A charging base station and a self-moving robot recharging method

Abstract

The application provides a charging base station and a self-moving robot charging method. The application sets first and second charging marks on different planes on the charging base station. The self-moving robot can recognize the charging marks through image recognition, thereby determining the relative pose information between the charging base station and the self-moving robot, planning a path, and enabling the self-moving robot to realize charging. By setting the charging marks on different planes, the self-moving robot can effectively recognize the charging marks when approaching from different directions, start the guiding process in advance, reduce the search time, improve the recognition efficiency and positioning accuracy in the charging stage, reduce the probability of the charging marks being blocked by obstacles, and improve the anti-interference capability. In addition, the charging method of the application uses the charging marks for positioning, which can ensure the positioning accuracy, and simultaneously adjusts the angle during the process of retreating. On the basis of not increasing the charging times, the frequency of angle adjustment is increased, and the success rate of docking is improved.

Description

Technical Field

[0001] This application relates to the field of horticultural equipment technology, and in particular to a charging base station and a self-moving robot recharging method. Background Technology

[0002] The core advantage of intelligent lawnmowers is that, based on preset programs and numerous sensors, they can autonomously complete mowing operations without human intervention, greatly freeing up users' energy and time. Intelligent lawnmowers typically employ automatic recharging technology to maintain their continuous working capacity. Their basic workflow is as follows: when the lawnmower's battery level drops below a preset threshold, or after completing a scheduled mowing task, it will attempt to autonomously return to a charging station to recharge. Once fully charged, it will return to its point of interruption or reschedule a new task, thus achieving 24 / 7 automated operation.

[0003] Existing recharge technologies typically use charging markers at charging stations. Lawn mowers use image recognition of these markers to locate and dock with the station. However, existing charging markers are usually single or located on the same plane. During multiple recharge cycles, the limited viewing angle of a single marker or its susceptibility to obstruction leads to insufficient docking success. The lawnmower then needs to return to a designated or random location to reposition and identify the base station, initiating a new docking process, repeating this cycle until a successful docking is achieved. This repeated recharge cycle causes the lawn around the base station to be repeatedly trampled, resulting in lawn abrasion and affecting the lawn's appearance. Summary of the Invention

[0004] To address the aforementioned issues, this application provides a charging base station, comprising a charging base plate, a charging body, a charging identifier, and charging terminals. A recharge channel is formed between the charging base plate and the charging body. The charging identifier is disposed on the charging body, and at least partially located on one side of the recharge channel. The charging identifier includes a first charging identifier and a second charging identifier, both of which are planar identifiers. The plane containing the first charging identifier is not parallel to and is not coplanar with the plane containing the second charging identifier.

[0005] This application also provides a charging base station, which includes a charging base plate, a charging body, a charging symbol, and charging terminals. A recharge channel is formed between the charging base plate and the charging body. The charging symbol is disposed on the charging body and is at least partially located on one side of the recharge channel. The charging symbol includes a first charging symbol and a second charging symbol. The first charging symbol is a planar symbol, and the second charging symbol is a three-dimensional symbol.

[0006] This application also provides a method for recharging a self-mobile robot, which is applied to the docking between a charging base station and a self-mobile robot, and the method includes: The first charging identifier and the second charging identifier on the charging base station are identified, and the positional relationship between the self-moving robot and the charging base station is determined based on the identification result; Based on the positional relationship, the self-moving robot is controlled to move towards the charging base station and dock; If the docking fails, the self-moving robot is controlled to retreat and its direction of travel is adjusted during the retreat. When the preset conditions are met, the retreat stops and the self-moving robot is controlled again to attempt docking until the docking is successful.

[0007] The aforementioned charging base station and self-propelled robot recharging method involve setting a first charging marker and a second charging marker on different planes on the charging base station. The self-propelled robot can recognize the charging markers using its own image, thereby determining the relative pose information between the charging base station and the self-propelled robot for path planning, enabling the self-propelled robot to recharge. By setting the charging markers on different planes, the self-propelled robot can effectively recognize them when approaching from different directions, initiating the guidance process earlier, reducing search time, improving recognition efficiency and positioning accuracy during the recharging phase, and reducing the probability of the markers being obscured by obstacles, thus improving anti-interference capabilities. Furthermore, the recharging method of this application utilizes charging markers for positioning, ensuring positioning accuracy, and simultaneously adjusts the angle during the reversal process, increasing the frequency of angle adjustments without increasing the number of recharging attempts, thereby improving the docking success rate.

[0008] Beneficial Effects: In this application, the planar markers face two different planes, ensuring that regardless of the direction from which the lawnmower approaches, one marker will always enter the lawnmower's camera's field of view at a favorable angle. This allows for earlier initiation of the lawnmower's guidance process, reducing search time and improving the positioning accuracy and recognition efficiency during the initial recharging phase. It also avoids recognition failures due to limitations of a single recognition perspective. The fact that the two planar markers are located on different planes and in different directions exponentially reduces the probability of both markers being simultaneously obscured by obstacles, improving the anti-interference capability of the base station's recharging process. Furthermore, the recognition results from the dual markers ensure accurate initial positioning, laying the foundation for subsequent docking. If docking fails, the backward adjustment mechanism prevents the robot from continuously advancing when its position deviates, which could lead to jamming or hardware damage. By correcting its posture and direction during the backward movement, the optimal docking angle and path are re-found. The introduction of preset conditions prevents invalid backward operations, balancing adjustment efficiency with docking time. This closed-loop control logic significantly enhances the docking success rate in complex environments, reduces the risk of recharging failures caused by positioning deviations, path interference, and other factors, thereby ensuring the stability and reliability of the self-moving robot during the recharging process.

[0009] Other features and advantages of this application will be set forth in the description which follows, and will be apparent in part from the description, or may be learned by practicing the application. The objectives and other advantages of this application are realized and obtained through the structures particularly pointed out in the description, claims, and drawings.

[0010] To make the above-mentioned objectives, features and advantages of this application more apparent and understandable, preferred embodiments are described below in detail with reference to the accompanying drawings. Attached Figure Description

[0011] Figure 1 This is a schematic diagram of the structure of one embodiment of the charging base station in this application; Figure 2 for Figure 1 A magnified view of a section at point A in the middle; Figure 3 This is a schematic diagram of another embodiment of the charging base station in this application; Figure 4 for Figure 3 A magnified view of a section at point B in the middle; Figure 5 This is a schematic diagram of the structure of another embodiment of the charging base station in this application; Figure 6 for Figure 5 A magnified view of a section at point C; Figure 7 A simplified structural diagram of the first charging icon, the second charging icon, and the first plane; Figure 8 This is a schematic diagram of one embodiment of the self-recharging method for mobile robots in this application.

[0012] Icon labels: 1. Charging base plate; 2. Charging body; 21. Front face of the body; 22. Rear face of the body; 23. Side of the body; 231. Side baffle; 3. Charging mark; 31. First charging mark; 32. Second charging mark; 4. Charging terminal; 5. Recharge channel; 100. First plane. Detailed Implementation

[0013] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0014] The terms "comprising" and "having," and any variations thereof, used in the embodiments of this application are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or device that includes a series of steps or units is not limited to the steps or units listed, but may optionally include other steps or units not listed, or may optionally include other steps or units inherent to these processes, methods, products, or devices.

[0015] To facilitate understanding of this embodiment, a charging base station disclosed in this application will first be described in detail. Please refer to... Figures 1 to 4 The charging base station includes a charging base plate 1, a charging body 2, a charging identifier 3, and charging terminals 4. A recharge channel 5 is formed between the charging base plate 1 and the charging body 2, allowing the autonomous mobile robot to enter and dock with the charging terminals 4 to complete charging. The charging identifier 3 is located on the charging body 2, at least partially on one side of the recharge channel 5, enabling the autonomous mobile robot to recognize the charging identifier 3 through an image acquisition device when approaching the charging base station. The charging identifier 3 includes a first charging identifier 31 and a second charging identifier 32, both of which are planar identifiers. The plane containing the first charging identifier 31 is not parallel to and is not coplanar with the plane containing the second charging identifier 32.

[0016] Specifically, the recharge channel 5 in this invention can be understood as a space for accommodating the self-moving robot, such as... Figure 1 As shown, the recharge channel 5 can be understood as the top space of the charging base plate 1, or the space on the front side of the front end face 21 of the main body.

[0017] In this embodiment, by placing the first charging marker 31 and the second charging marker 32 on planes in different directions, at least one charging marker 3 can always enter the field of view of the self-moving robot's image acquisition device at a good angle, regardless of whether the self-moving robot approaches the charging base station from the front or the side. This multi-plane arrangement can start the guidance process for the self-moving robot earlier, reduce the search time for the charging marker 3, improve the recognition efficiency and positioning accuracy in the initial stage of recharging, and avoid recognition failure caused by a single limited recognition perspective. At the same time, the two charging markers 3 are located on different planes and in different directions, which greatly reduces the probability that both charging markers 3 are simultaneously obscured by obstacles. Even if one charging marker 3 is partially obscured by factors such as tree branches or shadows, the other charging marker 3 can still be effectively recognized, thereby improving the anti-interference capability and reliability of the charging base station's recharging process.

[0018] In one embodiment, please refer to Figure 7 The charging body 2 includes a front face 21 and a rear face 22 that are positioned opposite each other. The front face 21 is close to the recharge channel 5, so that the self-propelled robot can directly face the front face 21 when approaching from the front. The first plane 100 is defined as a plane that is parallel to the first charging mark 31 and intersects the rear face 22. Both the first charging mark 31 and the second charging mark 32 are located on the front face 21. The distance between the first charging mark 31 and the first plane 100 and the distance between any point on the second charging mark 32 and the first plane 100 are not equal.

[0019] Specifically, the front surface 21 of the main body in this invention can be a flat surface or an uneven surface, such as... Figure 1 As shown, the front side of the charging body 2 has many protruding or recessed structures, and the exposed surfaces of these structures can all be called the front end face 21 of the body.

[0020] In this embodiment, by making the distances between the first charging marker 31 and the second charging marker 32 and the first plane 100 unequal, a spatial positional difference is created between the first charging marker 31 and the second charging marker 32 along the recharge channel 5. During the recharge process along the recharge channel 5, the self-moving robot can further accurately determine its positional relationship with the charging body 2 by sensing the positional difference between the first charging marker 31 and the second charging marker 32 in the depth direction. This positional difference in the depth direction provides the self-moving robot with additional spatial positioning information, reducing positioning errors and enabling the self-moving robot to adjust its posture and position more accurately, thereby improving the docking success rate and reducing the number of repeated recharges due to inaccurate positioning.

[0021] In one embodiment, the angle between the plane where the first charging symbol 31 is located and the plane where the second charging symbol 32 is located is greater than or equal to 10 degrees and less than or equal to 45 degrees.

[0022] In this embodiment, by limiting the included angle to a range of 10 to 45 degrees, a balance can be achieved between the recognition range and the recognition accuracy. When the included angle between the first charging icon 31 and the second charging icon 32 is too large, the lateral viewing angle coverage of the charging icon 3 will be lost, making it impossible for the self-moving robot to simultaneously recognize the two charging icons 3 when approaching from certain lateral angles. When the included angle is too small, the viewing angle coverage in the direction of the recharge channel 5 will be lost, weakening the effect of accurate positioning through depth position difference. The included angle range of 10 to 45 degrees can meet the recognition needs of the self-moving robot in different postures, ensuring the recognizability of the charging icon 3 at different approach angles, and providing sufficient depth information for accurate positioning, thereby improving both recharge efficiency and recharge accuracy.

[0023] In one embodiment, the distance between the inner side of the second charging mark 32 and the first plane 100 is less than the distance between the outer side of the second charging mark 32 and the first plane 100. The inner side of the second charging mark 32 is the side closer to the longitudinal center line of the front end face 21 of the main body, and the outer side of the second charging mark 32 is the side farther away from the longitudinal center line of the front end face 21 of the main body.

[0024] In this embodiment, by tilting the second charging marker 32 inward, obstruction by the side of the main body 23 or other structures is avoided, increasing the lateral viewing angle coverage of the charging marker 32. When the self-moving robot approaches the charging base station from a large lateral angle, the inwardly tilted second charging marker 32 can more easily enter the field of view of the image acquisition device, improving the recognition success rate. Simultaneously, when the self-moving robot recharges along the recharge channel 5, the inwardly tilted second charging marker 32 provides a lateral positioning reference for the self-moving robot, helping it to determine its lateral offset relative to the centerline of the charging base station in real time, achieving dynamic adjustment of its lateral posture, reducing lateral deviation during docking, and further improving the docking success rate.

[0025] In one embodiment, such as Figure 1 As shown, the charging body 2 includes a front face 21, a rear face 22, and a side face 23. The front face 21 is close to the recharge channel 5, the rear face 22 is opposite to the front face 21, and the side face 23 is located on both sides of the front face 21. The front ends of the side face 23 extend forward from the front face 21 to form a side block 231. A first charging indicator 31 is located on the front face 21, and a second charging indicator 32 is located on the side block 231 and close to the recharge channel 5.

[0026] In this embodiment, by setting the second charging indicator 32 on the side block 231, the second charging indicator 32 on the side block 231 can assist the self-moving robot in positioning from both lateral sides, specifically as follows: Figure 1 As shown, the first charging marker 31 and the second charging marker 32 on the side barrier 231 form a three-dimensional positioning system, effectively expanding the lateral recognition range of the self-moving robot. When the self-moving robot deviates significantly from its recharge path, the second charging marker 32 on the side barrier 231 can be prioritized for recognition, helping the self-moving robot quickly correct its direction of travel and avoiding situations where it misses the charging station or needs extensive adjustments due to excessive deviation. This three-dimensional marker arrangement significantly improves positioning accuracy, enabling the self-moving robot to quickly lock onto the charging station location and correct its path even when the initial approach angle is not ideal, thereby shortening the overall recharge time and reducing grass trampling caused by multiple adjustments.

[0027] In one embodiment, the first charging identifier 31 is a QR code, the second charging identifier 32 is a pattern or a solid color, and the area of ​​the first charging identifier 31 is larger than the area of ​​the second charging identifier 32.

[0028] In this embodiment, the first charging identifier 31 adopts a QR code format, which can carry rich information such as the location, number, and status of the charging base station. The autonomous mobile robot can quickly obtain detailed information about the charging base station by parsing the QR code, thereby enabling precise path planning and docking control. The second charging identifier 32 adopts a simple form with a pattern or solid color. Although it carries less information, it has a fast recognition speed and relatively low requirements for lighting conditions and shooting angles, maintaining a high recognition success rate even when the autonomous mobile robot is moving quickly or in poor lighting conditions. By setting the area of ​​the first charging identifier 31 to be larger than that of the second charging identifier 32, the first charging identifier 31 can still be prioritized for recognition at a distance or in poor viewing angles, playing a primary role in guidance and information provision. The second charging identifier 32 serves as an auxiliary identifier, providing a backup recognition method at specific angles or when the first charging identifier 31 is obstructed. The two work together to form a primary and secondary, complementary identification system, ensuring both the integrity of information transmission and improving the robustness of recognition.

[0029] In one embodiment, at least two second charging identifiers 32 are provided, and a first charging identifier 31 is located between at least two second charging identifiers 32.

[0030] In this embodiment, by setting at least two second charging markers 32 and placing the first charging marker 31 between the two second charging markers 32, a spatial layout is formed with the first charging marker 31 as the center and the second charging markers 32 distributed symmetrically or asymmetrically on both sides. This layout allows the autonomous mobile robot to quickly determine the approximate location of the first charging marker 31 during the identification process by using the relative positional relationship of the two second charging markers 32, thereby accelerating the search and positioning process of the first charging marker 31. At the same time, the presence of the two second charging markers 32 can also provide the autonomous mobile robot with a lateral position reference, helping the autonomous mobile robot to determine its own offset direction and offset amount relative to the center line of the charging base station. This facilitates precise lateral adjustments during the docking process, ensuring that the charging terminals 4 can be accurately aligned, improving the docking success rate, reducing repeated attempts due to lateral deviation, and thus reducing the risk of lawn trampling.

[0031] The charging base station provided in this embodiment features planar markers 31 and 32, each positioned on a different plane. This allows the self-moving robot to identify the charging marker 3 from multiple angles during recharging, effectively expanding the recognition field of view, reducing search time, and improving positioning efficiency in the initial recharging phase. The two planar markers are located in different directions, reducing the probability of simultaneous obstruction and improving anti-interference capabilities. Furthermore, the positional difference in depth between the first and second charging markers 31 and 32 provides additional spatial positioning information for the self-moving robot. This enables the robot to more accurately determine its posture when approaching the charging base station along the recharging channel 5, achieving dynamic adjustments in both lateral and depth directions. This improves docking success rate and reduces lawn trampling caused by repeated recharging.

[0032] Please see Figure 5 and Figure 6 The diagram shows a structural block diagram of another embodiment of the charging base station in this application.

[0033] The charging base station includes a charging base plate 1, a charging body 2, a charging identifier 3, and charging terminals 4. A recharge channel 5 is formed between the charging base plate 1 and the charging body 2. The charging identifier 3 is disposed on the charging body 2, and at least partially located on one side of the recharge channel 5. The charging identifier 3 includes a first charging identifier 31 and a second charging identifier 32. The first charging identifier 31 is a planar identifier, and the second charging identifier 32 is a three-dimensional identifier.

[0034] In this embodiment, by setting the first charging identifier 31 as a planar identifier and the second charging identifier 32 as a three-dimensional identifier, a combination of planar and three-dimensional identifiers is achieved. Because three-dimensional identifiers maintain clear outline features under varying lighting conditions and different viewing angles, they are easier for self-moving robots to quickly capture compared to planar identifiers. Especially in low-light or complex environments, such as early morning, evening, or when shaded by trees, the three-dimensional structure of the three-dimensional identifier can form obvious light and dark contrasts and shadow outlines under different lighting conditions, making its recognition stability significantly better than that of planar identifiers. This combination strategy of planar and three-dimensional identifiers allows for accurate positioning and information transmission using information such as QR codes carried by planar identifiers, while also improving efficiency and environmental adaptability in the initial recognition stage using three-dimensional identifiers. This combination effectively solves the problem of low recognition rate of single planar identifiers in complex environments, significantly expanding the applicable environment range of charging base stations, enabling them to maintain stable and reliable recharging performance in more diverse outdoor scenarios.

[0035] In one embodiment, at least two second charging icons 32 are provided, and a first charging icon 31 is located between at least two second charging icons 32. The charging body 2 includes a front face 21 and a rear face 22 disposed opposite to each other. The front face 21 is close to the recharge channel 5. A first plane 100 is defined as a plane parallel to the first charging icon 31 and intersecting the rear face 22. Both the first charging icon 31 and the second charging icon 32 are disposed on the front face 21. The projected area of ​​the first charging icon 31 on the first plane 100 is larger than the projected area of ​​the second charging icon 32 on the first plane 100.

[0036] In this embodiment, by setting at least two second charging markers 32 and placing the first charging marker 31 between the two second charging markers 32, and combining the design that the projected area of ​​the first charging marker 31 on the first plane 100 is larger than that of the second charging markers 32, the multi-directional calibration function provided by multiple auxiliary markers is retained, and the priority of the core positioning marker, namely the first charging marker 31, is highlighted through the area difference. When the self-moving robot approaches the charging base station, the larger first charging marker 31 can be identified and locked first, serving as the primary positioning reference, while the two two-dimensional second charging markers 32 provide auxiliary spatial reference information. At the same time, the charging markers 3 are concentrated on the front surface 21 of the main body, making it easier for the self-moving robot approaching the recharge channel 5 to quickly discover the charging markers 3 during the approach process, shortening the initial search time. By combining the spatial characteristics of the two-dimensional second charging markers 32 with the precise information of the planar first charging markers 31, effective coordination between rapid capture and precise positioning is achieved, enabling the self-moving robot to quickly switch to precise analysis of the planar markers after rapidly recognizing the three-dimensional markers, thereby accelerating the overall positioning process. In addition, the design of different projection areas also reduces the interference of three-dimensional signs on the recognition process of two-dimensional signs, and avoids the three-dimensional structure of three-dimensional signs occupying too large an area in the image, which affects the clear recognition of two-dimensional signs. This helps to improve the accuracy of positioning data, thereby optimizing the overall docking effect and increasing the docking success rate.

[0037] In this embodiment, one end of the charging terminal 4 is rotatably disposed inside the charging body 2, and the other end of the charging terminal 4 passes through a clearance opening on the housing of the charging body 2 and is exposed in the recharge channel 5. A movable gap is formed between the charging terminal 4 and the periphery of the clearance opening to allow the charging terminal 4 to rotate relative to the charging body 2. By making the charging terminal 4 a rotatable structure, the charging terminal 4 can undergo angular deflection or fine-tuning of its position relative to the charging body 2 within a certain range. One end of the charging terminal 4 is fixed inside the charging body 2 by a rotating mechanism such as a pivot or spherical hinge. This fixing method ensures the electrical connection stability of the charging terminal 4 while allowing the charging terminal 4 to perform limited movement under the constraint of the rotating mechanism. The other end of the charging terminal 4 passes through a clearance opening on the housing of the charging body 2. The size of the clearance opening is slightly larger than the cross-sectional size of the charging terminal 4, thus forming a movable gap between the charging terminal 4 and the periphery of the clearance opening. This movable gap provides the necessary space for the rotation of the charging terminal 4, allowing the charging terminal 4 to passively adjust according to the position and angle of the charging end of the self-moving robot during docking. When the self-moving robot approaches the charging base station and comes into contact with the charging terminal 4, even with some lateral or angular deviation, the charging terminal 4 can rotate or shift slightly under the contact force, thus actively adapting to the position of the self-moving robot's charging end and achieving flexible docking between the charging terminals 4. This flexible docking mechanism significantly reduces the accuracy requirements for the self-moving robot's docking. Even if there is a small deviation in the position of the self-moving robot, the charging terminal 4 can still achieve effective contact through its own rotatable characteristics, thereby improving the docking success rate and reducing the number of docking failures caused by docking position deviations.

[0038] The charging base station provided in this embodiment features a planar charging identifier 31 and a three-dimensional charging identifier 32. Utilizing the clear outline of the three-dimensional identifier under varying lighting conditions and different viewing angles, the recognition stability and initial capture efficiency of the charging identifier 3 in complex environments are significantly improved. The combined use of planar and three-dimensional identifiers ensures accurate positioning and information transmission while enhancing adaptability to complex scenarios such as insufficient light and tree shading, thus expanding the applicable environment range of the charging base station. Through the design of different projected areas and the collaborative layout of multiple identifiers, an effective combination of rapid capture and accurate positioning is achieved, reducing recognition interference between identifiers, improving the accuracy of positioning data, thereby increasing the docking success rate and reducing the probability of repeated recharging.

[0039] The charging base station in the embodiments of this application has been described above. The self-mobile robot recharging method in the embodiments of this application is described below. This self-mobile robot recharging method is applied to the docking between the charging base station and the self-mobile robot. Please refer to [link to relevant documentation]. Figure 8One embodiment of the self-recharging method for mobile robots in this application includes: 801. Identify the first charging identifier and the second charging identifier on the charging base station, and determine the positional relationship between the self-moving robot and the charging base station based on the identification result; In this embodiment, when both the first charging identifier and the second charging identifier are planar identifiers, the step of identifying the charging identifiers on the charging base station and determining the positional relationship between the self-moving robot and the charging base station based on the identification results includes: identifying the first charging identifier and extracting feature information; calculating the angular relationship and distance between the self-moving robot and the charging base station based on the feature information; identifying the two second charging identifiers and extracting position information; calculating the offset and angular deviation of the self-moving robot relative to the charging base station based on the position information of the two second charging identifiers; and determining the positional relationship between the self-moving robot and the charging base station based on the angular relationship, the distance, the offset, and the angular deviation.

[0040] Specifically, during the identification of the first and second charging icons on the charging base station, the self-moving robot acquires image frames containing the charging icons through an image acquisition device. It then uses a pre-defined image recognition algorithm to detect and locate the charging icons from these frames. The image recognition algorithm can employ feature point detection methods or deep learning-based object detection models. By recognizing visual features such as the shape, color, and texture of the charging icons, it accurately separates their positions from complex background environments. During the identification process, the algorithm extracts the positional information of the charging icons in the image coordinate system, including the coordinates of the center point, boundary contours, and feature point distribution. Based on these identification results, combined with the known positional information of the charging icons in the world coordinate system and the imaging parameters of the image acquisition device, the spatial positional relationship of the self-moving robot relative to the charging base station can be calculated through coordinate transformation and inverse perspective projection operations. This positional relationship includes key information such as the distance, orientation angle, and posture deviation between the self-moving robot and the charging base station. This information forms the basis for the self-moving robot's path planning and posture adjustment.

[0041] When both the first and second charging markers are planar markers, the process of identifying and determining the positional relationship of the charging markers on the charging base station can be divided into three steps. First, the first charging marker is identified and its feature information is extracted. Then, the angular relationship and distance between the self-propelled robot and the charging base station are calculated based on this feature information. The first charging marker typically uses a structured marker such as a QR code. Image recognition algorithms can obtain the two-dimensional coordinates of the four corner points of the QR code in the image coordinate system. Based on these corner coordinates, combined with the known physical size of the QR code and the intrinsic parameter matrix of the image acquisition device, the relative posture between the self-propelled robot and the first charging marker can be calculated using the principle of perspective transformation. By observing the distribution of the corner coordinates in the image, the rotation angle of the QR code plane relative to the optical axis of the image acquisition device can be inferred. This rotation angle represents the angular relationship between the self-propelled robot and the charging base station. Simultaneously, based on the ratio between the projected size of the QR code in the image and its actual physical size, combined with the focal length parameters in the imaging model, the distance between the self-propelled robot and the charging base station can be deduced. Although this monocular vision-based ranging method theoretically has some error accumulation, it can provide sufficiently accurate distance estimation when the size of the charging sign is known and the image acquisition device is calibrated.

[0042] Two second charging markers are identified and their position information is extracted. Based on this information, the offset and angular deviation of the autonomous mobile robot relative to the charging base station are calculated. The second charging markers are typically simple patterns or solid colors. The recognition algorithm obtains the center point coordinates of each marker by detecting its position and distribution in the image. Since the two second charging markers are symmetrically or in known relative positions on the charging base station, the lateral offset of the autonomous mobile robot relative to the centerline of the charging base station can be determined by comparing the lateral position differences of the two markers in the image. If the two second charging markers are symmetrically distributed in the image, it indicates that the autonomous mobile robot is directly in front of the charging base station, with a small lateral offset. If there is a significant left-right asymmetry in the positions of the two markers, it indicates that the autonomous mobile robot has a lateral offset. The direction and degree of the offset can be quantified by the relative difference in the positions of the two markers. By analyzing the relative positional relationship between the two second charging markers and the first charging marker in the image, the yaw angle deviation of the autonomous mobile robot can be further calculated, i.e., the angle between the robot's orientation and the front of the charging base station. This angular deviation reflects the heading error of the autonomous mobile robot during its approach to the charging base station and is an important reference for attitude adjustment.

[0043] Based on angular relationships, distance, offset, and angular deviation, the positional relationship between the autonomous mobile robot and the charging base station is determined. This step integrates the multi-dimensional information acquired previously to form a complete description of the positional relationship. Angular relationships and distance provide the basic spatial position between the autonomous mobile robot and the charging base station, while offset and angular deviation further refine the robot's attitude state. By mapping this information to a unified coordinate system, the six-degree-of-freedom pose of the autonomous mobile robot relative to the charging base station can be obtained, including three-dimensional position and three-dimensional attitude. This complete positional relationship enables the autonomous mobile robot to calculate the necessary movement trajectory and attitude adjustment strategy to reach the docking position at the charging base station, thereby achieving high-precision automatic docking.

[0044] Further, the step of identifying and extracting feature information from the first charging icon, and calculating the angular relationship and distance between the self-moving robot and the charging base station based on the feature information includes: identifying and extracting feature information from the first charging icon, wherein the feature information includes the coordinates of the four corner points of the first charging icon in the image; calculating a first distance between the first diagonal points and a second distance between the second diagonal points of the first charging icon based on the coordinates of the four corner points in the feature information, thereby obtaining a first side length and a second side length of the first charging icon in the image, wherein the first side length is the average of the visual lengths of two parallel sides in the image, and the second side length is the visual length of the side perpendicular to the two parallel sides in the image; calculating the ratio of the first side length to the second side length, performing an inverse cosine operation on the ratio to obtain the angular relationship between the self-moving robot and the charging base station; and calculating the distance based on the ratio between the known physical size of the first charging icon and the pixel size of the first charging icon in the image as shown in the feature information.

[0045] Specifically, based on the coordinates of the four corner points in the feature information, the first distance between the first opposite corner points of the first charging icon and the second distance between the second opposite corner points are calculated to obtain the first side length and the second side length of the first charging icon in the image. The first side length is the average of the visual lengths of the two parallel sides in the image, and the second side length is the visual length of the side perpendicular to the two parallel sides in the image. Due to the influence of perspective projection, a rectangular QR code usually appears as a trapezoid or irregular quadrilateral in the image, and the lengths of the two opposite parallel sides in the image will not be completely equal due to perspective distortion. By calculating the lengths of the two parallel sides and taking the average as the first side length, the measurement error caused by perspective distortion can be reduced. At the same time, the lengths of the other pair of sides perpendicular to these two parallel sides are calculated, and one of them is taken as the second side length. The ratio of these two side lengths directly reflects the degree of tilt of the QR code plane relative to the image plane. When the QR code plane is parallel to the image plane, the ratio of the first side length and the second side length is close to the aspect ratio of the actual physical size of the QR code; when the QR code plane is rotated relative to the image plane, the ratio of the two side lengths will change due to the perspective projection effect, and this change includes angular information.

[0046] The ratio of the first side length to the second side length is calculated, and an inverse cosine operation is performed on this ratio to obtain the angular relationship between the self-moving robot and the charging base station. This calculation process is based on the fundamental principles of perspective geometry. When the QR code plane rotates around an axis perpendicular to the image plane, its projection in the image will be distorted, resulting in two originally equal sides appearing to have different visual lengths in the image. The angle between the normal direction of the QR code plane and the optical axis of the image acquisition device can be calculated using the ratio of the first and second side lengths. The inverse cosine operation converts this ratio into an angle value, which is the yaw angle of the self-moving robot relative to the charging base station. This monocular vision-based angle measurement method does not rely on complex camera calibration parameters; it can estimate the angle solely through the geometric characteristics of the QR code itself, exhibiting good robustness and real-time performance in practical applications. It is worth noting that this method assumes the QR code is a square or a rectangle with a known aspect ratio. Under this premise, changes in the side length ratio are entirely caused by changes in the viewing angle, thus accurately deriving the angular relationship.

[0047] The distance is calculated based on the ratio of the known physical size of the first charging identifier to its pixel size in the image, as specified in the feature information. The physical size of the first charging identifier is known in advance; for example, the side length of a QR code may be a fixed value. The pixel size of the QR code in the image can be obtained by measuring the number of pixels it occupies. The ratio of physical size to pixel size is inversely proportional to the distance from the self-propelled robot to the charging base station; the greater the distance, the fewer pixels the QR code occupies in the image, and vice versa. Based on a pinhole imaging model, the projected size of the object in the image is determined by the distance from the object to the camera and the camera's focal length. With the camera focal length known, the distance can be directly calculated based on the ratio of physical size to pixel size using simple similar triangle relationships. The accuracy of this ranging method depends on the accuracy of the QR code size and the accuracy of corner point positioning. When the charging identifier size is standardized and the image quality is good, it can provide a distance estimate that meets docking requirements.

[0048] In another embodiment, when the first charging identifier is a planar identifier and the second charging identifier is a three-dimensional identifier, the step of identifying the charging identifier on the charging base station and determining the positional relationship between the self-moving robot and the charging base station based on the identification result includes: identifying the first charging identifier and extracting feature information, and calculating the angular relationship between the self-moving robot and the charging base station based on the feature information; identifying the second charging identifier and extracting three-dimensional features, and calculating the distance and offset between the self-moving robot and the charging base station based on the three-dimensional features; and determining the positional relationship between the self-moving robot and the charging base station based on the angular relationship, the distance, and the offset.

[0049] Specifically, when the first charging marker is a planar marker and the second charging marker is a three-dimensional marker, the process of identifying the charging markers on the charging base station and determining their positional relationship can be divided into three steps. First, the first charging marker is identified and its feature information is extracted. Then, the angular relationship between the self-propelled robot and the charging base station is calculated based on this feature information. The first charging marker is a planar QR code. The image recognition algorithm detects its corner positions and boundary contours to extract the distribution information of the corner points in the image coordinate system. Based on the spatial arrangement of the corner points, the angle between the normal direction of the QR code plane and the optical axis of the image acquisition device can be calculated using the principle of perspective transformation. This angle reflects the orientation deviation of the self-propelled robot relative to the charging base station, that is, the angular relationship between the self-propelled robot's forward direction and the front of the charging base station. By analyzing the degree of deformation of the QR code in the image, it can be determined whether the self-propelled robot is approaching the charging base station from the front, side, or oblique direction, thereby determining the direction and magnitude of the required angle adjustment. This angle measurement method based on planar markers can provide stable and reliable orientation information, unaffected by possible occlusion or lighting changes of three-dimensional markers, and serves as a reference in the entire positional relationship calculation.

[0050] The second charging marker is identified and its 3D features are extracted. Based on these features, the distance and offset between the autonomous robot and the charging base station are calculated. As a 3D marker, the outline and projected area of ​​the second charging marker in the image contain rich three-dimensional spatial information. The image recognition algorithm can extract its projected area on the image plane by detecting the boundary outline of the 3D marker. The projected area of ​​the 3D marker changes regularly with the distance between the autonomous robot and the charging base station; the closer the distance, the larger the projected area, and vice versa. Based on the known physical dimensions of the 3D marker, the distance from the autonomous robot to the charging base station can be deduced by measuring its projected area in the image and utilizing projection geometry. This distance measurement method based on projected area is more sensitive to distance changes than methods relying solely on linear dimensions, and can provide more accurate distance estimates over a larger distance range. Simultaneously, by analyzing the position of the outline center of the 3D marker in the image, the lateral offset of the autonomous robot relative to the centerline of the charging base station can be determined. If the center of the 3D marker's outline is located in the center of the image, it indicates that the self-moving robot is basically aligned with the charging base station. If the center of the outline is offset to the left or right of the image, it indicates that the self-moving robot has a lateral offset in the corresponding direction. The offset can be quantified by the pixel distance between the outline center and the image center. Due to its three-dimensional structure, the 3D marker can present stable outline features under different viewing angles and maintain good recognizability even under changes in lighting or partial occlusion, thereby improving the robustness of distance and offset calculations.

[0051] Based on angular relationships, distance, and offset, the positional relationship between the self-moving robot and the charging base station is determined. This step fuses the angular information obtained from planar markers with the distance and offset information obtained from stereo markers to form a complete description of the positional relationship. Angular relationships provide the robot's orientation information, indicating the direction it needs to adjust; distance information provides the interval between the robot and the charging base station, determining the distance the robot needs to move forward or backward; offset information provides the robot's lateral position deviation, guiding the direction and magnitude of lateral translation adjustments. By integrating these three dimensions of information within a unified coordinate framework, a spatial pose model of the self-moving robot relative to the charging base station can be constructed. This model not only includes the robot's two-dimensional position and orientation in the horizontal plane but also enhances the accuracy of distance measurement through the depth information provided by stereo markers. The combined use of planar and stereo markers allows the positional relationship determination process to leverage both the precise angle measurement capabilities of planar markers and the recognition stability and high sensitivity to distance changes of stereo markers under complex lighting conditions, achieving complementary advantages and improving the overall accuracy and reliability of positional relationship calculations.

[0052] Furthermore, the step of identifying the second charging icon and extracting its 3D features, and calculating the distance and offset between the self-moving robot and the charging base station based on the 3D features, includes: identifying the second charging icon and extracting the boundary information of the 3D contour of the second charging icon in the image as the 3D features; calculating the projection area of ​​the second charging icon in the image based on the boundary information of the 3D contour, and obtaining the area of ​​the projection area; calculating the distance between the self-moving robot and the charging base station based on the ratio between the known physical size of the second charging icon and the area of ​​the projection area; and calculating the offset of the self-moving robot relative to the charging base station based on the deviation between the center position of the 3D contour in the image and the center position of the image.

[0053] The process of identifying the second charging sign and extracting its 3D features, and then calculating the distance and offset between the self-propelled robot and the charging base station based on these features, involves four steps. First, the second charging sign is identified, and its 3D contour boundary information in the image is extracted as 3D features. Due to its three-dimensional structure, the 3D sign exhibits a clear contour boundary in the image, formed by the grayscale or color contrast between the outer surface of the 3D sign and the background environment. Image recognition algorithms, through edge detection technology, can identify the boundary line between the 3D sign and its surrounding environment, extracting the complete contour boundary. The contour boundary information of the 3D sign includes the pixel coordinate sequence of the boundary points. These coordinate points, when connected, form a closed curve or polygon, describing the projected shape of the 3D sign on the image plane. Compared to planar signs, the contour boundary of a 3D sign may exhibit more complex geometric features due to its three-dimensional shape, such as convexity, concavity, or light and dark variations caused by shadows. These features allow the contour boundary to maintain high recognizability under different lighting conditions.

[0054] The projection area of ​​the second charging icon in the image is calculated based on the boundary information of the 3D contour, and the area of ​​the projection area is obtained. After the contour boundary is determined, all pixels inside the boundary can be marked as projection areas using a filling algorithm, thus obtaining the complete projection range of the 3D icon on the image plane. The area of ​​the projection area can be obtained by counting the number of pixels within the projection area or by calculating the area of ​​the polygon enclosed by the contour boundary. The size of the projection area is directly affected by the distance between the 3D icon and the image acquisition device. When the distance is close, the 3D icon occupies more pixels in the image, and the projection area is larger; when the distance is far, the projection of the 3D icon in the image shrinks, and the projection area decreases. This characteristic of the projection area changing with distance stems from the basic law of perspective projection: the size of the object's projection on the imaging plane is inversely proportional to the distance from the object to the imaging plane, while the projection area is inversely proportional to the square of the distance. Therefore, the response of the projection area to changes in distance is more significant than that of linear size.

[0055] The distance between the self-propelled robot and the charging base station is calculated based on the ratio between the known physical dimensions of the second charging marker and the area of ​​its projected region. The physical dimensions of the 3D marker are known in advance, including its actual surface area or feature dimensions in three-dimensional space. By comparing the physical dimensions with the projected area, a quantitative relationship between distance and projected area can be established. Based on the principle of similar triangles and the projection geometry model, the ratio of physical dimensions to projected area reflects the scaling factor during the imaging process, which is directly related to distance. By inversely calculating this ratio, the actual distance from the self-propelled robot to the charging base station can be calculated. Compared to methods based on linear dimensions, this area-ratio-based ranging method can utilize more image information, reduce the impact of single-point measurement errors, and provide a more stable distance estimate when the 3D marker has a regular shape and a known surface area.

[0056] The offset of the self-moving robot relative to the charging base station is calculated based on the deviation between the center position of the 3D contour in the image and the center position of the image. The center position of the 3D contour can be obtained by calculating the centroid coordinates of all points on the contour boundary, or by calculating the geometric center of the projection area. The center position of the image typically corresponds to the projection point of the optical axis of the image acquisition device onto the image plane. When the self-moving robot is facing the charging base station, the center of the 3D contour should coincide with or be close to the center of the image. If the center of the contour deviates from the center of the image, this deviation reflects the lateral offset of the self-moving robot relative to the centerline of the charging base station. By measuring the lateral distance between the center of the contour and the center of the image in the image coordinate system, and combining known distance information and imaging parameters, this pixel deviation can be converted into an offset in actual space. This offset calculation method based on the contour center utilizes the overall geometric information of the 3D contour, and compared to methods relying on only a single feature point, it has better noise resistance and measurement stability.

[0057] 802. Control the self-moving robot to move towards the charging base station and dock according to the positional relationship; In this embodiment, based on the determined positional relationship, the control system calculates the motion trajectory and attitude adjustment strategy that the self-moving robot needs to execute. Based on the distance, angle, and offset information contained in the positional relationship, the control system can plan the optimal path from the current position to the docking position. This path typically includes an angle adjustment phase and a straight-line approach phase. During the angle adjustment phase, the self-moving robot adjusts its orientation to be basically aligned with the front of the charging base station by turning in place or making small-radius turns, eliminating large angle deviations. After the angle adjustment is completed, the self-moving robot moves straight towards the charging base station in the adjusted direction, while continuously making small lateral and angular fine adjustments based on the real-time updated positional relationship information to ensure that it maintains the correct alignment with the charging base station throughout the approach process. When the self-moving robot reaches the preset docking position, the charging terminal should be basically aligned with the charging terminal of the charging base station. At this time, the control system determines whether an electrical connection has been successfully established. If a charging current or charging signal is detected, the docking is considered successful, the self-moving robot stops moving, and enters the charging state.

[0058] 803. When it is determined that the docking is unsuccessful, control the self-moving robot to move backward and adjust the direction of travel during the backward movement. When the preset conditions are met, stop the backward movement and re-control the self-moving robot to perform docking until the docking is successful.

[0059] In this embodiment, when it is determined that docking has failed, controlling the self-moving robot to retreat and adjusting its direction of travel during the retreat includes: controlling the self-moving robot to retreat, continuously monitoring the relative positional relationship between the self-moving robot and the charging base station during the retreat, and adjusting the travel angle of the self-moving robot according to the relative positional relationship; stopping the retreat when the self-moving robot has retreated to a preset retreat distance or the relative positional relationship meets a preset condition; and re-executing the step of controlling the self-moving robot to move towards the charging base station and dock according to the positional relationship until docking is successful.

[0060] In this embodiment, when docking fails, the process of controlling the self-moving robot to retreat and adjusting its direction of travel during the retreat includes three steps. First, the self-moving robot is controlled to retreat, and during this retreat, the relative position between the self-moving robot and the charging base station is continuously monitored. The robot's travel angle is then adjusted based on this relative position. Docking failure is usually due to a certain lateral or angular deviation when the self-moving robot reaches the docking position, resulting in inaccurate alignment of the charging terminals. Traditional re-docking methods require the self-moving robot to retreat to a relatively far position and re-identify the marker and plan the path. This process is not only time-consuming but also causes repeated trampling of the lawn around the charging base station. This embodiment employs a retreat-and-adjust strategy. During the self-moving robot's retreat, the image acquisition device continuously acquires images of the charging markers, updating the relative position in real time. The control system calculates the current lateral and angular deviations based on this real-time updated position and immediately adjusts the self-moving robot's retreat direction. If a leftward lateral deviation is detected between the self-moving robot and the charging base station, the control system will slightly deflect the self-moving robot to the right during the retreat, thereby gradually correcting the lateral deviation while retreating. This dynamic adjustment mechanism allows the self-moving robot to continuously optimize its posture during the backward movement, rather than simply moving backward in a straight line.

[0061] The self-moving robot stops retreating when it has moved back a preset distance or when its relative position meets preset conditions. The preset retreat distance is typically set to a small value to ensure the robot remains within the effective recognition range of the charging marker, eliminating the need for extensive re-searching. Preset conditions may include lateral offset and angular deviation both being less than allowable thresholds. When these deviations decrease to an acceptable range, it indicates that the self-moving robot has essentially completed its posture correction through dynamic adjustments during the retreat process. Stopping retreat at this point avoids unnecessary additional movement. By setting dual stop conditions, the self-moving robot is prevented from retreating too far while ensuring timely stopping after posture adjustment, thus improving the efficiency of re-docking.

[0062] The process of controlling the self-moving robot to move towards the charging base station and docking based on its positional relationship is repeated until docking is successful. After stopping the backward movement, the self-moving robot restarts the approach and docking process based on its current positional relationship. Since most of the attitude adjustment has been completed during the backward movement, the positional relationship is now more ideal than when the initial docking failed, with significant improvements in lateral and angular deviations. The self-moving robot only needs to make minor final adjustments to reach the accurate docking position, greatly improving the success rate of secondary docking. If docking still fails, the above backward adjustment and re-docking process is repeated until an electrical connection is finally established. This strategy of local adjustment and retry avoids large-scale repeated movements, effectively reducing the area of ​​grass trampled around the charging base station and minimizing damage to the lawn. Furthermore, the relative positional relationship includes the offset of the self-moving robot relative to the charging base station; the preset backward distance is the distance from the center of the rear wheel of the self-moving robot to the front end face of the charging base station is less than 1.5 meters; the preset condition is that the deviation between the centerline of the charging end width direction of the self-moving robot corresponding to the offset and the centerline of the charging end width direction of the charging base station is less than 30 millimeters.

[0063] Specifically, the relative positional relationship includes the offset of the self-moving robot relative to the charging base station. This offset reflects the degree of lateral misalignment between the self-moving robot and the charging base station, and is a key parameter for determining whether the docking posture is acceptable. During the retreat process, by continuously identifying the charging marker, changes in this offset can be acquired in real time. The control system dynamically adjusts the retreat angle of the self-moving robot based on the magnitude and direction of the offset, gradually reducing the offset. The preset retreat distance is the distance from the center of the self-moving robot's rear wheels to the front face of the charging base station being less than a preset threshold. This distance limit ensures that the self-moving robot does not leave the effective recognition range of the charging marker during retreat, avoiding the need for a large-scale re-search due to excessive retreat and marker loss. By controlling the retreat distance within a small range, the self-moving robot remains in an area where it can accurately perceive the location of the charging base station, enabling it to quickly complete posture adjustments and re-initiate docking. The preset condition is that the deviation between the centerline of the self-moving robot's charging end width direction and the centerline of the charging base station's charging end width direction is less than an allowable threshold. This condition is directly related to the alignment accuracy of the charging terminals. When the deviation between the two center lines is small enough, it means that the charging terminals are basically aligned. At this point, stopping the retraction and re-connecting can greatly increase the probability of successful connection and reduce unnecessary repeated adjustments.

[0064] The recharging method described in this application uses charging markers for positioning to ensure accuracy, and simultaneously adjusts the angle during the retraction process. This increases the frequency of angle adjustments without increasing the number of recharging cycles, thereby improving the success rate of docking.

Claims

1. A charging base station, characterized in that, The charging base station includes a charging base plate (1), a charging body (2), a charging symbol (3), and a charging terminal (4). A recharge channel (5) is formed between the charging base plate (1) and the charging body (2). The charging symbol (3) is disposed on the charging body (2). The charging symbol (3) is at least partially located on one side of the recharge channel (5). The charging symbol (3) includes a first charging symbol (31) and a second charging symbol (32). Both the first charging symbol (31) and the second charging symbol (32) are planar symbols. The plane on which the first charging symbol (31) is located is not parallel to and not coplanar with the plane on which the second charging symbol (32) is located.

2. The charging base station according to claim 1, characterized in that, The charging body (2) includes a front end face (21) and a rear end face (22) arranged opposite to each other. The front end face (21) is close to the recharge channel (5). A first plane (100) is defined as a plane that is parallel to the first charging mark (31) and intersects the rear end face (22). The first charging mark (31) and the second charging mark (32) are both located on the front end face (21). The distance between the first charging mark (31) and the first plane (100) is not equal to the distance between any point on the second charging mark (32) and the first plane (100).

3. The charging base station according to claim 2, characterized in that, The angle between the plane where the first charging sign (31) is located and the plane where the second charging sign (32) is located is greater than or equal to 10 degrees and less than or equal to 45 degrees.

4. The charging base station according to claim 2, characterized in that, The distance between the inner side of the second charging mark (32) and the first plane (100) is less than the distance between the outer side of the second charging mark (32) and the first plane (100). The inner side of the second charging mark (32) is the side close to the longitudinal center line of the front end face (21) of the main body, and the outer side of the second charging mark (32) is the side away from the longitudinal center line of the front end face (21) of the main body.

5. The charging base station according to claim 1, characterized in that, The charging body (2) includes a front end face (21), a rear end face (22), and a side face (23). The front end face (21) is close to the recharge channel (5). The rear end face (22) is opposite to the front end face (21). The side face (23) is located on both sides of the front end face (21). The front end of the side face (23) extends forward of the front end face (21) to form a side baffle (231). The first charging indicator (31) is disposed on the front end face (21) of the main body, and the second charging indicator (32) is disposed on the side block (231) and near the recharge channel (5); or, Both the first charging symbol (31) and the second charging symbol (32) are disposed on the front end face (21) of the main body. The distance between the inner side of the second charging symbol (32) and the first plane (100) is less than the distance between the outer side of the second charging symbol (32) and the first plane (100). The first plane (100) is a plane that is parallel to the first charging symbol (31) and intersects with the rear end face. The inner side of the second charging symbol (32) is the side close to the longitudinal centerline of the front end face (21) of the main body, and the outer side of the second charging symbol (32) is the side away from the longitudinal centerline of the front end face (21) of the main body.

6. The charging base station according to any one of claims 1-5, characterized in that, The first charging identifier (31) is a QR code, and the second charging identifier (32) is a pattern or a solid color. The area of ​​the first charging identifier (31) is larger than the area of ​​the second charging identifier (32), or the projected area of ​​the first charging identifier (31) on the first end face is larger than the projected area of ​​the second charging identifier (32) on the first end face.

7. A charging base station, characterized in that, The charging base station includes a charging base plate (1), a charging body (2), a charging symbol (3), and a charging terminal (4). A recharge channel (5) is formed between the charging base plate (1) and the charging body (2). The charging symbol (3) is disposed on the charging body (2). The charging symbol (3) is at least partially located on one side of the recharge channel (5). The charging symbol (3) includes a first charging symbol (31) and a second charging symbol (32). The first charging symbol (31) is a planar symbol, and the second charging symbol (32) is a three-dimensional symbol.

8. The charging base station according to claim 7, characterized in that, At least two second charging icons (32) are provided, and the first charging icon (31) is located between at least two second charging icons (32); The charging body (2) includes a front end face (21) and a rear end face (22) arranged opposite to each other. The front end face (21) is close to the recharge channel (5). A first plane (100) is defined as a plane that is parallel to the first charging mark (31) and intersects with the rear end face (22). The first charging mark (31) and the second charging mark (32) are both disposed on the front end face (21). The projected area of ​​the first charging mark (31) on the first plane (100) is greater than the projected area of ​​the second charging mark (32) on the first plane (100).

9. A method for recharging a self-moving robot, characterized in that, The self-mobile robot recharging method is applied to the docking between the charging base station and the self-mobile robot. The self-mobile robot recharging method includes: The first charging identifier and the second charging identifier on the charging base station are identified, and the positional relationship between the self-moving robot and the charging base station is determined based on the identification result; Based on the positional relationship, the self-moving robot is controlled to move towards the charging base station and dock; If the docking fails, the self-moving robot is controlled to retreat and its direction of travel is adjusted during the retreat. When the preset conditions are met, the retreat stops and the self-moving robot is controlled again to attempt docking until the docking is successful.

10. The self-moving robot recharging method according to claim 9, characterized in that, When it is determined that docking has failed, controlling the self-moving robot to retreat and adjusting its direction of travel during the retreat includes: The self-moving robot is controlled to move backward, and the relative positional relationship between the self-moving robot and the charging base station is continuously monitored during the backward movement. The travel angle of the self-moving robot is adjusted according to the relative positional relationship. When the self-moving robot retreats to a preset retreat distance or the relative positional relationship meets a preset condition, it stops retreating; Repeat the steps of controlling the self-moving robot to move towards the charging base station and docking based on the positional relationship until docking is successful.

Images