Robot recharging method and device, computer readable storage medium and robot

Abstract

The invention belongs to the technical field of robots, and particularly relates to a robot recharging method and device, a computer readable storage medium and a robot. The method comprises the following steps: determining relative position information between the robot and the charging base according to a positioning signal; controlling the robot to move towards a reference point according to the relative position information; wherein the reference point is located on the central axis of the charging base; and when the distance between the robot and the reference point is smaller than or equal to a preset distance threshold value, the robot is controlled to move to the central axis and move along the central axis until the robot makes contact with the charging base. Through the method, the relative position information between the robot and the charging seat can be accurately determined according to the positioning signal, and the robot is controlled to be in contact with the charging seat according to the relative position information, so that the recharging efficiency of the robot is effectively improved, and the method has relatively high usability and practicability.

Description

Technical Field

[0001] The present application belongs to the field of robotics technology, and in particular, relates to a robot recharging method, device, computer-readable storage medium, and robot. Background Art

[0002] With the development of science and technology, intelligent robots have entered thousands of households. When in use, robots can help people reduce their burden by performing tasks, and after completing the task or when the battery is low, the robot can automatically return to the charging station for charging.

[0003] The robot recharging method in the prior art usually uses infrared recharging signals to find the location of the charging base. However, the infrared recharging signals are easily affected by the environment. When the infrared signals are blocked, the robot cannot be recharged smoothly, resulting in low robot recharging efficiency. Summary of the invention

[0004] In view of this, the embodiments of the present application provide a robot recharging method, device, computer-readable storage medium and robot to solve the problem that the existing robot recharging method cannot recharge smoothly when the infrared signal is blocked, resulting in low robot recharging efficiency.

[0005] A first aspect of an embodiment of the present application provides a robot recharging method, which may include:

[0006] Determine the relative position information between the robot and the charging base according to the positioning signal;

[0007] Controlling the robot to move toward a reference point according to the relative position information; wherein the reference point is located on the central axis of the charging base;

[0008] When the distance between the robot and the reference point is less than or equal to a preset distance threshold, the robot is controlled to move to the central axis and move along the central axis until the robot contacts the charging base.

[0009] In a specific implementation of the first aspect, controlling the robot to move toward a reference point according to the relative position information may include:

[0010] Determine a first angle according to the relative position information; wherein the first angle is the angle between the orientation of the robot and a target direction, and the target direction is the direction from the center of the robot to the reference point;

[0011] The robot is controlled to rotate according to the first angle, and is controlled to move forward.

[0012] In a specific implementation of the first aspect, controlling the robot to move to the central axis may include:

[0013] Determine a second angle according to the relative position information; wherein the second angle is the angle between the central axis and a target line, and the target line is a line between the center of the robot and the reference point;

[0014] When the absolute value of the second angle is less than a preset angle threshold, determining a first rotation angle of the robot according to the second angle;

[0015] The robot is controlled to rotate according to the first rotation angle, and is controlled to move forward until the second angle is zero.

[0016] In a specific implementation of the first aspect, the robot recharging method may further include:

[0017] When the absolute value of the second angle is greater than or equal to the angle threshold, determining a second rotation angle of the robot according to the second angle;

[0018] The robot is controlled to rotate according to the second rotation angle, and is controlled to move forward until the absolute value of the second angle is smaller than the angle threshold.

[0019] In a specific implementation of the first aspect, the positioning signal is an interactive signal between a positioning base station and a positioning tag; wherein the positioning base station is located on the robot, and the positioning tag is located on the charging base.

[0020] In a specific implementation of the first aspect, the positioning base station is located at the center of the robot;

[0021] The positioning tag includes a first tag and a second tag; the first tag is located at the reference point; the second tag is located on a reference vertical line; wherein the reference vertical line is a straight line passing through the reference point and perpendicular to the central axis;

[0022] The relative position information includes a first distance, a second distance and a first angle; wherein the first distance is the distance between the positioning base station and the first tag, the second distance is the distance between the positioning base station and the second tag, the first angle is the angle between the orientation of the robot and the target direction, and the target direction is the direction from the center of the robot to the reference point.

[0023] In a specific implementation of the first aspect, before determining the relative position information between the robot and the charging base according to the positioning signal, the method further includes:

[0024] The robot is controlled to navigate to a preset charging seat area.

[0025] A second aspect of an embodiment of the present application provides a robot recharging device, which may include:

[0026] An information determination module, used to determine the relative position information between the robot and the charging base according to the positioning signal;

[0027] A first motion module, used for controlling the robot to move toward a reference point according to the relative position information; wherein the reference point is located on the central axis of the charging base;

[0028] The second motion module is used to control the robot to move to the central axis and move along the central axis until the robot contacts the charging base when the distance between the robot and the reference point is less than or equal to a preset distance threshold.

[0029] In a specific implementation of the second aspect, the first motion module may include:

[0030] A first angle determination unit, configured to determine a first angle according to the relative position information; wherein the first angle is an angle between the orientation of the robot and a target direction, and the target direction is a direction from the center of the robot to the reference point;

[0031] The first motion unit is used to control the robot to rotate according to the first angle, and to control the robot to move forward.

[0032] In a specific implementation of the second aspect, the robot recharging device may further include:

[0033] A second angle determination unit, configured to determine a second angle according to the relative position information; wherein the second angle is an angle between the central axis and a target line, and the target line is a line between the center of the robot and the reference point;

[0034] an angle determination unit, configured to determine a first rotation angle of the robot according to the second angle when the absolute value of the second angle is less than a preset angle threshold;

[0035] The second motion unit is used to control the robot to rotate according to the first rotation angle, and control the robot to move forward until the second angle is zero.

[0036] In a specific implementation of the second aspect, the robot recharging device may further include:

[0037] an angle determination unit, configured to determine a second rotation angle of the robot according to the second angle when the absolute value of the second angle is greater than or equal to the angle threshold;

[0038] The second motion unit is used to control the robot to rotate according to the second rotation angle, and control the robot to move forward until the absolute value of the second angle is smaller than the angle threshold.

[0039] In a specific implementation of the second aspect, the positioning signal is an interactive signal between a positioning base station and a positioning tag; wherein the positioning base station is located on the robot, and the positioning tag is located on the charging base.

[0040] In a specific implementation of the second aspect, the positioning base station is located at the center of the robot;

[0041] The positioning tag includes a first tag and a second tag; the first tag is located at the reference point; the second tag is located on a reference vertical line; wherein the reference vertical line is a straight line passing through the reference point and perpendicular to the central axis;

[0042] The relative position information includes a first distance, a second distance and a first angle; wherein the first distance is the distance between the positioning base station and the first tag, the second distance is the distance between the positioning base station and the second tag, the first angle is the angle between the orientation of the robot and the target direction, and the target direction is the direction from the center of the robot to the reference point.

[0043] In a specific implementation of the second aspect, the robot recharging device may further include:

[0044] The navigation module is used to control the robot to navigate to a preset charging seat area.

[0045] A third aspect of an embodiment of the present application provides a computer-readable storage medium, which stores a computer program. When the computer program is executed by a processor, the steps of any of the above-mentioned robot recharging methods are implemented.

[0046] The fourth aspect of an embodiment of the present application provides a robot, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of any one of the above-mentioned robot recharging methods when executing the computer program.

[0047] A fifth aspect of an embodiment of the present application provides a computer program product. When the computer program product is run on a robot, the robot executes the steps of any one of the above-mentioned robot recharging methods.

[0048] Compared with the prior art, the embodiments of the present application have the following beneficial effects: the embodiments of the present application determine the relative position information between the robot and the charging base according to the positioning signal; the robot is controlled to move toward the reference point according to the relative position information; wherein the reference point is located on the central axis of the charging base; when the distance between the robot and the reference point is less than or equal to a preset distance threshold, the robot is controlled to move to the central axis and move along the central axis until the robot contacts the charging base. Through the embodiments of the present application, the relative position information between the robot and the charging base can be accurately determined according to the positioning signal, and the robot can be controlled to contact the charging base according to the relative position information, thereby effectively improving the efficiency of the robot's recharging, and having strong ease of use and practicality. BRIEF DESCRIPTION OF THE DRAWINGS

[0049] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the embodiments or the description of the prior art 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 work.

[0050] Figure 1 This is a flow chart of an embodiment of a robot recharging method in an embodiment of the present application;

[0051] Figure 2 This is a schematic diagram of the application scenario of the robot recharging method;

[0052] Figure 3 A schematic diagram of the communication interaction between the positioning base station and the positioning tag;

[0053] Figure 4 A schematic diagram of an antenna for positioning a base station;

[0054] Figure 5 is a schematic diagram of the robot moving toward the reference point;

[0055] Figure 6 The first schematic diagram is a diagram of the robot located in front of the charging station;

[0056] Figure 7 A second schematic diagram of the robot being located in front of the charging station;

[0057] Figure 8 The first schematic diagram of the robot rotating;

[0058] Fig. 9 A second schematic diagram of the robot rotating;

[0059] Fig.10The first schematic diagram is a diagram of the robot located on both sides of the charging station;

[0060] Fig.11 A second schematic diagram showing the robot located on both sides of the charging station;

[0061] Fig.12 The third schematic diagram is a rotation of the robot;

[0062] Fig.13 The fourth schematic diagram is a rotation of the robot;

[0063] Fig.14 It is a schematic diagram of the robot moving along the central axis;

[0064] Fig.15 This is a structural diagram of an embodiment of a robot recharging device in an embodiment of the present application;

[0065] Fig.16 This is a schematic block diagram of a robot in an embodiment of the present application. DETAILED DESCRIPTION

[0066] In order to make the purpose, features, and advantages of the invention of this application more obvious and easy to understand, the technical solutions in the embodiments of this application will be clearly and completely described below in conjunction with the drawings in the embodiments of this application. Obviously, the embodiments described below are only part of the embodiments of this application, not all of them. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0067] It should be understood that when used in this specification and the appended claims, the term "comprising" indicates the presence of described features, integers, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, integers, steps, operations, elements, components and / or groups thereof.

[0068] It should also be understood that the terms used in this application specification are only for the purpose of describing specific embodiments and are not intended to limit the application. As used in this application specification and the appended claims, unless the context clearly indicates otherwise, the singular forms "a", "an" and "the" are intended to include plural forms.

[0069] It should be further understood that the term “and / or” used in the specification and appended claims refers to any combination and all possible combinations of one or more of the associated listed items, and includes these combinations.

[0070] As used in this specification and the appended claims, the term "if" may be interpreted as "when" or "upon" or "in response to determining" or "in response to detecting," depending on the context. Similarly, the phrases "if it is determined" or "if [described condition or event] is detected" may be interpreted as meaning "upon determination" or "in response to determining" or "upon detection of [described condition or event]" or "in response to detecting [described condition or event]," depending on the context.

[0071] In addition, in the description of the present application, the terms "first", "second", "third", etc. are only used to distinguish the description and cannot be understood as indicating or implying relative importance.

[0072] With the development of science and technology, intelligent robots have entered thousands of households. When in use, robots can help people reduce their burden by performing tasks, and after completing the task or when the battery is low, the robot can automatically return to the charging station for charging.

[0073] The robot recharging method in the prior art usually uses infrared recharging signals to find the location of the charging base. However, the infrared recharging signals are easily affected by the environment. When the infrared signals are blocked, the robot cannot be recharged smoothly, resulting in low robot recharging efficiency.

[0074] In view of this, the embodiments of the present application provide a robot recharging method, device, computer-readable storage medium and robot to solve the problem that the existing robot recharging method cannot recharge smoothly when the infrared signal is blocked, resulting in low robot recharging efficiency. Through the embodiments of the present application, the relative position information between the robot and the charging base can be accurately determined according to the positioning signal, and the robot can be controlled to contact the charging base according to the relative position information, thereby effectively improving the efficiency of the robot recharging, and having strong ease of use and practicality.

[0075] It should be noted that the executor of the method of the present application is a robot, which may include but is not limited to any common robot in the prior art, such as a lawn mower, a sweeper, an inspection robot, a food delivery robot, and a guide robot.

[0076] See also Figure 1 , an embodiment of a robot recharging method in an embodiment of the present application may include:

[0077] Step S101: Determine the relative position information between the robot and the charging base according to the positioning signal.

[0078] It can be understood that the positioning between the robot and the charging base in the present application can be obtained using any common positioning method in the prior art, including but not limited to ultra-wideband (UWB) positioning, lidar positioning, ultrasonic positioning, and any other common positioning method in the prior art.

[0079] In an embodiment of the present application, the UWB positioning method can be preferably used to obtain the relative position information between the robot and the charging base. Specifically, the interaction signal between the preset positioning base station and the positioning tag can be used as a positioning signal to determine the relative position information between the robot and the charging base.

[0080] See also Figure 2 The positioning base station in the embodiment of the present application can be located on the robot, specifically at the center of the robot; the positioning tag can be located on the charging base, specifically including a first tag and a second tag, the first tag can be located on the central axis of the charging base, where the center of the first tag can be used as a reference point, and the second tag can be located on a reference vertical line passing through the reference point and perpendicular to the central axis.

[0081] It is understandable that the positioning base station and the positioning tag can also be configured according to actual needs, and this application does not make any specific limitation on this.

[0082] In the embodiment of the present application, the positioning base station and the positioning tag can obtain the relative position information between the robot and the charging base through the interaction signal. The relative position information can specifically include the first distance d1, the second distance d2 and the first angle θ. Please continue to refer to Figure 2 , where the first distance is the distance between the positioning base station and the first tag; the second distance is the distance between the positioning base station and the second tag; the target direction is the direction from the center of the robot to the reference point, and the first angle is the angle between the robot's orientation and the target direction. Since the positioning base station and the positioning tag can obtain the relative position information between the robot and the charging base through the interactive signal, the following will be combined with Figure 3 and Figure 4 The communication interaction process between the positioning base station and the positioning tag in the embodiment of the present application is introduced.

[0083] Specifically, the working modes of the positioning base station and the positioning tag may include a sending mode and a receiving mode, wherein the sending mode is a working mode for sending interactive signals, and the receiving mode is a working mode for receiving interactive signals; please refer to Figure 3, the working mode of the positioning base station at the beginning of communication interaction can be the sending mode, and the working mode of the positioning tag can be the receiving mode; at time t0, the positioning base station can send a transmission signal 1 to the first tag and the second tag, and switch from the sending mode to the receiving mode; then, the first tag receives the transmission signal 1, and after a delay of T1 time, the first tag can switch from the receiving mode to the sending mode, and send a response signal 1 to the positioning base station, and then switch from the sending mode to the receiving mode; the second tag receives the transmission signal 1, and after a delay of T2 time, the second tag can switch from the receiving mode to the sending mode, and send a response signal 2 to the positioning base station, and then switch from the sending mode to the receiving mode; at time t1, the positioning base station receives the response signal 1; At time t2, the positioning base station receives response signal 2; after waiting for a period of time, the positioning base station switches from receiving mode to sending mode, sends transmission signal 2 to the first tag and the second tag at time t3, and switches to receiving mode; thereafter, the first tag receives transmission signal 2, and after a delay of T1 time, the first tag can switch from receiving mode to sending mode, and send response signal 3 to the positioning base station; the second tag receives transmission signal 2, and after a delay of T2 time, the second tag can switch from receiving mode to sending mode, and send response signal 4 to the positioning base station; at time t4, the positioning base station receives response signal 3; at time t5, the positioning base station receives response signal 4; after waiting for a period of time, the positioning base station and the positioning tag close reception and complete a communication interaction.

[0084] According to the communication interaction between the positioning base station and the positioning tag, the horizontal distance between the positioning base station and the first tag can be calculated as: And the horizontal distance between the positioning base station and the second tag is T3 is the time interval between the first tag sending the response signal 1 and receiving the transmission signal 2. Figure 3 , T4 is the time interval between the second tag sending the response signal 2 and receiving the transmission signal 2; Based on this, the first distance between the positioning base station and the first tag can be calculated as And the second distance between the positioning base station and the second tag is Among them, h is the height difference between the positioning tag and the positioning base station, which can be obtained when designing the robot and the charging base, or measured when installing the positioning base station and the positioning tag.

[0085] See also Figure 4 The positioning base station in the embodiment of the present application may include three antennas A, B and C, which are arranged in an equilateral triangle in the xOy plane. Specifically, the positioning base station may receive the response signal 3 through the antennas A, B and C, and obtain the phase when the signal is received. and Subtracting them two by two gives the phase difference and Based on this, the first angle can be calculated

[0086]

[0087] It is understandable that the interaction mode between the positioning base station and the fixed tag, the calculation method of the relative position information and the antenna arrangement mode of the positioning base station can be specific and situational according to the actual situation, and this application does not make specific limitations on this.

[0088] It is understandable that in order to improve the efficiency of the robot recharging, the robot can be navigated to the vicinity of the charging base before the robot is recharged, and then the exact position of the robot and the charging base can be further determined based on the positioning signal. Therefore, in the embodiment of the present application, before the relative position information between the robot and the charging base is determined based on the positioning information, the robot can be controlled to navigate to the preset charging base area.

[0089] It is understandable that the scope of the charging seat area can be specific and situational according to the actual situation, and the present application embodiment does not specifically limit this. For example, the area consisting of a circle with a reference point on the charging seat as the center and a radius of 2 meters can be used as the charging seat area.

[0090] In the embodiment of the present application, the path from the current position of the robot to the charging seat area can be planned according to the position of the charging seat recorded in the map to obtain a planned path; then, the robot can be controlled to move to the charging seat area according to the planned path. Among them, the path planning algorithm can include but is not limited to the best path first search algorithm (Best-First Searching, BFS), depth-first search algorithm (Depth-First Searching, DFS), Dijkstra's algorithm (Dijkstra's), sampling-based motion planning algorithm (Rapidly-exploring Random Trees, RRT) and any other common path planning algorithms in the prior art. The embodiment of the present application does not specifically limit the use of the path planning algorithm, and it can be selected according to actual needs.

[0091] Step S102: Control the robot to move toward the reference point according to the relative position information.

[0092] In the embodiment of the present application, the robot can be controlled to rotate according to the first angle, and the robot can be controlled to move forward. Specifically, the robot can be controlled to rotate until the first angle is 0 degrees, such as Figure 5 As shown, at this time, the robot is oriented toward the reference point, and then the robot can be controlled to move forward to get closer to the charging base.

[0093] Step S103: When the distance between the robot and the reference point is less than or equal to a preset distance threshold, the robot is controlled to move to the central axis and move along the central axis until the robot contacts the charging base.

[0094] In the embodiment of the present application, when the distance between the robot and the reference point is less than or equal to the preset distance threshold, it can be considered that the robot is close to the charging station. At this time, the robot can be controlled to move to the central axis to accurately align and recharge. The distance threshold can be set according to actual needs. Here, the distance threshold can be preferably set to 1 meter.

[0095] In the embodiment of the present application, when the second angle α between the middle axis and the target line is less than the preset angle threshold, it can be considered that the robot is in front of the charging station. For details, please refer to Figure 2 At this time, the robot can be controlled to move to the central axis and move along the central axis until the robot contacts the charging base. Among them, the angle threshold can be set specifically and situationally according to actual needs. Here, it can be preferably set to

[0096] It can be understood that if the absolute value of the second angle is less than the angle threshold, it can be considered that the robot is in front of the charging base and the robot can be controlled to move toward the central axis; if the absolute value of the second angle is greater than or equal to the angle threshold, the robot can be controlled to move in front of the charging base first, and then controlled to move toward the central axis.

[0097] Please refer to Figure 6 and Figure 7 In the two cases shown in FIG. 1 , if the absolute value of the second angle α is less than the angle threshold, it can be considered that the robot is located in front of the charging base. At this time, the first rotation angle of the robot can be determined according to the second angle α. Specifically, if The robot can be controlled to rotate to like Figure 8 As shown, the robot is oriented perpendicular to the central axis. The robot can be controlled to rotate to like Fig. 9 As shown, at this time, the orientation of the robot is perpendicular to the central axis; wherein θ1 is the first angle after rotation, and the first rotation angle θ1'=θ-θ1 can be calculated based on θ1; thereafter, the robot is controlled to move forward until it reaches the central axis (i.e., moves until the second angle α is 0).

[0098] It should be noted that in order to enable the robot to accurately move to the central axis, the robot can be controlled to move slowly when the second angle α is close to 0, so that the robot can stop moving in time when the second angle α is 0.

[0099] Please refer to Fig.10 and Fig.11 In the two cases shown in FIG. 1 , if the absolute value of the second angle α is greater than or equal to the angle threshold, it can be considered that the robot is located on both sides of the charging base. At this time, the second rotation angle θ2' of the robot can be determined based on the second angle α. Here, if Then the robot can be controlled to rotate to θ2+α=π, such as Fig.12 As shown, where θ2 is the first angle after rotation; if Then the robot can be controlled to rotate to θ2+α=-π, such as Fig.13 As shown; the second rotation angle θ2'=θ-θ2 can be calculated based on θ2; thereafter, the robot can be controlled to move forward until the absolute value of the second angle α is less than the angle threshold.

[0100] It can be understood that after adjusting the absolute value of the second angle α to be less than the angle threshold, the robot can be controlled to move until the second angle is 0 according to the above adjustment method when the absolute value of the second angle α is less than the angle threshold.

[0101] It should be noted that when controlling the robot to rotate, if the value of the rotation angle is positive, it can rotate in the clockwise direction, and if the value of the rotation angle is negative, it can rotate in the counterclockwise direction.

[0102] It can be understood that after the second angle is 0, the robot can be controlled to move along the central axis until the robot contacts the charging base; specifically, the robot can be controlled to rotate until the first angle is 0, at which time the robot is oriented toward the reference point, such as Fig.14 As shown, the robot can then be controlled to move forward until the robot contacts the charging base, and the robot's movement direction is along the central axis. In addition, if the robot deviates during movement along the central axis, causing the second angle to be greater than 0, the robot can be adjusted according to the above method to ensure that the robot can accurately move along the central axis.

[0103] In summary, the embodiment of the present application determines the relative position information between the robot and the charging base according to the positioning signal; controls the robot to move toward the reference point according to the relative position information; wherein the reference point is located on the central axis of the charging base; when the distance between the robot and the reference point is less than or equal to a preset distance threshold, controls the robot to move to the central axis and moves along the central axis until the robot contacts the charging base. Through the embodiment of the present application, the relative position information between the robot and the charging base can be accurately determined according to the positioning signal, and the robot can be controlled to contact the charging base according to the relative position information, thereby effectively improving the efficiency of the robot's recharging, and having strong ease of use and practicality.

[0104] It should be understood that the size of the serial numbers of the steps in the above embodiments does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.

[0105] Corresponding to the robot recharging method described in the above embodiment, Fig.15 A structural diagram of an embodiment of a robot recharging device provided in an embodiment of the present application is shown.

[0106] In this embodiment, a robot recharging device may include:

[0107] An information determination module 1501 is used to determine the relative position information between the robot and the charging station according to the positioning signal;

[0108] A first motion module 1502, configured to control the robot to move toward a reference point according to the relative position information; wherein the reference point is located on the central axis of the charging base;

[0109] The second motion module 1503 is used to control the robot to move to the central axis and move along the central axis until the robot contacts the charging base when the distance between the robot and the reference point is less than or equal to a preset distance threshold.

[0110] In a specific implementation of the embodiment of the present application, the first motion module may include:

[0111] A first angle determination unit, configured to determine a first angle according to the relative position information; wherein the first angle is an angle between the orientation of the robot and a target direction, and the target direction is a direction from the center of the robot to the reference point;

[0112] The first motion unit is used to control the robot to rotate according to the first angle, and to control the robot to move forward.

[0113] In a specific implementation of the embodiment of the present application, the robot recharging device may further include:

[0114] A second angle determination unit, configured to determine a second angle according to the relative position information; wherein the second angle is an angle between the central axis and a target line, and the target line is a line between the center of the robot and the reference point;

[0115] an angle determination unit, configured to determine a first rotation angle of the robot according to the second angle when the absolute value of the second angle is less than a preset angle threshold;

[0116] The second motion unit is used to control the robot to rotate according to the first rotation angle, and control the robot to move forward until the second angle is zero.

[0117] In a specific implementation of the embodiment of the present application, the robot recharging device may further include:

[0118] an angle determination unit, configured to determine a second rotation angle of the robot according to the second angle when the absolute value of the second angle is greater than or equal to the angle threshold;

[0119] The second motion unit is used to control the robot to rotate according to the second rotation angle, and control the robot to move forward until the absolute value of the second angle is smaller than the angle threshold.

[0120] In a specific implementation of the embodiment of the present application, the positioning signal is an interactive signal between a positioning base station and a positioning tag; wherein the positioning base station is located on the robot, and the positioning tag is located on the charging base.

[0121] In a specific implementation of the embodiment of the present application, the positioning base station is located at the center of the robot;

[0122] The positioning tag includes a first tag and a second tag; the first tag is located at the reference point; the second tag is located on a reference vertical line; wherein the reference vertical line is a straight line passing through the reference point and perpendicular to the central axis;

[0123] The relative position information includes a first distance, a second distance and a first angle; wherein the first distance is the distance between the positioning base station and the first tag, the second distance is the distance between the positioning base station and the second tag, the first angle is the angle between the orientation of the robot and the target direction, and the target direction is the direction from the center of the robot to the reference point.

[0124] In a specific implementation of the embodiment of the present application, the robot recharging device may further include:

[0125] The navigation module is used to control the robot to navigate to a preset charging seat area.

[0126] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the above-described devices, modules and units can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0127] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described or recorded in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0128] Fig.16 A schematic block diagram of a robot provided in an embodiment of the present application is shown. For ease of explanation, only the parts related to the embodiment of the present application are shown.

[0129] like Fig.16 As shown, the robot 16 of this embodiment includes: a processor 160, a memory 161, and a computer program 162 stored in the memory 161 and executable on the processor 160. When the processor 160 executes the computer program 162, the steps in the above-mentioned robot recharging method embodiments are implemented, for example Figure 1 Alternatively, when the processor 160 executes the computer program 162, the functions of each module / unit in the above-mentioned device embodiments are realized, for example Fig.15 The functions of modules 1501 to 1503 are shown.

[0130] Exemplarily, the computer program 162 may be divided into one or more modules / units, which are stored in the memory 161 and executed by the processor 160 to complete the present application. The one or more modules / units may be a series of computer program instruction segments capable of completing specific functions, which are used to describe the execution process of the computer program 162 in the robot 16.

[0131] The robot 16 may be any common robot in the prior art, such as a lawn mower, a sweeper, an inspection robot, a food delivery robot, a guide robot, etc. A person skilled in the art will understand that Fig.16 It is only an example of the robot 16 and does not constitute a limitation of the robot 16. The robot 16 may include more or fewer components than shown in the figure, or a combination of certain components, or different components. For example, the robot 16 may also include input and output devices, network access devices, buses, etc.

[0132] The processor 160 may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or any conventional processor, etc.

[0133] The memory 161 may be an internal storage unit of the robot 16, such as a hard disk or memory of the robot 16. The memory 161 may also be an external storage device of the robot 16, such as a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash card, etc. equipped on the robot 16. Further, the memory 161 may also include both an internal storage unit of the robot 16 and an external storage device. The memory 161 is used to store the computer program and other programs and data required by the robot 16. The memory 161 may also be used to temporarily store data that has been output or is to be output.

[0134] The technicians in the relevant field can clearly understand that for the convenience and simplicity of description, only the division of the above-mentioned functional units and modules is used as an example for illustration. In practical applications, the above-mentioned function allocation can be completed by different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiment can be integrated in a processing unit, or each unit can exist physically separately, or two or more units can be integrated in one unit. The above-mentioned integrated unit can be implemented in the form of hardware or in the form of software functional units. In addition, the specific names of the functional units and modules are only for the convenience of distinguishing each other, and are not used to limit the scope of protection of this application. The specific working process of the units and modules in the above-mentioned system can refer to the corresponding process in the aforementioned method embodiment, which will not be repeated here.

[0135] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described or recorded in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0136] Those of ordinary skill in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0137] In the embodiments provided in the present application, it should be understood that the disclosed devices / robots and methods can be implemented in other ways. For example, the device / robot embodiments described above are merely schematic. For example, the division of the modules or units is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0138] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0139] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0140] If the integrated module / unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the present application implements all or part of the processes in the above-mentioned embodiment method, and can also be completed by instructing the relevant hardware through a computer program. The computer program can be stored in a computer-readable storage medium, and the computer program can implement the steps of the above-mentioned various method embodiments when executed by the processor. Among them, the computer program includes computer program code, and the computer program code can be in source code form, object code form, executable file or some intermediate form. The computer-readable storage medium may include: any entity or device capable of carrying the computer program code, recording medium, U disk, mobile hard disk, disk, optical disk, computer memory, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), electric carrier signal, telecommunication signal and software distribution medium. It should be noted that the content contained in the computer-readable storage medium can be appropriately increased or decreased according to the requirements of legislation and patent practice in the jurisdiction. For example, in some jurisdictions, according to legislation and patent practice, computer-readable storage media do not include electric carrier signals and telecommunication signals.

[0141] The embodiments described above are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, a person skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features may be replaced by equivalents. Such modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application, and should all be included in the protection scope of the present application.

Claims

1. A robot recharging method, characterized in that: include: Determine the relative position information between the robot and the charging base according to the positioning signal; Controlling the robot to move toward a reference point according to the relative position information; wherein the reference point is located on the central axis of the charging base; When the distance between the robot and the reference point is less than or equal to a preset distance threshold, the robot is controlled to move to the central axis and move along the central axis until the robot contacts the charging base.

2. The robot recharging method according to claim 1, characterized in that: The step of controlling the robot to move toward the reference point according to the relative position information comprises: Determine a first angle according to the relative position information; wherein the first angle is the angle between the orientation of the robot and a target direction, and the target direction is the direction from the center of the robot to the reference point; The robot is controlled to rotate according to the first angle, and is controlled to move forward.

3. The robot recharging method according to claim 1, characterized in that: The controlling the robot to move to the central axis comprises: Determine a second angle according to the relative position information; wherein the second angle is the angle between the central axis and a target line, and the target line is a line between the center of the robot and the reference point; When the absolute value of the second angle is less than a preset angle threshold, determining a first rotation angle of the robot according to the second angle; The robot is controlled to rotate according to the first rotation angle, and is controlled to move forward until the second angle is zero.

4. The robot recharging method according to claim 3, characterized in that: Also includes: When the absolute value of the second angle is greater than or equal to the angle threshold, determining a second rotation angle of the robot according to the second angle; The robot is controlled to rotate according to the second rotation angle, and is controlled to move forward until the absolute value of the second angle is smaller than the angle threshold.

5. The robot recharging method according to claim 1, characterized in that: The positioning signal is an interactive signal between a positioning base station and a positioning tag; wherein the positioning base station is located on the robot, and the positioning tag is located on the charging base.

6. The robot recharging method according to claim 5, characterized in that: The positioning base station is located at the center of the robot; The positioning tag includes a first tag and a second tag; the first tag is located at the reference point; the second tag is located on a reference vertical line; wherein the reference vertical line is a straight line passing through the reference point and perpendicular to the central axis; The relative position information includes a first distance, a second distance and a first angle; wherein the first distance is the distance between the positioning base station and the first tag, the second distance is the distance between the positioning base station and the second tag, the first angle is the angle between the orientation of the robot and the target direction, and the target direction is the direction from the center of the robot to the reference point.

7. The robot recharging method according to any one of claims 1 to 6, characterized in that: Before determining the relative position information between the robot and the charging base according to the positioning signal, it also includes: The robot is controlled to navigate to a preset charging seat area.

8. A robot recharging device, characterized in that: include: An information determination module, used to determine the relative position information between the robot and the charging base according to the positioning signal; A first motion module, used for controlling the robot to move toward a reference point according to the relative position information; wherein the reference point is located on the central axis of the charging base; The second motion module is used to control the robot to move to the central axis and move along the central axis until the robot contacts the charging base when the distance between the robot and the reference point is less than or equal to a preset distance threshold.

9. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the steps of the robot recharging method according to any one of claims 1 to 7 are implemented.

10. A robot comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein: When the processor executes the computer program, the steps of the robot recharging method according to any one of claims 1 to 7 are implemented.

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