edge based on the avoid-seat signal of the charging base station, aiming to solve the problem that the current robot is easily affected by the legs of the household items, such as table legs, chair legs, etc., which results in ineffective moving along the edge, so that the robot can move along the wall accurately. It should be noted that the concept of "wall" described in the present application not only includes walls in the usual sense, but also includes the edges of cabinets and sofas with a certain length, etc., which are obstacles that can cause the visual robot to move along the edge in a straight line for a certain distance. Specifically, Figure 1 As shown, the method for moving the robot along the edge based on the seat avoidance signal of the charging base station specifically includes: Control the robot to move to a position at a preset radiation distance from the charging base station before the charging base station; wherein the preset radiation distance is pre-set based on the radiation range of the charging base station's avoidance signal, the farthest distance the robot receives the charging base station's avoidance signal, and other factors, in order to enable the robot to move to a position at a preset radiation distance from the charging base station before the charging base station to be at the edge of the receiving the charging base station's avoidance signal. Control the robot to rotate in place, and detect whether the charging base station avoidance signal sent by the charging base station is received during the rotation process; when the robot detects that the charging base station avoidance signal sent by the charging base station is received, the robot is controlled to stop rotating; based on the received charging base station avoidance signal, the robot is controlled to perform a wall-finding process, so that the robot enters the edge movement mode when it finds the wall. Specifically, the process of controlling the robot to perform a wall-finding process based on the received charging base station avoidance signal refers to the process of the robot searching for the wall, so that the robot can enter the edge movement mode after searching the wall. Since the charging base station is usually set against a wall, and the charging base station avoidance signal emitted by the charging base station is intended to prevent the charging base station from acting as an obstacle to block the movement of the robot during its movement, and is used to guide the robot to avoid the charging base station. Therefore, the radiation range of the charging base station avoidance signal usually is a semicircular area with the center point of the charging base station as the center and the preset charging base station avoidance signal radiation distance of the charging base station avoidance signal as the radius. The semicircular area will be connected with the wall against which the charging base station is leaning. Therefore, this embodiment controls the robot to detect the charging base station avoidance signal, and the semicircular area radiated by the charging base station avoidance signal assists the robot to quickly find the wall, thereby efficiently entering the edge walking mode, and will not be affected by the furniture in the environment, such as walking along the edge of short-distance obstacles such as table legs and chair legs, effectively improving the efficiency of entering the edge.

[0019] As one of the implementation modes, the robot is controlled to perform the wall-finding process based on the received seat-avoiding signal of the charging base station, specifically including: taking the location of the seat-avoiding signal transmitter of the charging base station as the moving circle center, determining the moving radius based on the radiation distance of the seat-avoiding signal of the charging base station, and planning a circular moving trajectory based on the moving circle center and the moving radius; controlling the left moving structure and the right moving structure of the robot to run at a differential speed so that the robot moves along the circular moving trajectory, and controlling the robot to find the wall based on the edge sensor during the movement along the circular moving trajectory. Specifically, determining a circle based on the center and radius is a common mathematical method, so how to determine the circular moving trajectory based on the moving center and the moving radius is not described here. The left moving structure of the robot refers to at least one group of moving structures arranged on the left side of the bottom of the robot body, and the right moving structure of the robot refers to at least one group of moving structures arranged on the right side of the bottom of the robot body. The moving structure can be, but not limited to, a wheeled moving structure, or a crawler moving structure or other structures that assist the movement of the robot. By controlling the different running speeds of the left moving structure and the right moving structure, the robot can achieve arc movement. The moving radius is determined based on the radiation distance of the seat avoidance signal of the charging base station. The principle of determination is: based on the moving radius, the distance between the robot and the seat avoidance signal transmitter of the charging base station is adjusted. Since the robot is at risk of colliding with the charging base station when it can receive the seat avoidance signal of the charging base station, in order to ensure that the robot does not collide with the charging base station, and enable the robot to quickly find the wall along the edge based on the guidance of the seat avoidance signal of the charging base station, it can be but not limited to setting the moving radius to a value greater than or equal to the radiation distance of the seat avoidance signal of the charging base station. In this embodiment, the arc shape of the arc movement is limited to the position of the seat avoidance signal transmitter of the charging base station as the moving circle center, and the moving radius is determined based on the radiation distance of the seat avoidance signal of the charging base station, so that the robot uses the semicircular area radiated by the seat avoidance signal of the charging base station to search for the wall, thereby improving the efficiency along the edge.

[0020] As one of the implementation modes, the control of the robot to perform the wall-finding process based on the received seat-avoiding signal of the charging base station also includes: during the movement of the robot along the circular moving trajectory, the robot is controlled to perform the charging base station seat-avoiding signal receiving detection process at each preset first time interval; if the charging base station seat-avoiding signal receiving detection result is that the charging base station seat-avoiding signal can not be received, the robot is controlled to continue to move along the circular moving trajectory; if the charging base station seat-avoiding signal receiving detection result is that the charging base station seat-avoiding signal can be received, the robot is controlled to re-plan the circular moving trajectory and move according to the re-planned circular moving trajectory. Specifically, the preset first time length is a pre-designed time length for timing calibration of the accuracy of the robot's wall-finding process, which can be but not limited to 3s, 5s, 10s, 30s, etc., and is adjusted considering multiple factors such as the robot's moving speed and the area of ​​the radiation area of ​​the charging base station seat-avoiding signal. In this implementation mode, the robot is controlled to detect whether the charging base station seat-avoiding signal can be received, thereby determining whether to continue to perform the wall-finding process, so that the robot can adjust the circular moving trajectory to make timely corrections when errors occur in the wall-finding process, thereby indirectly optimizing the efficiency along the edge.

[0021] As one implementation mode, during the movement of the robot along the circular moving track, the robot is controlled to execute the charging base station avoidance signal receiving detection process at each preset first time interval, specifically including: When the robot moves along the circular trajectory, the robot is controlled to stop moving at each preset first time interval, and the orientation of the robot when it stops moving is recorded as the marked orientation. In this step, the orientation of the robot when it stops moving is recorded as the marked orientation, so that after executing the charging base station seat avoidance signal receiving detection process, the robot can be restored to the same position orientation before executing the charging base station seat avoidance signal receiving detection process based on the marked orientation, thereby maintaining the uniformity of movement and ensuring the smoothness and accuracy of arc movement.

[0022] The robot is controlled to rotate to a preset angle, and the charging base station avoidance signal receiving and detecting device on the robot body is controlled to continuously search for the charging base station avoidance signal during the rotation of the preset angle; if the charging base station avoidance signal receiving and detecting device searches for the charging base station avoidance signal during the rotation of the preset angle, the charging base station avoidance signal receiving and detecting result is that the robot can receive the charging base station avoidance signal, the robot is controlled to stop rotating, the robot is controlled to rotate until the robot's orientation is restored to the marked orientation, the robot is controlled to end the current charging base station avoidance signal receiving and detecting process, the robot is controlled to re-plan the circular moving trajectory, the robot is controlled to continue to move according to the re-planned circular moving trajectory, and the robot is controlled to execute the charging base station avoidance signal receiving and detecting process at each preset first time interval during the movement process. The preset angle is an angle set based on a variety of factors such as the position of the charging base station avoidance signal receiving and detecting device on the robot body, the robot's moving direction, and the relative position between the charging base station and the robot, so as to realize that the charging base station avoidance signal receiving and detecting device can successfully receive the charging base station avoidance signal when the robot is within the radiation range of the charging base station avoidance range. This embodiment detects whether the robot can receive the avoid-seat signal from the charging base station to determine whether the current circular movement trajectory can enable the robot to maintain a safe distance from the charging base station, thereby avoiding accidental collision with the charging base station during the robot's arc movement. The circular movement trajectory can also be adjusted based on the radiation range of the avoid-seat signal from the charging base station, so that the robot can successfully find the wall by using the semicircular area radiated by the avoid-seat signal from the charging base station.

[0023] As one of the implementation modes, during the movement of the robot along the circular moving trajectory, the robot is controlled to execute the charging base station seat avoidance signal receiving detection process at each preset first time interval, and it also includes: when the robot rotates through the preset angle, and the charging base station seat avoidance signal receiving detection device continues to fail to search for the charging base station seat avoidance signal, then the charging base station seat avoidance signal receiving detection result is that the robot failed to receive the charging base station seat avoidance signal, and the robot is controlled to end the current charging base station seat avoidance signal receiving detection process, and the robot is controlled to rotate so that the robot's orientation is restored to the marked orientation, and continues to move along the circular moving trajectory. This implementation mode stipulates that if the robot fails to receive the charging base station seat avoidance signal by rotating in the charging base station seat avoidance signal receiving detection process, it is determined that the current circular moving trajectory does not need to be adjusted, and the robot will not collide with the charging base station when moving along the current circular moving trajectory, thereby ensuring the safety of the robot's movement.

[0024] As one of the implementation modes, the control robot replans the circular moving trajectory, specifically including: extending the moving radius of the circular moving trajectory by a preset distance to obtain a replanned moving radius; taking the location of the charging base station avoidance signal transmitter as the moving center, taking the opposite direction of the side where the edge sensor carried on the robot body is located as the arc moving direction, and based on the replanned moving radius, obtaining the replanned circular moving trajectory. Among them, the preset distance is a pre-set distance for gradually expanding the arc moving radius, which is used to enable the robot to avoid the radiation range of the charging base station avoidance signal by gradually increasing the preset distance to expand the arc moving radius when it needs to replan the arc moving radius when it can receive the charging base station avoidance signal. However, the robot and the radiation range of the charging base station avoidance signal are still kept within a certain distance, so that the robot can find the wall close to the radiation range of the charging base station avoidance signal.

[0025] As one of the implementation modes, the control robot replans the circular moving trajectory, further comprising: after the robot obtains the replanned circular moving trajectory, the robot performs a charging base station seat avoidance signal reception detection process on the replanned circular moving trajectory to determine whether the circular moving trajectory needs to be replanned again. This implementation mode controls the robot to perform a charging base station seat avoidance signal reception detection process on the replanned circular moving trajectory to ensure that the replanned circular moving trajectory can keep the robot away from the charging base station seat avoidance signal radiation range before the robot officially moves along the replanned circular moving trajectory.

[0026] As one of the implementation modes, the charging base station seat avoidance signal reception detection process is performed on the re-planned circular moving trajectory to determine whether the circular moving trajectory needs to be re-planned again, specifically including: controlling the robot to move to the re-planned circular moving trajectory; adjusting the orientation of the robot on the circular moving trajectory to the marked orientation when the charging base station seat avoidance signal reception detection process was last executed; controlling the robot to rotate by a preset angle, and controlling the charging base station seat avoidance signal reception detection device carried by the robot to continuously search for the charging base station seat avoidance signal during the rotation process of the preset angle; if the charging base station seat avoidance signal reception detection device searches for the charging base station seat avoidance signal during the rotation process of the preset angle, the charging base station seat avoidance signal reception detection result is that the robot is able to receive the charging base station seat avoidance signal. The base station seat avoidance signal is received, the robot is controlled to stop rotating, the robot is controlled to rotate until the robot's orientation returns to the marked orientation, the robot is controlled to end the current charging base station seat avoidance signal receiving and detection process, it is determined that the robot needs to re-plan the circular movement trajectory, and the robot is controlled to re-plan the circular movement trajectory; if the charging base station seat avoidance signal receiving and detection device continues to fail to search for the charging base station seat avoidance signal during the rotation of the preset angle, the charging base station seat avoidance signal receiving and detection result is that the robot failed to receive the charging base station seat avoidance signal, the robot is controlled to end the current charging base station seat avoidance signal receiving and detection process, the robot is controlled to rotate until the robot's orientation returns to the marked orientation, it is determined that the robot does not need to re-plan the arc movement path, and the robot is controlled to move along the circular movement trajectory.

[0027] As one of the implementation modes, the control robot searches for a wall based on an edge sensor during movement along a circular trajectory, specifically comprising: controlling the robot to continuously perform edge detection while moving along a circular trajectory by an edge sensor mounted on the robot body; when the edge sensor detects that there is an edge within a preset distance, it is determined that the robot has found the wall, and the visual robot is controlled to stop moving along the circular trajectory, and the robot is controlled to enter an edge movement mode based on the edge sensor. Specifically, the preset distance is set based on the distance value at which the edge sensor can detect the existence of the edge. This implementation mode controls the robot to continuously perform edge detection using an edge sensor during arc movement to determine in real time whether the robot has successfully found the wall. When the wall is successfully found, the robot stops the wall search process, that is, stops arc movement, and directly enters an edge movement mode, thereby improving the robot's edge movement efficiency.

[0028] As one of the implementation modes, the control of the robot to enter the edge movement mode based on the edge sensor specifically includes: controlling the robot to rotate in the direction away from the center of the circular movement trajectory so that the forward direction of the robot's mobile structure is parallel to the edge detected by the edge sensor; controlling the edge sensor to continuously detect the edge in real time, and adjusting the forward direction of the robot's movement in real time based on the edge detected by the edge sensor, so as to enable the robot to enter the edge movement mode. Specifically, the robot is controlled to rotate in the direction away from the center of the circular movement trajectory so that when the charging base station is located on the right side of the robot, the robot is controlled to rotate to the left to prevent the robot from colliding with the charging base station when moving along the edge. This implementation mode adjusts the robot's moving direction so that the forward direction of the robot's mobile structure is parallel to the edge, so that the robot can achieve precise moving along the edge without colliding with the edge, and effectively uses the edge to adjust the robot's moving direction.

[0029] As one of the embodiments, the robot moving along the edge based on the seat avoidance signal of the charging base station also includes: when the robot moves based on the edge movement mode, the robot is controlled to use a line laser module to identify low obstacles in the environment, and the identified low obstacles are bypassed along the edge. At present, the existing technology usually relies on infrared sensors to realize the robot walking along the edge and along the wall, but the infrared sensor has the defect that it cannot assist the robot to avoid low obstacles, which causes the robot to be easily stuck by low obstacles when walking along the edge, resulting in stuck and slipping, thereby affecting the map. The line laser module emits a straight laser at a fixed angle. When the laser is irradiated on the object, the robot's camera can capture it. The structural relationship between the line laser module and the camera combined with the principle of structured light ranging can accurately identify the information of low obstacles in front of the robot. Compared with the existing technology, this embodiment uses a line laser module to identify low obstacles in the environment, which can improve the recognition success rate of low obstacles in the environment and effectively solve the problem of the robot being blocked by low obstacles during the movement along the wall.

[0030] In one embodiment of the present application, a chip is provided, in which a computer program is stored. When the computer program stored in the chip is executed by a processor, the method for moving a robot along the edge based on a seat avoidance signal of a charging base station as described in any of the above embodiments is executed.

[0031] Obviously, the above embodiments are only some embodiments of the present invention, not all embodiments, and the technical solutions between the various embodiments can be combined with each other. If the terms "first", "second", "third" and the like appear in the embodiments, they are for the convenience of distinguishing the relevant features and cannot be understood as indicating or implying their relative importance, order or number of technical features.

[0032] Those skilled in the art will understand that all or part of the steps in the above-mentioned implementation methods can be completed by instructing the relevant hardware through a program, and the program is stored in a storage medium, including several instructions for making a single-chip microcomputer, a chip or a processor (processor) execute all or part of the steps of the method described in each implementation of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk and other media that can store program codes.

[0033] It should be noted that any process or method description in the flowchart or otherwise described herein may be understood to represent a module, fragment or portion of a code comprising one or more executable instructions for implementing the steps of a specific logical function or process, and that the scope of the preferred embodiments of the present invention includes alternative implementations in which the functions may not be performed in the order described or discussed, including performing the functions in a substantially simultaneous manner or in the reverse order according to the functions involved, which should be understood by those skilled in the art to which the embodiments of the present invention belong.

[0034] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for robot moving along the edge based on a seat avoidance signal of a charging base station, characterized in that: The method for moving the robot along the edge based on the seat avoidance signal of the charging base station specifically includes: Control the robot to move to a position in front of the charging base station and at a preset radiation distance from the charging base station; Control the robot to rotate in place, and detect whether it receives the charging base station avoidance signal sent by the charging base station during the rotation; When the robot detects and receives the charging base station avoidance signal sent by the charging base station, the robot is controlled to stop rotating; Based on the received seat avoidance signal from the charging base station, the robot is controlled to execute the wall-finding process, so that the robot enters the edge movement mode when finding the wall.

2. The method for moving a robot along the edge based on the seat avoidance signal of the charging base station according to claim 1, characterized in that: The process of controlling the robot to perform the wall-finding process based on the received seat avoidance signal of the charging base station specifically includes: The location of the charging base station avoidance signal transmitter is used as the moving circle center, the moving radius is determined based on the radiation distance of the charging base station avoidance signal, and a circular moving trajectory is planned based on the moving circle center and the moving radius; The left moving structure and the right moving structure of the robot are controlled to run at differential speeds so that the robot moves along a circular moving trajectory, and the robot is controlled to find a wall based on an edge sensor during the movement along the circular moving trajectory.

3. The method for moving a robot along the edge based on the seat avoidance signal of the charging base station according to claim 2, characterized in that: The controlling the robot to perform the wall-finding process based on the received seat avoidance signal from the charging base station also includes: When the robot moves along the circular moving track, the robot is controlled to execute the charging base station avoidance signal receiving and detecting process at each preset first time interval; If the charging base station avoidance signal reception detection result is that the charging base station avoidance signal cannot be received, the robot is controlled to continue to move along the circular movement trajectory; If the charging base station seat avoidance signal reception detection result is that the charging base station seat avoidance signal can be received, the robot is controlled to re-plan the circular movement trajectory and move according to the re-planned circular movement trajectory.

4. The method for moving a robot along the edge based on the seat avoidance signal of the charging base station according to claim 3, characterized in that: When the robot moves along the circular moving track, the robot is controlled to execute the charging base station avoidance signal receiving and detecting process at each preset first time interval, specifically including: When the robot moves along the circular moving track, the robot is controlled to stop moving at each preset first time interval, and the orientation of the robot when it stops moving is recorded as the marked orientation; Control the robot to rotate to a preset angle, and control the charging base station avoidance signal receiving and detecting device on the robot body to continuously search for the charging base station avoidance signal during the rotation of the preset angle; If the charging base station seat avoidance signal receiving detection device searches for the charging base station seat avoidance signal during the rotation process of the preset angle, the charging base station seat avoidance signal receiving detection result is that the robot is able to receive the charging base station seat avoidance signal, the robot is controlled to rotate until the robot's orientation is restored to the marked orientation, the robot is controlled to end the current charging base station seat avoidance signal receiving detection process, the robot is controlled to re-plan the circular movement trajectory, the robot is controlled to continue moving according to the re-planned circular movement trajectory, and the robot is controlled to execute the charging base station seat avoidance signal receiving detection process at every preset first time interval during the movement process.

5. The method for moving a robot along the edge based on the seat avoidance signal of the charging base station according to claim 4, characterized in that: During the movement of the robot along the circular moving trajectory, the robot is controlled to execute the charging base station seat avoidance signal receiving detection process at every preset first time interval, and the process also includes: when the robot rotates through the preset angle, the charging base station seat avoidance signal receiving detection device continues to fail to search for the charging base station seat avoidance signal, then the charging base station seat avoidance signal receiving detection result is that the robot fails to receive the charging base station seat avoidance signal, the robot is controlled to end the current charging base station seat avoidance signal receiving detection process, the robot is controlled to rotate until the robot's orientation is restored to the marked orientation, and the robot continues to move along the circular moving trajectory.

6. The method for moving a robot along the edge based on the seat avoidance signal of the charging base station according to claim 4, characterized in that: The controlling the robot to re-plan the circular moving trajectory specifically includes: Extending the moving radius of the circular moving trajectory by a preset distance to obtain a replanned moving radius; Taking the location of the seat avoidance signal transmitter of the charging base station as the moving circle center, based on the re-planned moving radius, the re-planned circular moving trajectory is obtained.

7. The method for robot moving along the edge based on the seat avoidance signal of the charging base station according to claim 6, characterized in that: The controlling the robot to re-plan the circular moving trajectory also includes: after the robot obtains the re-planned circular moving trajectory, performing a charging base station seat avoidance signal reception detection process on the re-planned circular moving trajectory to determine whether the circular moving trajectory needs to be re-planned again.

8. The method for moving a robot along the edge based on the seat avoidance signal of the charging base station according to claim 7, characterized in that: The process of performing a charging base station seat avoidance signal reception detection process on the re-planned circular moving trajectory to determine whether the circular moving trajectory needs to be re-planned again specifically includes: Control the robot to move to the re-planned circular moving trajectory; Adjust the robot's orientation on the circular moving track to the orientation marked when the charging base station avoidance signal reception detection process was last executed; Control the robot to rotate to a preset angle, and control the charging base station avoidance signal receiving and detecting device on the robot body to continuously search for the charging base station avoidance signal during the rotation of the preset angle; If the charging base station seat avoidance signal receiving detection device searches for the charging base station seat avoidance signal during the process of rotating the preset angle, the charging base station seat avoidance signal receiving detection result is that the robot can receive the charging base station seat avoidance signal, the robot is controlled to rotate until the orientation of the robot is restored to the marked orientation, the robot is controlled to end the current charging base station seat avoidance signal receiving detection process, it is determined that the robot needs to re-plan the circular movement trajectory, and the robot is controlled to re-plan the circular movement trajectory; If the charging base station seat avoidance signal receiving detection device continues to fail to search for the charging base station seat avoidance signal during the process of rotating the preset angle, the charging base station seat avoidance signal receiving detection result is that the robot failed to receive the charging base station seat avoidance signal, and the robot is controlled to end the current charging base station seat avoidance signal receiving detection process, and the robot is controlled to rotate until the robot's orientation is restored to the marked orientation, and it is determined that the robot does not need to re-plan the arc movement path, and the robot is controlled to move along a circular movement trajectory.

9. The method for robot moving along the edge based on the seat avoidance signal of the charging base station according to claim 2, characterized in that: The controlling the robot to find a wall based on the edge sensor during the movement along the circular moving trajectory specifically includes: When the robot is controlled to move along a circular trajectory, the edge sensor mounted on the robot body continuously performs edge detection; When the edge sensor detects an edge within a preset distance, it is determined that the robot has found the wall, and the visual robot is controlled to stop moving along the circular trajectory. Based on the edge sensor, the robot is controlled to enter the edge movement mode.

10. The method for moving a robot along the edge based on the seat avoidance signal of the charging base station according to claim 9, characterized in that: The step of controlling the robot to enter the edge movement mode based on the edge sensor specifically includes: Control the robot to rotate in a direction away from the center of the circular moving track so that the moving direction of the robot's moving structure is parallel to the edge detected by the edge sensor; The edge sensor is controlled to continuously detect the edge in real time, and the moving direction of the robot is adjusted in real time based on the edge detected by the edge sensor, so that the robot enters the edge movement mode.

11. The method for moving a robot along the edge based on a seat avoidance signal of a charging base station according to claim 1, characterized in that: The robot edge movement method based on the charging base station seat avoidance signal also includes: when the robot moves based on the edge movement mode, the robot is controlled to use a line laser module to identify low obstacles in the environment, and to circumvent the identified low obstacles along the edge.

12. A chip having a computer program stored therein, characterized in that: When the computer program stored in the chip is executed by the processor, the method for moving a robot along the edge based on the seat avoidance signal of a charging base station as described in any one of claims 1 to 11 is executed.

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