Robot recharging method, device and equipment and storage medium

Abstract

The embodiment of the invention provides a robot recharging method, device and equipment and a storage medium, and relates to the technical field of robot control. The method comprises the following steps: based on a received recharging instruction, determining first recharging guidance information according to a pre-stored environment map and an obtained current view angle image, and moving to a corresponding target position according to the first recharging guidance information; when the robot is located at the target position, the orientation of the charging pile is determined based on the infrared signal of the charging pile; ultrasonic waves are transmitted to the direction of the charging pile, and second recharging guide information of the robot is determined based on the ultrasonic waves fed back in multiple directions; and moving to the charging pile based on the second recharging guide information, and connecting with the charging pile for charging. According to the method, coarse navigation is carried out through vision, then the direction of the charging pile is determined through infrared signals, then accurate navigation on the recharging route and posture is carried out on the basis of ultrasonic waves, recharging of the robot can be accurately and efficiently controlled, and the structure is simple.

Description

Technical Field

[0001] This disclosure relates to the field of robot control technology, and in particular to a robot recharging method, apparatus, device, and storage medium. Background Technology

[0002] Currently, home service robots mainly rely on batteries for power. When the battery is low, they need to return to the charging station to recharge. Autonomous charging can effectively save manpower and improve efficiency.

[0003] Currently, industry solutions include using LiDAR navigation for remote docking and using visual sensors and infrared ranging for close-range docking. These solutions are relatively complex and costly. Another solution uses infrared sensors to establish a charging zone. This solution is simple and low-cost, but it cannot accurately align the charging station and may enter a charging dead loop. Additionally, ultrasonic modules are used to avoid entering the charging dead loop, but the alignment process relies solely on the infrared zone, resulting in low recharging efficiency.

[0004] Therefore, existing technical solutions suffer from inaccurate recharging posture and low efficiency, and the solutions themselves are complex. Summary of the Invention

[0005] This disclosure provides a robot recharging method, apparatus, device, and storage medium.

[0006] According to a first aspect of this disclosure, a robot recharging method is provided, the method comprising:

[0007] Based on the received recharge command, the first recharge guidance information is determined according to the pre-stored environment map and the acquired current view image;

[0008] Move to the corresponding target location according to the first recharge guidance information;

[0009] When the robot is at the target location, it searches for the infrared signal of the charging station and determines the location of the charging station based on the infrared signal.

[0010] The robot emits ultrasonic waves toward the charging station and determines the second recharging guidance information based on ultrasonic waves fed back from multiple directions.

[0011] Move to the charging station according to the second charging instructions and connect to the charging station to start charging.

[0012] In some implementations of the first aspect, when the robot is at the target location and cannot find the infrared signal of the charging pile, the robot's posture is adjusted to determine the location of the charging pile based on the found infrared signal of the charging pile, and the robot's charging contacts are oriented towards the charging pile.

[0013] In some implementations of the first aspect, ultrasonic waves are fed back from multiple directions, including ultrasonic waves fed back from the robot's front direction, the left preset angle direction, and the right preset angle direction, wherein the robot's front direction is the direction of the robot's charging contacts on the robot.

[0014] Based on ultrasonic waves fed back from multiple directions, the robot's second recharge guidance information is determined, including:

[0015] Based on the ultrasonic waves fed back from the robot's forward direction, the left preset angle direction, and the right preset angle direction, a second recharge guidance information, including robot position adjustment information and attitude adjustment information, is determined.

[0016] In some implementations of the first aspect, based on ultrasonic waves fed back from the robot's forward direction, left preset angle direction, and right preset angle direction, second recharging guidance information, including robot position and attitude adjustment, is determined, including:

[0017] The distance A is determined in real time by ultrasonic waves based on the preset angle direction feedback from the left side of the robot, the distance B is determined by ultrasonic waves based on the preset angle direction feedback from the right side, and the distance C between the center of the charging pile surface facing the robot is determined by ultrasonic waves based on the front direction feedback from the robot.

[0018] Based on the real-time differences between A and C, and between B and C, a second recharge guidance information, including the current robot position adjustment information and attitude adjustment information, is determined.

[0019] In some implementations of the first aspect, moving to the charging station according to the second recharge guidance information and connecting to the charging station for charging includes:

[0020] According to the second charging guidance information, move to the direction facing the charging pile and move in a straight line until connecting with the charging pile for charging. The direction facing the charging pile is the posture direction in which both A and B are greater than C, and the difference between A and B is less than a preset threshold. A is the distance determined by ultrasonic waves based on the preset angle direction feedback from the left side of the robot, B is the distance determined by ultrasonic waves based on the preset angle direction feedback from the right side of the robot, and C is the distance from the center of the surface of the charging pile facing the robot, determined by ultrasonic waves based on the forward direction feedback from the robot.

[0021] In some implementations of the first aspect, the target location corresponding to the first recharge guidance information is any point within a preset radius centered on the center of the charging pile where there are no obstacles.

[0022] In some implementations of the first aspect, based on the received recharge command, and according to the pre-stored environment map and the acquired current view image, the first recharge guidance information is determined, including:

[0023] Based on the received recharge command, the robot's current position in the pre-stored environment map is determined according to the pre-stored environment map and the acquired current view image;

[0024] Based on the current position of the robot in the pre-stored environmental map, the position of the charging station in the pre-stored environmental map, and the pre-stored environmental map, the first recharge guidance information is determined.

[0025] According to a second aspect of this disclosure, a robot recharging device is provided, the device comprising:

[0026] The vision module is used to determine the first recharge guidance information based on the received recharge command, the pre-stored environment map, and the acquired current view image.

[0027] The moving module is used to move to the corresponding target location according to the first recharge guidance information;

[0028] The infrared signal receiving module is used to search for the infrared signal of the charging pile when the robot is at the target location, and to determine the location of the charging pile based on the infrared signal of the charging pile.

[0029] The ultrasonic module is used to emit ultrasonic waves in the direction of the charging pile and determine the robot's second recharging guidance information based on the ultrasonic waves fed back from multiple directions.

[0030] The mobile module is also used to move to the charging station according to the second recharge guidance information and connect to the charging station for charging.

[0031] According to a third aspect of this disclosure, an electronic device is provided, comprising: a memory and a processor, wherein a computer program is stored in the memory, and the processor executes the program to implement the method described above.

[0032] According to a fourth aspect of this disclosure, a computer-readable storage medium is provided having a computer program stored thereon that, when executed by a processor, implements the method according to a first aspect of this disclosure.

[0033] This disclosure first uses visual signals to determine the first recharge guidance information for coarse navigation, then uses infrared signals to determine the location of the charging station, and then uses ultrasonic signals to determine the second recharge guidance information for precise navigation in terms of recharge route and attitude. Moreover, when using ultrasonic signal navigation, precise navigation docking is achieved by using ultrasonic signals fed back from multiple directions, thereby enabling accurate and efficient control of the robot to recharge. In addition, the visual module, infrared signal receiving module, and ultrasonic module are small in size and simple in structure, which also makes the overall solution simple in structure.

[0034] It should be understood that the description in the Summary of the Invention is not intended to limit the key or essential features of the embodiments of this disclosure, nor is it intended to restrict the scope of this disclosure. Other features of this disclosure will become readily apparent from the following description. Attached Figure Description

[0035] The above and other features, advantages, and aspects of the embodiments of this disclosure will become more apparent from the accompanying drawings and the following detailed description. The drawings are provided for a better understanding of the invention and are not intended to limit the scope of this disclosure. In the drawings, the same or similar reference numerals denote the same or similar elements, wherein:

[0036] Figure 1 A schematic flowchart of a robot recharging method according to an embodiment of the present disclosure is shown;

[0037] Figure 2 A schematic diagram is shown of an infrared signal of a robot adjusting its posture to search for a charging station according to an embodiment of the present disclosure;

[0038] Figure 3 A schematic diagram of a robot aligning with a charging station using ultrasonic waves, according to an embodiment of the present disclosure, is shown.

[0039] Figure 4 A block diagram of a robot recharging device according to an embodiment of the present disclosure is shown;

[0040] Figure 5 A block diagram of an exemplary electronic device capable of implementing embodiments of the present disclosure is shown. Detailed Implementation

[0041] To make the objectives, technical solutions, and advantages of the embodiments of this disclosure clearer, the technical solutions of the embodiments of this disclosure will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this disclosure, and not all embodiments. Based on the embodiments of this disclosure, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this disclosure.

[0042] Furthermore, the term "and / or" in this article is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, or B existing alone. Additionally, the character " / " in this article generally indicates that the preceding and following related objects have an "or" relationship.

[0043] In this disclosure, based on the received recharge command, a first recharge guidance information is determined according to a pre-stored environmental map and the acquired current viewpoint image. Then, the robot moves to the corresponding target location according to the first recharge guidance information. When the robot is at the target location, it searches for the infrared signal of the charging pile and determines the orientation of the charging pile based on the infrared signal. Then, it emits ultrasonic waves towards the orientation of the charging pile and determines the robot's second recharge guidance information based on ultrasonic waves fed back from multiple directions. Finally, the robot moves to the charging pile according to the second recharge guidance information and connects to it for charging. By first using visual signals to determine the first recharge guidance information for coarse navigation, then using infrared signals to determine the orientation of the charging pile, and then using ultrasonic signals to determine the second recharge guidance information for precise navigation in terms of recharge route and attitude, and by using ultrasonic signals for precise navigation and docking through ultrasonic signals fed back from multiple directions, the robot can be accurately and efficiently controlled to recharge. Furthermore, the small size and simple structure of the vision module, infrared signal receiving module, and ultrasonic module also contribute to the overall simplicity of the solution.

[0044] Figure 1 A flowchart illustrating a robot recharging method according to an embodiment of this disclosure is shown, such as... Figure 1 As shown, the robot recharging method 100 may include:

[0045] S101, based on the received recharge command, determine the first recharge guidance information according to the pre-stored environment map and the acquired current view image;

[0046] S102, Move to the corresponding target location according to the first recharge guidance information;

[0047] S103, When the robot is at the target location, it searches for the infrared signal of the charging pile and determines the location of the charging pile based on the infrared signal of the charging pile.

[0048] S104, emits ultrasonic waves in the direction of the charging pile, and determines the robot's second recharging guidance information based on the ultrasonic waves fed back from multiple directions;

[0049] S105 moves to the charging station according to the second charging guide information and connects to the charging station for charging.

[0050] In the process of S101-S105, the robot first uses visual signals to determine the first recharge guidance information for coarse navigation, then uses infrared signals to determine the location of the charging pile, and then uses ultrasonic signals to determine the second recharge guidance information for precise navigation in terms of recharge route and attitude. Moreover, when using ultrasonic signal navigation, precise navigation docking is achieved by using ultrasonic signals fed back from multiple directions, so as to accurately and efficiently control the robot to recharge. In addition, the vision module, infrared signal receiving module and ultrasonic module are small in size and simple in structure, making the overall solution simple in structure.

[0051] Figure 2 A schematic diagram of a robot adjusting its posture to search for the infrared signal of a charging station is disclosed. In some embodiments, to avoid the robot being unable to search for the infrared signal of the charging station when it is at the target location, a combination of... Figure 2 When the robot is at the target location and cannot find the infrared signal of the charging pile, it adjusts the robot's posture, that is, the robot rotates clockwise or counterclockwise to adjust the area covered by the effective reception range of the robot's infrared signal, and searches for the infrared signal of the charging pile within the infrared signal emission range of the charging pile. Based on the infrared signal of the charging pile found, the location of the charging pile is determined, and the charging contact of the robot is aligned with the charging pile.

[0052] In the above embodiments, the robot is rotated clockwise or counterclockwise to search for the infrared signal of the charging pile and determine the location of the charging pile. This avoids the situation where the robot cannot find the infrared signal of the charging pile when it is at the target location, and thus determines the location of the charging pile.

[0053] In other words, when the robot receives the infrared signal emitted by the charging pile, it will determine that it is within the range of automatic charging guidance and determine the approximate location of the charging pile, and then make the robot emit ultrasonic waves in the direction of the charging pile.

[0054] It should be noted that the infrared signal transmission range of the charging pile can be within a range of 15° to the left and right of the front of the charging pile, and the angle range can also be adjusted according to the actual situation.

[0055] In some embodiments, the ultrasonic waves fed back from multiple directions include ultrasonic waves fed back from the robot's front direction, the left preset angle direction, and the right preset angle direction, wherein the robot's front direction is the direction of the robot's charging contacts on the robot.

[0056] Based on ultrasonic waves fed back from multiple directions, the robot's second recharge guidance information is determined, including:

[0057] Based on the ultrasonic waves fed back from the robot's forward direction, the left preset angle direction, and the right preset angle direction, a second recharge guidance information, including robot position adjustment information and attitude adjustment information, is determined.

[0058] In the above embodiments, by using ultrasonic signals fed back from multiple directions for precise navigation during navigation and recharging, the robot can be accurately and efficiently controlled to recharge.

[0059] Figure 3 A schematic diagram of a robot aligning with a charging station using ultrasonic waves is disclosed. In some embodiments, combined with... Figure 3 ,by Figure 3 A Cartesian coordinate system formed by x and y is used to determine second recharge guidance information, including robot position and attitude adjustment, based on ultrasonic waves fed back from the robot's forward direction, left preset angle direction, and right preset angle direction. This information may include:

[0060] The distance A is determined in real time by ultrasonic waves based on the preset angle direction feedback from the left side of the robot, the distance B is determined by ultrasonic waves based on the preset angle direction feedback from the right side, and the distance C between the center of the charging pile surface facing the robot is determined by ultrasonic waves based on the front direction feedback from the robot.

[0061] Based on the real-time differences between A and C, and between B and C, a second recharge guidance information, including the current robot position adjustment information and attitude adjustment information, is determined.

[0062] In the process of determining the second charging guidance information, the position of the charging pile relative to the robot can be calculated using the law of cosines based on the relevant distances A, B and C between the robot and the charging pile, and the angle between A and B determined by the preset angles on the left and right sides. During the docking process, the robot's pose is adjusted by continuously calculating the positions of the two, so as to achieve accurate docking between the robot's charging contacts and the charging pile.

[0063] In the above embodiments, by emitting ultrasonic waves toward the charging pile and adjusting the robot's position and attitude based on the distances determined by the ultrasonic waves fed back from the robot's left, right, and front directions at preset angles, precise navigation and retraction control of the robot can be achieved.

[0064] In some embodiments, moving to a charging station according to second recharge guidance information and connecting to the charging station for charging includes:

[0065] According to the second charging guidance information, move to the direction facing the charging pile and move in a straight line until connecting with the charging pile for charging. The direction facing the charging pile is the posture direction in which both A and B are greater than C, and the difference between A and B is less than a preset threshold. A is the distance determined by ultrasonic waves based on the preset angle direction feedback from the left side of the robot, B is the distance determined by ultrasonic waves based on the preset angle direction feedback from the right side of the robot, and C is the distance from the center of the surface of the charging pile facing the robot, determined by ultrasonic waves based on the forward direction feedback from the robot.

[0066] In the above embodiments, the robot's position and posture are adjusted by using the distance determined by ultrasonic waves fed back from the robot's left and right preset angle directions and the front direction, so that the robot can face the charging pile and move in a straight line until it connects to the charging pile for charging, thereby enabling precise recharging control.

[0067] In some embodiments, the target location corresponding to the first recharge guidance information is any point within a preset radius centered on the center of the charging pile where there are no obstacles.

[0068] For example, the preset radius can be 0.5 meters, or it can be adjusted according to the actual situation.

[0069] In some embodiments, based on the received recharge instruction, first recharge guidance information is determined according to a pre-stored environment map and an acquired current view image, including:

[0070] Based on the received recharge command, the robot's current position in the pre-stored environment map is determined according to the pre-stored environment map and the acquired current view image;

[0071] Based on the current position of the robot in the pre-stored environmental map, the position of the charging station in the pre-stored environmental map, and the pre-stored environmental map, the first recharge guidance information is determined.

[0072] In the above embodiment, the current position of the robot in the pre-stored environmental map is first determined by acquiring the current view image. Then, based on the current position of the robot in the pre-stored environmental map, the position of the charging pile in the pre-stored environmental map, and the pre-stored environmental map, the first recharge guidance information is determined, and the first navigation is performed. This allows the robot to first go to a position within a preset radius centered on the center of the charging pile, thereby improving the navigation recharge efficiency.

[0073] In a specific example, based on the pre-stored environment map and the acquired current view image, the first recharge guidance information is determined. During the process of moving to the corresponding target location based on the first recharge guidance information, the Simultaneous Localization and Mapping (SLAM) algorithm can be used to determine the first recharge guidance information and then perform navigation recharge.

[0074] In addition, it should be noted that the centers of the infrared receiver, ultrasonic sensor and charging contact line on the robot are placed along the same vertical line. This makes calculations more convenient and eliminates the need for a fixed offset distance.

[0075] In this disclosure, a visual SLAM algorithm is combined with traditional infrared guidance and ultrasonic positioning. Visual navigation guides the robot to the vicinity of the charging station in a large space, saving the time for the robot to search for and return to the charging station from a distance. The infrared receiver is responsible for confirming the robot's guidance to the charging station. Then, the ultrasonic sensor uses ultrasonic signals fed back from multiple directions for precise navigation, realizing the correction of the robot's posture and accurate docking with the charging station. The combination of the three improves the efficiency of automatic recharging and ensures the success rate of recharging docking. At the same time, this method has the advantages of low cost and easy software algorithm implementation because the vision module, infrared signal receiving module and ultrasonic module are small in size and simple in structure.

[0076] The above is an introduction to the method embodiments. The following describes the present disclosure solution further through device embodiments.

[0077] Figure 4 A block diagram of a robot recharging device according to an embodiment of the present disclosure is shown.

[0078] like Figure 4 As shown, the robot recharging device 400 may include:

[0079] The vision module 401 can be used to determine the first recharge guidance information based on the received recharge command, the pre-stored environment map, and the acquired current view image.

[0080] The moving module 402 can be used to move to the corresponding target location according to the first recharge guidance information;

[0081] The infrared signal receiving module 403 can be used to search for the infrared signal of the charging pile when the robot is at the target position, and determine the location of the charging pile based on the infrared signal of the charging pile.

[0082] The ultrasonic module 404 can be used to emit ultrasonic waves toward the direction of the charging pile and determine the robot's second recharging guidance information based on the ultrasonic waves fed back from multiple directions.

[0083] The mobile module 402 can also be used to move to the charging station according to the second recharge guidance information and connect to the charging station for charging.

[0084] In some embodiments, the moving module 402 can also be used to adjust the robot's posture when the robot is at the target location and cannot find the infrared signal of the charging pile, so as to determine the location of the charging pile based on the infrared signal of the found charging pile, and make the robot's charging contacts face the charging pile.

[0085] In some embodiments, the robot recharging device may further include a determining module and ultrasonic waves fed back in multiple directions, including ultrasonic waves fed back in the robot's forward direction, the left preset angle direction, and the right preset angle direction, wherein the robot's forward direction is the direction of the robot's charging contacts.

[0086] The determination module can also be used to determine second recharge guidance information, including robot position adjustment information and attitude adjustment information, based on ultrasonic waves fed back from the robot's forward direction, left preset angle direction, and right preset angle direction.

[0087] In some embodiments, the determining module can also be used to determine the distance A, the distance B, and the distance C between the center of the charging pile facing the robot's surface based on the ultrasonic wave based on the feedback of the robot's left preset angle direction in real time.

[0088] Based on the real-time differences between A and C, and between B and C, a second recharge guidance information, including the current robot position adjustment information and attitude adjustment information, is determined.

[0089] In some embodiments, the moving module 402 can also be used to move the robot to a direction facing the charging pile according to the second recharge guidance information, and perform linear movement until it connects to the charging pile for charging. The direction facing the charging pile is the robot's posture direction in which both A and B are greater than C, and the difference between A and B is less than a preset threshold. A is the distance determined by ultrasonic waves based on the preset angle direction feedback from the left side of the robot, B is the distance determined by ultrasonic waves based on the preset angle direction feedback from the right side of the robot, and C is the distance from the center of the surface of the charging pile facing the robot, determined by ultrasonic waves based on the forward direction feedback from the robot.

[0090] In some embodiments, the target location corresponding to the first recharge guidance information is any point within a preset radius centered on the center of the charging pile where there are no obstacles.

[0091] In some embodiments, the determining module can also be used to determine the current position of the robot in the pre-stored environment map based on the received recharge instruction, the pre-stored environment map, and the acquired current view image.

[0092] Based on the current position of the robot in the pre-stored environmental map, the position of the charging station in the pre-stored environmental map, and the pre-stored environmental map, the first recharge guidance information is determined.

[0093] In this disclosure, the robot first uses visual signals to determine the first recharge guidance information for coarse navigation, then uses infrared signals to determine the location of the charging station, and then uses ultrasonic signals to determine the second recharge guidance information for precise navigation in terms of recharge route and attitude. Moreover, when using ultrasonic signal navigation, precise navigation docking is achieved by using ultrasonic signals fed back from multiple directions, thereby enabling accurate and efficient control of the robot to recharge. Furthermore, the vision module, infrared signal receiving module, and ultrasonic module are small in size and simple in structure, making the overall solution simple in structure.

[0094] It should be noted that, for the sake of simplicity, the foregoing method embodiments are all described as a series of actions. However, those skilled in the art should understand that this disclosure is not limited to the described order of actions, because according to this disclosure, some steps can be performed in other orders or simultaneously. Furthermore, those skilled in the art should also understand that the embodiments described in the specification are all optional embodiments, and the actions and modules involved are not necessarily essential to this disclosure.

[0095] Those skilled in the art will understand that, for the sake of convenience and brevity, the specific working process of the described module can be referred to the corresponding process in the foregoing method embodiments, and will not be repeated here.

[0096] According to embodiments of this disclosure, this disclosure also provides an electronic device, a readable storage medium, and a computer program product.

[0097] Figure 5 A block diagram of an exemplary electronic device capable of implementing embodiments of the present disclosure is shown. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device may also represent various forms of mobile devices, such as personal digital processors, cellular phones, smartphones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely illustrative and are not intended to limit the implementation of the present disclosure described and / or claimed herein.

[0098] Device 500 includes a computing unit 501, which can perform various appropriate actions and processes based on a computer program stored in read-only memory (ROM) 502 or a computer program loaded from storage unit 508 into random access memory (RAM) 503. RAM 503 may also store various programs and data required for the operation of device 500. The computing unit 501, ROM 502, and RAM 503 are interconnected via bus 504. Input / output (I / O) interface 505 is also connected to bus 504.

[0099] Multiple components in device 500 are connected to I / O interface 505, including: input unit 506, such as keyboard, mouse, etc.; output unit 507, such as various types of monitors, speakers, etc.; storage unit 508, such as disk, optical disk, etc.; and communication unit 509, such as network card, modem, wireless transceiver, etc. Communication unit 509 allows device 500 to exchange information / data with other devices through computer networks such as the Internet and / or various telecommunications networks.

[0100] The computing unit 501 can be a variety of general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of the computing unit 501 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special-purpose artificial intelligence (AI) computing chips, various computing units running machine learning model algorithms, a digital signal processor (DSP), and any suitable processor, controller, microcontroller, etc. The computing unit 501 performs the various methods and processes described above, such as method 100. For example, in some embodiments, method 100 may be implemented as a computer software program tangibly contained in a machine-readable medium, such as storage unit 508. In some embodiments, part or all of the computer program may be loaded and / or installed on device 500 via ROM 502 and / or communication unit 509. When the computer program is loaded into RAM 503 and executed by the computing unit 501, one or more steps of method 100 described above may be performed.

[0101] Various embodiments of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field-programmable gate arrays (FPGAs), application-specific integrated circuits (ASICs), application-specific standard products (ASSPs), systems-on-a-chip (SoCs), payload-programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments may include implementations in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which may be a dedicated or general-purpose programmable processor, capable of receiving data and instructions from a storage system, at least one input device, and at least one output device, and transmitting data and instructions to the storage system, the at least one input device, and the at least one output device.

[0102] The program code used to implement the methods of this disclosure may be written in any combination of one or more programming languages. This program code may be provided to a processor or controller of a general-purpose computer, special-purpose computer, or other programmable data processing apparatus, such that when executed by the processor or controller, the program code causes the functions / operations specified in the flowcharts and / or block diagrams to be implemented. The program code may be executed entirely on a machine, partially on a machine, as a standalone software package partially on a machine and partially on a remote machine, or entirely on a remote machine or server.

[0103] In the context of this disclosure, a machine-readable medium can be a tangible medium that may contain or store a program for use by or in conjunction with an instruction execution system, apparatus, or device. A machine-readable medium can be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium can be, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination of the foregoing. More specific examples of machine-readable storage media include electrical connections based on one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination of the foregoing.

[0104] To provide interaction with a user, the systems and techniques described herein can be implemented on a computer having: a display device for displaying information to the user (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor); and a keyboard and pointing device (e.g., a mouse or trackball) through which the user provides input to the computer. Other types of devices can also be used to provide interaction with the user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including sound input, voice input, or tactile input).

[0105] The systems and technologies described herein can be implemented in computing systems that include backend components (e.g., as a data server), or computing systems that include middleware components (e.g., an application server), or computing systems that include frontend components (e.g., a user computer with a graphical user interface or web browser through which a user can interact with embodiments of the systems and technologies described herein), or any combination of such backend, middleware, or frontend components. The components of the system can be interconnected via digital data communication of any form or medium (e.g., a communication network). Examples of communication networks include local area networks (LANs), wide area networks (WANs), and the Internet.

[0106] Computer systems can include clients and servers. Clients and servers are generally located far apart and typically interact via communication networks. Client-server relationships are created by computer programs running on the respective computers and having a client-server relationship with each other. Servers can be cloud servers, servers in distributed systems, or servers incorporating blockchain technology.

[0107] It should be understood that the various forms of processes shown above can be used to rearrange, add, or delete steps. For example, the steps described in this disclosure can be executed in parallel, sequentially, or in different orders, as long as the desired result of the technical solution of this disclosure can be achieved, and this is not limited herein.

[0108] The specific embodiments described above do not constitute a limitation on the scope of protection of this disclosure. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this disclosure should be included within the scope of protection of this disclosure.

Claims

1. A robot recharging method, characterized in that, The method includes: Based on the received recharge command, the first recharge guidance information is determined according to the pre-stored environment map and the acquired current view image; Move to the corresponding target location according to the first recharge guidance information; When the robot is at the target location, it searches for the infrared signal of the charging pile and determines the location of the charging pile based on the infrared signal. The robot emits ultrasonic waves toward the charging station and determines the second recharging guidance information based on ultrasonic waves fed back from multiple directions. Move to the charging station according to the second charging guide information and connect to the charging station to start charging.

2. The method according to claim 1, characterized in that, When the robot is at the target location and cannot find the infrared signal of the charging pile, the robot's posture is adjusted to determine the location of the charging pile based on the found infrared signal, and the robot's charging contacts are oriented towards the charging pile.

3. The method according to claim 1, characterized in that, The ultrasonic waves fed back from multiple directions include ultrasonic waves fed back from the robot's front direction, the left preset angle direction, and the right preset angle direction, wherein the robot's front direction is the direction of the robot's charging contacts on the robot. The ultrasonic waves, based on feedback from multiple directions, determine the robot's second recharge guidance information, including: Based on the ultrasonic waves fed back from the robot's forward direction, the left preset angle direction, and the right preset angle direction, a second recharge guidance information, including robot position adjustment information and attitude adjustment information, is determined.

4. The method according to claim 3, characterized in that, Based on ultrasonic waves fed back from the robot's forward direction, left preset angle direction, and right preset angle direction, a second recharge guidance information is determined, including robot position and attitude adjustment, comprising: The distance A is determined in real time by ultrasonic waves based on the preset angle direction feedback from the left side of the robot, the distance B is determined by ultrasonic waves based on the preset angle direction feedback from the right side, and the distance C between the center of the charging pile surface facing the robot is determined by ultrasonic waves based on the front direction feedback from the robot. Based on the real-time differences between A and C, and between B and C, a second recharge guidance information, including the current robot position adjustment information and attitude adjustment information, is determined.

5. The method according to claim 3, characterized in that, The step of moving to the charging station according to the second recharge guidance information and connecting to the charging station for charging includes: According to the second recharge guidance information, the robot moves to the direction facing the charging pile and moves in a straight line until it connects with the charging pile for charging. The direction facing the charging pile is the posture direction in which both A and B are greater than C, and the difference between A and B is less than a preset threshold. A is the distance determined by ultrasonic waves based on the preset angle direction feedback from the left side of the robot, B is the distance determined by ultrasonic waves based on the preset angle direction feedback from the right side of the robot, and C is the distance from the center of the surface of the charging pile facing the robot, determined by ultrasonic waves based on the forward direction feedback from the robot.

6. The method according to claim 1, characterized in that, The target location corresponding to the first recharge guidance information is any point within a preset radius centered on the center of the charging pile where there are no obstacles.

7. The method according to claim 1, characterized in that, Based on the received recharge command, and according to the pre-stored environment map and the acquired current view image, the first recharge guidance information is determined, including: Based on the received recharge command, the robot's current position in the pre-stored environment map is determined according to the pre-stored environment map and the acquired current view image; Based on the current position of the robot in the pre-stored environmental map, the position of the charging station in the pre-stored environmental map, and the pre-stored environmental map, determine the first recharge guidance information.

8. A robot recharging device, characterized in that, The device includes: The vision module is used to determine the first recharge guidance information based on the received recharge command, the pre-stored environment map, and the acquired current view image. The moving module is used to move to the corresponding target location according to the first recharge guidance information; An infrared signal receiving module is used to search for the infrared signal of the charging pile when the robot is at the target location, and to determine the location of the charging pile based on the infrared signal of the charging pile. The ultrasonic module is used to emit ultrasonic waves in the direction of the charging pile and determine the robot's second recharging guidance information based on the ultrasonic waves fed back from multiple directions. The mobile module is also used to move to the charging pile according to the second recharge guidance information and connect to the charging pile for charging.

9. An electronic device, characterized in that, include: At least one processor; and a memory communicatively connected to the at least one processor; The memory is characterized in that it stores instructions executable by the at least one processor, which, when executed by the at least one processor, enable the at least one processor to perform the method according to any one of claims 1-7.

10. A non-transitory computer-readable storage medium storing computer instructions, characterized in that, The computer instructions are used to cause the computer to perform the method according to any one of claims 1-7.

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