A robot recharging method and device based on an infrared signal and electronic equipment

Abstract

Embodiments of the present application provide a robot charging method and device based on infrared signals and electronic equipment, specifically, the robot vacuum cleaner acquires 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 starting point infrared information; the robot vacuum cleaner receives real-time infrared signals during moving from the starting point to the first end point; when the real-time infrared signals received by the robot vacuum cleaner are different from the starting point infrared information, a second end point is generated according to the starting point information and the first end point; and the robot vacuum cleaner obtains a route planning for charging according to the second end point. The present application solves the problem of long search signal time by formulating a method for searching for charging base signals, and can reduce the search time.

Description

Technical Field

[0001] This invention relates to the field of robotics, and more specifically to a robot recharging method, apparatus, and electronic device based on infrared signals. Background Technology

[0002] As the application scenarios for mobile robots become more complex, the difficulty and complexity of the tasks they need to perform also increase. However, due to safety specifications and inherent design limitations, the battery life of mobile robots cannot be extended indefinitely. Therefore, to maximize the battery life of mobile robots, the requirements for their recharging capabilities are becoming increasingly stringent.

[0003] Currently, there are two types of algorithms for mobile robots to achieve recharging functionality: one is a recharging algorithm where the charging dock's location is known, and the other is a recharging algorithm where the charging dock's location is unknown. For recharging algorithms where the charging dock's location is known in advance, navigation algorithms and map data are all that's needed to easily reach the front of the charging dock. Guided by the charging dock's alignment signals, such as infrared signals or other signals, alignment and charging can be easily completed.

[0004] However, when the location of the charging dock is unknown, recharging becomes difficult. The mobile robot needs to spend time searching for the charging dock signal. After receiving the charging dock signal, the mobile robot only knows the relative orientation to the charging dock, not the exact relative position. Therefore, it needs to make many attempts to reach the front of the robot. In the actual environment, there are obstacles in front of the charging dock, which leads to low recharging efficiency or recharging failure. Summary of the Invention

[0005] In view of the aforementioned problems, this application is made to provide a robot recharging method, apparatus, and electronic device based on infrared signals that overcomes or at least partially solves the aforementioned problems, comprising:

[0006] A robot recharging method based on infrared signals, the method being used for route planning of a robotic vacuum cleaner returning to a base station for charging, wherein the robot receives infrared light emitted by the base station; comprising:

[0007] The robotic vacuum cleaner acquires map information, starting point information, and infrared information, and obtains a first endpoint based on the map information and the infrared information; wherein, the starting point information includes starting point infrared information;

[0008] The sweeping robot receives real-time infrared signals as it moves from the starting point to the first endpoint.

[0009] When the sweeper robot receives the real-time infrared signal and the starting point infrared information are different, the second terminal point is generated according to the starting point information and the first terminal point;

[0010] The sweeper robot obtains the route planning for returning to the charging station according to the second terminal point.

[0011] Preferably, the step of obtaining the first terminal point according to the map information and the infrared information comprises:

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

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

[0014] The sweeper robot obtains the first terminal point according to the signal score of each exploration point.

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

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

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

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

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

[0020] Preferably, the step of obtaining the first terminal point according to the signal score of each exploration point comprises:

[0021] The sweeper robot sorts the signal scores of each exploration point, and takes the corresponding exploration point with the highest signal score as the first terminal point.

[0022] Preferably, the step of obtaining the first terminal point according to the signal score of each exploration point comprises:

[0023] When the sweeper robot receives the real-time infrared signal and the starting point infrared information are different in number;

[0024] And / or;

[0025] when the sweeping robot receives the real-time infrared signal and the starting point infrared information are different.

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

[0027] The sweeping robot generates the relative position information between the sweeping robot and the base station according to the starting point information and the first terminal point.

[0028] The sweeping robot generates the second terminal point according to the relative position information between the sweeping robot and the base station.

[0029] Preferably, the step of generating the route for the sweeping robot to return to the base station according to the second terminal point further comprises:

[0030] If the sweeping robot does not receive the infrared signal, the sweeping robot reacquires the map information, the starting point information and the infrared information, and generates the route according to the map information, the starting point information and the infrared information until the sweeping robot returns to the base station.

[0031] To achieve the present application further includes a robot return charging device based on infrared signal, the device is used for sweeping robot to return to the base station to charge the route planning, comprising:

[0032] The first terminal point generation module is configured to acquire the map information, the starting point information and the infrared information by the sweeping robot, and generate the first terminal point according to the map information and the infrared information, wherein the starting point information comprises starting point infrared information.

[0033] The real-time infrared signal receiving module is configured to receive the real-time infrared signal by the sweeping robot during the process of moving from the starting point to the first terminal point.

[0034] The second terminal point generation module is configured to generate the second terminal point according to the starting point information and the first terminal point when the sweeping robot receives the real-time infrared signal and the starting point infrared information are different.

[0035] The route planning generation module is configured to generate the route for the sweeping robot to return to the base station according to the second terminal point.

[0036] To achieve the present application further includes an electronic device, comprising a processor, a memory and a computer program stored on the memory and capable of running on the processor, the computer program is executed by the processor to achieve the steps of the robot return charging method based on infrared signal as described.

[0037] To achieve the present application also includes a computer readable storage medium, the computer readable storage medium stores a computer program, the computer program is executed by the processor to realize the steps of the method for robot charging based on infrared signal as described.

[0038] The present application has the following advantages:

[0039] In the embodiment of the present application, compared with the prior art "the mobile robot needs to spend time to search for the charging seat signal, after receiving the charging seat signal, the mobile robot needs a large number of attempts to reach the front of the robot, because only the relative position with the charging seat is known, and the accurate relative position is not known, and in the actual environment, there is an obstacle in front of the charging seat, resulting in low charging efficiency or charging failure", the present application provides a solution of "more efficient and faster to find the charging seat through the first terminal and the second terminal", specifically, the sweeping robot acquires map information, starting point information and infrared information, and obtains a first terminal according to the map information and the infrared information; wherein, the starting point information includes starting point infrared information; the sweeping robot receives real-time infrared signals during moving from the starting point to the first terminal; when the sweeping robot receives the real-time infrared signals and the starting point infrared information are different, a second terminal is generated according to the starting point information and the first terminal; the sweeping robot obtains a route planning for charging according to the second terminal. The present application solves the problem of long search signal time by formulating a method for searching for a charging seat signal, which can reduce the search time; by establishing a mathematical model of the charging seat signal distribution directly in the sweeping robot according to the input parameters, a more accurate relative position of the mobile robot and the charging seat is estimated, and the mobile robot is guided to quickly reach the front of the charging seat, realizing fast charging; for the case that there is an obstacle in front of the charging seat, a safe point in front of the charging seat is obtained by constructing corresponding map data, and the safe point is reached by using existing navigation / obstacle avoidance means, so as to directly charge and charge. And the present application has low requirements for the type and number of charging seat signals. BRIEF DESCRIPTION OF DRAWINGS

[0040] In order to more clearly illustrate the technical solutions of the present application, the following will briefly introduce the drawings needed to be used in the description of the present application. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.

[0041] Figure 1 It is a flowchart of a robot charging method based on infrared signal provided by an embodiment of the present application;

[0042] Figure 2 is a structural block diagram of a robot back charging device based on an infrared signal provided by an embodiment of the present application;

[0043] Figure 3 is a charging seat schematic diagram and a signal mathematical model schematic diagram of a robot back charging method based on an infrared signal provided by an embodiment of the present application;

[0044] Figure 4 is a signal mathematical model schematic diagram of a robot back charging method based on an infrared signal provided by an embodiment of the present application;

[0045] Figure 5 is an analysis and determination schematic diagram of a target point of a robot back charging method based on an infrared signal provided by an embodiment of the present application;

[0046] Figure 6 is an optimization method schematic diagram of a charging seat front position point of a robot back charging method based on an infrared signal provided by an embodiment of the present application;

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

[0048] 12, computer device; 14, external device; 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 objectives, characteristics and advantages of the present application more obvious and easy to understand, the present application is further described in detail below in combination with the drawings and specific embodiments. Obviously, the described embodiments are part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without making creative efforts belong to the scope of protection of the present application.

[0050] The inventor finds through analyzing the prior art that the existing market has two kinds of algorithms for mobile robots to realize the function of returning to charging: one kind is the algorithm for returning to charging with known charging base position, and the other kind is the algorithm for returning to charging with unknown charging base position. For the algorithm for returning to charging with known charging base position, since the position of the charging base is known in advance, the mobile robot can easily reach the front of the charging base by using the navigation algorithm and map data, and can easily complete the alignment charging according to the alignment signal of the charging base, such as infrared signal or other signal. However, for the algorithm for returning to charging with unknown charging base position, since the position of the charging base is unknown, it is difficult for the mobile robot to return to charging, and 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 position of the charging base, and does not know the accurate relative position, so a large number of attempts are needed to reach the front of the mobile robot. In the actual environment, there are obstacles in front of the charging base, which leads to low efficiency or failure of returning to charging.

[0051] From the above situation, for the algorithm for returning to charging with unknown charging base position, the main reasons for long returning 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 position of the charging base, and does not know the accurate relative position, so a large number of attempts are needed to reach the front of the mobile robot; (3) in the actual environment, there are obstacles in front of the charging base, which leads to low efficiency or failure of returning to charging.

[0052] In recent years, some methods have improved the above problems, such as increasing the types of signals of the charging base, such as increasing the number of near signals or increasing the number of far signals. Although this method effectively improves the problem caused by the second reason, it increases the cost of the mobile robot or the charging base, and has little or almost no improvement on the problems caused by the remaining two reasons. In addition, due to the different types of charging base signals, the logic of each returning algorithm is different, and the effect is very different.

[0053] Therefore, according to the above situation, the present application invents a general returning algorithm for mobile robots based on infrared signals to solve the above problems. The algorithm does not require the types and number of infrared signals, and greatly improves the problems of the prior art. The following is not specified, and the returning is the returning to charging with unknown charging base position.

[0054] In the embodiments of the present application, compared with the prior art that the mobile robot needs to spend time to search for the charging base signal, after receiving the charging base signal, the mobile robot needs a large number of attempts to reach the front of the robot because only the relative position with the charging base is known and the accurate relative position is not known, and in the actual environment, there is an obstacle in front of the charging base, resulting in low charging efficiency or charging failure, the present application provides a solution of more efficient and faster finding of the charging base through the first terminal point and the second terminal point, specifically, the sweeping robot acquires map information, starting point information and infrared information, and obtains a first terminal point according to the map information and the infrared information; wherein the starting point information includes starting point infrared information; the sweeping robot receives real-time infrared signals in the process of moving from the starting point to the first terminal point; when the sweeping robot receives the real-time infrared signals and the starting point infrared information are different, a second terminal point is generated according to the starting point information and the first terminal point; the sweeping robot obtains a route planning for charging according to the second terminal point. The present application solves the problem of long search signal time by formulating a method for searching for a charging base signal, which can reduce the search time; by establishing a mathematical model of the charging base signal distribution directly in the sweeping robot according to the input parameters, a more accurate relative position of the mobile robot and the charging base is estimated, and the mobile robot is guided to quickly reach the front of the charging base, realizing fast charging; for the case that there is an obstacle in front of the charging base, a safe point in front of the charging base is obtained by constructing corresponding map data, and the safe point is reached by using existing navigation / obstacle avoidance means, so as to directly charge and charge. And the present application has low requirements for the type and number of charging base signals.

[0055] Reference Figure 1 , a step flow chart of a robot charging method based on an infrared signal provided by an embodiment of the present application is shown, specifically including the following steps:

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

[0057] S120, the sweeping robot receives real-time infrared signals in the process of moving from the starting point to the first terminal point;

[0058] S130, when the sweeping robot receives the real-time infrared signals and the starting point infrared information are different, a second terminal point is generated according to the starting point information and the first terminal point;

[0059] S140, the sweeping robot obtains a route planning for returning to charging according to the second end point.

[0060] It should be noted that the application is processed according to the idea of establishing a mathematical model of the charging base signal distribution.

[0061] It should be noted that the mathematical model is shown in the following figure: Figure 3 Figure 4 Wherein R, i, theta_i are the parameters to be input, R is the radius of the infrared signal, theta_i is the angle of the sector area formed by each infrared signal, i is the number of infrared signals, and fov is the angle of the sector area formed by all infrared signals.

[0062] The mathematical model of the signal is shown in the following figure, and the following parameters are introduced:

[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] Wherein point O is the position of the charging base, point A (x1, y1) is the position of the first received signal n, and point B (x2, y2) is the position of the last received signal n, so the distance of AB is L:

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

[0072] Suppose 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] And the physical meaning of OD and AD is the relative displacement of the charging base position and point A in the positive direction of Y and the negative direction of X respectively

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

[0079] Therefore, we get the position point of the charging base

[0080] The x coordinate of the charging base = x2+AD-(x2-x1)

[0081] The y coordinate of the charging base = y2-OD

[0082] In the following, the method for the robot to return to charging based on the infrared signal in the exemplary embodiment will be further described.

[0083] As described in step S110, the robot acquires 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 comprises starting point infrared information.

[0084] In an embodiment of the present application, the specific process of "the robot acquires 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 comprises starting point infrared information" described in step S110 can be further described as follows.

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

[0086] In an embodiment of the present application, the specific process of "the robot generates a signal score of each corresponding exploration point according to each exploration point" can be further described as follows.

[0087] As described in the following steps, the robot acquires an obstacle corresponding to each exploration point, generates a first score of each exploration point according to the distance between each exploration point and the corresponding obstacle; the robot generates a second score of each exploration point according to each exploration point and the infrared information; the robot generates a third score of each exploration point according to the distance between each exploration point and exploration points within a preset distance; and the robot generates a signal score of each corresponding exploration point according to the first score, the second score and the third score.

[0088] In an embodiment of the present application, the specific process of "obtaining the first end point according to the signal score of each exploration point" can be further described as follows.

[0089] The sweeping robot sorts the signal scores of each exploration point according to the signal scores, and takes the corresponding exploration point with the highest signal score as the first terminal point.

[0090] In a specific embodiment, 1, working process:

[0091] 1.1 Establish a mathematical model of the charging base signal distribution

[0092] 1.2 Rotate the mobile robot in place for one round, and check whether the signal of the charging base is received during the process. If not, continue with step 1.3. If the signal is received, continue with step 1.6.

[0093] 1.3 Analyze the target point

[0094] According to the current map information of the robot, find several position points that are most likely to receive the signal of the charging base. If no position point is found, return to failure. Otherwise, continue with step 1.4. The method for finding these position points is shown in the schematic diagram of Figure 5 The detailed steps are as follows: according to the current map data, find the position points near the wall (the specific distance is about the signal distribution radius of the charging base) in the grid map, and perform secondary screening on these position points. The screening method is as follows: Figure 5 Score all the position points, and determine the priority of exploration according to the score.

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

[0096] First, the points in the interval get points, and the points not in the interval get points.

[0097] (1) If the point is in the interval, perform normalization processing. Let the distance between the point and the nearest obstacle be Q meters, and the score be Q / R. This means that when the point is in the interval, the closer the distance to the nearest obstacle is to R, the higher the score is.

[0098] (2) If the point is not in the interval, the score is 0.

[0099] Second, 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 the point is greater than R, the score is 0.

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

[0102] Third, for example, 5 exploration points are 5 points, and 10 exploration points are 10 points.

[0103] No, the number of exploration points is normalized, for example, there are M exploration points in total, and there are s exploration 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, 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 base signal distribution and the map information, score several position points obtained in 1.3, and take the position point with the highest score as the target point, and continue to step 1.5.

[0107] As described in step S120 above, the sweeping 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 application, the specific process of "the sweeping robot receives real-time infrared signals during the process of moving from the starting point to the first end point" described in step S120 can be further described as follows.

[0109] In a specific embodiment, 1.5 navigation, according to the determined target point to move the path planning of the robot, the robot needs to detect in real time whether to receive the charging base signal during the process of following the path to the target point, if the charging base signal is received, continue to step 1.6; otherwise, continue to step 1.2.

[0110] As described in step S130 above, when the sweeping robot receives the real-time infrared signal and the starting point infrared information is different, a second end point is generated according to the starting point information and the first end point.

[0111] In an embodiment of the present application, the specific process of "when the sweeping robot receives the real-time infrared signal and the starting point infrared information is different, a second end point is generated according to the starting point information and the first end point" described in step S130 can be further described as follows.

[0112] As described in the following steps, when the sweeping robot receives the real-time infrared signal and the number of starting point infrared information is different; and / or; when the sweeping robot receives the real-time infrared signal and the type of starting point infrared information is different.

[0113] In a specific embodiment, 1.6 directs the robot to move in a straight line in a specified direction according to the charging base signal distribution mathematical model, and when the type or number of received signals changes, stop and continue to step 1.7; the current robot is in the distribution range of the infrared signal, and it is necessary to rotate the robot one round to determine the type or number of received signals, and there is no situation of not receiving signals, if the situation of not receiving signals occurs, it means that the charging base is powered off or there is an obstacle between the robot and the base which blocks the signal, and these two situations do not belong to the discussion of the method; the number refers to that originally only 1 signal can be received, and then 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 after reaching the target point (for example, point A) in Figure 3 , the robot will first rotate at point A until the two charging signal receiving devices installed in front of the robot receive the same type of signal at the same time, and then the rotation stops, at this time the front of the robot is the charging base, and then according to the different received signals, the robot will turn left or right from the current direction AO, for example, turning right at point A until the robot turns 90 degrees, at this time the direction of the robot is AB.

[0115] In Figure 3 , the determination of point B, point B is located at the boundary or intersection area of two infrared signals, during the straight line movement, the robot stops and rotates every 5 cm, captures the infrared signal, and determines whether it has reached the boundary / intersection area of the infrared signal, i.e. point B, according to the current received signal, for example, receiving 1 signal at point A, and the right area adjacent to the 1 signal is 2 signal, point B is located at the boundary or intersection area of 1 and 2 signals, when moving in a straight line, if 2 signal is received for the first time when the robot stops and rotates, it is considered to have reached point B.

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

[0117] In a specific embodiment, 1.7 obtains the relative position of the mobile robot and the charging base according to the distance of the straight line movement obtained in step 1.6, and further calculates the position information in front of the charging base according to the charging base signal distribution mathematical model, and then proceeds to step 1.8.

[0118] 1.8 corrects the position information in front of the charging base according to the position information obtained in step 1.7 and the map information, and then proceeds to step 1.9.

[0119] 1.9 Based on the latest charging dock location in 1.8, perform path planning to guide the mobile robot to the point and proceed to step 1.10.

[0120] 1.10 Upon reaching this point, if a positioning signal is received, proceed directly to the seat; if no positioning signal is received, proceed to step 1.12, then rotate in place and proceed to step 1.11.

[0121] In one specific embodiment, such as Figure 6 As shown, point A is the robot's current position, black represents obstacles, and point B is the estimated charging dock location obtained in step 1.7. However, point B is surrounded by obstacles, so it is changed to point C to quickly reach the front of the charging dock and quickly get on. Furthermore, by modifying the cost in the path planning method, the path to the target point can be made to avoid obstacles in front of the charging dock, greatly improving safety. If there were not so many obstacles in step 1.8, then there is no need to correct the position, and step 1.9 can be performed. B and C are positions a certain distance in front of the charging dock, not the charging dock itself. Reaching B or C is to reach a position directly in front of the charging dock, facilitating the robot's search for infrared signals for alignment and recharging.

[0122] As described in step S140 above, the sweeping robot obtains a route plan for recharging based on the second endpoint.

[0123] In one embodiment of the present invention, the specific process of "the sweeping robot obtaining a route plan for recharging based on the second endpoint" in step S140 can be further explained in conjunction with the following description.

[0124] As described in the following steps, if the robot vacuum cleaner does not receive an infrared signal, it will reacquire map information, starting point information, and infrared information, and plan a route based on the map information, starting point information, and infrared information until the robot vacuum cleaner returns to the base station.

[0125] In one specific embodiment, 1.11 the mobile robot rotates in place to see if it receives a alignment signal. If it receives a signal, continue to step 1.10; if it does not receive a signal, continue rotating. If it still does not receive a alignment signal after rotating one full circle, continue to step 1.6.

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

[0127] As an example, this reduces the time spent searching for signals. When a charging dock signal is received, you only need to move a short distance in the specified direction to find the exact location of the charging dock directly in front of you and you can reach it directly without having to try multiple times, thus improving the efficiency of getting on the dock.

[0128] When there is an obstacle in front of the charging base, the map information can be combined to directly avoid it and directly reach the front of the charging base, reducing the probability of getting into trouble and improving the efficiency of getting on the seat.

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

[0130] 1.2 Rotate the mobile robot in place for one revolution and see if it receives any signal from the charging base during this process. If not, continue to step 1.3. If a signal is received, continue to step 1.6.

[0131] 1.3 Analyze the target point

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

[0133] 1.4 Determine the target point

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

[0135] 1.5 Navigation

[0136] According to the determined target point, the path planning of the mobile robot is carried out. During the process of the mobile robot following 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 to step 1.6; otherwise, continue to step 1.2.

[0137] 1.6 Determine the specified direction according to the received signal type, and perform straight line motion according to the specified direction. When the signal type or quantity received changes, stop and continue to step 1.7.

[0138] 1.7 According to the straight line motion distance obtained in step 1.6, the relative position of the mobile robot and the charging base is obtained from the charging base signal distribution mathematical model, and the position information in front of the charging base is calculated, and step 1.8 is performed.

[0139] 1.8 According to the position information obtained in step 1.7 and the map information, correct the position information in front of the charging base, step 1.9.

[0140] 1.9 According to the latest charging base position in step 1.8, perform path planning to guide the mobile robot to reach the point, step 1.10.

[0141] 1.10 At this point, if a homing signal is received, the robot proceeds directly to step 1.10; if no homing signal is received, step 1.12, the robot needs to spin in place, step 1.11.

[0142] 1.11 The robot spins in place to see if a homing signal is received, if yes, proceed to step 1.10, if no, continue to spin, if after one revolution no homing signal is received, mark this position on the map and proceed to step 1.6.

[0143] 1.12 Follow the homing signal until the charging is complete.

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

[0145] Reference Figure 2 , shows a robot charging device based on infrared signal provided by an embodiment of the application, specifically comprising the following modules,

[0146] The first endpoint obtaining module 210 is configured to obtain the map information, the starting point information, and the infrared information by the sweeping robot, and obtain the first endpoint according to the map information and the infrared information; wherein the starting point information comprises starting point infrared information.

[0147] The real-time infrared signal receiving module 220 is configured to receive real-time infrared signals by the sweeping robot during the movement from the starting point to the first endpoint.

[0148] The second endpoint generating module 230 is configured to generate a second endpoint according to the starting point information and the first endpoint when the sweeping robot receives the real-time infrared signal and the starting point infrared information are different.

[0149] The path planning obtaining module 240 is configured to obtain the route planning of the charging by the sweeping robot according to the second endpoint.

[0150] In an embodiment of the application, the first endpoint obtaining module 210 comprises:

[0151] The exploration point sub-module is configured to generate at least two exploration points by the sweeping robot according to the map information and the infrared information.

[0152] The signal sub-module is configured to generate a signal sub corresponding to each exploration point by the sweeping robot according to each exploration point.

[0153] The first endpoint sub-module is configured to obtain the first endpoint by the sweeping robot according to the signal sub of each exploration point.

[0154] In an embodiment of the present application, the signal molecule module comprises:

[0155] A first score molecule module for the sweeping robot to obtain the corresponding obstacle of each exploration point, and generate a first score of each exploration point according to the distance between each exploration point and the corresponding obstacle;

[0156] A second score molecule module for the sweeping robot to generate a second score of each exploration point according to each exploration point and the infrared information;

[0157] A third score molecule module for the sweeping robot to generate a third score of each exploration point according to each exploration point and the exploration point within a preset distance;

[0158] A signal score generation sub-module for the sweeping robot to generate a signal score of the corresponding exploration point according to the first score, the second score and the third score.

[0159] In an embodiment of the present application, the first terminal point sub-module comprises:

[0160] A sorting sub-module for the sweeping robot to sort according to the signal score of each exploration point, and take the corresponding exploration point with the highest signal score as the first terminal point.

[0161] In an embodiment of the present application, the second terminal point generation module 230 comprises:

[0162] A signal quantity sub-module for the sweeping robot to determine when the number of the real-time infrared signal received by the sweeping robot and the starting point infrared information is different;

[0163] And / or;

[0164] A signal type sub-module for the sweeping robot to determine when the type of the real-time infrared signal received by the sweeping robot and the starting point infrared information is different;

[0165] A relative position information sub-module for the sweeping robot to obtain the relative position information of the sweeping robot and the base station according to the starting point information and the first terminal point;

[0166] A second terminal point sub-module for the sweeping robot to generate a second terminal point according to the relative position information of the sweeping robot and the base station.

[0167] In an embodiment of the present application, the path planning obtaining module 240 comprises:

[0168] The repeating sub-module: if the sweeping robot does not receive the infrared signal, reacquire the map information, the starting point information and the infrared information, and get 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.

[0169] It should be noted that for the method embodiments, the series of acts described is merely an example embodiment, and that the method embodiments of the present application should not be limited by the order of the acts described, as some acts can occur in other orders or concurrently with other acts from the various embodiments of the present application. Also, not all of the acts described in the embodiments of the present application can occur. It should also be noted that words used in describing the embodiments of the present application are words of description, not limitation, and that terms can be interchanged under appropriate circumstances.

[0170] In the present embodiment and the above-mentioned embodiment, the operation steps are repeated. The present embodiment is described simply, and the other schemes are described with reference to the above-mentioned embodiment.

[0171] For the device embodiments, the description is relatively simple because the device embodiments are basically similar to the method embodiments. For the relevant parts, refer to the description of the method embodiments.

[0172] Referring to Figure 7 , a computer device of a robot recharging method based on an infrared signal is shown, which can specifically include the following:

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

[0174] The bus 7 represents one or more of several types of bus structures, including a memory bus or memory controller, a peripheral bus, a graphics acceleration port, a processor or local bus using any of a variety of bus architectures. For example, these architectures include but are not limited to an industry standard architecture (ISA) bus, a microchannel architecture (MAC) bus, an enhanced ISA bus, an audio video electronics standards association (VESA) local bus, and a 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 and includes both volatile and nonvolatile media, removable and non-removable media.

[0176] Memory 28 can 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 can further include other removable / non-removable, volatile / non-volatile computer system storage media. By way of example only, storage system 34 can be provided for reading from and writing to a non-removable, non-volatile magnetic media (typically called a "hard drive"). Figure 7 Although not shown in FIG. 3, computer device 12 can employ other, peripheral, and / or software modules that can be used in conjunction with computer device 12, including but not limited to: micro-code, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data archival storage systems 34, etc.

[0177] Program / utility 40, having a set (at least one) of program modules 42, can be stored in, for example, memory by way of example, and not limitation, as

[0178] Computer device 12 can also communicate with one or more external devices 14 such as a keyboard or a pointing device, display 24, camera, etc.; one or more devices that enable a user to interact with computer device 12; and / or one or more devices that enable computer device 12 to communicate with one or more other computing devices. Such communication can be via I / O interface 22. 22. Additionally, computer device 12 can communicate with one or more networks such as a local area network (LAN), a general wide area network (WAN), and / or a public network (e.g., the Internet) via network adapter 20. As depicted, network adapter 20 communicates with the other components of computer device 12 via bus 7. It should be appreciated that other buses and interconnections that are well known in the art can have also been used. Figure 7 Figure 7 It should be appreciated that although not shown in FIG. 3, other hardware and / or software modules can be used in conjunction with computer device 12. These can include, but are not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data archival storage systems 34, etc.

[0179] ​The processing unit 16 executes various function applications and data processing by running programs stored in the memory 28, such as the method for robot charging based on infrared signals provided in the embodiments of the present application.

[0180] That is, the processing unit 16, when executing the programs, implements the following: the sweeping robot acquires map information, starting point information and infrared information, and obtains a first end point according to the map information and the infrared information; the starting point information includes starting point infrared information; the sweeping robot receives real-time infrared signals during moving from the starting point to the first end point; when the real-time infrared signals received by the sweeping robot are different from the starting point infrared information, a second end point is generated according to the starting point information and the first end point; and the sweeping robot obtains a route planning for charging according to the second end point.

[0181] In the embodiments of the present application, a computer readable storage medium having a computer program stored thereon is also provided, and the program, when executed by a processor, implements the method for robot charging based on infrared signals provided in all the embodiments of the present application.

[0182] That is, the program, when executed by a processor, implements the following: the sweeping robot acquires map information, starting point information and infrared information, and obtains a first end point according to the map information and the infrared information; the starting point information includes starting point infrared information; the sweeping robot receives real-time infrared signals during moving from the starting point to the first end point; when the real-time infrared signals received by the sweeping robot are different from the starting point infrared information, a second end point is generated according to the starting point information and the first end point; and the sweeping robot obtains a route planning for charging according to the second end point.

[0183] Any combination of one or more computer readable medium can be employed. The computer readable medium can be a computer readable signal medium or a computer readable storage medium. A computer readable storage medium can be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. More specific examples (a non-exhaustive list) of the computer readable storage medium include an electrical connection having one or more wires, a portable computer diskette, 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 disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In this document, the computer readable storage medium can be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.

[0184] Computer readable signal media can include a propagated data signal with computer readable program code embodied therein. For example, a propagated signal can be an electromagnetic signal, an optical signal, and / or the like. Such

[0185] Computer program code for carrying out operations of the present application can be written in any combination of one or more programming languages, including an object oriented programming language such as Java, Smalltalk, C++ or the like, and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code can execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the latter scenario, the remote computer can be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or the connection can be made to an external computer (for example, through the Internet using an Internet Service Provider). The embodiments of the present application are described in the general context of method steps that can be implemented in one embodiment by a program executable on a computer or processor. Software including programs written in various languages and / or executing using various methods can be stored in various locations, including a memory location or on a computer readable medium, for execution by such devices. Program code segments can be stored in a machine-readable medium, a computer program product, or in a memory unit, such as a RAM, ROM, EEPROM, flash memory or the like. Generally, program

[0186] While the preferred embodiments of the application have been described, additional variations and modifications can be made to the embodiments by those of skill in the art once given the benefit of the present disclosure. Therefore, the appended claims are intended to cover all such variations and modifications that fall within the scope of the application.

[0187] Finally, it is to be understood that the phraseology or terminology such as "first" and "second" etc. used herein is merely intended to differentiate one entity or operation from another entity or operation, without necessarily requiring or implying any actual such relationship or order between such entities or operations. Moreover, the terms "comprises", "comprising", or any other variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but can include other elements not expressly listed or inherent to such process, method, article, or apparatus. An element proceeded by "comprises... a" does not, without more constraints, exclude the existence of additional identical elements in the process, method, article, or apparatus that comprises the element.

[0188] The above has carried on the detailed introduction to the robot recharging method and device based on infrared signal provided by the application, the principle and implementation mode of the application are described in this paper by applying specific examples, the above example explanation is only for helping to understand the method and its core idea of the application; at the same time, for the general technical personnel in the art, according to the idea of the application, the specific implementation mode and application range will have the change, according to the above, the content of the specification should not be understood as the limitation of the application.

Claims

1. A robot recharging method based on infrared signals, the method being 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; characterized in that it comprises: The sweeping robot acquires map information, starting point information and infrared information, and obtains a first terminal point according to the map information and the infrared information; wherein the starting point information includes starting point infrared information; the sweeping robot generates at least two exploration points according to the map information and the infrared information; the sweeping robot generates a signal score corresponding to each exploration point according to each exploration point; the sweeping robot obtains the first terminal point according to the signal score of each exploration point; The sweeping robot acquires each exploration point corresponding to the obstacle, generates a first score of each exploration point according to the distance between each exploration point and the corresponding obstacle; the sweeping robot generates a second score of each exploration point according to each exploration point and the infrared information; the sweeping robot generates a third score of each exploration point according to the distance between each exploration point and the exploration point within a preset distance; the sweeping robot generates a signal score corresponding to each exploration point according to the first score, the second score and the third score; The sweeping robot receives real-time infrared signals during the process of moving from the starting point to the first terminal point; When the sweeping robot receives the real-time infrared signal and the starting point infrared information are different, a second terminal point is generated according to the starting point information and the first terminal point; The sweeping robot obtains the route planning for returning to charge according to the second terminal point.

2. The infrared signal-based robot recharging method of claim 1, wherein, The step of obtaining the first terminal point according to the signal score of each exploration point comprises: The sweeping robot sorts the signal score of each exploration point, and takes the corresponding exploration point with the highest signal score as the first terminal point.

3. The infrared signal based robot recharging method of claim 1, wherein, The step of when the sweeping robot receives the real-time infrared signal and the starting point infrared information are different, comprises: When the sweeping robot receives the real-time infrared signal and the starting point infrared information are different in number; And / or; When the sweeping robot receives the real-time infrared signal and the starting point infrared information are different in kind.

4. The infrared signal-based robot recharging method of claim 1, wherein, The step of generating a second terminal point according to the starting point information and the first terminal point comprises: The sweeping robot obtains the relative position information of the sweeping robot and the base station according to the starting point information and the first terminal point; The sweeping robot generates a second terminal point according to the relative position information of the sweeping robot and the base station.

5. The infrared signal based robot return-to-base method of claim 1, wherein, The step of the sweeping robot obtaining the route planning for returning to charge according to the second terminal point further comprises: If the sweeping robot does not receive an infrared signal, the map information, the starting point information and the infrared information are reacquired, and the route planning is obtained according to the map information, the starting point information and the infrared information until the sweeping robot returns to the base station.

6. An infrared signal-based robot recharging device, the device is used for route planning of a robot returning to a base station for charging, characterized in that, Comprise: The first endpoint obtaining module is configured to obtain map information, starting point information, and infrared information by the sweeping robot, and obtain a first endpoint according to the map information and the infrared information; wherein the starting point information comprises starting point infrared information; the sweeping robot generates at least two exploration points according to the map information and the infrared information; the sweeping robot generates a signal score of a corresponding exploration point according to each exploration point; and the sweeping robot obtains the first endpoint according to the signal score of each exploration point. The sweeping robot obtains an obstacle corresponding to each exploration point, generates a first score of each exploration point according to a distance between each exploration point and the corresponding obstacle, generates a second score of each exploration point according to each exploration point and the infrared information, generates a third score of each exploration point according to a distance between each exploration point and an exploration point within a preset distance, and generates a signal score of the corresponding exploration point according to the first score, the second score, and the third score. The real-time infrared signal receiving module is configured to receive a real-time infrared signal by the sweeping robot during movement from a starting point to the first endpoint. The second endpoint generating module is configured to generate a second endpoint according to the starting point information and the first endpoint when the sweeping robot receives the real-time infrared signal and the starting point infrared information are different. The path planning obtaining module is configured to obtain a route for returning to charge by the sweeping robot according to the second endpoint.

7. An electronic device, characterized by A computer program is stored on a computer readable storage medium and is capable of being run on a processor, and when the computer program is executed by the processor, the steps of the robot returning to charge method based on an infrared signal according to any one of claims 1 to 5 are implemented.

8. A computer readable storage medium, characterized in that, A computer program is stored on a computer readable storage medium and is capable of being run on a processor, and when the computer program is executed by the processor, the steps of the robot returning to charge method based on an infrared signal according to any one of claims 1 to 5 are implemented.

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