Robot recharging method and device based on infrared signal and electronic equipment

Abstract

The embodiment of the invention provides a robot recharging method and device based on an infrared signal and electronic equipment, specifically, a sweeping robot obtains map information, starting point information and infrared ray information, and obtains a first terminal point according to the map information and the infrared ray information; wherein the starting point information comprises starting point infrared ray information; the sweeping robot receives a real-time infrared signal in the process of moving from the starting point to the first terminal point; when the real-time infrared signal received by the sweeping robot is different from the starting point infrared information, generating according to the starting point information and the first end point to obtain a second end point; and the sweeping robot obtains a path planning of a recharging path according to the second terminal point. According to the invention, through formulating the method for searching the charging seat signal, the problem of long signal searching and storing time is solved, and the searching and storing time can be reduced.

Description

Technical Field

[0001] The present invention relates to the field of robots, and in particular to a robot recharging method, device and electronic equipment based on infrared signals. Background Art

[0002] As the use scenarios of mobile robots become more complex, the difficulty and complexity of the tasks that mobile robots need to complete also increase. However, due to the limitations of safety specifications and their own design conditions, the battery life of mobile robots cannot be increased indefinitely. Therefore, in order to maximize the battery life of mobile robots, the requirements for recharging functions of mobile robots are becoming higher and higher.

[0003] In the current market, there are two types of algorithms for mobile robots to achieve the recharging function: one is the recharging algorithm with a known charging station location, and the other is the recharging algorithm with an unknown charging station location. For the recharging algorithm with a known charging station location, since the charging station location is already known in advance, it only needs to use the navigation algorithm and map data to easily reach the front of the charging station, and according to the charging station's alignment signal, such as infrared signals or other signals, alignment charging can be easily completed.

[0004] However, when the location of the charging base is unknown, recharging is more difficult. The mobile robot needs to spend time searching for the charging base signal. After receiving the charging base signal, the mobile robot only knows the relative direction to the charging base but does not know the exact relative position. Therefore, a large number of attempts are required to reach the front of the robot. In actual environments, there are obstacles in front of the charging base, resulting in low recharging efficiency or recharging failure. Summary of the invention

[0005] In view of the above problems, the present application is proposed to provide a robot recharging method, device and electronic device based on infrared signals to overcome the above problems or at least partially solve the above problems, including:

[0006] A robot recharging method based on infrared signals, the method is used for route planning of a sweeping robot returning to a base station for charging, wherein the robot receives infrared rays emitted by the base station; comprising:

[0007] The sweeping robot obtains map information, starting point information and infrared information, and obtains a first end point according to the map information and the infrared information; wherein the starting point information includes the starting point infrared information;

[0008] The cleaning robot receives a real-time infrared signal during the process of moving from the starting point to the first end point;

[0009] When the real-time infrared signal received by the cleaning robot is different from the infrared information of the starting point, a second end point is generated according to the starting point information and the first end point;

[0010] The sweeping robot obtains a route plan for recharging according to the second end point.

[0011] Preferably, the step of obtaining the first destination according to the map information and the infrared information includes:

[0012] The cleaning robot generates at least two exploration points according to the map information and the infrared information;

[0013] The cleaning robot generates a signal score corresponding to each exploration point according to each exploration point;

[0014] The cleaning robot obtains the first end point according to the signal of each exploration point.

[0015] Preferably, the step of generating a signal score corresponding to each exploration point according to each exploration point comprises:

[0016] The cleaning robot obtains an obstacle corresponding to each exploration point, and generates a first score for each exploration point according to a distance between each exploration point and the corresponding obstacle;

[0017] The cleaning robot generates a second score for each exploration point according to each exploration point and the infrared information;

[0018] The cleaning robot generates a third score for each exploration point according to the distance between each exploration point and the exploration points within a preset distance;

[0019] The cleaning robot generates a signal score corresponding to the exploration point according to the first score, the second score and the third score.

[0020] Preferably, the step of obtaining the first end point according to the signal of each exploration point includes:

[0021] The sweeping robot sorts the exploration points according to the signal score of each exploration point, and takes the exploration point corresponding to the highest signal score as the first end point.

[0022] Preferably, the step when the real-time infrared signal received by the sweeping robot is different from the infrared information of the starting point includes:

[0023] When the number of the real-time infrared signal received by the cleaning robot is different from the number of the infrared information of the starting point;

[0024] and / or;

[0025] When the type of the real-time infrared signal received by the cleaning robot is different from the type of the starting point infrared information.

[0026] Preferably, the step of generating the second end point according to the starting point information and the first end point includes:

[0027] The cleaning robot obtains relative position information between the cleaning robot and the base station according to the starting point information and the first end point;

[0028] The cleaning robot generates a second end point according to the relative position information between the cleaning robot and the base station.

[0029] Preferably, the step of planning a recharging route for the cleaning robot according to the second end point further includes:

[0030] If the cleaning robot does not receive the infrared signal, it re-acquires the map information, the starting point information and the infrared information, and obtains the route planning according to the map information, the starting point information and the infrared information until the cleaning robot returns to the base station.

[0031] To implement the present application, a robot recharging device based on infrared signals is also included, and the device is used for route planning of the sweeping robot returning to the base station for charging, including:

[0032] A first destination obtaining module is used for the sweeping robot to obtain map information, starting point information and infrared information, and obtain the first destination according to the map information and the infrared information; wherein the starting point information includes the starting point infrared information;

[0033] A real-time infrared signal receiving module, used for receiving real-time infrared signals when the cleaning robot moves from a starting point to the first end point;

[0034] A second end point generating module, configured to generate a second end point according to the starting point information and the first end point when the real-time infrared signal received by the sweeping robot is different from the infrared information of the starting point;

[0035] A path planning module is used for the sweeping robot to obtain a route plan for recharging according to the second end point.

[0036] To implement the present application, an electronic device is also included, including a processor, a memory, and a computer program stored in the memory and capable of running on the processor. When the computer program is executed by the processor, the steps of the robot recharging method based on infrared signals are implemented.

[0037] To implement the present application, a computer-readable storage medium is also included, on which a computer program is stored. When the computer program is executed by a processor, the steps of the robot recharging method based on infrared signals are implemented.

[0038] This application has the following advantages:

[0039] In the embodiments of the present application, compared with the prior art that "the mobile robot needs to spend time searching for the charging base signal, and after receiving the charging base signal, the mobile robot only knows the relative position with the charging base but does not know the accurate relative position, so a lot of attempts are needed to reach the front of the robot, and in the actual environment, there are obstacles in front of the charging base, resulting in low recharging efficiency or recharging failure", the present application provides a solution of "finding the charging base more efficiently and quickly through the first end point and the second end point", specifically, the sweeping robot obtains map information, starting point information and infrared information, and obtains the first end point according to the map information and the infrared information; wherein the starting point information includes the starting point infrared information; the sweeping robot receives real-time infrared signals in the process of moving from the starting point to the first end point; when the real-time infrared signal received by the sweeping robot is different from the starting point infrared information, the second end point is generated according to the starting point information and the first end point; the sweeping robot obtains the route path planning for recharging according to the second end point. This application solves the problem of long signal search time by developing a method for searching for charging seat signals, which can reduce the search time. According to the input parameters, a mathematical model of the charging seat signal distribution is directly established inside the sweeping robot to estimate the relative position of the mobile robot and the charging seat more accurately, and thereby guide the mobile robot to quickly reach the front of the charging seat to achieve rapid recharging. In the case of obstacles in front of the charging seat, the corresponding map data is constructed to obtain a safe point in front of the charging seat, and the existing navigation / obstacle avoidance means are used to reach the safe point, so that the mobile robot can directly recharge. In addition, this application has very low requirements for the type and number of charging seat signals. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] In order to more clearly illustrate the technical solution of the present application, the drawings required for use in the description of the present application will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0041] Figure 1 This is a flow chart of a robot recharging method based on infrared signals provided in one embodiment of the present application;

[0042] Figure 2 It is a structural block diagram of a robot recharging device based on infrared signals provided in one embodiment of the present application;

[0043] Figure 3 It is a schematic diagram of a charging base and a schematic diagram of a signal mathematical model of a robot recharging method based on infrared signals provided in an embodiment of the present application;

[0044] Figure 4 It is a schematic diagram of a signal mathematical model of a robot recharging method based on infrared signals provided in one embodiment of the present application;

[0045] Figure 5 This is a schematic diagram of analyzing and determining a target point of a robot recharging method based on infrared signals provided in one embodiment of the present application;

[0046] Figure 6 It is a schematic diagram of a method for optimizing a position point directly in front of a charging base in a robot recharging method based on infrared signals provided in one embodiment of the present application;

[0047] Figure 7 It is a structural schematic diagram of a computer device provided by an embodiment of the present invention.

[0048] 12. Computer equipment; 14. External devices; 16. Processing unit; 18. Bus; 20. Network adapter; 22. I / O interface; 24. Display; 28. Memory; 30. Random access memory; 32. Cache memory; 34. Storage system; 40. Program / utility; 42. Program module. DETAILED DESCRIPTION

[0049] In order to make the objects, features and advantages of the present application more obvious and understandable, the present application is further described in detail below in conjunction with the accompanying drawings and specific implementation methods. Obviously, the described embodiments are part of the embodiments of the present application, rather than all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in the field without creative work are within the scope of protection of the present application.

[0050] The inventors have found through analyzing the prior art that in the existing market, there are two types of algorithms for mobile robots to realize the recharging function: one is a recharging algorithm with a known charging seat position, and the other is a recharging algorithm with an unknown charging seat position. For the recharging algorithm with a known charging seat position, since the charging seat position is already known in advance, it is only necessary to use the navigation algorithm and map data to easily reach the front of the charging seat, and according to the alignment signal of the charging seat, such as infrared signals or other signals, alignment charging can be easily completed. However, for the case where the charging seat position is unknown, recharging is more difficult because the charging seat position is unknown. The mobile robot needs to spend time searching for the charging seat signal. After receiving the charging seat signal, the mobile robot only knows the relative position with the charging seat, but does not know the exact relative position, so it needs a lot of attempts to reach the front of the robot. In the actual environment, there are obstacles in front of the charging seat, resulting in low recharging efficiency or recharging failure.

[0051] From the above situation, it can be seen that when the location of the charging base is unknown, the main reasons for the long charging time or low efficiency are as follows: (1) The mobile robot needs to spend time searching for the charging base signal; (2) After receiving the charging base signal, the mobile robot only knows the relative direction to the charging base but does not know the exact relative position, so it needs a lot of attempts to reach the front of the robot; (3) In the actual environment, there are obstacles in front of the charging base, resulting in low charging efficiency or charging failure.

[0052] In recent years, some methods have been used to improve the above problems, such as adding more types of signals to the charging station, such as adding close-in signals, or increasing the number of distant signals. Although this method has effectively improved the problem caused by the second reason mentioned above, it has increased the cost of the mobile robot or the charging station, and has little or no improvement on the problems caused by the other two reasons. And because the types of charging station signals are different, the logic of each recharging algorithm is different, and the effects vary greatly.

[0053] Therefore, based on the above situation and in response to the above problems, this application has invented a universal recharging algorithm for mobile robots based on infrared signals. The algorithm does not require the type and quantity of infrared signals, and greatly improves the problems caused by the prior art. Unless otherwise specified, recharging refers to recharging when the position of the charging station is unknown.

[0054] In the embodiments of the present application, compared with the prior art that "the mobile robot needs to spend time searching for the charging base signal, and after receiving the charging base signal, the mobile robot only knows the relative position with the charging base but does not know the accurate relative position, so a lot of attempts are needed to reach the front of the robot, and in the actual environment, there are obstacles in front of the charging base, resulting in low recharging efficiency or recharging failure", the present application provides a solution of "finding the charging base more efficiently and quickly through the first end point and the second end point", specifically, the sweeping robot obtains map information, starting point information and infrared information, and obtains the first end point according to the map information and the infrared information; wherein the starting point information includes the starting point infrared information; the sweeping robot receives real-time infrared signals in the process of moving from the starting point to the first end point; when the real-time infrared signal received by the sweeping robot is different from the starting point infrared information, the second end point is generated according to the starting point information and the first end point; the sweeping robot obtains the route path planning for recharging according to the second end point. This application solves the problem of long signal search time by developing a method for searching for charging seat signals, which can reduce the search time. According to the input parameters, a mathematical model of the charging seat signal distribution is directly established inside the sweeping robot to estimate the relative position of the mobile robot and the charging seat more accurately, and thereby guide the mobile robot to quickly reach the front of the charging seat to achieve rapid recharging. In the case of obstacles in front of the charging seat, the corresponding map data is constructed to obtain a safe point in front of the charging seat, and the existing navigation / obstacle avoidance means are used to reach the safe point, so that the mobile robot can directly recharge. In addition, this application has very low requirements for the type and number of charging seat signals.

[0055] Reference Figure 1 , shows a flowchart of a robot recharging method based on infrared signals provided by an embodiment of the present application, which specifically includes the following steps:

[0056] S110, the sweeping robot obtains map information, starting point information and infrared information, and obtains a first end point according to the map information and the infrared information; wherein the starting point information includes the starting point infrared information.

[0057] S120, receiving a real-time infrared signal during the process of the cleaning robot moving from the starting point to the first end point;

[0058] S130, when the real-time infrared signal received by the cleaning robot is different from the infrared information of the starting point, generating a second end point according to the starting point information and the first end point;

[0059] S140: The sweeping robot obtains a recharging route plan based on the second destination.

[0060] It should be noted that the present application is processed based on the idea of ​​establishing a mathematical model of the charging station signal distribution.

[0061] It should be noted that the mathematical model diagram is as follows Figure 3 and Figure 4 As shown, R, i, theta_i are the parameters that need to be input, R is the radius of the infrared signal, theta_i is the angle of the fan-shaped area composed of each infrared signal, i is the number of infrared signals, and fov is the angle of the fan-shaped area composed of all infrared signals.

[0062] The following is a schematic diagram of the signal mathematical model, which we introduce with the following parameters:

[0063] i=4

[0064] R=3m

[0065] theta_1=40 degrees

[0066] theta_2=30 degrees

[0067] theta_3=30 degrees

[0068] theta_4=50 degrees

[0069] fov=150 degrees

[0070] Point O is the location of the charging station, point A (x1, y1) is the location where signal n is first received, and point B is the location where signal n is last received (x2, y2), so the distance between AB is L:

[0071] L=sqrt((x2-x1)(x2-x1)+(y2-y1)(y2-y1))

[0072] Assume there are i signals in total,

[0073] R=L*theta_i

[0074] Then in triangle OAD,

[0075] The length of OD is R*cos(fov / 2)

[0076] The length of AD is R*sin(fov / 2)

[0077] The physical meanings of OD and AD are the relative displacement between the charging station position and point A in the positive direction of Y and the negative direction of X.

[0078] The relative x, y displacement between point A and current point B is x2-x1, y2, y1

[0079] So we got the location of the charging station

[0080] Charging station x coordinate = x2 + AD - (x2 - x1)

[0081] Charging station y coordinate = y2-OD

[0082] Next, the robot recharging method based on infrared signals in this exemplary embodiment will be further described.

[0083] As described in the above step S110, the sweeping robot obtains map information, starting point information and infrared information, and obtains a first end point according to the map information and the infrared information; wherein the starting point information includes the starting point infrared information.

[0084] In one embodiment of the present invention, the specific process of step S110 "the sweeping robot obtains map information, starting point information and infrared information, and obtains the first end point based on the map information and the infrared information; wherein the starting point information includes the starting point infrared information" can be further explained in combination with the following description.

[0085] As described in the following steps, the sweeping robot generates at least two exploration points based on the map information and the infrared information; the sweeping robot generates a signal score corresponding to each exploration point; and the sweeping robot obtains the first end point based on the signal score of each exploration point.

[0086] In an embodiment of the present invention, the specific process of "the sweeping robot generates a signal score corresponding to each exploration point according to each exploration point" can be further explained in combination with the following description.

[0087] As described in the following steps, the sweeping robot obtains the obstacle corresponding to each exploration point, and generates a first score for each exploration point based on the distance between each exploration point and the corresponding obstacle; the sweeping robot generates a second score for each exploration point based on each exploration point and the infrared information; the sweeping robot generates a third score for each exploration point based on the distance between each exploration point and the exploration points within a preset distance; the sweeping robot generates a signal score for the corresponding exploration point based on the first score, the second score and the third score.

[0088] In an embodiment of the present invention, the specific process of "obtaining the first end point according to the signal points of each of the exploration points" can be further explained in combination with the following description.

[0089] As described in the following steps, the sweeping robot sorts the exploration points according to the signal score of each exploration point, and takes the exploration point corresponding to the highest signal score as the first end point.

[0090] In a specific embodiment, 1. Working process:

[0091] 1.1 Establishing a mathematical model of charging station signal distribution

[0092] 1.2 Move the robot to rotate in place for one circle to see if it receives a signal from the charging base during this process. If not, proceed to step 1.3. If a signal is received, proceed to step 1.6.

[0093] 1.3 Analysis target point

[0094] According to the current robot map information, find the locations that are most likely to receive the charging station signal. If no location is found, it returns failure. Otherwise, continue with step 1.4. See the method for finding these locations. Figure 5 The detailed steps are to find the location points near the wall (the specific distance is about the signal distribution radius of the charging base station) in the grid map according to the current map data, and perform secondary screening on these location points. The screening method is based on Figure 5 All locations are scored and the order of exploration is determined based on the scores.

[0095] In a specific embodiment, the score is the sum of the numbers with the same weights, and the score is the sum of the three scoring items after normalization.

[0096] First, if you are within the range, you will get a certain number of points, and if you are not within the range, you will get a certain number of points;

[0097] (1) If the point is within the interval, normalization is performed, assuming that the distance between the point and the nearest obstacle is Q meters and the score is Q / R. This means that if the point is within the interval, the closer the distance to the nearest obstacle is to R, the higher the score;

[0098] (2) If the score is not within the range, the score is 0.

[0099] Second point, how many points are greater than r, how many points are less than r, and how many points are equal to r

[0100] (1) If greater than R, score 0

[0101] (2) When it is less than or equal to R, normalization is performed and the score is the distance Q / R between the point and the current point. This means that the closer the distance between the exploration point and the current point is to R, the higher the score.

[0102] Third, for example, 5 exploration points are worth 5 points? 10 exploration points are worth 10 points?

[0103] No, the number of exploration points needs to be normalized. For example, there are M exploration points in total, and there are s points to be explored around the current target point q. Then the score of the target point q in this project is s / M, that is, the more points there are, the higher the score.

[0104] Therefore, the score of an exploration point is the sum of the scores of the above three items.

[0105] 1.4 Determine the target point

[0106] According to the mathematical model of the charging station signal distribution and the map information, score the several location points obtained in 1.3, take the location point with the highest score as the target point, and continue to step 1.5.

[0107] As described in the above step S120, the cleaning robot receives real-time infrared signals during the process of moving from the starting point to the first end point.

[0108] In an embodiment of the present invention, the specific process of "receiving a real-time infrared signal during the process of the cleaning robot moving from the starting point to the first end point" in step S120 can be further explained in combination with the following description.

[0109] In a specific embodiment, 1.5 navigation, the path of the mobile robot is planned according to the determined target point. When the mobile robot follows the path to reach the target point, it needs to detect in real time whether a charging base signal is received. If a charging base signal is received, continue with step 1.6; otherwise, continue with step 1.2.

[0110] As described in the above step S130, when the real-time infrared signal received by the cleaning robot is different from the infrared information of the starting point, the second end point is generated according to the starting point information and the first end point.

[0111] In one embodiment of the present invention, the specific process of step S130 "when the real-time infrared signal received by the sweeping robot is different from the infrared information of the starting point, a second end point is generated according to the starting point information and the first end point;" can be further explained in combination with the following description.

[0112] As described in the following steps, when the number of the real-time infrared signal received by the cleaning robot and the infrared information of the starting point are different; and / or; when the types of the real-time infrared signal received by the cleaning robot and the infrared information of the starting point are different.

[0113] In a specific embodiment, 1.6 guides the robot to move in a straight line in a specified direction according to the mathematical model of the signal distribution of the charging base. When the type or number of the received signal changes, stop and continue with step 1.7; the current machine is within the distribution range of the infrared signal, and when judging the type or number of the received signal, the machine needs to rotate in place for one circle. There is no situation where no signal can be received. If no signal is received, it means that the power supply of the charging base station is cut off, or there is an obstacle between the machine and the base station that blocks the signal. Both of these situations are not discussed in this method; the number refers to that originally only 1 signal could be received, and later 1 signal and 2 signals can be received. Two signals are received, and the number of signals is 2 at this time.

[0114] It should be noted that in Figure 3 After reaching the target point (for example, point A), the machine will first rotate at point A until the two charging signal receiving devices installed in front of the machine receive the same signal at the same time, and then the rotation stops. At this time, the charging base station is directly in front of the machine. Then, according to the different signals received, it will turn left or right from the current direction, that is, the AO direction. Taking point A as an example, it will turn right at this time until the machine turns 90 degrees, and the machine is facing the AB direction.

[0115] exist Figure 3 Regarding the determination of point B, point B is at the boundary or intersection of two infrared signals. During the linear motion, the machine stops and rotates after every 5 cm of movement to capture infrared signals. Based on the currently received signal, it is determined whether the boundary / intersection of the infrared signals, i.e. point B, has been reached. For example, if signal 1 is received at point A, and the area to the right adjacent to signal 1 is signal 2, point B is at the boundary or intersection of signals 1 and 2. When the machine stops and rotates during linear motion, and signal 2 is received for the first time, it is considered that point B has been reached.

[0116] As described in the following steps, the cleaning robot obtains the relative position information between the cleaning robot and the base station according to the starting point information and the first end point; the cleaning robot generates the second end point according to the relative position information between the cleaning robot and the base station.

[0117] In a specific embodiment, 1.7 obtains the relative position of the mobile robot and the charging base based on the distance of the linear motion obtained in step 1.6 and the mathematical model of the charging base signal distribution, and then infers the position information directly in front of the charging base, and proceeds to step 1.8.

[0118] 1.8 Based on the position information and map information obtained in 1.7, correct the position information directly in front of the charging station and proceed to step 1.9.

[0119] 1.9 Perform path planning based on the latest charging station position in 1.8, guide the mobile robot to reach that point, and proceed to step 1.10.

[0120] 1.10 When reaching this point, if the alignment signal is received, the seat is directly started; if the alignment signal is not received, step 1.12 is performed, and it is necessary to rotate in place and proceed to step 1.11.

[0121] In a specific embodiment, if Figure 6 As shown, point A is the current position of the robot, black is an obstacle, and point B is the estimated position of the charging base obtained in step 1.7. However, point B is surrounded by obstacles, so in order to quickly reach the front of the charging base and get on the base quickly, it is changed to point C. In addition, by modifying the cost value in the path planning method, the path to the target point can be navigated away from the obstacles in front of the charging base, greatly improving safety. If there are not so many obstacles in step 1.8, there is no need to correct the position, and proceed to step 1.9; B and C are both positions at a certain distance in front of the charging base, not the position of the charging base. Arriving at B or C is to reach a certain position in front of the charging base, which is convenient for the machine to search for infrared signals for alignment and recharging.

[0122] As described in the above step S140, the cleaning robot obtains a route plan for recharging according to the second end point.

[0123] In an embodiment of the present invention, the specific process of "the cleaning robot obtains a route plan for recharging according to the second destination" in step S140 can be further explained in combination with the following description.

[0124] As described in the following steps, if the sweeping robot does not receive the infrared signal, it re-acquires the map information, the starting point information and the infrared information, and obtains the route planning according to the map information, the starting point information and the infrared information until the sweeping robot returns to the base station.

[0125] In a specific embodiment, 1.11 the mobile robot rotates in place to see whether it receives a positioning signal. If it does, proceed to step 1.10. If it does not, continue to rotate. If it still does not receive a positioning signal after one rotation, proceed to step 1.6.

[0126] 1.12 Track the alignment signal until charging is complete.

[0127] As an example, less time is spent on searching for signals. When a charging base signal is received, only a short distance in the specified direction is required to obtain a relatively accurate position directly in front of the charging base, and the charging base can be reached directly without multiple attempts, thereby improving the efficiency of charging.

[0128] When there is an obstacle in front of the charging station, you can directly avoid it with the help of map information and arrive directly in front of the charging station, reducing the chance of getting into trouble and improving the efficiency of charging.

[0129] In a specific embodiment, 1.1 input parameters i, R, theta_i, fov, and establish a charging base signal distribution mathematical model F(i, R, theta_i, fov).

[0130] 1.2 The mobile robot rotates in place for one circle to see whether it receives any signal from the charging base during this process. If not, continue with step 1.3. If a signal is received, continue with step 1.6.

[0131] 1.3 Analysis target point

[0132] According to the current robot map information, find several locations that are most likely to receive the charging base signal. If no location is found, return failure, otherwise continue to step 1.4.

[0133] 1.4 Determine the target point

[0134] According to the mathematical model of the charging station signal distribution and the map information, score the several location points obtained in 1.3, take the location point with the highest score as the target point, and continue to step 1.5.

[0135] 1.5 Navigation

[0136] The path of the mobile robot is planned according to the determined target point. When the mobile robot follows the path to reach the target point, it needs to detect in real time whether the charging base signal is received. If the charging base signal is received, continue with step 1.6; otherwise, continue with step 1.2.

[0137] 1.6 Determine the specified direction according to the type of received signal, and move linearly in the specified direction. When the type or number of received signals changes, stop and continue to step 1.7.

[0138] 1.7 Based on the distance of the linear motion obtained in step 1.6, the relative position of the mobile robot and the charging base is obtained from the mathematical model of the charging base signal distribution, and then the position information directly in front of the charging base is calculated, and step 1.8 is performed.

[0139] 1.8 Based on the position information and map information obtained in 1.7, correct the position information directly in front of the charging station, step 1.9.

[0140] 1.9 Perform path planning based on the latest charging station position in 1.8 and guide the mobile robot to reach that point, step 1.10.

[0141] 1.10 When reaching this point, if the alignment signal is received, the seat is directly started; if the alignment signal is not received, step 1.12 is performed, and it is necessary to rotate in place, step 1.11.

[0142] 1.11 The mobile robot rotates in place to see if it receives the alignment signal. If it does, proceed to step 1.10. If it does not, continue to rotate. If it still does not receive the alignment signal after one rotation, mark the position on the map and proceed to step 1.6.

[0143] 1.12 Track the alignment signal until charging is complete.

[0144] As for the device embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiment.

[0145] Reference Figure 2 , shows a robot recharging device based on infrared signals provided by an embodiment of the present application, which specifically includes the following modules:

[0146] A first destination obtaining module 210 is used for the sweeping robot to obtain map information, starting point information and infrared information, and obtain a first destination according to the map information and the infrared information; wherein the starting point information includes the starting point infrared information;

[0147] A real-time infrared signal receiving module 220, used for receiving real-time infrared signals during the process of the cleaning robot moving from the starting point to the first end point;

[0148] A second end point generating module 230 is configured to generate a second end point according to the starting point information and the first end point when the real-time infrared signal received by the cleaning robot is different from the infrared information of the starting point;

[0149] The path planning module 240 is used for the cleaning robot to obtain a recharging route plan according to the second destination.

[0150] In one embodiment of the present invention, the first endpoint obtaining module 210 includes:

[0151] Exploration point submodule: used for the sweeping robot to generate at least two exploration points according to the map information and the infrared information;

[0152] Signal molecule module: used for the sweeping robot to generate a signal molecule corresponding to each exploration point according to each exploration point;

[0153] The first endpoint submodule is used for the sweeping robot to obtain the first endpoint according to the signal of each exploration point.

[0154] In one embodiment of the present invention, the signal molecule module includes:

[0155] A first scoring submodule: used for the sweeping robot to obtain an obstacle corresponding to each exploration point, and to generate a first score for each exploration point according to the distance between each exploration point and the corresponding obstacle;

[0156] A second scoring submodule: used for the sweeping robot to generate a second score for each exploration point according to each exploration point and the infrared information;

[0157] A third score submodule: used for the sweeping robot to generate a third score for each exploration point according to the distance between each exploration point and the exploration points within a preset distance;

[0158] Signal score generation submodule: used for the sweeping robot to generate a signal score corresponding to the exploration point according to the first score, the second score and the third score.

[0159] In one embodiment of the present invention, the first endpoint submodule includes:

[0160] Sorting submodule: used for the sweeping robot to sort the signal points according to the signal score of each exploration point, and to take the exploration point corresponding to the highest signal score as the first end point.

[0161] In one embodiment of the present invention, the second endpoint generation module 230 includes:

[0162] Signal quantity submodule: used when the number of the real-time infrared signal received by the sweeping robot is different from the number of the infrared information of the starting point;

[0163] and / or;

[0164] Signal type submodule: used when the type of the real-time infrared signal received by the sweeping robot is different from that of the infrared information of the starting point;

[0165] Relative position information submodule: used for the sweeping robot to obtain relative position information between the sweeping robot and the base station according to the starting point information and the first end point;

[0166] The second endpoint submodule is used for the sweeping robot to generate a second endpoint according to the relative position information between the sweeping robot and the base station.

[0167] In one embodiment of the present invention, the path planning module 240 includes:

[0168] Repeat submodule: used for reacquiring map information, starting point information and infrared information if the sweeping robot does not receive the infrared signal, and obtaining route planning based on the map information, starting point information and infrared information until the sweeping robot returns to the base station.

[0169] It should be noted that, for the sake of simplicity, the method embodiments are described as a series of action combinations, but those skilled in the art should be aware that the embodiments of the present invention are not limited by the order of the actions described, because according to the embodiments of the present invention, certain steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should also be aware that the embodiments described in the specification are all preferred embodiments, and the actions involved are not necessarily required by the embodiments of the present invention.

[0170] There are repeated operation steps in this specific embodiment and the above specific embodiment, and this specific embodiment is only briefly described. For other solutions, refer to the description of the above specific embodiment.

[0171] As for the device embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiment.

[0172] Reference Figure 7 , shows a computer device of a robot recharging method based on infrared signals of the present application, which may specifically include the following:

[0173] The computer device 12 is in the form of a general-purpose computing device, and the components of the computer device 12 may include but are not limited to: one or more processors or processing units 16, a memory 28, and a bus 7 connecting different system components (including the memory 28 and the processing unit 16).

[0174] Bus 7 represents one or more of several types of bus structures, including a memory bus or memory controller, a peripheral bus, an accelerated graphics port, a processor or a local bus using any of a variety of bus structures. For example, these architectures include but are not limited to Industry Standard Architecture (ISA) bus, Micro Channel Architecture (MAC) bus, Enhanced ISA bus, Video and Audio Electronics Standards Association (VESA) local bus and Peripheral Component Interconnect (PCI) bus.

[0175] The computer device 12 typically includes a variety of computer system readable media. These media can be any available media that can be accessed by the computer device 12, including volatile and non-volatile media, removable and non-removable media.

[0176] Memory 28 may include computer system readable media in the form of volatile memory, such as random access memory 30 and / or cache memory 32. Computer device 12 may further include other removable / non-removable, volatile / non-volatile computer system storage media. By way of example only, storage system 34 may be used to read and write to non-removable, non-volatile magnetic media (commonly referred to as a "hard drive"). Although Figure 7 Not shown, a disk drive for reading and writing to a removable non-volatile disk (such as a "floppy disk"), and an optical disk drive for reading and writing to a removable non-volatile optical disk (such as a CD-ROM, DVD-ROM or other optical medium) may be provided. In these cases, each drive may be connected to the bus 7 via one or more data medium interfaces. The memory may include at least one program product having a set (e.g., at least one) of program modules 42, which are configured to perform the functions of the various embodiments of the present application.

[0177] A program / utility 40 having a set (at least one) of program modules 42 may be stored in, for example, a memory, such program modules 42 including, but not limited to, an operating system, one or more application programs, other program modules 42, and program data, each of which or some combination may include an implementation of a network environment. The program modules 42 generally perform the functions and / or methods of the embodiments described herein.

[0178] The computer device 12 may also communicate with one or more external devices 14 (e.g., keyboards, pointing devices, displays 24, cameras, etc.), one or more devices that enable an operator to interact with the computer device 12, and / or any device that enables the computer device 12 to communicate with one or more other computing devices (e.g., network cards, modems, etc.). Such communication may be performed through the I / O interface 22. Furthermore, the computer device 12 may also communicate with one or more networks (e.g., local area networks (LANs)), wide area networks (WANs), and / or public networks (e.g., the Internet) through a network adapter 20. Figure 7 As shown, the network adapter 20 communicates with other modules of the computer device 12 via the bus 7. It should be understood that although Figure 7 Not shown, other hardware and / or software modules may be used in conjunction with the computer device 12, including but not limited to: microcode, device drivers, redundant processing units 16, external disk drive arrays, RAID systems, tape drives, and data backup storage systems 34, etc.

[0179] The processing unit 16 executes various functional applications and data processing by running the programs stored in the memory 28, such as implementing a robot recharging method based on infrared signals provided in an embodiment of the present application.

[0180] That is, when the processing unit 16 executes the program, the following is achieved: the sweeping robot obtains map information, starting point information and infrared information, and obtains a first destination based on the map information and the infrared information; wherein the starting point information includes infrared information of the starting point; the sweeping robot receives a real-time infrared signal in the process of moving from the starting point to the first destination; when the real-time infrared signal received by the sweeping robot is different from the infrared information of the starting point, a second destination is generated based on the starting point information and the first destination; the sweeping robot obtains a route planning for recharging based on the second destination.

[0181] In an embodiment of the present application, the present application also provides a computer-readable storage medium on which a computer program is stored. When the program is executed by a processor, a robot recharging method based on infrared signals as provided in all embodiments of the present application is implemented.

[0182] That is, when the program is executed by the processor, it is implemented as follows: the sweeping robot obtains map information, starting point information and infrared information, and obtains a first destination based on the map information and the infrared information; wherein the starting point information includes starting point infrared information; the sweeping robot receives a real-time infrared signal during the process of moving from the starting point to the first destination; when the real-time infrared signal received by the sweeping robot is different from the starting point infrared information, a second destination is generated based on the starting point information and the first destination; the sweeping robot obtains a route plan for recharging based on the second destination.

[0183] Any combination of one or more computer-readable media may be used. A computer-readable medium may be a computer-readable signal medium or a computer-readable storage medium. A computer-readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device, or device, or any combination thereof. More specific examples of computer-readable storage media (a non-exhaustive list) include: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination thereof. In this document, a computer-readable storage medium may be any tangible medium containing or storing a program that may be used by or in conjunction with an instruction execution system, device, or device.

[0184] Computer-readable signal media may include a data signal propagated in baseband or as part of a carrier wave, which carries a computer-readable program code. Such propagated data signals may take a variety of forms, including, but not limited to, electromagnetic signals, optical signals, or any suitable combination of the above. Computer-readable signal media may also be any computer-readable medium other than a computer-readable storage medium, which may send, propagate, or transmit a program for use by or in conjunction with an instruction execution system, apparatus, or device.

[0185] The computer program code for performing the operation of the present application can be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages, such as Java, Smalltalk, C++, and conventional procedural programming languages, such as "C" language or similar programming languages. The program code can be executed entirely on the operator's computer, partially on the operator's computer, as an independent software package, partially on the operator's computer, partially on the remote computer, or entirely on the remote computer or server. In the case of a remote computer, the remote computer can be connected to the operator's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or can be connected to an external computer (for example, using an Internet service provider to connect through the Internet). The various embodiments in this specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same and similar parts between the various embodiments can be referred to each other.

[0186] Although the preferred embodiments of the present application have been described, those skilled in the art may make additional changes and modifications to these embodiments once they have learned the basic creative concept. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications that fall within the scope of the embodiments of the present application.

[0187] Finally, it should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or terminal device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or terminal device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or terminal device including the elements.

[0188] The above is a detailed introduction to a robot recharging method and device based on infrared signals provided by the present application. Specific examples are used in this article to illustrate the principles and implementation methods of the present application. The description of the above embodiments is only used to help understand the method of the present application and its core idea; at the same time, for general technical personnel in this field, according to the idea of ​​the present application, there will be changes in the specific implementation method and application scope. In summary, the content of this specification should not be understood as a limitation on the present application.

Claims

1. A robot recharging method based on infrared signals, the method is used for route planning of a sweeping robot returning to a base station for charging, wherein: The robot receives infrared rays emitted by the base station; the characteristics include: The sweeping robot obtains map information, starting point information and infrared information, and obtains a first end point according to the map information and the infrared information; wherein the starting point information includes the starting point infrared information; The cleaning robot receives a real-time infrared signal during the process of moving from the starting point to the first end point; When the real-time infrared signal received by the cleaning robot is different from the infrared information of the starting point, a second end point is generated according to the starting point information and the first end point; The sweeping robot obtains a route plan for recharging according to the second end point.

2. The robot recharging method based on infrared signals according to claim 1, characterized in that: The step of obtaining the first destination according to the map information and the infrared information comprises: The cleaning robot generates at least two exploration points according to the map information and the infrared information; The cleaning robot generates a signal score corresponding to each exploration point according to each exploration point; The cleaning robot obtains the first end point according to the signal of each exploration point.

3. The robot recharging method based on infrared signals according to claim 2 is characterized in that: The step of generating a signal score corresponding to each exploration point according to each exploration point comprises: The cleaning robot obtains an obstacle corresponding to each exploration point, and generates a first score for each exploration point according to a distance between each exploration point and the corresponding obstacle; The cleaning robot generates a second score for each exploration point according to each exploration point and the infrared information; The cleaning robot generates a third score for each exploration point according to the distance between each exploration point and the exploration points within a preset distance; The cleaning robot generates a signal score corresponding to the exploration point according to the first score, the second score and the third score.

4. The robot recharging method based on infrared signals according to claim 2 is characterized in that: The step of obtaining the first end point according to the signal of each exploration point comprises: The sweeping robot sorts the exploration points according to the signal score of each exploration point, and takes the exploration point corresponding to the highest signal score as the first end point.

5. The robot recharging method based on infrared signals according to claim 1, characterized in that: The step when the real-time infrared signal received by the sweeping robot is different from the infrared information of the starting point includes: When the number of the real-time infrared signal received by the cleaning robot is different from the number of the infrared information of the starting point; and / or; When the type of the real-time infrared signal received by the cleaning robot is different from the type of the starting point infrared information.

6. The robot recharging method based on infrared signals according to claim 1, characterized in that: The step of generating a second endpoint according to the starting point information and the first endpoint includes: The cleaning robot obtains relative position information between the cleaning robot and the base station according to the starting point information and the first end point; The cleaning robot generates a second end point according to the relative position information between the cleaning robot and the base station.

7. The robot recharging method based on infrared signals according to claim 1, characterized in that: The step of the cleaning robot obtaining a route planning for recharging according to the second end point also includes: If the cleaning robot does not receive the infrared signal, it re-acquires the map information, the starting point information and the infrared information, and obtains the route planning according to the map information, the starting point information and the infrared information until the cleaning robot returns to the base station.

8. A robot recharging device based on infrared signals, the device is used for route planning of a sweeping robot returning to a base station for charging, characterized in that: include: A first destination obtaining module is used for the sweeping robot to obtain map information, starting point information and infrared information, and obtain the first destination according to the map information and the infrared information; wherein the starting point information includes the starting point infrared information; A real-time infrared signal receiving module, used for receiving real-time infrared signals when the cleaning robot moves from a starting point to the first end point; A second end point generating module, configured to generate a second end point according to the starting point information and the first end point when the real-time infrared signal received by the sweeping robot is different from the infrared information of the starting point; The path planning module is used for the sweeping robot to obtain a recharging route plan according to the second end point.

9. An electronic device, characterized in that It comprises a processor, a memory and a computer program stored in the memory and capable of running on the processor, wherein when the computer program is executed by the processor, the steps of the robot recharging method based on infrared signals as described in any one of claims 1 to 7 are implemented.

10. A computer-readable storage medium, characterized in that The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the robot recharging method based on infrared signals as described in any one of claims 1 to 7 are implemented.

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