Self-walking robot recharging method and self-walking robot

Abstract

The self-walking robot recharging method comprises the steps that the self-walking robot is controlled to move to a guide point, the guide point is arranged right in front of a charging pile, and the distance between the guide point and the charging pile is a first preset distance; identifying a two-dimensional code arranged on the charging pile; generating a recharging path based on an identification result of the two-dimensional code; and the self-walking robot is controlled to move towards the charging pile along the recharging path, and the pose of the self-walking robot is adjusted by using a PID strategy in the moving process until the self-walking robot returns to the charging pile. According to the method, the two-dimensional code is arranged on the charging pile, a guide point pre-positioning mechanism is innovatively introduced, the pose of the charging pile is calculated in real time on a key path from a guide point to the charging pile by means of visual recognition, dynamic following of the robot pose is achieved through PID control, and the intelligent level and reliability of autonomous recharging of the walking robot are greatly improved.

Description

Technical Field

[0001] This application relates to the field of self-propelled robot technology, and in particular to a self-propelled robot recharging method and a self-propelled robot. Background Technology

[0002] With the improvement of social intelligence, self-propelled robots such as lawnmowers are being used more and more widely in production and daily life. Lawnmowers on the market are mainly divided into two categories: those with boundaries and those without boundaries. Lawnmowers with boundaries can return to the base station by walking along the boundary and locating it. However, lawnmowers without boundaries rely on a navigation system to return to the base station. When the navigation signal deviates, they often fail to return to the base station because they cannot accurately locate it, which affects normal operation. In terms of charging guidance technology, existing recharging methods for outdoor self-propelled robots have significant limitations. Wired guidance control has low precision and is easily affected by terrain; infrared sensors are significantly affected by environmental factors such as outdoor lighting and weather, resulting in insufficient reliability; while lidar offers high precision, its high cost makes large-scale deployment difficult. Furthermore, some technologies employ complex base station docking structures or additional magnetic strips to ensure accurate robot recharging. However, these magnetic strips require precise placement, are cumbersome and costly to install, and their accuracy is insufficient for close-range docking. Moreover, magnetic strip sensing relies on the robot precisely navigating on the strip, limiting its application scenarios. The limitations of existing recharging technologies necessitate an efficient, accurate, and cost-effective recharging method to enhance the autonomy and practicality of self-propelled robots. Summary of the Invention In view of the shortcomings of the prior art, this application provides an efficient, accurate and cost-controllable method for recharging a self-propelled robot and a self-propelled robot.

[0003] To achieve the above and other related objectives, this application provides a recharging method for a self-propelled robot, comprising: Control the self-walking robot to move to the guide point, wherein the guide point is located directly in front of the charging pile, and the distance from the guide point to the charging pile is a first preset distance; Scan the QR code on the charging station; Based on the recognition result of the QR code, a recharge path is generated; The self-propelled robot is controlled to move along the recharge path toward the charging station, and a PID strategy is used to adjust the pose of the self-propelled robot during the movement until it returns to the charging station.

[0004] In an optional embodiment of this application, it further includes: In response to a recharge command, the self-propelled robot is controlled to move to the guide point based on navigation signals, wherein the navigation signals include one or more of satellite navigation signals, inertial navigation signals, and visual navigation signals.

[0005] In an optional embodiment of this application, it further includes: Based on the recognition result of the QR code, the pose of the charging pile is calculated; Based on the pose of the charging pile, the pose of the self-walking robot is calibrated, and a pose calibration result is generated. Based on the pose calibration results, a return path to the charging point is generated.

[0006] In an optional embodiment of this application, it further includes: The QR code is recognized by the visual perception unit of the self-walking robot. Determine whether the QR code has been recognized: If so, return the step of generating a recharge path based on the recognition result of the QR code; If not, the self-propelled robot is controlled to rotate in place by a preset angle, and then the process returns to the step of recognizing the QR code through the visual perception unit of the self-propelled robot.

[0007] In an optional embodiment of this application, it further includes: Determine whether the difference between the heading angle and the positive angle of the self-propelled robot is a preset value: If so, the QR code set on the charging pile is identified by the visual perception unit of the self-walking robot; If not, control the self-propelled robot to rotate in place, control the lawnmower robot to turn in place, and return to the step of determining whether the difference between the heading angle and the positive angle of the self-propelled robot is a preset value.

[0008] In an optional embodiment of this application, the method further includes: After the self-propelled robot returns to the charging station, it determines whether it has received a charging signal: If so, the recharge process ends; If not, control the self-propelled robot to retreat and return to the step of recognizing the QR code set on the charging pile through the visual perception unit on the self-propelled robot.

[0009] In an optional embodiment of this application, it further includes: Control the self-walking robot to retreat a second preset distance; Return to the step of identifying the QR code set on the charging pile through the visual perception unit on the self-propelled robot.

[0010] In one optional embodiment of this application, the second preset distance is less than the first preset distance.

[0011] In an optional embodiment of this application, it further includes: Control the self-walking robot to move backward; The front end of the charging plate of the charging pile is identified by the visual perception unit. When the front end of the charging plate of the charging pile is detected, return to the step of identifying the QR code set on the charging pile through the visual perception unit on the self-propelled robot.

[0012] In an optional embodiment of this application, the QR code is a single QR code positioned directly opposite the guide point of the charging pile.

[0013] In an optional embodiment of this application, it further includes: Control the self-propelled robot to move towards the charging station along the recharge path; During the movement, the self-propelled robot's pose is adjusted using a PID strategy, and a low-speed, low-tolerance replanning strategy is adopted to achieve high-precision pose requirements through closed-loop position control until it returns to the charging station.

[0014] To achieve the above and other related objectives, this application also provides a self-propelled robot, comprising: ontology; A visual perception unit is disposed on the main body; A control unit is disposed on the main body, and the control unit is configured to: Control the self-walking robot to move to the guide point, wherein the guide point is located directly in front of the charging pile, and the distance from the guide point to the charging pile is a first preset distance; Scan the QR code on the charging station; Based on the recognition result of the QR code, a recharge path is generated; Control the self-propelled robot to move along the recharge path toward the charging station, and during the movement...

[0015] The beneficial effects of this application are: The self-propelled robot recharging method and self-propelled robot proposed in this application involve controlling the self-propelled robot to move to a guide point, wherein the guide point is located directly in front of the charging pile, and the distance between the guide point and the charging pile is a first preset distance; recognizing a QR code set on the charging pile; generating a recharging path based on the QR code recognition result; controlling the self-propelled robot to move towards the charging pile along the recharging path, and using a PID strategy to adjust the self-propelled robot's posture during the movement until it returns to the charging pile. This method, by setting a QR code on the charging pile and innovatively introducing a guide point pre-positioning mechanism, relies on visual recognition to calculate the charging pile's posture in real time on the critical path from the guide point to the charging pile, and uses PID control to achieve dynamic following of the robot's posture, significantly improving the intelligence level and reliability of the self-propelled robot's autonomous recharging. Attached Figure Description

[0016] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0017] Figure 1 A flowchart illustrating a self-propelled robot recharging method according to an embodiment of this application; Figure 2 A flowchart illustrating a self-propelled robot recharging method according to another embodiment of this application; Figure 3 This is a schematic diagram showing the position of a self-propelled robot when it receives a recharge command within its working area. Figure 4 This is a schematic diagram showing the self-propelled robot returning to the guide point. Figure 5 A schematic diagram illustrating how a self-propelled robot adjusts its heading angle at a guide point; Figure 6 A schematic diagram illustrating the process of a self-propelled robot reassembling from a guide point; Figure 7 This is a functional block diagram of a self-propelled robot recharging device provided in an embodiment of this application. Detailed Implementation

[0018] The following specific embodiments illustrate the implementation of this application. Those skilled in the art can easily understand other advantages and effects of this application from the content disclosed in this specification. It should be noted that, unless otherwise specified, the following embodiments and features can be combined with each other. In addition to the specific methods, equipment, and materials used in the embodiments, based on the knowledge of the prior art possessed by those skilled in the art and the description in this application, any prior art methods, equipment, and materials similar to or equivalent to the methods, equipment, and materials in the embodiments of this application can be used to implement this application.

[0019] It should be understood that the terminology used in the embodiments of this application is for describing specific implementations and not for limiting the scope of protection of this application. Unless otherwise defined, all technical and scientific terms used in this application have the same meaning as commonly understood by one of ordinary skill in the art.

[0020] The structures, proportions, and sizes shown in the accompanying drawings are solely for illustrative purposes and to aid those skilled in the art in understanding and reading the content disclosed herein. They are not intended to limit the implementation of this application and therefore have no substantial technical significance. Any modifications to the structure, changes in proportions, or adjustments to size, without affecting the effectiveness and purpose of this application, should still fall within the scope of the technical content disclosed herein. Furthermore, the drawings only show components relevant to this application and are not drawn according to the actual number, shape, and size of components in implementation. In actual implementation, the form, quantity, and proportion of each component can be arbitrarily changed, and the component layout may be more complex.

[0021] Numerous details are explored in the following description to provide a more thorough explanation of embodiments of this application. However, it will be apparent to those skilled in the art that embodiments of this application may be practiced without these specific details. In some embodiments, well-known structures and devices are shown in block diagram form rather than in detail to avoid obscuring embodiments of this application.

[0022] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functions, and operations that may be implemented in the methods and computer program products according to various embodiments disclosed in this application. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing the specified logical function. It should also be noted that in some alternative implementations, the functions indicated in the blocks may occur in a different order than those indicated in the drawings. For example, two consecutively indicated blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, can be implemented using a dedicated hardware-based system that performs the specified function or operation, or using a combination of dedicated hardware and computer instructions.

[0023] To address the existing problems with recharging of self-propelled robots, this application provides an efficient, accurate, and cost-effective recharging solution for self-propelled robots. This solution is based on visual recognition and robot control technology. Specifically, a designated QR code is set on the charging station, the charging station's pose is calculated by visually detecting the QR code, and the robot is controlled to follow the pose to achieve the visual recharging function.

[0024] In this embodiment, the self-propelled robot can be a lawnmower robot with automatic walking function, or other mobile work equipment with a self-propelled drive module. The self-propelled robot includes a main body and a control unit, a positioning device, and a vision sensing unit disposed on the main body. The control unit is connected to the positioning device and the vision sensing unit, and the control unit is used to control the self-propelled robot to return to the charging station for charging based on the signals from the positioning device and the vision sensing unit.

[0025] The visual perception unit is used for auxiliary positioning and QR code recognition. The control unit can use the visual perception unit to collect and recognize the QR code image on the charging pile, and generate a return path based on the recognition result to guide the self-walking robot back to the charging pile. The visual perception unit can use a binocular camera or a monocular camera.

[0026] The positioning device includes a satellite positioning device and an inertial navigation unit (IMU). The satellite positioning device can be an RTK satellite positioning device (such as GPS / BeiDou). Positioning can be achieved using both satellite positioning devices and inertial navigation units. Specifically, when the satellite positioning signal quality is good, the satellite positioning signal can be directly used to determine the real-time position coordinates of the self-propelled robot. When the satellite positioning signal quality is poor due to signal loss caused by obstruction or multipath interference, the system switches to inertial positioning. By measuring the robot's acceleration and angular velocity, the real-time position coordinates are calculated using inertial navigation algorithms.

[0027] Please see Figure 1 and 2 , Figure 1 and 2 These are two implementations of the self-propelled robot recharging method of this application, applied to the control unit of the self-propelled robot. The method includes steps S10 to S70.

[0028] In steps S10 and S20, upon receiving the recharge command, the self-propelled robot is controlled to move to the guide point.

[0029] like Figure 3 As shown, when the self-propelled robot 3 is autonomously operating within the work area 1, and encounters situations such as insufficient power, completion of tasks, or inability to continue operating due to abnormal conditions, it will activate the recharging function and generate a recharging command. Upon receiving this recharging command, the robot can respond and, based on navigation signals, control the self-propelled robot 3 to move to a location such as... Figure 4 The location shown is the guide point location, where the navigation signal includes one or more of satellite navigation signals, inertial navigation signals, and visual navigation signals.

[0030] The locations of the charging pile 2 and the guide point are marked in advance on the working area map of the self-propelled robot 3. The guide point is usually set directly in front of the charging pile 2, and the distance from the guide point to the charging pile 2 is a first preset distance.

[0031] It should be noted that the first preset distance should be moderate, neither too close nor too far. If it is too close, the self-propelled robot 3 will not have enough space to adjust its posture, making it difficult to accurately align with the charging pile 2; if it is too far, it will increase the length of the return charging path and the time cost, and may also lead to the accumulation of positioning errors. It is generally determined based on the size of the self-propelled robot 3, the accuracy of the visual perception unit, and the control performance. As an example, the first preset distance is between 1.0m and 2.5m, such as 1.0m, 1.5m, 2.0m, and 2.5m.

[0032] It should be noted that setting the guide point directly in front of the charging pile 2 has the following advantages: After the self-propelled robot 3 arrives at the guide point, it only needs to move in a straight line or make minor angle adjustments to align with the charging port of the charging pile 2, reducing complex turning and moving operations and improving the docking success rate; the path direction of the self-propelled robot 3 from the guide point to the charging pile 2 is clear (straight line or near-straight line), and the planning algorithm does not need to consider complex turning and angle changes, further reducing computational complexity; when the robot is facing the charging pile 2, the visual perception unit can obtain information about the charging pile 2 from the optimal perspective, reducing recognition errors caused by perspective deviations and improving positioning accuracy.

[0033] By setting guide points, the recharging process can be divided into two stages: the self-propelled robot 3 moving towards the guide point and moving from the guide point to the charging pile 2. When moving towards the guide point, a relatively fast and relaxed control strategy can be used to improve movement efficiency. When moving from the guide point to the charging pile 2, based on more accurate positioning information, a refined PID control strategy is adopted to adjust the robot's posture, enabling the robot to reach the charging pile 2 more smoothly and accurately and complete the charging docking.

[0034] Step S30: The QR code set on the charging pile 2 is identified by the visual perception unit on the self-walking robot 3. One QR code can be set on the charging pile 2, and the QR code is positioned directly opposite the guide point to facilitate quick identification of the QR code by the self-walking robot 3 and reduce the computational load of subsequent pose calculation of the charging pile 2. It is understood that in other embodiments, multiple QR codes can also be set on the charging pile 2; no specific limitation is made here.

[0035] To avoid affecting QR code recognition during periods of low ambient light, such as at night, photosensitive components and supplementary lighting components can be installed on the charging pile 2 or the self-propelled robot 3. The photosensitive component detects the ambient light, and when the ambient light is detected to be below a threshold, the supplementary lighting component is activated to ensure that the robot can still clearly recognize the QR code in low-light environments, achieving efficient return to the charging pile and accurate docking.

[0036] like Figure 1 As shown, in one specific embodiment, identifying the QR code set on the charging pile 2 by the visual perception unit on the self-walking robot 3 may further include: Determine whether the difference between the heading angle and the positive angle of the self-propelled robot 3 is a preset value: If so, the QR code set on the charging pile 2 is identified by the visual perception unit of the self-walking robot 3; If not, control the self-propelled robot 3 to rotate in place, control the lawnmower robot to turn in place, and return to the step of determining whether the difference between the heading angle and the positive angle of the self-propelled robot 3 is a preset value.

[0037] The heading angle is defined as the angle between the traveling direction of the self-propelled robot 3 and the reference direction; the azimuth angle is defined as the angle of the self-propelled robot 3 relative to the reference direction when it is located at the guide point, that is, when the charging pile 2 is directly in front of the lawnmower. The azimuth angle is consistent with the reference direction referenced by the heading angle. The preset value can be 0 or a small value close to 0, so as to ensure that when the self-propelled robot 3 is located at the guide point, it can face the charging pile 2 directly, which facilitates accurate recognition of the QR code on the charging pile 2.

[0038] When the self-propelled robot 3 returns to the guide point, due to navigation errors, its actual position deviates from the guide point, and its walking direction is not directly facing the charging pile 2. Therefore, the difference between the heading angle and the azimuth angle of the self-propelled robot 3 can be used to determine whether its direction of travel is directly facing the charging pile 2. When the difference equals a preset value, it indicates that the self-propelled robot 3 is basically directly in front of the charging pile 2, and the visual perception unit can better visually recognize the QR code image on the charging pile 2, reducing data processing complexity. Conversely, if the difference does not equal the preset value, it indicates that the self-propelled robot 3 is not directly in front of the charging pile 2, and the QR code may not be recognized or may be incompletely recognized due to tilted viewing angles, obstructions, etc. In this case, further steps are needed. Figure 5 As shown, by controlling the self-walking robot 3 to rotate in place, so that the self-walking robot 3 is facing the charging pile 2, the visual perception unit can accurately identify the QR code on the charging pile 2.

[0039] like Figure 2 As shown, in one specific embodiment, the visual perception unit of the self-propelled robot 3 identifies the QR code set on the charging pile 2, including: The QR code is recognized by the visual perception unit of the self-walking robot 3; Determine if the QR code has been recognized: If so, return the QR code-based recognition result and generate the recharge path steps; If not, control the self-propelled robot 3 to rotate in place by a preset angle and return to the step of recognizing the QR code through the visual perception unit of the self-propelled robot 3.

[0040] When the self-propelled robot 3 returns to the guide point, its heading angle is not always directly aligned with the charging pile 2. Furthermore, due to navigation errors, the actual position of the self-propelled robot 3 deviates from the guide point, causing QR code recognition to fail. In this case, the self-propelled robot 3 needs to rotate in place by a preset angle to re-recognize the QR code on the charging pile 2 until successful recognition. The preset angle can be adjusted according to actual needs. For example, the preset angle is between 25° and 35°, such as 25°, 30°, and 35°.

[0041] Step S40: Generate a recharge path based on the QR code recognition result.

[0042] In one specific embodiment, generating a recharge path based on the QR code recognition result may further include steps S41-S43.

[0043] Step S41: Calculate the pose of charging pile 2 based on the QR code recognition result. Specifically, the visual recognition unit on the self-propelled robot 3 can capture the QR code image on charging pile 2. Based on the pixel coordinates of the QR code in the image, the physical size of the QR code, and the camera intrinsic parameters, the pose of the QR code can be calculated using algorithms such as perspective transformation and PnP. Since the QR code is fixed on charging pile 2, there is a definite transformation relationship between its pose and the pose of charging pile 2. Therefore, the pose of charging pile 2 can be obtained based on the QR code pose.

[0044] Step S42: Based on the pose of the charging pile 2, perform pose calibration of the self-propelled robot 3 and generate pose calibration results. The pose calibration results may include information such as the relative orientation and distance between the self-propelled robot 3 and the charging pile 2, providing data for the planning of the return charging path.

[0045] Step S43: Generate a recharge path based on the pose calibration results. After obtaining the pose calibration results, the recharge path can be planned using the built-in path planning method based on the relative orientation and distance between the self-propelled robot 3 and the charging pile 2.

[0046] like Figure 6 As shown, due to heading angle and navigation errors, the self-propelled robot 3 will not usually face the charging station 2 directly, but will have a certain error. The actual planned return path is a curve. To illustrate this situation, Figure 6 This error is amplified for demonstration purposes.

[0047] Step S50: Control the self-walking robot 3 to move along the recharge path towards the charging pile 2, and use the PID strategy to adjust the pose of the self-walking robot 3 during the movement until it returns to the charging pile 2.

[0048] like Figure 6As shown, after obtaining the return path, the self-propelled robot 3 can be controlled to move towards the charging pile 2 along the return path. During the movement, a PID strategy is used to adjust the pose of the self-propelled robot 3, while a low-speed, low-tolerance replanning strategy is adopted to achieve high-precision pose closed-loop control until it returns to the charging pile 2. The low-speed, low-tolerance replanning strategy ensures that the self-propelled robot 3 maintains a low-speed movement during its return from the guide point to the charging pile 2, reducing the impact of inertia and improving control sensitivity. Simultaneously, a low-tolerance threshold is set; once the deviation between the actual movement path and the planned path exceeds the threshold, the optimal return path is immediately regenerated based on the current position and the pose of the charging pile 2, ensuring that the robot always moves along an efficient and safe trajectory.

[0049] Step S60: After the self-propelled robot 3 returns to the charging station 2, determine whether a charging signal has been received: If so, the recharge process ends; If not, proceed to step S70, control the self-propelled robot 3 to retreat, and return to the step of recognizing the QR code set on the charging pile 2 through the visual perception unit on the self-propelled robot 3.

[0050] By determining whether a charging signal is received, the success of the recharge docking can be judged. When a charging signal is received, it indicates successful docking, and normal charging can begin, ending the recharge process. When no charging signal is received, indicating a failed docking, the self-propelled robot 3 is controlled to retreat, creating a certain distance from the charging station 2, and then returns to step S30, repeating steps S30-S70 until successful docking and a charging signal are received. This method significantly improves the overall success rate of recharge and enhances the stability and reliability of the system.

[0051] In one specific embodiment, the step of controlling the self-propelled robot 3 to move backward and return to identify the QR code set on the charging pile 2 through the visual perception unit on the self-propelled robot 3 includes: controlling the self-propelled robot 3 to move backward a second preset distance, the second preset distance being less than a first preset distance; and returning to identify the QR code set on the charging pile 2 through the visual perception unit on the self-propelled robot 3.

[0052] The first preset distance is determined based on the length of the charging plate of charging pile 2 to ensure that the self-propelled robot 3 can exit charging pile 2 and that the distance between the self-propelled robot 3 and charging pile 2 is as close as possible, thereby shortening the recharge time and improving efficiency. As an example, the second preset distance is 0.5m-0.8m, such as 0.5m, 0.6m, 0.7m, and 0.8m. In another specific embodiment, the step of controlling the self-propelled robot 3 to move backward and return to identify the QR code set on the charging pile 2 through the visual perception unit on the self-propelled robot 3 includes: controlling the self-propelled robot 3 to move backward; identifying the front end of the charging plate of the charging pile 2 through the visual perception unit; and when the front end of the charging plate of the charging pile 2 is identified, returning to the step of identifying the QR code set on the charging pile 2 through the visual perception unit on the self-propelled robot 3.

[0053] Based on the same concept, such as Figure 7 As shown, this application also provides a self-propelled robot recharging device 11, which includes a recharging response module 111, a QR code recognition module 112, a path generation module 113, a recharging control module 114, and a docking determination module 115.

[0054] The recharge response module 111 is used to respond to the recharge command and control the self-walking robot to move to the guide point. The guide point is located directly in front of the charging pile, and the distance from the guide point to the charging pile is a first preset distance. The QR code recognition module 112 is used to recognize the QR code set on the charging pile through the visual perception unit on the self-propelled robot; The path generation module 113 is used to generate a recharge path based on the recognition result of the QR code; The recharge control module 114 is used to control the self-walking robot to move towards the charging pile along the recharge path, and to use a PID strategy to adjust the posture of the self-walking robot during the movement until it returns to the charging pile. The docking determination module 115 is used to determine whether a charging signal has been received: if yes, the recharging process ends; if no, the self-propelled robot is controlled to retract and return to the step of recognizing the QR code set on the charging pile through the visual perception unit on the self-propelled robot.

[0055] It should be noted that the self-propelled robot recharging device 11 provided in the above embodiments and the self-propelled robot recharging method provided in the above embodiments belong to the same concept. The specific ways in which each module and unit performs operations have been described in detail in the method embodiments, and will not be repeated here. In practical applications, the self-propelled robot recharging device 11 provided in the above embodiments can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above. This is not a limitation here.

[0056] In summary, the self-propelled robot recharging method, device, and self-propelled robot proposed in this application involve controlling the self-propelled robot to move to a guide point, wherein the guide point is located directly in front of the charging pile, and the distance from the guide point to the charging pile is a first preset distance; recognizing a QR code set on the charging pile; generating a recharging path based on the QR code recognition result; controlling the self-propelled robot to move towards the charging pile along the recharging path, and using a PID strategy to adjust the self-propelled robot's posture during the movement until it returns to the charging pile. This method, by setting a QR code on the charging pile and innovatively introducing a guide point pre-positioning mechanism, significantly improves the intelligence level and reliability of the self-propelled robot's autonomous recharging by relying on visual recognition to calculate the charging pile's posture in real time along the critical path from the guide point to the charging pile, and achieving dynamic following of the robot's posture through PID control.

[0057] The above embodiments are merely illustrative of the principles and effects of this application and are not intended to limit this application. Any person skilled in the art can modify or alter the above embodiments without departing from the spirit and scope of this application. Therefore, all equivalent modifications or alterations made by those skilled in the art without departing from the spirit and technical concept disclosed in this application should still be covered by the claims of this application.

Claims

1. A method for recharging a self-propelled robot, characterized in that, include: Control the self-walking robot to move to the guide point, wherein the guide point is located directly in front of the charging pile, and the distance from the guide point to the charging pile is a first preset distance; Scan the QR code on the charging station; Based on the recognition result of the QR code, a recharge path is generated; The self-propelled robot is controlled to move along the recharge path toward the charging station, and a PID strategy is used to adjust the pose of the self-propelled robot during the movement until it returns to the charging station.

2. The self-propelled robot recharging method according to claim 1, characterized in that, The navigation signals of the self-propelled robot include one or more of satellite navigation signals, inertial navigation signals, and visual navigation signals.

3. The self-propelled robot recharging method according to claim 1, characterized in that, Also includes: Based on the recognition result of the QR code, the pose of the charging pile is calculated; Based on the pose of the charging pile, the pose of the self-walking robot is calibrated, and a pose calibration result is generated. Based on the pose calibration results, a return path to the charging point is generated.

4. The self-propelled robot recharging method according to claim 1, characterized in that, Also includes: The QR code is recognized by the visual perception unit of the self-walking robot. Determine whether the QR code has been recognized: If so, return the step of generating a recharge path based on the recognition result of the QR code; If not, the self-propelled robot is controlled to rotate in place by a preset angle, and then the process returns to the step of recognizing the QR code through the visual perception unit of the self-propelled robot.

5. The self-propelled robot recharging method according to claim 1, characterized in that, Also includes: Determine whether the difference between the heading angle and the positive angle of the self-propelled robot is a preset value: If so, the QR code set on the charging pile is identified by the visual perception unit of the self-walking robot; If not, control the self-propelled robot to rotate in place, control the lawnmower robot to turn in place, and return to the step of determining whether the difference between the heading angle and the positive angle of the self-propelled robot is a preset value.

6. The self-propelled robot recharging method according to claim 1, characterized in that, The method further includes: After the self-propelled robot returns to the charging station, it determines whether it has received a charging signal: If so, the recharge process ends; If not, control the self-propelled robot to retreat and return to the step of recognizing the QR code set on the charging pile through the visual perception unit on the self-propelled robot.

7. The self-propelled robot recharging method according to claim 6, characterized in that, The step of controlling the self-propelled robot to move backward and return to identify the QR code set on the charging pile through the visual perception unit on the self-propelled robot includes: Control the self-walking robot to retreat a second preset distance; Return to the step of identifying the QR code set on the charging pile through the visual perception unit on the self-propelled robot.

8. The self-propelled robot recharging method according to claim 7, characterized in that, The second preset distance is less than the first preset distance.

9. The self-propelled robot recharging method according to claim 6, characterized in that, Also includes: Control the self-walking robot to move backward; The front end of the charging plate of the charging pile is identified by the visual perception unit. When the front end of the charging plate of the charging pile is detected, return to the step of identifying the QR code set on the charging pile through the visual perception unit on the self-propelled robot.

10. The self-propelled robot recharging method according to claim 1, characterized in that, The QR code is one, and the QR code is placed at the position of the charging pile facing the guide point.

11. The self-propelled robot recharging method according to claim 1, characterized in that, Also includes: Control the self-propelled robot to move towards the charging station along the recharge path; During the movement, the self-propelled robot's pose is adjusted using a PID strategy, and a low-speed, low-tolerance replanning strategy is adopted to achieve high-precision pose requirements through closed-loop position control until it returns to the charging station.

12. A self-propelled robot, characterized in that, include: ontology; A visual perception unit is disposed on the main body; A control unit is disposed on the main body, and the control unit is configured to: Control the self-walking robot to move to the guide point, wherein the guide point is located directly in front of the charging pile, and the distance from the guide point to the charging pile is a first preset distance; Scan the QR code on the charging station; Based on the recognition result of the QR code, a recharge path is generated; The self-propelled robot is controlled to move along the recharge path toward the charging station, and a PID strategy is used to adjust the pose of the self-propelled robot during the movement until it returns to the charging station.

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