Charging method of sweeping robot and sweeping robot

Abstract

The invention is suitable for the technical field of robot control, and provides a charging method of a sweeping robot and the sweeping robot, and the method comprises the steps: obtaining a position relation between the sweeping robot and a charging base station according to a first preset frequency when the sweeping robot needs to be charged and the sweeping robot reaches a preset region, if the position relation is in a misalignment state, different speeds are distributed to a left side driving wheel and a right side driving wheel of the sweeping robot, and the sweeping robot is controlled to move towards the charging base station according to the speed distributed to the left side driving wheel and the speed distributed to the right side driving wheel. The sweeping robot can adjust the position relation between the sweeping robot and the charging base station while moving towards the charging base station, it is guaranteed that the position can be adjusted in real time in the process of approaching the charging base station, position deviation caused by factors such as the ground can be corrected in time, and the charging efficiency is improved. And accurate contact between the sweeping robot and the charging contact on the charging base station is ensured.

Description

Technical Field

[0001] The present application belongs to the field of robot control technology, and in particular relates to a charging method for a sweeping robot and the sweeping robot. Background Art

[0002] With the development of intelligent devices, sweeping robots have become popular smart home devices because they can automatically clean the floor and help users save time and energy.

[0003] Currently, most robot vacuums are rechargeable devices. When the robot's battery is low, it automatically returns to the charging station for recharging. To charge, the robot must first align itself with the charging station and then move directly toward it. This ensures that the charging contacts on the robot accurately contact the charging contacts on the charging station, ensuring proper charging.

[0004] However, due to the uneven ground on which the sweeping robot is located, even after the sweeping robot is aligned with the charging base station, there will be position deviations while the sweeping robot is moving toward the charging base station, causing the sweeping robot to be unable to accurately contact the charging contacts of the charging base station, affecting the charging of the sweeping robot. Summary of the Invention

[0005] The embodiments of the present application provide a charging method for a sweeping robot and a sweeping robot, which can solve the problem that the sweeping robot cannot accurately contact the charging contacts of a charging base station, thereby affecting the charging of the sweeping robot.

[0006] In a first aspect, an embodiment of the present application provides a charging method for a sweeping robot, comprising:

[0007] In response to the cleaning robot being low on power and the cleaning robot traveling to a preset area, obtaining a positional relationship between the cleaning robot and a charging base station at a first preset frequency, wherein the preset area is an area in front of the charging base station;

[0008] In response to the positional relationship including a misalignment between the cleaning robot and the charging base station, different speeds are assigned to a left drive wheel and a right drive wheel of the cleaning robot according to a deviation direction of the cleaning robot relative to the charging base station, so that the cleaning robot cannot contact the charging contacts on the charging base station for charging in the misaligned state, and the positional relationship includes the deviation direction;

[0009] The cleaning robot is controlled to move toward the charging base station according to the speed assigned to the left driving wheel and the speed assigned to the right driving wheel.

[0010] In a second aspect, an embodiment of the present application provides a sweeping robot, comprising:

[0011] a position determination module, configured to, in response to the robot vacuum being low on power and the robot vacuum driving to a preset area, obtain a positional relationship between the robot vacuum and the charging base station at a first preset frequency, wherein the preset area is an area in front of the charging base station;

[0012] a speed distribution module, configured to distribute different speeds to a left drive wheel and a right drive wheel of the cleaning robot according to a deviation direction of the cleaning robot relative to the charging base station in response to the positional relationship including that the cleaning robot and the charging base station are in a misaligned state, wherein the cleaning robot cannot contact the charging contacts on the charging base station for charging in the misaligned state, and the positional relationship includes the deviation direction;

[0013] The control module is used to control the sweeping robot to move toward the charging base station according to the speed allocated to the left driving wheel and the speed allocated to the right driving wheel.

[0014] In a third aspect, an embodiment of the present application provides a sweeping 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 charging method for the sweeping robot described in any one of the first aspects above is implemented.

[0015] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the charging method of the sweeping robot described in any one of the above-mentioned first aspects is implemented.

[0016] In a fifth aspect, an embodiment of the present application provides a computer program product. When the computer program product is run on a terminal device, the terminal device executes the charging method for the sweeping robot described in any one of the above-mentioned first aspects.

[0017] The beneficial effect of the first embodiment of the present application compared with the prior art is that when the sweeping robot needs to be charged, if the sweeping robot reaches a preset area, the positional relationship between the sweeping robot and the charging base station is obtained according to the first preset frequency. If the positional relationship is in a misaligned state, different speeds are assigned to the left drive wheel and the right drive wheel of the sweeping robot. According to the speed assigned to the left drive wheel and the speed assigned to the right drive wheel, the sweeping robot is controlled to move toward the charging base station. In the present application, since the positional relationship between the sweeping robot and the charging base station is determined according to the first preset frequency, and the speeds of the two drive wheels of the sweeping robot are adjusted according to the positional relationship, the sweeping robot in the present application can adjust the positional relationship between itself and the charging base station while moving toward the charging base station, ensuring that the position can be adjusted in real time during the process of approaching the charging base station, so as to promptly correct the positional deviation caused by factors such as the ground, and ensure that the sweeping robot can accurately contact the charging contacts on the charging base station.

[0018] It can be understood that the beneficial effects of the second to fifth aspects mentioned above can be found in the relevant description of the first aspect mentioned above, and will not be repeated here. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the embodiments or descriptions of the prior art. 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 any creative work.

[0020] Figure 1 This is a flow chart of a charging method for a sweeping robot provided in one embodiment of the present application;

[0021] Figure 2 This is a schematic diagram of a cleaning robot provided by an embodiment of the present application and a charging base station in a misaligned state;

[0022] Figure 3 This is a schematic diagram of the motion state of the sweeping robot provided by one embodiment of the present application when it is located to the left of the center of the charging base station;

[0023] Figure 4 This is a schematic diagram of the motion state of the sweeping robot provided by one embodiment of the present application when it is located to the right of the center of the charging base station;

[0024] Figure 5 This is a schematic diagram of a sweeping robot provided by an embodiment of the present application and a charging base station in an aligned state;

[0025] Figure 6This is a schematic diagram of the motion state of the sweeping robot provided by an embodiment of the present application when the sweeping robot and the charging base station are in an aligned state;

[0026] Figure 7 This is a schematic diagram of the motion trajectory of the sweeping robot provided by one embodiment of the present application when moving toward charging;

[0027] Figure 8 2 is a schematic diagram of a central axis movement process of a sweeping robot provided by an embodiment of the present application moving toward a charging base station;

[0028] Figure 9 This is a schematic diagram of the structural relationship between the positioning marker and the charging base station provided in one embodiment of the present application;

[0029] Figure 10 This is a flow chart of a method for determining the positional relationship between a sweeping robot and a charging base station provided in one embodiment of the present application;

[0030] Figure 11 This is a structural diagram of the relationship between the reflected signal and the position of the sweeping robot provided in one embodiment of the present application;

[0031] Figure 12 is a schematic diagram of a fitting line segment provided in an embodiment of the present application;

[0032] Figure 13 is a schematic diagram of a base station coordinate system provided in an embodiment of the present application;

[0033] Figure 14 2 is a schematic structural diagram of a sweeping robot provided in one embodiment of the present application. DETAILED DESCRIPTION

[0034] It should be understood that when used in the present specification and the appended claims, the term "comprising" indicates the presence of described features, integers, steps, operations, elements and / or components, but does not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components and / or collections thereof.

[0035] It will also be understood that the term "and / or" used in this specification and the appended claims refers to and includes any and all possible combinations of one or more of the associated listed items.

[0036] In addition, in the description of the present application specification and the appended claims, the terms "first", "second", "third", etc. are only used to distinguish the descriptions and cannot be understood as indicating or implying relative importance.

[0037] References to "one embodiment" or "some embodiments" in this specification mean that a particular feature, structure, or characteristic described in conjunction with the embodiment is included in one or more embodiments of the present application. Thus, phrases such as "in one embodiment," "in some embodiments," "in other embodiments," and "in yet other embodiments" appearing in various places in this specification do not necessarily refer to the same embodiment, but rather mean "one or more but not all embodiments," unless otherwise specifically emphasized.

[0038] Currently, if a robot vacuum runs low on battery, it automatically searches for the location of a charging station, moves close to it, and then automatically aligns itself to the central axis of the charging station. Once aligned, the robot vacuum moves directly toward the charging station to charge.

[0039] However, due to the uneven ground on which the sweeping robot is located, or the structure of the sweeping robot itself, even when the sweeping robot is aligned with the charging base station, it may deviate when moving straight towards the charging base station. Ultimately, when the sweeping robot reaches the charging base station, the sweeping robot is no longer aligned with the charging base station, and the charging contacts on the sweeping robot cannot contact the charging contacts on the charging base station, and the sweeping robot cannot complete charging.

[0040] Based on the above problems, this application proposes a charging method for a sweeping robot. When the sweeping robot needs to be charged, if the sweeping robot enters a preset area, the sweeping robot will continuously adjust its position based on its positional relationship with the charging base station, so that it can align itself while approaching the charging base station, so that the sweeping robot always moves around the central axis of the charging base station. Specifically, this application achieves the purpose of adjusting the sweeping robot's direction by controlling the left and right drive wheels of the sweeping robot to different speeds, thereby ensuring that the sweeping robot always moves around the central axis of the charging base station.

[0041] The following combination Figure 1 The charging method of the sweeping robot according to the embodiment of the present application is described in detail.

[0042] Figure 1 A schematic flow chart of the charging method of the sweeping robot provided in this application is shown, referring to Figure 1 , the method is described in detail as follows:

[0043] S101 : In response to a cleaning robot having low battery and the cleaning robot traveling to a preset area, obtaining a positional relationship between the cleaning robot and a charging base station according to a first preset frequency.

[0044] The preset area is an area located in front of the charging base station and is used for charging and aligning the sweeping robot.

[0045] In this embodiment, the power level of the sweeping robot is the remaining power level of the battery in the sweeping robot. When the remaining power level is less than a preset power level, the sweeping robot is determined to be low on power. The preset power level is set as needed, for example, the preset power level can be 10% or 15%.

[0046] The preset area is an area established based on the charging base station. The preset area is directly in front of the charging base station and can be a square area or a circular area. The robot vacuum starts charging and aligning when it enters the preset area.

[0047] In this embodiment, the first preset frequency can be set as needed. For example, the first preset frequency can be set every 1 second or every 0.5 second.

[0048] The positional relationship between the robot vacuum and the charging base station can be determined based on the robot vacuum's and charging base station's locations. For example, the robot vacuum's radar can be used to determine the charging base station's location. Finally, the robot vacuum and charging base station are mapped into the same coordinate system to determine their positional relationship. Alternatively, the robot vacuum can locate the charging base station using a lidar radar and capture an image of the charging base station using a camera. Finally, by fusing the radar and image data, data about the charging base station can be obtained, such as its length, width, height, and coordinates. The image data can be used to determine the charging base station's appearance and shape, while the radar data can be used to construct a three-dimensional map and the charging base station's location information. Therefore, the charging base station data obtained through data fusion is more accurate and comprehensive. A three-dimensional map of the charging base station and the robot vacuum can be constructed based on the obtained charging base station data. Based on this three-dimensional map of the charging base station and the robot vacuum, the positional relationship between the charging base station and the robot vacuum can be determined.

[0049] The positional relationship between the robot vacuum cleaner and the charging base station can include the degree and direction of deviation between the central axis of the robot vacuum cleaner and the central axis of the charging base station. The degree of deviation can be characterized by the deviation distance, which refers to the lateral distance between the central axis of the charging base station and the central axis of the robot vacuum cleaner. The deviation direction refers to the direction of deviation of the robot vacuum cleaner relative to the charging base station in the left-right direction of the charging base station.

[0050] As an example, Figure 2 As shown, the central axis of the sweeping robot 2 is not aligned with the central axis of the charging base station 1 , and the sweeping robot 2 is located to the left of the center of the charging base station 1 .

[0051] In another embodiment, before the sweeping robot reaches the preset area, the sweeping robot uses infrared to scan the charging base station, and then guides the sweeping robot to move to the preset area and to the area near the central axis of the charging base station, so as to achieve the purpose of rough alignment between the charging base station and the sweeping robot.

[0052] S102 , in response to the positional relationship including the cleaning robot and the charging base station being in a misaligned state, assigning different speeds to a left driving wheel and a right driving wheel of the cleaning robot according to a deviation direction of the cleaning robot relative to the charging base station.

[0053] In this embodiment, the cleaning robot cannot contact the charging contacts on the charging base station for charging in a misaligned state, and the positional relationship includes the deviation direction.

[0054] The misalignment state means that the central axis of the charging base station is not aligned with the central axis of the sweeping robot.

[0055] If the sweeping robot is in a misaligned state with the charging base station, if the sweeping robot continues to move in a straight line, the sweeping robot will continue to deviate from the central axis of the charging base station. Therefore, in order to adjust the sweeping robot to the central axis of the charging base station, different speeds need to be assigned to the left drive wheel and the right drive wheel of the sweeping robot so that the sweeping robot approaches the central axis of the charging base station.

[0056] Specifically, if the deviation direction is that the sweeping robot is to the left of the center of the charging base station, a first speed is assigned to the left driving wheel and a second speed is assigned to the right driving wheel, and the first speed is greater than the second speed.

[0057] If the deviation direction is that the sweeping robot is to the right of the center of the charging base station, the third speed is assigned to the left driving wheel and the fourth speed is assigned to the right driving wheel, and the third speed is lower than the fourth speed.

[0058] In this embodiment, if the sweeping robot is located to the left of the center of the charging base station, the sweeping robot needs to be moved to the right of the charging base station. Therefore, allocating a greater speed to the left driving wheel of the sweeping robot can make the sweeping robot deflect to the right (or twist to the right). Figure 3 shown.

[0059] If the sweeping robot is located to the right of the center of the charging base station, it is necessary to move the sweeping robot to the left of the charging base station. Therefore, allocating a greater speed to the right driving wheel of the sweeping robot can make the sweeping robot deflect to the left (or twist to the left). Figure 4 shown.

[0060] In another embodiment, the cleaning robot and the charging base station are aligned. Figure 5 As shown, the central axis of the sweeping robot 2 is exactly aligned with the central axis of the charging base station 1 .

[0061] In response to the positional relationship including the cleaning robot and the charging base station being aligned, the same speed is assigned to the left driving wheel and the right driving wheel of the cleaning robot. When the speeds of the left driving wheel and the right driving wheel of the cleaning robot are the same, the cleaning robot is traveling in a straight line, such as Figure 6 shown.

[0062] S103 , controlling the cleaning robot to move toward the charging base station according to the speed assigned to the left driving wheel and the speed assigned to the right driving wheel.

[0063] In this embodiment, the robot vacuum is controlled to move closer to or farther from the charging base station by controlling the clockwise or counterclockwise rotation of the left and right drive wheels. For example, if the robot vacuum moves toward the charging base station when the drive wheels rotate clockwise, the robot vacuum will be controlled to rotate clockwise at the assigned speed.

[0064] In this embodiment, since the position relationship between the sweeping robot and the charging base station is obtained according to the first preset frequency in this application, and the speed of the left driving wheel and the right driving wheel is determined, the sweeping robot travels according to the speed assigned this time before the position relationship is obtained next time.

[0065] As an example, Figure 7 The driving trajectory of the sweeping robot is shown.

[0066] In the first acquired position relationship, the robot vacuum cleaner is aligned with the charging base station. The speed assigned to the left drive wheel is equal to the speed assigned to the right drive wheel, and the robot vacuum cleaner drives in a straight line at the first assigned speed. During straight-line driving, the robot vacuum cleaner's direction may deviate due to factors such as the ground surface.

[0067] After the speeds of the left driving wheel and the right driving wheel are determined for the second time based on the positional relationship, the vehicle starts traveling at the speed determined for the second time.

[0068] If the position relationship obtained for the second time includes that the sweeping robot is located to the right of the center of the charging base station, the speed allocated to the left driving wheel is lower than the speed to the right driving wheel, and the sweeping robot travels at the speed allocated for the second time.

[0069] If the position relationship obtained for the third time includes that the sweeping robot is located to the left of the center of the charging base station, then the speed allocated to the left driving wheel is greater than the speed to the right driving wheel, and the sweeping robot travels at the speed allocated for the third time.

[0070] When the position relationship obtained for the fourth time includes that the sweeping robot and the charging base station are aligned, the speed allocated to the left driving wheel is equal to the speed to the right driving wheel, and the sweeping robot travels in a straight line according to the speed allocated for the fourth time.

[0071] According to this cycle, the position of the sweeping robot is adjusted during the driving process, so that the sweeping robot continuously approaches the central axis of the charging base station during the driving process.

[0072] It should be noted that the speed allocated by the sweeping robot each time can be set as needed.

[0073] In the present application, when the sweeping robot needs to be charged, if the sweeping robot reaches a preset area, the positional relationship between the sweeping robot and the charging base station is obtained according to a first preset frequency. If the positional relationship is in a misaligned state, different speeds are assigned to the left drive wheel and the right drive wheel of the sweeping robot. According to the speed assigned to the left drive wheel and the speed assigned to the right drive wheel, the sweeping robot is controlled to move toward the charging base station. In the present application, since the positional relationship between the sweeping robot and the charging base station is determined according to the first preset frequency, and the speeds of the two drive wheels of the sweeping robot are adjusted according to the positional relationship, the sweeping robot can adjust the positional relationship between itself and the charging base station while moving toward the charging base station, ensuring that the position can be adjusted in real time while approaching the charging base station, so as to correct the positional deviation caused by factors such as the ground in real time, and ensure that the sweeping robot can accurately contact the charging contacts on the charging base station.

[0074] Furthermore, since the robot vacuum constantly adjusts its direction while traveling toward the charging base station, it twists and turns. If this continues, the robot vacuum could overtravel and deviate from the central axis of the charging base station when it comes into contact with the charging base station. To avoid this, the robot vacuum stops twisting when it detects it is close to the charging base station, allowing it to better align with the charging base station.

[0075] Therefore, the above method may further include:

[0076] S11 , during the process of controlling the sweeping robot to move toward the charging base station, if it is detected that the front-to-back distance between the sweeping robot and the charging base station is less than a second preset distance, determining the positional relationship between the sweeping robot and the charging base station.

[0077] In this embodiment, the second preset distance is set as needed. For example, the second preset distance may be 2 centimeters or 3 centimeters.

[0078] S12, if the positional relationship includes that the sweeping robot and the charging base station are in a misaligned state, control the sweeping robot to rotate a second angle so that the front of the sweeping robot points to a third direction, and the third direction is opposite to the deviation direction of the sweeping robot relative to the charging base station.

[0079] In this embodiment, with the front of the sweeping robot pointing to the charging base station, if the sweeping robot is located to the left of the center of the charging base station, the sweeping robot is controlled to rotate 90 degrees to the right so that the front of the sweeping robot points to the central axis direction of the charging base station; if the sweeping robot is located to the right of the center of the charging base station, the sweeping robot is controlled to rotate 90 degrees to the left so that the front of the sweeping robot points to the central axis direction of the charging base station.

[0080] The third direction is a direction of reducing the deviation distance.

[0081] S13, controlling the sweeping robot to move forward, and the moving distance is the deviation distance.

[0082] In this embodiment, the cleaning robot is controlled to move forward so that the cleaning robot reaches the central axis position of the charging base station, that is, the cleaning robot is aligned with the charging base station.

[0083] For example, if the deviation distance between the sweeping robot and the charging base station is 5 centimeters, the sweeping robot is controlled to move forward 5 centimeters.

[0084] S14, controlling the sweeping robot to rotate in a fourth direction by a second angle, where the fourth direction is opposite to the third direction.

[0085] In this embodiment, in order to make the cleaning robot continue to move toward the charging base station, the cleaning robot needs to be rotated back to the initial direction.

[0086] For example, if the sweeping robot rotates 90 degrees to the left, then after traveling the deviation distance, the sweeping robot needs to rotate 90 degrees to the right.

[0087] It should be noted that, in the process of step S11 to step S14, the front-to-back distance between the sweeping robot and the charging base station remains unchanged, only the left-right position deviation between the sweeping robot and the charging base station changes, and the sweeping robot and the charging base station are aligned.

[0088] S15, controlling the sweeping robot to drive in a straight line to the charging base station.

[0089] As an example, Figure 8The rotation process of the sweeping robot is shown in FIG. Figure 8 In (a), the sweeping robot is located to the left of the center of the charging base station. In order to move toward the central axis of the charging base station, the sweeping robot needs to move to the right. Figure 8 As shown in (b) in the figure, the sweeping robot rotates 90 degrees to the right. After the front of the sweeping robot points to the central axis of the charging base station, the sweeping robot moves forward by a deviation distance so that the central axis of the charging base station is aligned with the central axis of the sweeping robot, as shown in FIG. Figure 8 As shown in (c) in FIG. After the sweeping robot is aligned with the charging base station, the sweeping robot rotates 90 degrees to the left, as shown in FIG. Figure 8 As shown in (d) in the figure, the sweeping robot can drive straight to the charging base station to complete charging.

[0090] In the present application, when the front-to-back distance between the sweeping robot and the charging base station is less than the second preset distance, it means that the distance between the sweeping robot and the charging base station is very close. In order to align the charging contacts of the sweeping robot with the charging contacts of the charging base station, the present application adjusts the position deviation between the sweeping robot and the charging base station by lateral movement so that the sweeping robot is aligned with the charging base station. In this case, since the sweeping robot is very close to the charging base station, the sweeping robot will not yaw when traveling in a straight line. The sweeping robot can make full contact with the charging contacts of the charging base station when traveling in a straight line, and then complete charging, ensuring the precise alignment of the sweeping robot and the charging base station.

[0091] In one possible implementation, when determining the positional relationship between the sweeping robot and the charging base station, the radar device on the sweeping robot, such as a laser radar, scans the surrounding objects to determine the position of the charging base station, and then determines the positional relationship between the sweeping robot and the charging base station.

[0092] In order to more accurately determine the location of the charging base station, a positioning mark is set on the charging base station. The intensity of the reflected signal when the laser signal is irradiated on the positioning mark is different from the intensity of the reflected signal when the laser signal is irradiated on other objects. Therefore, the location of the charging base station can be determined based on the reflected signal.

[0093] Specifically, a positioning mark is provided on the front surface of the charging base station; when the sweeping robot is aligned with the positioning mark, the sweeping robot is aligned with the charging base station, and in the aligned state, the sweeping robot can contact the charging contacts of the charging base station for charging. The central axis of the positioning mark is aligned with the central axis of the charging base station, for example, Figure 9 The schematic diagram of the charging base station 1 and the positioning mark 3 is shown, and the positioning mark 3 is set on the front surface of the charging base station 1.

[0094] The positioning mark can be a sticker made of highly reflective material, such as aluminum. The positioning mark can be a whole mark, or it can be composed of three sub-marks, etc. There is no restriction here. If the positioning mark is composed of three sub-marks, the three sub-marks are on the same horizontal line, such as Figure 9 shown.

[0095] Specifically, in step S101, obtaining the position relationship between the sweeping robot and the charging base station according to the first preset frequency includes:

[0096] S1011: Control the radar device on the sweeping robot to rotate one circle according to the first preset frequency, and the radar device emits a laser signal according to a second preset frequency during the rotation.

[0097] In this embodiment, the second preset frequency can be set as needed, and the sweeping robot does not rotate when the radar device rotates.

[0098] S1012: Acquire signal data of a reflection signal of the laser signal, where the signal data includes signal strength and signal position.

[0099] In this embodiment, after the laser signal is irradiated onto an obstacle, the obstacle reflects the laser signal to form a reflected signal. Different obstacles have different reflection intensities on the laser signal. Therefore, the intensities of the reflected signals received from different obstacles are different.

[0100] The signal position includes the distance between the radar device and the obstacle when the laser signal is emitted, which is recorded as the reflection distance; and the angle at which the radar device rotates when the laser signal is emitted, which is recorded as the emission angle.

[0101] S1013: Obtain a target signal from the reflected signal based on the signal strength of each reflected signal, where the target signal is a reflected signal reflected by the positioning marker.

[0102] In this embodiment, since the material of the positioning marker is different from that of other obstacles (such as the charging base station), the signal strength of the reflected signal reflected by the positioning marker is different from that of other obstacles. Therefore, the target signal can be extracted based on the signal strength of the reflected signal.

[0103] Specifically, if the positioning marker is made of a highly reflective material, a reflection signal having a signal strength greater than a first preset strength is screened from all reflection signals, and the reflection signal having a signal strength greater than the first preset strength is the reflection signal reflected by the positioning marker.

[0104] If the material of the positioning mark is a low-reflection material, the reflection signal with a signal strength less than a second preset strength is screened from all the reflection signals, and the reflection signal with a signal strength less than the second preset strength is the reflection signal reflected by the positioning mark.

[0105] S1014: Obtain a positional relationship between the sweeping robot and the charging base station based on the signal position of the target signal.

[0106] In this embodiment, an environment map is constructed based on the signal position of the target signal, and the relative positions of the radar device and the positioning marker are displayed in the environment map. The positional relationship between the sweeping robot and the charging base station is determined based on the relative positions of the radar device and the positioning marker.

[0107] Alternatively, the polar coordinates of the target signal (reflection distance r and emission angle θ) are converted to rectangular coordinates (x, y): x = r × cos(θ); y = r × sin(θ). The converted (x, y) coordinates represent the position of the positioning marker relative to the radar device. The position of the sweeping robot relative to the charging base station is determined based on the position of the positioning marker relative to the radar device.

[0108] Alternatively, the signal position of the target signal is input into the trained neural network to obtain the positional relationship between the sweeping robot and the charging base station.

[0109] Alternatively, taking the central axis of the sweeping robot as the dividing line, count the first number of target signals on the left side of the dividing line and the second number of target signals on the right side of the dividing line; if the first number is equal to the second number, it is determined that the positional relationship between the sweeping robot and the charging base station is in an aligned state; if the first number is greater than the second number, it indicates that the positional relationship between the sweeping robot and the charging base station is in a misaligned state, and the sweeping robot is located to the right of the center of the charging base station; if the first number is less than the second number, it indicates that the positional relationship between the sweeping robot and the charging base station is in a misaligned state, and the sweeping robot is located to the left of the center of the charging base station.

[0110] In the present application, a laser signal is emitted by a radar device to obtain a reflected signal, and the reflected signal reflected by the positioning marker is screened out from the reflected signal. The positional relationship between the sweeping robot and the charging base station is determined based on the signal position of the reflected signal reflected by the positioning marker. Since the reflected signal of the positioning marker is different from the reflected signals of other obstacles, the reflected signal of the positioning marker is easier to accurately screen out. Therefore, the positional relationship between the sweeping robot and the charging base station can be more accurately determined based on the reflected signal of the accurate positioning marker. In addition, since the number of reflected signals of the positioning marker is limited, using the limited reflected signals to determine the positional relationship between the sweeping robot and the charging base station can reduce the amount of data processing and improve computing efficiency.

[0111] like Figure 10 As shown, in a possible implementation, the implementation process of the above step S1014 may further include:

[0112] S201 : Perform straight line fitting on the target signal based on the signal position of the target signal to obtain a fitting line segment of the target signal.

[0113] In this embodiment, the least square method is used to perform straight line fitting on the target signal to obtain a fitting line segment of the target signal, and then obtain the projection of each target signal on the fitting line segment.

[0114] In one achievable manner, if the positioning identifier consists of a segment of identifiers, all target signals in the segment may be selected for linear fitting, or a preset number of target signals may be selected for linear fitting, which is not limited here.

[0115] In another possible implementation, if the positioning mark consists of multiple segments, for example Figure 9 The positioning mark in the image is composed of three segments: ab, cd and ef. According to the signal position of the target signal, the position relationship between the constructed sweeping robot and the target signal can be referred to Figure 11 shown.

[0116] If the target signals in the three segments ab, cd and ef are roughly on a straight line, all the reflection signals between ab, cd and ef or a preset number of reflection signals can be selected for straight line fitting.

[0117] If Figure 11 As shown, the reflection signals between be are roughly on the same straight line, while the reflection signals between ab and ef are not on the same straight line as the reflection signals between be. In order to accurately fit the straight line, the reflection signal between dc is selected for straight line fitting. Alternatively, in order to select as many fitting points as possible and ensure the accuracy of the fitting line segment, the reflection signal between be is selected for straight line fitting to obtain the fitting line segment, as shown in Figure 12 shown.

[0118] Furthermore, since the length of each segment of the positioning marker is pre-set, if the signal strength of the reflected signal at point b does not meet the required level when screening the reflected signal from the positioning marker, the system can index to the left or right of point b to find the closest reflected signal to point b that meets the required level (e.g., greater than a preset level) as the reflected signal at point b. The processing of the reflected signal at point e is the same as that at point b and will not be repeated here.

[0119] It should be noted that in order to create a base station coordinate system based on the fitting line segment, when selecting reflected signals for straight line fitting, the selected reflected signals need to include reflected signals at the endpoints of the positioning markers.

[0120] S202. Obtain a base station coordinate system of the charging base station, where the origin of the base station coordinate system is the midpoint of the fitted line segment, the horizontal axis of the base station coordinate system is the straight line on which the fitted line segment is located, and the vertical axis of the base station coordinate system is a straight line perpendicular to the horizontal axis, and the horizontal axis and the vertical axis are in a horizontal plane.

[0121] In this embodiment, if Figure 13 In the base station coordinate system shown, the origin of the base station coordinate system is the midpoint of the be segment, the straight line where the be segment is located is the horizontal axis, and the straight line perpendicular to the horizontal axis and on the same horizontal plane is the vertical axis.

[0122] S203: Map the cleaning robot to the base station coordinate system to obtain a positional relationship between the cleaning robot and the charging base station.

[0123] In this embodiment, since the target signals are all determined based on the radar equipment, coordinate conversion is required to convert the sweeping robot from the radar coordinate system corresponding to the radar equipment to the base station coordinate system to obtain the positional relationship between the sweeping robot and the charging base station.

[0124] In this application, by performing linear fitting on the target signal, a relatively accurate position of the positioning marker can be obtained. Then, based on the accurate position of the positioning marker, the positional relationship between the sweeping robot and the charging base station can be quickly determined, and the determined positional relationship can be made more accurate.

[0125] In one possible implementation, in order to reduce the alignment error of the sweeping robot when it approaches the charging base station in the future, after the sweeping robot enters the preset area, the positional relationship between the sweeping robot and the charging base station can be determined according to the above steps S1011 to S1014, and then, according to the deviation distance (deviation in the horizontal axis direction) between the sweeping robot and the charging base station, the sweeping robot is moved to the central axis of the charging base station, that is, the position directly in front of the charging base station, using the process of the above steps S12 to S14. For details, please refer to Figure 8 The process will not be described in detail here.

[0126] In addition, in order to ensure that the sweeping robot does not deviate too much from the central axis of the charging base station when approaching the charging base station, and to ensure that the sweeping robot twists forward at the central axis position of the charging base station, the sweeping robot needs to detect the deviation distance between the sweeping robot and the charging base station during the process of moving towards the charging base station, and determine the control strategy based on the deviation distance.

[0127] Specifically, the above method may further include:

[0128] S21 : In response to the positional relationship including that the cleaning robot and the charging base station are in a misaligned state, obtaining a deviation distance between the cleaning robot and the charging base station, wherein the positional relationship includes the deviation distance.

[0129] S22 : If the deviation distance is less than or equal to a first preset distance, assigning different speeds to the left driving wheel and the right driving wheel of the cleaning robot according to the deviation direction of the cleaning robot relative to the charging base station.

[0130] In this embodiment, the first preset distance can be set as needed. For example, the first preset distance can be set to 5 centimeters or 8 centimeters.

[0131] S23, if the deviation distance is greater than the first preset distance, control the sweeping robot to rotate a first angle so that the front of the sweeping robot points to a first direction, and the first direction is opposite to the deviation direction of the sweeping robot relative to the charging base station.

[0132] In this embodiment, if the deviation distance is greater than the first preset distance, it means that the deviation between the sweeping robot and the central axis of the charging base station is large. At this time, if the sweeping robot continues to be controlled to move toward the charging base station according to the method of step S102, on the one hand, it cannot be guaranteed that the sweeping robot is near the central axis of the charging base station, and the deviation between the sweeping robot and the charging base station may become larger and larger; on the other hand, it will extend the time for the sweeping robot to move to the charging base station; therefore, the sweeping robot needs to be moved back to the central axis of the charging base station before it can continue to move toward the charging base station to ensure that the sweeping robot can move near the central axis of the charging base station.

[0133] S24, controlling the sweeping robot to move forward, and the moving distance is the deviation distance.

[0134] S25 , after the cleaning robot moves forward by the deviation distance, controlling the cleaning robot to rotate in a second direction by the first angle, where the second direction is opposite to the first direction.

[0135] For the description of steps S23 to S25 , please refer to the above-mentioned steps S12 to S14 , which will not be repeated here.

[0136] In a possible implementation, after step S22, the method may further include:

[0137] If the deviation distance is greater than the first preset distance and the deviation distance is less than or equal to the third preset distance, the above steps S23 to S25 are executed.

[0138] If the deviation distance is greater than the third preset distance, the sweeping robot is first controlled to move a preset length away from the charging base station, and then, according to the deviation distance between the sweeping robot and the charging base station (deviation in the horizontal axis direction), the sweeping robot is moved to the central axis of the charging base station using the above steps S12 to S14; finally, the above steps S101 to S103 are executed.

[0139] In one possible implementation, due to the different ground conditions on which the sweeping robot is located or its own equipment, such as the presence of carpet on the ground, a slippery road surface, or a mop holder installed on the robot, the sweeping robot may slip during movement, that is, the wheels of the sweeping robot are rotating, but the sweeping robot is not moving. At this time, the sweeping robot can be moved by increasing the speed of the driving wheels.

[0140] Specifically, the above method may further include:

[0141] S301 , in the process of controlling the sweeping robot to move toward the charging base station, monitoring the travel distance of the sweeping robot within a preset time period.

[0142] S302: If the driving distance is less than a preset distance, increase the speed of the left driving wheel and increase the speed of the right driving wheel.

[0143] Specifically, if the travel distance is less than the preset distance, the speed of the left drive wheel is increased to the first speed, the speed of the right drive wheel is increased to the second speed, and the robot vacuum is controlled to move a fourth preset distance toward the charging base station. After moving the fourth preset distance, the left and right drive wheels are restored to their previous speeds, i.e., the speeds before the speed increase.

[0144] When the left drive wheel is at the first speed and the right drive wheel is at the second speed, if the robot vacuum travels less than a preset distance within a preset time period, the speed of the left drive wheel is increased to a third speed, which is greater than the first speed; and the speeds of both right drive wheels are increased to a fourth speed, which is greater than the second speed. The robot vacuum is controlled to move a fifth preset distance toward the charging base station. After moving the fifth preset distance, the left and right drive wheels are restored to their previous speeds, i.e., the speeds before the speed increase.

[0145] In the present application, when the sweeping robot slips, the speed of the driving wheels of the sweeping robot is increased so that the sweeping robot can get rid of the current abnormal road surface as quickly as possible to ensure that the sweeping robot can operate normally.

[0146] 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 this application.

[0147] Corresponding to the charging method of the sweeping robot described in the above embodiment, an embodiment of the present application provides a sweeping robot, including: a position determination module, a speed distribution module and a control module.

[0148] wherein the position determination module is configured to obtain a positional relationship between the sweeping robot and the charging base station according to a first preset frequency in response to the sweeping robot being low on power and the sweeping robot traveling to a preset area, wherein the preset area is an area located in front of the charging base station;

[0149] a speed distribution module, configured to distribute different speeds to a left drive wheel and a right drive wheel of the cleaning robot according to a deviation direction of the cleaning robot relative to the charging base station in response to the positional relationship including that the cleaning robot and the charging base station are in a misaligned state, wherein the cleaning robot cannot contact the charging contacts on the charging base station for charging in the misaligned state, and the positional relationship includes the deviation direction;

[0150] The control module is used to control the sweeping robot to move toward the charging base station according to the speed allocated to the left driving wheel and the speed allocated to the right driving wheel.

[0151] In a possible implementation, the speed distribution module may be specifically used to:

[0152] If the deviation direction is that the cleaning robot is to the left of the center of the charging base station, a first speed is assigned to the left driving wheel and a second speed is assigned to the right driving wheel, and the first speed is greater than the second speed;

[0153] If the deviation direction is that the sweeping robot is to the right of the center of the charging base station, the third speed is assigned to the left driving wheel and the fourth speed is assigned to the right driving wheel, and the third speed is lower than the fourth speed.

[0154] In a possible implementation, a positioning mark is provided on the front surface of the charging base station; when the sweeping robot is aligned with the positioning mark, the sweeping robot is aligned with the charging base station, and in the aligned state, the sweeping robot can contact the charging contact for charging;

[0155] The location determination module can be used specifically for:

[0156] Controlling the radar device on the sweeping robot to rotate one circle according to the first preset frequency, and the radar device to emit a laser signal according to the second preset frequency during the rotation;

[0157] Acquiring signal data of a reflection signal of the laser signal, wherein the signal data includes signal strength and signal position;

[0158] Obtaining a target signal from the reflected signal based on the signal strength of each reflected signal, the target signal being a reflected signal reflected by the positioning marker;

[0159] Based on the signal position of the target signal, a positional relationship between the sweeping robot and the charging base station is obtained.

[0160] In one possible implementation, the location determination module may be specifically configured to:

[0161] Based on the signal position of the target signal, performing straight line fitting on the target signal to obtain a fitting line segment of the target signal;

[0162] Obtain a base station coordinate system of the charging base station, where the origin of the base station coordinate system is the midpoint of the fitted line segment, the horizontal axis of the base station coordinate system is the straight line on which the fitted line segment is located, and the vertical axis of the base station coordinate system is a straight line perpendicular to the horizontal axis, and the horizontal axis and the vertical axis are in a horizontal plane;

[0163] The sweeping robot is mapped in the base station coordinate system to obtain the positional relationship between the sweeping robot and the charging base station.

[0164] In a possible implementation, the speed distribution module may be specifically used to:

[0165] In response to the positional relationship including the cleaning robot and the charging base station being in a misaligned state, acquiring a deviation distance between the cleaning robot and the charging base station, the positional relationship including the deviation distance;

[0166] If the deviation distance is less than or equal to a first preset distance, different speeds are assigned to the left driving wheel and the right driving wheel of the cleaning robot according to the deviation direction of the cleaning robot relative to the charging base station.

[0167] In a possible implementation, the speed distribution module may further be used to:

[0168] If the deviation distance is greater than the first preset distance, controlling the cleaning robot to rotate by a first angle so that the front of the cleaning robot points to a first direction, the first direction being opposite to the deviation direction of the cleaning robot relative to the charging base station;

[0169] Controlling the sweeping robot to move forward, and the moving distance is the deviation distance;

[0170] The cleaning robot is controlled to rotate in a second direction by the first angle, where the second direction is opposite to the first direction.

[0171] In a possible implementation, the speed distribution module may also be used to:

[0172] During the process of controlling the sweeping robot to move toward the charging base station, monitoring the travel distance of the sweeping robot within a preset time period;

[0173] If the travel distance is less than a preset distance, the speed of the left driving wheel is increased, and the speed of the right driving wheel is increased.

[0174] It should be noted that the information interaction, execution process, etc. between the above-mentioned devices / units are based on the same concept as the method embodiment of this application. Their specific functions and technical effects can be found in the method embodiment section and will not be repeated here.

[0175] Those skilled in the art can clearly understand that, for the convenience and brevity of description, only the division of the above-mentioned functional units and modules is used as an example for illustration. In actual applications, the above-mentioned functions can be distributed and 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 into one processing unit, or each unit can exist physically alone, or two or more units can be integrated into 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, and will not be repeated here.

[0176] The present application also provides a sweeping robot. Figure 14 The cleaning robot 400 may include: at least one processor 410, a memory 420, and a computer program stored in the memory 420 and executable on the at least one processor 410. When the processor 410 executes the computer program, the steps in any of the above-mentioned method embodiments are implemented, for example Figure 1 Alternatively, when the processor 410 executes the computer program, the functions of the modules / units in the above-mentioned device embodiments are realized, such as the functions of the position determination module to the control module.

[0177] For example, the computer program can be divided into one or more modules / units, one or more modules / units are stored in the memory 420 and executed by the processor 410 to complete the present application. The one or more modules / units can be a series of computer program segments that can complete specific functions, and the program segments are used to describe the execution process of the computer program in the cleaning robot 400.

[0178] Those skilled in the art will understand that Figure 14 This is only an example of a sweeping robot and does not constitute a limitation on the sweeping robot. The robot may include more or fewer components than shown in the figure, or a combination of certain components, or different components, such as input and output devices, network access devices, buses, etc.

[0179] The processor 410 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. The general-purpose processor may be a microprocessor or any conventional processor.

[0180] The memory 420 can be an internal storage unit of the robot vacuum cleaner, or an external storage device of the robot vacuum cleaner, such as a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash memory card, etc. The memory 420 is used to store the computer program and other programs and data required by the robot vacuum cleaner. The memory 420 can also be used to temporarily store data that has been output or is about to be output.

[0181] The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus. Buses can be classified into address buses, data buses, and control buses. For ease of illustration, the buses in the drawings of this application are not limited to just one bus or just one type of bus.

[0182] The charging method of the sweeping robot provided in the embodiment of the present application can be applied to sweeping robots such as computers, tablet computers, laptop computers, netbooks, and personal digital assistants (PDAs). The embodiment of the present application does not impose any restrictions on the specific type of sweeping robots.

[0183] In the above embodiments, the description of each embodiment has its own focus. For parts that are not described or recorded in detail in a certain embodiment, reference can be made to the relevant description of other embodiments.

[0184] Those skilled 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 beyond the scope of this application.

[0185] In the embodiments provided in the present application, it should be understood that the disclosed sweeping robots, devices and methods can be implemented in other ways. For example, the sweeping robot embodiments described above are merely schematic. For example, the division of the modules or units is merely a logical function division. In actual implementation, there may be other division methods, such as multiple units or components that 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 an indirect coupling or communication connection through some interfaces, devices or units, which can be electrical, mechanical or other forms.

[0186] The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of these units may be selected to achieve the purpose of this embodiment according to actual needs.

[0187] In addition, the functional units in the various embodiments of the present application may be integrated into a single processing unit, or each unit may exist physically separately, or two or more units may be integrated into a single unit. The aforementioned integrated units may be implemented in the form of hardware or software functional units.

[0188] If the integrated 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 when the computer program is executed by one or more processors, it can implement the steps of the above-mentioned various method embodiments.

[0189] If the integrated 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 when the computer program is executed by one or more processors, it can implement the steps of the above-mentioned various method embodiments.

[0190] Similarly, as a computer program product, when the computer program product is run on a terminal device, the terminal device can implement the steps in the above-mentioned various method embodiments when executing the computer program product.

[0191] The computer program includes computer program code, which may be in source code form, object code form, executable file, or some intermediate form. The computer-readable medium may include any entity or device capable of carrying the computer program code, a recording medium, a USB flash drive, a mobile hard disk, a magnetic disk, an optical disk, a computer memory, a read-only memory (ROM), a random access memory (RAM), an electric carrier signal, a telecommunication signal, and a software distribution medium. It should be noted that the content of the computer-readable medium may 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 media do not include electric carrier signals and telecommunication signals.

[0192] The above-described embodiments 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, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. These modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the present application, and should all be included in the scope of protection of the present application.

Claims

1. A method for charging a sweeping robot, characterized in that: include: In response to the cleaning robot being low on power and the cleaning robot traveling to a preset area, obtaining a positional relationship between the cleaning robot and a charging base station at a first preset frequency, wherein the preset area is an area in front of the charging base station; In response to the positional relationship including a misalignment between the cleaning robot and the charging base station, different speeds are assigned to a left drive wheel and a right drive wheel of the cleaning robot according to a deviation direction of the cleaning robot relative to the charging base station, so that the cleaning robot cannot contact the charging contacts on the charging base station for charging in the misaligned state, and the positional relationship includes the deviation direction; The cleaning robot is controlled to move toward the charging base station according to the speed assigned to the left driving wheel and the speed assigned to the right driving wheel.

2. The charging method of the sweeping robot according to claim 1, wherein: Allocating different speeds to the left driving wheel and the right driving wheel of the cleaning robot according to the deviation direction of the cleaning robot relative to the charging base station, including: If the deviation direction is that the cleaning robot is to the left of the center of the charging base station, a first speed is assigned to the left driving wheel and a second speed is assigned to the right driving wheel, and the first speed is greater than the second speed; If the deviation direction is that the sweeping robot is to the right of the center of the charging base station, the third speed is assigned to the left driving wheel and the fourth speed is assigned to the right driving wheel, and the third speed is lower than the fourth speed.

3. The charging method of the sweeping robot according to claim 1, wherein: A positioning mark is provided on the front surface of the charging base station; when the sweeping robot is aligned with the positioning mark, the sweeping robot is aligned with the charging base station, and in the aligned state, the sweeping robot can contact the charging contact point for charging; The acquiring the position relationship between the sweeping robot and the charging base station according to the first preset frequency includes: Controlling the radar device on the sweeping robot to rotate one circle according to the first preset frequency, and the radar device to emit a laser signal according to the second preset frequency during the rotation; Acquiring signal data of a reflection signal of the laser signal, wherein the signal data includes signal strength and signal position; Obtaining a target signal from the reflected signal based on the signal strength of each reflected signal, the target signal being a reflected signal reflected by the positioning marker; Based on the signal position of the target signal, a positional relationship between the sweeping robot and the charging base station is obtained.

4. The charging method of the sweeping robot according to claim 3, wherein: The obtaining of a positional relationship between the sweeping robot and the charging base station based on the signal position of the target signal includes: Based on the signal position of the target signal, performing straight line fitting on the target signal to obtain a fitting line segment of the target signal; Obtain a base station coordinate system of the charging base station, where the origin of the base station coordinate system is the midpoint of the fitted line segment, the horizontal axis of the base station coordinate system is the straight line on which the fitted line segment is located, and the vertical axis of the base station coordinate system is a straight line perpendicular to the horizontal axis, and the horizontal axis and the vertical axis are in a horizontal plane; The sweeping robot is mapped in the base station coordinate system to obtain the positional relationship between the sweeping robot and the charging base station.

5. The charging method of the sweeping robot according to claim 1, wherein: In response to the positional relationship including the cleaning robot and the charging base station being in a misaligned state, assigning different speeds to the left drive wheel and the right drive wheel of the cleaning robot according to a deviation direction of the cleaning robot relative to the charging base station, including: In response to the positional relationship including the cleaning robot and the charging base station being in a misaligned state, acquiring a deviation distance between the cleaning robot and the charging base station, the positional relationship including the deviation distance; If the deviation distance is less than or equal to a first preset distance, different speeds are assigned to the left driving wheel and the right driving wheel of the cleaning robot according to the deviation direction of the cleaning robot relative to the charging base station.

6. The charging method of the sweeping robot according to claim 5, characterized in that: After obtaining the deviation distance between the cleaning robot and the charging base station, the method further includes: If the deviation distance is greater than the first preset distance, controlling the cleaning robot to rotate by a first angle so that the front of the cleaning robot points to a first direction, the first direction being opposite to the deviation direction of the cleaning robot relative to the charging base station; Controlling the sweeping robot to move forward, and the moving distance is the deviation distance; The cleaning robot is controlled to rotate in a second direction by the first angle, where the second direction is opposite to the first direction.

7. The charging method of the sweeping robot according to claim 1, wherein: The method further comprises: During the process of controlling the sweeping robot to move toward the charging base station, monitoring the travel distance of the sweeping robot within a preset time period; If the travel distance is less than a preset distance, the speed of the left driving wheel is increased, and the speed of the right driving wheel is increased.

8. A sweeping robot, characterized in that: include: a position determination module, configured to, in response to the robot vacuum being low on power and the robot vacuum driving to a preset area, obtain a positional relationship between the robot vacuum and the charging base station at a first preset frequency, wherein the preset area is an area in front of the charging base station; a speed distribution module, configured to distribute different speeds to a left drive wheel and a right drive wheel of the cleaning robot according to a deviation direction of the cleaning robot relative to the charging base station in response to the positional relationship including that the cleaning robot and the charging base station are in a misaligned state, wherein the cleaning robot cannot contact the charging contacts on the charging base station for charging in the misaligned state, and the positional relationship includes the deviation direction; The control module is used to control the sweeping robot to move toward the charging base station according to the speed allocated to the left driving wheel and the speed allocated to the right driving wheel.

9. A sweeping 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 charging method for the sweeping robot according to any one of claims 1 to 7 is implemented.

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

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