Mobile charging robot and control method thereof

Abstract

The invention discloses a mobile charging robot and a control method thereof, and relates to the technical field of robots, the mobile charging robot comprises a navigation system, a positioning system, a charging system and a control system; the positioning system transmits coordinates of charged equipment and positioning data of the robot to the navigation system in real time, and supports dynamic path adjustment; the navigation system reports an environment map, obstacle information and a planned path to the control system to assist in task priority decision making; the control system issues a charging instruction, an energy parameter and a safety strategy to the charging system to trigger a charging process; the mobile charging machine provided by the invention has significant advantages in multiple aspects; through the multi-sensor fusion navigation technology, the positioning precision is improved to + / -3cm, and the navigation success rate in the complex environment is up to 98.7%, so that the robot can stably and efficiently operate in the complex environment such as families, airports and public places, and reliable charging service is provided for users.

Description

Technical Field

[0001] The present invention relates to the technical field of robots, and particularly to a mobile charging robot and its control method. Background Art

[0002] A charging robot is an intelligent device that can automatically move and provide charging services for other devices. It combines various advanced technologies such as robot technology, navigation and positioning technology, wireless communication technology, and charging technology, aiming to solve the problems of space limitation and lack of flexibility in traditional charging methods, and provide a more convenient and efficient charging experience for users.

[0003] Existing charging robots are mainly divided into mobile charging robots and wireless charging positioning systems; mobile charging robots use single-sensor navigation, for example, only use lidar for environmental perception and path planning. They can move along the planned path in a preset environment and charge devices at designated positions; wireless charging positioning systems such charging robots rely on the positioning signal emission of the device end to determine the charging position. The device to be charged needs to continuously emit positioning signals, and the charging robot performs positioning and charging docking according to information such as signal strength and direction.

[0004] In the prior art, fixed charging piles have space constraints, and the device needs to actively move to the charging point, resulting in insufficient flexibility in use; traditional wireless charging devices lack the ability of autonomous addressing, rely on preset charging positions, and cannot adapt to dynamic environmental changes; in a dynamic charging scenario, when the distance deviation exceeds 30 cm, the energy transmission efficiency decays by more than 40%, limiting the charging space; mobile charging robots using single-sensor navigation with lidar result in an obstacle avoidance failure rate of more than 18%, and the root cause is that the detection problem of transparent obstacles such as glass has not been solved; while wireless charging positioning systems rely on the positioning signal emission of the device end, resulting in a 30% increase in the power consumption of the device to be charged, and the root cause is that the signal transmission is only a one-way architecture design. Summary of the Invention

[0005] The purpose of the present invention is to provide a mobile charging robot and its control method to solve the technical problem that fixed charging piles in the prior art have space constraints, and the device needs to actively move to the charging point, resulting in insufficient flexibility in use.

[0006] The technical problems to be solved by the present invention can be achieved through the following technical solutions:

[0007] A mobile charging robot, comprising a navigation system, a positioning system, a charging system and a control system; the positioning system transmits the coordinates of the device to be charged and the self-positioning data of the robot to the navigation system in real time, supporting dynamic path adjustment; the navigation system reports the environmental map, obstacle information and planned path to the control system to assist in task priority decision-making; the control system issues charging instructions, energy parameters and safety strategies to the charging system to trigger the charging process, and at the same time receives the docking status, battery power and abnormal information feedback by the charging system to trigger a global response; the control system dynamically adjusts the frequency and communication protocol of the positioning system to balance accuracy and power consumption; during the charging docking stage, the navigation system and the charging system exchange millimeter-level position correction data to guide the fine adjustment of the robotic arm posture or beamforming angle to ensure accurate docking;

[0008] The navigation system adopts multi-sensor fusion technology, combines lidar, ultrasonic sensors and RGBD cameras to create an environmental model to achieve efficient navigation and obstacle avoidance; the positioning system uses the Kalman filter algorithm to enhance the positioning accuracy, achieving a positioning accuracy of ≤5 cm; the charging system includes a dynamic impedance matching circuit and a beamforming algorithm, the dynamic impedance matching circuit is designed with a response time of ≤200 ms, and the beamforming algorithm uses beamforming technology based on the device displacement vector; the control system is used to coordinate the work of each system to achieve the autonomous charging function of the robot;

[0009] Beamforming algorithm: Using beamforming technology based on the device displacement vector, the formula is as follows:

[0010] Among them, (P out ) is the output power, (P in ) is the input power, (d max ) and (d measured ) are the maximum charging distance and the actual measured distance respectively, ([[]] n ) is the attenuation coefficient.

[0011] As a further solution of the present invention: the navigation system constructs an environmental map through the SLAM algorithm, enabling the robot to effectively identify and avoid obstacles.

[0012] As a further solution of the present invention: the positioning system adopts UWB technology, RFID technology and two-way beacon interaction design, where the two-way beacon realizes low-power two-way communication between the device and the robot based on the Bluetooth 5.0 protocol.

[0013] As a further solution of the present invention: the charging system further includes an infrared thermal imaging technology to achieve automatic emergency stop through child approach detection, improving safety.

[0014] As a further solution of the present invention: The control system constructs a multi-robot collaborative charging management system to achieve centralized management of multiple charging devices and improve the overall efficiency.

[0015] As a further solution of the present invention: The charging system is equipped with a robotic arm to achieve auxiliary positioning and shorten the charging docking time to 8 seconds.

[0016] As a further solution of the present invention: The robot can automatically patrol and provide wireless charging services. The user sends a charging request through a mobile device, and the robot navigates to the designated location for charging.

[0017] A control method for a mobile charging robot includes the following steps:

[0018] S1. Create an environmental model through the navigation system to achieve efficient navigation and obstacle avoidance; use the positioning system to achieve precise positioning to ensure that the positioning accuracy ≤ 5 cm;

[0019] S2. According to the device displacement vector, use the beamforming algorithm for energy transmission compensation; adapt to different charging devices through a dynamic impedance matching circuit;

[0020] S3. The control system coordinates the work of each system to achieve the autonomous charging function of the robot.

[0021] The beneficial effects of the present invention: The mobile charging robot of the present invention has significant advantages in many aspects; through the multi-sensor fusion navigation technology, the positioning accuracy is improved to ±3 cm, and the navigation success rate in complex environments is as high as 98.7%. This enables the robot to operate stably and efficiently in complex environments such as homes, airports, and public places, providing reliable charging services for users; at the same time, the two-way beacon interaction design is adopted, and the continuous signal emission is replaced by the dynamic trigger device response, significantly reducing the power consumption of the device end while improving the positioning accuracy and communication reliability; in terms of safety, the robot integrates infrared thermal imaging technology, automatically stops immediately when a child approaches, and also monitors temperature abnormalities in real time, automatically alarms and takes protective measures when overheating, comprehensively ensuring the safety of the charging process; in addition, the robot of the present invention has multi-scenario adaptability. Whether it is map construction and multi-device compatibility in the home scenario, multi-robot collaborative management and rapid docking in the airport scenario, or automatic patrol and response to charging requests in public places, it can respond flexibly, truly achieving full-scenario coverage; moreover, the multi-robot collaborative charging management system optimizes the overall charging efficiency, reasonably allocates tasks according to the real-time status of the robot, improves the utilization rate of the robot, reduces the user waiting time, and improves the service quality, bringing a more convenient and efficient charging experience for users. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] The present invention will be further described below with reference to the accompanying drawings.

[0023] Figure 1 is the system flow chart of the present invention;

[0024] Figure 2 is the method flow chart of the present invention; Detailed implementation manners

[0025] The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0026] As Figure 1 - Figure 2 shown, a mobile charging robot and its control method include a navigation system, a positioning system, a charging system, and a control system; the positioning system transmits the coordinates of the device to be charged and the positioning data of the robot itself to the navigation system in real time to support dynamic path adjustment; the navigation system reports the environmental map, obstacle information, and planned path to the control system to assist in task priority decision-making; the control system issues charging instructions, energy parameters, and safety policies to the charging system to trigger the charging process, and at the same time receives the docking status, battery power, and abnormal information feedback from the charging system to trigger a global response; the control system dynamically adjusts the frequency and communication protocol of the positioning system to balance accuracy and power consumption; during the charging docking stage, the navigation system and the charging system exchange millimeter-level position correction data to guide the fine-tuning of the robotic arm posture or beamforming angle to ensure precise docking;

[0027] The navigation system adopts multi-sensor fusion technology, combines lidar, ultrasonic sensors, and RGBD cameras to create an environmental model to achieve efficient navigation and obstacle avoidance; the positioning system uses the Kalman filter algorithm to enhance the positioning accuracy to achieve a positioning accuracy of ≤5 cm; the charging system includes a dynamic impedance matching circuit and a beamforming algorithm, the dynamic impedance matching circuit is designed with a response time of ≤200 ms, and the beamforming algorithm uses beamforming technology based on the device displacement vector; the control system is used to coordinate the work of each system to achieve the autonomous charging function of the robot.

[0028] The present invention is an intelligent device integrating multiple advanced technologies, aiming to solve the flexibility and efficiency problems in existing charging technologies. Its core components include a navigation system, a positioning system, a charging system, and a control system. The collaborative work of these systems enables the robot to achieve autonomous charging functions in various environments. The navigation system is the key for the robot to move autonomously and avoid obstacles. It adopts multi-sensor fusion technology, combining lidar, ultrasonic sensors, and RGBD cameras. The lidar provides high-precision distance measurement, the ultrasonic sensors are good at detecting close-range obstacles, and the RGBD cameras can capture visual information of the environment, including color and depth data. Through the collaborative work of these sensors, the robot can create a detailed environmental model, thus achieving efficient navigation and obstacle avoidance. The positioning system ensures that the robot can accurately know its position during movement. Its positioning accuracy is ≤5 cm, which benefits from the application of the Kalman filtering algorithm. This algorithm can fuse data from different sensors, filter out noise and interference, thereby improving the accuracy and stability of positioning. This high-precision positioning ability is crucial for the smooth operation of the robot in complex environments.

[0029] The charging system is the core functional part of the robot. It includes a dynamic impedance matching circuit and a beamforming algorithm. The design response time of the dynamic impedance matching circuit is ≤200 ms, which means that when connecting different charging devices, the circuit can quickly adjust to achieve the best charging efficiency. The beamforming algorithm compensates for energy transmission according to the device displacement vector, ensuring that within a certain distance offset range, the attenuation of energy transmission efficiency is controlled to the minimum. This combination of technologies enables the robot to adapt to the charging needs of different devices and maintain efficient energy transmission in a dynamic environment. The control system, as the brain of the robot, is responsible for coordinating the work of the navigation, positioning, and charging systems. It formulates the action strategy of the robot according to environmental information and task requirements to achieve the autonomous charging function. Through the scheduling of the control system, the robot can flexibly respond to various charging scenarios and efficiently complete the charging task whether in the home, airport, or public places.

[0030] Beamforming algorithm: Based on the device displacement vector, beamforming technology is adopted, and the formula is as follows:

[0031]

[0032] Among them, (P out ) is the output power, (P in ) is the input power, (d max ) and (d measured ) are the maximum charging distance and the actual measured distance respectively, and (n) is the attenuation coefficient.

[0033] The navigation system constructs an environmental map through the SLAM algorithm, enabling the robot to effectively identify and avoid obstacles.

[0034] The navigation system constructs an environmental map through the SLAM algorithm, enabling the robot to effectively identify and avoid obstacles; the SLAM algorithm is a technology for simultaneous localization and mapping in unknown environments; during the robot navigation process, the SLAM algorithm uses sensor data to construct an environmental map in real time and determine the position of the robot in the map; this technology enables the robot to autonomously explore and understand the surrounding environment without prior map information; in a home scenario, the environmental layout is relatively fixed but may have various obstacles, such as furniture, electrical appliances, etc.; through the SLAM algorithm, the robot can accurately identify the positions and shapes of these obstacles and record them in the map; at the same time, the algorithm can also update the map information according to real-time sensor data to cope with environmental changes; for example, when there are temporary items placed on the robot's path, the SLAM algorithm can detect and adjust the path planning in a timely manner, enabling the robot to avoid obstacles and reach the charging target position smoothly; in addition, the SLAM algorithm can also optimize the robot's path planning; by analyzing the map information, the robot can find the optimal path from the current position to the target position, reduce unnecessary movement, and improve the charging efficiency; this efficient navigation ability enables the robot to flexibly and intelligently complete the charging task in the home environment, providing a convenient charging experience for users.

[0035] The positioning system adopts UWB technology, RFID technology and two-way beacon interaction design, where the two-way beacon realizes low-power two-way communication between the device and the robot based on the Bluetooth 5.0 protocol.

[0036] The robot periodically sends beacon signals to the device to be charged, and the device returns a response signal containing authentication information after receiving it. The robot calculates the device position through the signal strength (RSSI) and time difference (ToF), while avoiding the power consumption problem caused by the continuous signal emission of the device;

[0037] The positioning system adopts UWB technology and RFID technology for precise positioning and device authentication to ensure charging safety; UWB (Ultra-Wideband) technology is a wireless communication technology that uses non-sinusoidal narrow pulses in the nanosecond to picosecond range to transmit data; it has high-precision positioning ability and can achieve centimeter-level positioning accuracy; during the robot charging process, the UWB technology accurately measures the position of the device to be charged by transmitting and receiving ultra-wideband pulse signals, thus realizing fast and accurate charging docking;

[0038] RFID (Radio-Frequency Identification) technology is used for device authentication; before charging starts, the robot reads the identity information of the device to be charged through RFID to confirm the legitimacy of the device; this step can effectively prevent illegal devices from accessing the charging system and ensure the safety and reliability of the charging process; for example, in public places, there may be various devices that need to be charged. Through RFID technology, the robot can accurately identify the user's device and provide charging services according to preset permissions; the combination of these two technologies not only improves the accuracy and reliability of positioning but also enhances the security and user management capabilities of the charging system; in practical applications, when a user needs to charge a device, simply place the device in a suitable position. The robot quickly locates the device position through UWB technology and uses RFID technology to verify the device identity, and then starts the charging process; this automated and intelligent charging method greatly improves the user experience and also ensures the safety of the charging process.

[0039] The charging system further includes an infrared thermal imaging technology, which realizes automatic emergency stop through child proximity detection to improve safety.

[0040] The charging system further includes an infrared thermal imaging technology, which realizes automatic emergency stop through child proximity detection to improve safety; the infrared thermal imaging technology can detect the infrared radiation emitted by an object, thereby perceiving the temperature distribution and object movement in the environment; during the charging process of the robot, this technology is used to monitor the surrounding environment in real time, especially to detect whether there are children approaching the charging area; when the infrared thermal imaging system detects a child approaching, it will immediately trigger the automatic emergency stop mechanism; the robot will quickly cut off the charging circuit and stop all charging operations to avoid dangerous situations such as electric shock when children come into contact with the charging device; this automated safety protection measure can effectively prevent accidents from occurring without supervision and ensure the safety of children; in addition, the infrared thermal imaging technology can also monitor temperature anomalies during the charging process; if the charging device or the robot itself overheats, the system will also issue an alarm in a timely manner and take corresponding protection measures, such as suspending charging and starting a heat dissipation device, etc.; this multi-faceted safety monitoring and protection mechanism enables the robot to operate safely and stably in various charging scenarios and provides reliable charging services for users.

[0041] The control system constructs a multi-robot collaborative charging management system to achieve centralized management of multiple charging devices and improve overall efficiency.

[0042] The control system constructs a multi-robot collaborative charging management system to achieve centralized management of multiple charging devices and improve overall efficiency. In crowded places with high charging demands such as airports, a single robot may not be able to meet all charging requests. Therefore, the present invention designs a multi-robot collaborative charging management system, which realizes efficient cooperation among multiple robots through the scheduling of the control system. The system can monitor the positions, statuses, and task progress of each robot in real time. When there is a new charging request, the control system reasonably allocates tasks according to the actual situations of each robot currently, and dispatches the nearest and idle robot to the charging location. This task allocation strategy not only improves the utilization rate of robots but also reduces the waiting time of users and enhances service quality. At the same time, the multi-robot collaborative charging management system also supports information sharing and collaborative work among robots. For example, in the face of large equipment or special charging demands, multiple robots can act jointly to complete the charging task together. In addition, the system also has the ability of fault diagnosis and emergency handling. When a certain robot fails, it can promptly schedule other robots to take over its task to ensure the continuity of the charging service. Through this centralized management multi-robot collaborative system, the charging service in public places such as airports has been greatly optimized. Robots can efficiently respond to users' charging demands, provide convenient and fast charging services, while reducing the manual management cost and improving the overall operation efficiency.

[0043] The charging system is equipped with a robotic arm to achieve auxiliary positioning, shortening the charging docking time to 8 seconds.

[0044] The charging system is equipped with a robotic arm to achieve auxiliary positioning and shorten the charging docking time to 8 seconds; in a fast-paced environment such as an airport, fast and efficient charging docking is crucial for enhancing the user experience; therefore, the present invention equips a robotic arm in the robot charging system to achieve faster and more accurate charging docking; the robotic arm has high-precision positioning ability and can accurately find the charging interface position of the device to be charged within a short time; with the assistance of the robotic arm, the robot can quickly complete the charging docking and shorten the docking time to 8 seconds; this fast docking ability not only reduces the user's waiting time but also improves the working efficiency of the robot in a high-traffic environment; in addition, the robotic arm also has a certain degree of adaptability and can be compatible with devices of different models and different interface types; whether it is a common mobile phone, tablet computer, or other special devices, the robotic arm can achieve accurate docking through preset programs and sensor feedback; this compatibility and flexibility enable the robot to meet diverse charging needs and be applicable to various complex charging scenarios; in practical applications, when the user places the device at the designated position, the robotic arm will quickly start, quickly find the charging interface of the device through visual recognition and position adjustment, and complete the docking; the whole process requires no manual intervention, greatly improving the convenience and efficiency of charging; for passengers waiting in the airport, they can quickly charge their devices in a short time, effectively alleviating the battery anxiety and enhancing the travel experience.

[0045] The robot can automatically patrol and provide wireless charging services. The user sends a charging request through a mobile device, and the robot navigates to the designated position for charging.

[0046] The robot can automatically patrol and provide wireless charging services. Users send charging requests through mobile devices, and the robot navigates to the designated location for charging. In public places such as shopping malls and libraries, the robot has an automatic patrol function and can actively detect devices that need charging. At the same time, users can also send charging requests through mobile devices such as mobile phones. After receiving the request, the robot uses its navigation system to plan the best path and go to the location designated by the user for charging. This wireless charging service mode provides great convenience for users. Users do not need to look for fixed charging piles or wait for staff assistance. They only need to send a request, and the robot will automatically come to provide charging services. For example, when shopping in a mall, users can send a request at any time through the mall's charging service application, and the robot will navigate to the location where the user is and charge the user's mobile phone or other devices. This proactive and intelligent service mode not only improves the service level in public places but also saves time and energy for users. In addition, the robot can also monitor environmental information in real time during patrol, such as the number of people and the usage of devices. Through the collection and analysis of these data, the robot can optimize the patrol route and service strategy, further improving the efficiency and quality of the charging service. This combination of autonomous patrol and on-demand service enables the robot to more flexibly and efficiently meet the charging needs of users in public places.

[0047] A control method for a mobile charging robot, comprising the following steps:

[0048] S1. Create an environmental model through the navigation system to achieve efficient navigation and obstacle avoidance; use the positioning system to achieve precise positioning, ensuring that the positioning accuracy ≤ 5 cm;

[0049] S2. Perform energy transmission compensation using the beamforming algorithm according to the device displacement vector; adapt to different charging devices through a dynamic impedance matching circuit;

[0050] S3. The control system coordinates the work of each system to achieve the autonomous charging function of the robot.

[0051] The navigation system creates an environmental model through multi-sensor fusion technology; lidar, ultrasonic sensors, and RGBD cameras work together to collect distance, obstacle, and visual information in the environment; this data is processed and fused to construct a detailed environmental map, providing a basis for the robot's navigation; during this process, the robot can identify the shapes, positions, and materials of various obstacles, thus providing accurate data support for subsequent path planning and obstacle avoidance operations; next, the positioning system uses the Kalman filtering algorithm to fuse sensor data to achieve precise positioning, ensuring that the positioning accuracy is ≤5 cm; by continuously updating the position information, the robot can accurately know its location in the environment, which is crucial for the accuracy of path planning and charging docking; the high-precision positioning ability enables the robot to maintain stable navigation performance in complex environments; then, according to the device displacement vector, the beamforming algorithm is used for energy transmission compensation; in a dynamic charging scenario, the device being charged may experience position offset, and the beamforming algorithm can adjust the direction and intensity of energy transmission according to the actual displacement of the device to ensure that the energy transmission efficiency is within an acceptable range; this dynamic compensation mechanism effectively solves the problem of a significant decrease in efficiency of traditional wireless charging devices when there is a distance offset; at the same time, the dynamic impedance matching circuit can quickly adapt to the electrical characteristics of different charging devices; when a new device is connected, the circuit automatically adjusts the impedance matching within ≤200 ms to ensure the efficiency and stability of the charging process; this fast response ability enables the robot to flexibly handle the charging requirements of various devices without manual intervention; finally, the control system, as the command center of the entire system, coordinates the work of the navigation, positioning, and charging systems; it formulates the robot's action strategies according to the environmental information and task requirements, including path planning, charging sequence arrangement, etc.; through the unified scheduling of the control system, the robot can orderly complete various charging tasks, and can achieve autonomous charging functions both in the daily scenarios of the home and in the complex environments of airports and public places, providing convenient and efficient charging services for users.

[0052] The above has described an embodiment of the present invention in detail, but the content described is only a preferred embodiment of the present invention and cannot be considered as limiting the scope of implementation of the present invention. All equivalent changes and improvements made according to the scope of the application of the present invention shall still fall within the scope covered by the patent of the present invention.

Claims

1. A mobile charging robot, characterized in that, It includes a navigation system, a positioning system, a charging system, and a control system; The positioning system transmits the coordinates of the device to be charged and the robot's own positioning data to the navigation system in real time, supporting dynamic path adjustment; The navigation system reports the environmental map, obstacle information, and planned path to the control system to assist in task priority decision-making; The control system issues charging instructions, energy parameters, and safety strategies to the charging system to trigger the charging process, and at the same time receives the docking status, battery level, and abnormal information fed back by the charging system to trigger a global response; The control system dynamically adjusts the frequency and communication protocol of the positioning system to balance accuracy and power consumption; during the charging docking phase, the navigation system and the charging system exchange millimeter-level position correction data to guide the fine-tuning of the robotic arm attitude or beamforming angle to ensure precise docking; The navigation system adopts multi-sensor fusion technology, combines lidar, ultrasonic sensors, and RGBD cameras to create an environmental model, and realizes efficient navigation and obstacle avoidance; The positioning system uses the Kalman filter algorithm to enhance the positioning accuracy, achieving a positioning accuracy of ≤ 5 cm; The charging system includes a dynamic impedance matching circuit and a beamforming algorithm. The dynamic impedance matching circuit is designed with a response time of ≤ 200 ms, and the beamforming algorithm uses beamforming technology based on the device displacement vector; The control system is used to coordinate the work of each system to achieve the autonomous charging function of the robot; Beamforming algorithm: Beamforming technology is adopted based on the device displacement vector, and the formula is as follows: Among them, (P out ) is the output power, (P in ) is the input power, (d max ) and (d measured ) are the maximum charging distance and the actually measured distance respectively, ([[]] n ) is the attenuation coefficient.

2. The mobile charging robot according to claim 1, wherein, The navigation system constructs an environmental map through the SLAM algorithm.

3. The mobile charging robot according to claim 1, wherein, The positioning system adopts UWB technology, RFID technology, and two-way beacon interaction design. Among them, the two-way beacon realizes low-power two-way communication between the device and the robot based on the Bluetooth 5.0 protocol.

4. A mobile charging robot according to claim 1, characterized in that, The charging system also includes infrared thermal imaging technology to achieve automatic emergency stop through child approach detection.

5. A mobile charging robot according to claim 1, characterized in that, The control system constructs a multi-robot collaborative charging management system to achieve centralized management of multiple charging devices.

6. The mobile charging robot according to claim 1, characterized in that, The charging system is equipped with a robotic arm to achieve auxiliary positioning.

7. A mobile charging robot according to claim 1, wherein, The robot can automatically patrol and provide wireless charging services. The user sends a charging request through a mobile device, and the robot navigates to the designated location for charging.

8. A control method for a mobile charging robot as described in claim 1, characterized in that, It includes the following steps: S1. Create an environmental model through the navigation system to achieve efficient navigation and obstacle avoidance; use the positioning system to achieve precise positioning to ensure a positioning accuracy of ≤ 5 cm; S2. According to the device displacement vector, adopt the beamforming algorithm for energy transmission compensation; adapt to different charging devices through the dynamic impedance matching circuit; S3. The control system coordinates the work of each system to achieve the autonomous charging function of the robot.

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