A robot autonomous charging docking method and system and a storage medium

Abstract

The application provides a robot autonomous charging docking method, system and storage medium, which is applied to an autonomous charging docking system including a robot and a charging base station. The method comprises the following steps: when a charging trigger condition is met, the robot is controlled to enter a charging docking process; the robot is controlled to identify the charging base station based on sensing information, and autonomously moves to the charging base station to enter a charging docking area; after the robot enters the charging docking area, whether the robot is successfully positioned is judged based on a preset positioning condition; on the premise that the robot is successfully positioned, a charging power-on and communication handshake operation is performed and a charging process is started; the robot is controlled to enter a low-power-consumption running state, and the charging process is exited when a charging completion event is detected or a wake-up event is received. Through the scheme, the problems of low charging reliability and unstable operation of the robot in the prior art in a complex environment can be effectively solved.

Description

Technical Field

[0001] This application relates to the field of robotics technology, and in particular to a method, system and storage medium for autonomous charging and docking of a robot. Background Technology

[0002] With the increasing application of mobile robots and humanoid robots in service, logistics, and industrial scenarios, autonomous charging in complex environments has become a crucial technological foundation for ensuring their continuous operation. Some existing robot systems can autonomously approach charging stations using sensing and navigation technologies and attempt to dock with the charging station during the approach.

[0003] However, in real-world applications, the robot's approach to and docking with a charging station is susceptible to factors such as positioning errors, posture deviations, environmental changes, and external interference, leading to high uncertainty in the docking process. Improper control of the docking process can result in unstable docking, reduced charging efficiency, and even compromised system reliability.

[0004] In existing technologies, some solutions primarily focus on how the robot autonomously reaches the charging station location, while neglecting the state control and overall process coordination during the charging docking process. This makes it difficult to balance the stability of the charging process and the safety of system operation under various complex working conditions. Therefore, it is still necessary to provide an improved autonomous charging docking solution for robots to enhance the charging reliability and operational stability of robots in complex environments. Summary of the Invention

[0005] In view of this, the purpose of this application is to provide a robot autonomous charging docking method, system and storage medium to solve the problems of low charging reliability and unstable operation of robots in complex environments in the prior art.

[0006] This application provides a robot autonomous charging docking method, applied to an autonomous charging docking system including a robot and a charging base station. The autonomous charging docking method includes: When the charging triggering conditions are met, the robot is controlled to enter the charging docking process; The robot is controlled to identify the charging base station based on perception information and autonomously move towards the charging base station to enter the charging docking area; After the robot enters the charging docking area, it is determined whether the robot has successfully reached its destination based on preset arrival conditions; if the robot has successfully reached its destination, the charging power-on and communication handshake operations are performed and the charging process is started. The robot is controlled to enter a low-power operation state and exits the charging process when a charging completion event is detected or a wake-up event is received.

[0007] Optionally, the charging triggering condition includes: The robot's current remaining battery power is lower than a preset battery power threshold, and / or the robot receives a charging command.

[0008] Optionally, controlling the robot to identify the charging base station based on perception information and autonomously move towards the charging base station to enter the charging docking area includes: The charging base station is initially identified within a first distance range, and the operator moves toward it. Upon entering the second distance range, the charging base station is identified at near end and the docking posture is adjusted.

[0009] Optionally, within the second distance range, the robot is controlled to move toward the charging base station at a speed lower than that within the first distance range.

[0010] Optionally, the arrival conditions include: Based on the perceived information, it is determined that the robot has entered the charging docking area; Furthermore, based on the positioning detection device installed on the charging base station and / or the robot, a preset positional relationship or physical contact is detected between the robot and the charging base station.

[0011] Optionally, the low-power operating state includes turning off the robot's power supply while maintaining logic power supply.

[0012] Optionally, the charging base station further includes a locking device, and the charging docking method further includes: After determining that the robot has successfully reached its designated position, the locking device is activated to fix the relative position between the robot and the charging base station.

[0013] Optionally, the autonomous charging docking method further includes: If the robot fails to reach its destination successfully within a preset time, the robot is controlled to retreat according to a preset retreat strategy and the charging docking process is re-executed.

[0014] This application also provides a robot autonomous charging docking system, including a robot and a charging base station: The robot is configured to perform the charging docking method as described in any one of claims 1-8; The charging base station is configured to communicate with the robot and supply power to the robot when the robot meets the positioning conditions.

[0015] This application also provides a robot, including: a processor, a memory, and a bus. The memory stores machine-readable instructions that can be executed by the processor. When the electronic device is running, the processor communicates with the memory through the bus. When the machine-readable instructions are executed by the processor, the steps of the autonomous charging docking method described above are performed.

[0016] This application also provides a computer-readable storage medium storing a computer program, which, when executed by a processor, performs the steps of the autonomous charging docking method described above.

[0017] This application provides a robot autonomous charging docking method, system, and storage medium, applied to an autonomous charging docking system including a robot and a charging base station. The method includes: when a charging trigger condition is met, controlling the robot to enter a charging docking process; controlling the robot to identify the charging base station based on perception information and autonomously move towards the charging base station to enter the charging docking area; after the robot enters the charging docking area, determining whether the robot has successfully reached its destination based on preset arrival conditions; if the robot has successfully reached its destination, performing charging power-on and communication handshake operations and starting the charging process; controlling the robot to enter a low-power operation state, and exiting the charging process when a charging completion event is detected or a wake-up event is received.

[0018] In this way, by dividing the charging process into two stages of coarse movement and fine positioning control, this application eliminates the need for the robot to complete high-precision docking in one go during high-speed movement. Even if the base station position moves slightly, the robot's odometer has a large cumulative error, or the ground is slightly slippery, the robot can still complete docking through the mechanism of entering the area and determining the position, which greatly reduces the docking failure rate. Furthermore, by explicitly controlling the robot to enter a low-power operation state during charging, unnecessary power consumption is reduced, thereby improving charging efficiency and reducing overall heat loss. Moreover, this solution constructs an event-driven wake-up mechanism, which enables the robot to autonomously switch from charging state to standby / working state without human intervention, realizing a fully unmanned closed loop that meets the requirements of high-level autonomy for service robots and industrial robots.

[0019] 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

[0020] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this application and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0021] Figure 1 A flowchart illustrating a robot autonomous charging and docking method provided in this application embodiment; Figure 2 A front view of an embodied robot provided in this application; Figure 3 A rear view of an embodied robot provided for this application; Figure 4 This application provides a schematic diagram of the structure of a charging base station; Figure 5 This is a schematic diagram of the structure of a robot autonomous charging and docking system provided in an embodiment of this application; Figure 6 This is a schematic diagram of the structure of a robot provided in an embodiment of this application. Detailed Implementation

[0022] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments 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, and not all embodiments. The components of the embodiments of this application described and shown in the accompanying drawings can generally be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of this application provided in the accompanying drawings is not intended to limit the scope of the claimed application, but merely represents selected embodiments of this application. Based on the embodiments of this application, every other embodiment obtained by those skilled in the art without inventive effort falls within the scope of protection of this application.

[0023] First, the applicable scenarios for this application will be introduced. This application can be applied to the field of robotics technology, specifically to humanoid robots, wheeled robots, legged robots, and automata.

[0024] Research has shown that autonomous charging of robots in complex environments has become a crucial technological foundation for ensuring their continuous operation. However, in real-world applications, robots are susceptible to factors such as positioning errors, posture deviations, environmental changes, and external interference during their approach to and docking with charging stations, leading to high uncertainty in the docking process. Improper control during docking can result in unstable docking, reduced charging efficiency, and even compromised system reliability. Furthermore, some existing charging solutions primarily focus on how the robot autonomously reaches the charging station, neglecting state control and overall process coordination during docking, making it difficult to balance charging stability and system safety under various complex operating conditions. Based on this, embodiments of this application provide a robot autonomous charging docking method, system, and storage medium to solve the problems of low charging reliability and unstable operation of robots in complex environments in the prior art.

[0025] Please see Figure 1 , Figure 1 This is a flowchart illustrating a robot autonomous charging docking method provided in an embodiment of this application. The method is applied to an autonomous charging docking system including a robot and a charging base station. Figure 1 As shown in the embodiments of this application, the autonomous charging docking method includes: S101. When the charging triggering condition is met, control the robot to enter the charging docking process; S102. Control the robot to identify the charging base station based on the perception information, and autonomously move towards the charging base station to enter the charging docking area.

[0026] S103. After the robot enters the charging docking area, determine whether the robot has successfully reached its destination based on preset arrival conditions; if the robot has successfully reached its destination, perform charging and power-on operations and communication handshake and start the charging process.

[0027] S104. Control the robot to enter a low-power operation state, and exit the charging process when a charging completion event is detected or a wake-up event is received.

[0028] Thus, this application first determines the charging triggering conditions, clarifying the initiation timing of the charging docking process and ensuring that the robot only triggers docking at reasonable times, achieving a standardized initiation of the charging process. Then, during movement towards the charging base station, by introducing the concept of a charging docking area, the traditional single-target direct navigation to the charging contact is decomposed into a two-stage task of coarse positioning and fine positioning area entry. This significantly enhances tolerance to interference factors such as base station displacement and body sway, and ensures that docking interruptions due to direct approach failure are avoided in complex dynamic environments. Furthermore, the precise positioning step is postponed, allowing the robot to complete the final docking at low speed or while stationary, reducing the impact of motion inertia on alignment accuracy. Moreover, upon entering the charging docking area, a successful positioning judgment is performed, achieving precise positioning and positioning confirmation within the docking area. This overcomes the errors and attitude deviations caused by relying solely on navigation positioning, improving the accuracy and reliability of docking and preventing charging failure due to inaccurate positioning. Furthermore, by setting successful completion as a prerequisite for power-on, handshake, and charging initiation, charging safety can be ensured and communication reliability optimized. Finally, setting the operating status of the charging process and the conditions for exiting the charging process can effectively reduce standby power consumption, achieve unmanned closed-loop operation, and enhance system robustness.

[0029] The exemplary steps of the embodiments of this application are described below: For step S101, this step specifically includes: detecting the robot's remaining energy consumption and the received instructions, determining whether the preset charging trigger conditions are met, and if so, controlling the robot to enter the charging docking process.

[0030] Here, in one embodiment provided in this application, the charging triggering conditions include: the robot's current remaining power is lower than a preset power threshold, and / or the robot receives a charging command.

[0031] By using a remaining battery level below a preset threshold as one of the trigger conditions, the robot is empowered to proactively sense its own energy status and make autonomous decisions. This avoids the risk of the robot running out of power and shutting down due to operator negligence or oversights in task planning, which could lead to task interruptions or equipment damage (due to battery over-discharge). Introducing a charging command as another trigger condition adds an external control interface to the system, addressing special situations that cannot be handled by relying solely on the battery threshold trigger. This significantly improves the adaptability, safety, and robustness of the autonomous charging docking system across various application scenarios.

[0032] The robot in question is equipped with a wireless charging receiver module, and can be a wheeled robot, a legged robot, a body-worn robot, or a humanoid robot, etc. For an example, please refer to [link / reference needed]. Figure 2 , Figure 3 , Figure 2 This application provides a front view of an embodied robot. Figure 3 A rear view of an embodied robot provided for this application. Figure 2 or Figure 3 As shown, the embodied robot is equipped with a wireless charging receiver module and a vision system. The vision system includes a first vision device and a second vision device. The wireless charging receiver module is located on the upper chest and back of the embodied robot. The installation position of the wireless charging receiver module can be adapted to other types of robots.

[0033] When the wireless charging receiver module is positioned on the upper chest and back of the android, the first and second vision devices can be mounted at different locations on the android's head. For example, the first vision device is mounted at the front of the head and can be used for navigation and environmental analysis during task execution. The second vision device is mounted at the back of the head and is used to actively identify and locate positioning features on the charging base station.

[0034] It should be noted that if the robot is humanoid, it has two legs. Humanoid robot walking is a dynamic balancing process, and each step involves a positional error at the centimeter level or even larger. Aligning the battery interface on its back with a fixed slot is technically extremely difficult and has a very low success rate. However, setting the charging receiver module to be wireless, i.e., charging wirelessly, can effectively ensure successful docking, thereby improving the charging success rate and charging efficiency.

[0035] Specifically, step S102 may include: after determining that the charging triggering conditions are met, acquiring perception information through the vision system on the robot and identifying the charging base station based on the acquired perception information; after identifying the charging base station, the robot autonomously moves towards the charging base station and determines whether to enter the charging docking area during the movement.

[0036] Here, when identifying a charging base station, the robot can be controlled to rotate in place and take pictures of the surrounding environment. The captured images are then identified to determine the charging base station.

[0037] Once the charging station is located, the robot stops rotating and begins moving towards the charging station.

[0038] Furthermore, in one embodiment provided in this application, controlling the robot to identify the charging base station based on perception information and autonomously move towards the charging base station to enter the charging docking area includes: initially identifying the charging base station within a first distance range and moving there; and performing near-end identification of the charging base station and adjusting the docking posture after entering a second distance range.

[0039] Specifically, this example may include: after identifying a charging base station through sensing information, controlling the robot to move towards the charging base station, and monitoring the current distance between the robot and the charging base station during the movement; if the monitored current distance is greater than a preset distance, determining that the robot is within a first distance range, and then controlling the robot to move towards the charging base station at a first speed; if the monitored current distance is not greater than the preset distance, determining that the robot has entered a second distance range, and then controlling the robot to move towards the charging base station at a second speed, and performing near-end recognition and docking posture adjustment through a second vision device.

[0040] In another embodiment provided in this application, within the second distance range, the robot is controlled to move towards the charging base station at a speed lower than that within the first distance range. That is, the first speed is greater than the second speed.

[0041] In this way, speed-graded control further optimizes the smoothness and safety of the docking process. Actively reducing speed within the second distance range provides ample reaction time for the robot's precise posture adjustments, effectively avoiding overshoot or collisions caused by excessive speed, and ensuring that the electrodes can slowly and accurately engage. This significantly reduces docking impact and mechanical wear at close range, greatly improving the smoothness and success rate of the docking process.

[0042] Continuing with the above example, the near-end recognition and docking posture adjustment using a second vision device specifically include: when the current distance between the robot and the charging base station equals a preset distance, the second vision device is activated, and posture adjustment can be performed simultaneously, allowing the second vision device to determine the positioning features on the charging base station; after recognizing the positioning features, based on the relative pose relationship between the positioning features and the robot, the robot readjusts its pose and autonomously moves towards the charging base station at a second speed. Furthermore, during the movement, the relative positional relationship between the support structure on the charging base station and a predetermined part of the robot's torso is monitored; upon reaching the predetermined relative position, the robot is controlled to transition from the moving state to the preset docking posture.

[0043] In this way, hierarchical identification and segmented control significantly improve the accuracy and robustness of docking. Within the first distance range, the robot achieves rapid coarse positioning and high-speed movement, ensuring efficient approach to the base station. Within the second distance range, fine-tuning of attitude and low-speed movement are achieved through near-end identification, overcoming positioning errors and attitude deviations at close range. This strategy of moving from far to near and from fast to slow ensures both docking efficiency and precise electrode coupling, effectively solving the problems of single identification methods being susceptible to interference and alignment difficulties in complex environments.

[0044] Furthermore, when the robot is a humanoid robot, this application designs a corresponding charging base station. Please refer to [link / reference]. Figure 4 , Figure 4 This is a structural schematic diagram of a charging base station provided in this application. Figure 4 As shown, the charging base station includes positioning features, a robot positioning sensor, a robot support frame, a wireless charging transmitter module, and a connecting bracket.

[0045] Here, positioning features can be mounted on the top of the support frame, designed as specific patterns with high contrast and easy image recognition (such as Aluko markers, QR codes, etc.) to provide the robot with clear visual targets. In addition, positioning features can also adopt specific light signal sequences, such as LED coded light arrays, or natural feature recognition, utilizing the shape, texture, and other features of the charging station itself, or 3D visual guidance, using structured light or binocular cameras to directly acquire three-dimensional pose.

[0046] Regarding step S103, in one embodiment provided in this application, the positioning condition includes: determining that the robot has entered the charging docking area based on the sensing information; and detecting that a preset positional relationship or physical contact has been formed between the robot and the charging base station based on the positioning detection device installed on the charging base station and / or the robot.

[0047] Here, the robot is determined to have entered the charging docking area based on the perception information, specifically based on distance information.

[0048] When the positioning detection device is installed on the charging base station, it can be integrated into the middle of the bracket. When the robot moves into position and descends slightly, and the body touches this device, it is determined that the robot has entered the charging position, and the subsequent charging process is triggered.

[0049] When determining whether alignment is successful using a positioning detection device, the device can employ a mechanical pressure switch or physical contact triggering, or an infrared photodiode / grating: determining alignment by beam obstruction; or ultrasonic / millimeter-wave ranging: accurately sensing proximity without contact; or a proximity sensor (inductive / capacitive): detecting the approach of metal parts or a human body. These methods achieve non-contact triggering, reduce mechanical wear, and adapt to more complex alignment deviations and harsh environments.

[0050] In this way, a highly reliable positioning confirmation scheme is constructed through a dual redundancy mechanism of perception judgment and physical detection. Perception information ensures that the robot has entered the dockable area, while the positioning detection device accurately verifies the physical alignment or contact state. This approach effectively avoids misjudgments caused by premature triggering of physical devices, significantly improving the accuracy, safety, and anti-interference capability of charging docking, and ensuring that charging is only initiated under truly stable physical contact conditions.

[0051] Continuing with step S103, after confirming successful arrival, the wireless charging transmitter module is activated. The wireless charging transmitter module interacts with the wireless charging receiver module to determine whether the handshake is successful. If the handshake is successful, the wireless charging transmitter module in the charging base station is controlled to transmit energy to the wireless charging receiver module in the robot.

[0052] Here, the wireless charging transmitter module is the core power supply unit of the charging base station. Upon receiving a positioning signal, it activates the transmitting coil, wirelessly transmitting energy to the robot's receiving module via electromagnetic induction. Alternatively, magnetic resonance wireless charging can be used: suitable for longer transmission distances and greater alignment freedom; radio frequency (RF) energy harvesting: suitable for extremely low-power standby charging; or laser wireless charging: suitable for long-distance, high-power directional transmission. These methods can cover charging scenarios with different power levels and distances, reserving space for future technological evolution.

[0053] To facilitate a structured explanation of the charging docking process, in the following embodiments, the steps of "controlling the robot to identify and move based on perception information," "judging based on the positioning condition," and "performing charging, power-on, and communication handshake" are respectively divided into different control stages or navigation modes. It should be understood that this stage division is only used to describe the execution sequence and state transition relationship of the process, and its technical content is all included within steps S101-S104.

[0054] In one implementation, the robot's autonomous charging docking process includes at least three control states: docking state, arrival confirmation state, and charging enable state.

[0055] In the docking state, the robot moves toward the charging base station based on perception information and adjusts its position and posture to bring the docking part close to the docking structure of the charging base station.

[0056] Once the robot makes contact with the charging base station, the system enters a positioning confirmation state. In this state, the system verifies the contact, including detecting changes in force, posture, and support relationship at the contact points. This positioning confirmation state is used to determine whether the robot has established a stable docking relationship, but does not immediately trigger charging.

[0057] The system switches from the arrival confirmation state to the charging enable state only when the preset arrival conditions are met in the arrival confirmation state. The charging enable state is used to allow charging power-on and communication handshake operations.

[0058] Before entering the charging enabled state, the system prohibits the charging process from starting, and will not perform the power-on operation even if the robot has already contacted the charging base station.

[0059] When charging is enabled, the device enters the charging operation state after completing the communication handshake; when charging is completed or an abnormal event is detected, the device exits the charging operation state and returns to the standby or pre-connection state.

[0060] In a preferred embodiment, the arrival confirmation status includes multiple judgment steps.

[0061] First, after detecting physical contact between the robot and the charging base station, the system confirms whether an initial contact state has been formed. This initial contact state only indicates that the docking points have made contact and is not a final determination of successful positioning.

[0062] Subsequently, the system detects changes in force after contact. When the direction of change in actuator load, joint current, or drive motor torque is consistent with the direction of the guiding structure of the charging base station, and the magnitude of the change is within a preset range, the robot is determined to be on a valid docking path.

[0063] In a further embodiment, when the charging base station includes a support structure with an angle, the robot adjusts its own posture after contact, gradually matching the robot's posture to the angle of the support structure. If the posture deviation is within a preset range and the contact pressure remains stable, the docking relationship is determined to be stable.

[0064] In another implementation, the positioning confirmation can also be verified through load transfer. When part of the robot's weight is borne by the charging base station, the pressure change at the supporting parts reaches a preset ratio, and the system confirms that the robot has formed a stable support relationship.

[0065] The above judgment steps can be executed sequentially or in combination according to the system configuration.

[0066] In one implementation, the robot employs at least two navigation modes during the charging docking process.

[0067] In the first navigation mode, the robot determines the spatial location of the charging station based on environmental perception information and moves towards its location. This mode is used to guide the robot to a preset charging docking area and allows for a relatively large positional error.

[0068] Once the robot enters the charging docking area, the system switches to the second navigation mode. This second navigation mode is used to achieve precise matching between the docking point and the charging base station's docking structure.

[0069] In the second navigation mode, the robot reduces its movement speed and increases the accuracy of its posture adjustment, while enabling contact detection and positioning confirmation logic.

[0070] In a preferred embodiment, the second navigation mode is executed in association with the positioning confirmation state, that is, the positioning confirmation state is entered only after the fine positioning is completed.

[0071] In the above implementation, by dividing the docking process into a navigation state, a positioning confirmation state, and a charging enable state, and completing multi-dimensional positioning verification before entering the charging enable state, the charging and power-on behavior is based on a stable docking relationship, thereby improving the safety and reliability of the robot's autonomous charging process.

[0072] In one embodiment provided in this application, the charging base station further includes a locking device ( Figure 4 (Not shown in the image), the charging docking method further includes: after determining that the robot has successfully reached its position, controlling the locking device to activate in order to fix the relative position between the robot and the charging base station.

[0073] This effectively prevents the device from tipping over and being damaged during charging. The locking mechanism unlocks upon detecting a charging completion event or receiving a wake-up event.

[0074] In another embodiment provided in this application, the autonomous charging docking method further includes: if the robot is not determined to be in place successfully within a preset time, controlling the robot to retreat according to a preset retreat strategy and re-execute the charging docking process.

[0075] The system monitors whether a successful arrival signal is generated within a preset time period. If no successful arrival signal is generated, the robot will retreat according to the predetermined retreat strategy and autonomously move back to the charging base station. If the robot fails to arrive after multiple retreats and re-movements, it will provide arrival failure information feedback.

[0076] In this way, by introducing a fault-tolerant mechanism of timeout judgment and rollback retry, a closed-loop anomaly handling and self-recovery capability is built for the charging docking process, which significantly improves the robustness and intelligence level of the system.

[0077] Furthermore, in another embodiment provided in this application, after the charging process is started, the charging method further includes: determining whether the current charging power of the robot is less than a preset power; if it is less, determining the positional deviation between the wireless charging transmitter module and the wireless charging receiver module through a second vision device, and adjusting the robot's posture according to the identified positional deviation so that the current charging power is not less than the preset power.

[0078] Here, the wireless charging transmitter and receiver modules can employ specific large-area coil designs (e.g., multi-coil arrays or distributed coil layouts) and be matched with corresponding tuning and control circuits. This construction allows for centimeter-level (e.g., ≥±3cm) lateral and angular tolerances (e.g., ≥±5°) between the transmitter and receiver. This high tolerance significantly reduces the precision requirements for the final docking posture of the bipedal robot, perfectly adapting to the inherent characteristic of bipedal robots, which struggle to accurately repeat the same position each time due to gait control differences, ensuring a high success rate and universality in the charging process. Furthermore, by detecting charging power, charging efficiency can be improved even when charging is successful but the charging power is low.

[0079] Furthermore, in another embodiment provided in this application, after the charging process is started, the charging method further includes: monitoring whether the coil temperature in the wireless charging transmitter module and / or wireless charging receiver module exceeds a threshold temperature; if it exceeds the threshold temperature, reducing the charging power and monitoring whether the coil temperature continues to exceed the threshold temperature; if it continues to exceed the threshold temperature, stopping charging and providing abnormal charging feedback.

[0080] This effectively ensures charging safety.

[0081] Specifically, step S104 may include: after determining that the robot has entered the charging state, controlling the robot to enter the low-power operation state, monitoring the current power level to determine whether charging is complete, and monitoring the received instructions to determine whether a wake-up event instruction has been received; if charging is complete or a wake-up event is received, controlling the robot to leave the charging state and resume autonomous movement.

[0082] In one embodiment provided in this application, the low-power operating state includes shutting off the robot's power supply while maintaining logic power supply. Specifically, the robot is controlled to enter the low-power operating state through the following steps: controlling the robot to stop receiving power from its mains, and using only logic power. In this way, the mechanism significantly reduces the standby power consumption of the system during charging, and can realize the system's instant wake-up and rapid recovery by receiving specific remote commands or built-in charging completion signals, thus balancing energy efficiency and response speed.

[0083] Based on the same inventive concept, this application also provides an autonomous charging docking system corresponding to the autonomous charging docking method. Since the principle of the system in this application is similar to the autonomous charging docking method described above in this application, the implementation of the device can refer to the implementation of the method, and the repeated parts will not be described again.

[0084] Please see Figure 5 , Figure 5 This is a schematic diagram of a robot autonomous charging and docking system provided in an embodiment of this application. Figure 5 As shown, the autonomous charging docking system 500 includes a robot 510 and a charging base station 520: The robot 510 is configured to enter the charging docking process when the charging trigger condition is met; identify the charging base station based on perception information and move autonomously toward the charging base station to enter the charging docking area; after entering the charging docking area, determine whether the robot has successfully arrived based on preset arrival conditions; after receiving power from the charging base station, enter a low-power operation state, and exit the charging process when a charging completion event is detected or a wake-up event is received. The charging base station 520 is configured to perform a communication handshake with the robot 510 and supply power to the robot when the robot 510 meets the arrival conditions.

[0085] Optionally, the charging triggering conditions include: the current remaining power of the robot 510 is lower than a preset power threshold, and / or the robot 510 receives a charging command.

[0086] Optionally, when the robot 510 identifies the charging base station based on perception information and autonomously moves towards the charging base station to enter the charging docking area, the robot 510 is used to: The charging base station is initially identified within a first distance range, and the operator moves toward it. Upon entering the second distance range, the charging base station is identified at near end and the docking posture is adjusted.

[0087] Optionally, within the second distance range, the robot 510 moves toward the charging base station at a speed lower than that within the first distance range.

[0088] Optionally, the arrival conditions include: Based on the perceived information, it is determined that the robot 510 has entered the charging docking area; and based on the positioning detection device set on the charging base station and / or the robot, it is detected that a preset positional relationship or physical contact has been formed between the robot and the charging base station.

[0089] Optionally, the low-power operating state includes turning off the robot's power supply while maintaining logic power supply.

[0090] Optionally, the charging base station 520 further includes a locking device. After determining that the robot has successfully arrived in place, the locking device is activated to fix the relative position between the robot and the charging base station.

[0091] Optionally, the robot 510 is further configured to: if the robot fails to reach its destination successfully within a preset time, the robot retracts according to a preset retraction strategy and re-executes the charging docking process.

[0092] Please see Figure 6 , Figure 6 This is a schematic diagram of the structure of a robot provided in an embodiment of this application. Figure 6 As shown, the robot 600 includes a processor 610, a memory 620, and a bus 630.

[0093] The memory 620 stores machine-readable instructions executable by the processor 610. When the robot 600 is running, the processor 610 and the memory 620 communicate via the bus 630. When the machine-readable instructions are executed by the processor 610, they can perform the operations described above. Figure 1 The steps in the method embodiment shown are described in detail in the method embodiment, and will not be repeated here.

[0094] This application also provides a computer-readable storage medium storing a computer program, which, when executed by a processor, can perform the above-described actions. Figure 1 The steps in the method embodiment shown are specifically implemented in the method embodiment and will not be repeated here.

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

[0096] In the several embodiments provided in this application, it should be understood that the disclosed systems, apparatuses, and methods can be implemented in other ways. The apparatus embodiments described above are merely illustrative. For example, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. Furthermore, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Additionally, the shown or discussed mutual couplings, direct couplings, or communication connections may be through some communication interfaces; indirect couplings or communication connections between devices or units may be electrical, mechanical, or other forms.

[0097] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0098] In addition, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit.

[0099] If the aforementioned functions are implemented as software functional units and sold or used as independent products, they can be stored in a processor-executable, non-volatile, computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or a portion of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0100] Finally, it should be noted that the above-described embodiments are merely specific implementations of this application, used to illustrate the technical solutions of this application, and not to limit them. The scope of protection of this application is not limited thereto. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that any person skilled in the art can still modify or easily conceive of changes to the technical solutions described in the foregoing embodiments, or make equivalent substitutions for some of the technical features, within the scope of the technology disclosed in this application. Such modifications, changes, or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application, and should all be covered within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A method for autonomous charging and docking of a robot, characterized in that, An autonomous charging docking system applicable to robots and charging base stations, the autonomous charging docking method includes: When the charging triggering conditions are met, the robot is controlled to enter the charging docking process; The robot is controlled to identify the charging base station based on perception information and autonomously move towards the charging base station to enter the charging docking area; After the robot enters the charging docking area, it is determined whether the robot has successfully reached its destination based on preset arrival conditions; if the robot has successfully reached its destination, the charging power-on and communication handshake operations are performed and the charging process is started. The robot is controlled to enter a low-power operation state and exits the charging process when a charging completion event is detected or a wake-up event is received.

2. The autonomous charging docking method according to claim 1, characterized in that, The charging triggering conditions include: The robot's current remaining battery power is lower than a preset battery power threshold, and / or the robot receives a charging command.

3. The autonomous charging docking method according to claim 1, characterized in that, The process of controlling the robot to identify the charging base station based on perception information and autonomously move towards the charging base station to enter the charging docking area includes: The charging base station is initially identified within a first distance range, and the operator moves toward it. Upon entering the second distance range, the charging base station is identified at near end and the docking posture is adjusted.

4. The autonomous charging docking method according to claim 3, characterized in that, Within the second distance range, the robot is controlled to move towards the charging base station at a speed lower than that within the first distance range.

5. The autonomous charging docking method according to claim 1, characterized in that, The conditions for arrival include: Based on the perceived information, it is determined that the robot has entered the charging docking area; Furthermore, based on the positioning detection device installed on the charging base station and / or the robot, a preset positional relationship or physical contact is detected between the robot and the charging base station.

6. The autonomous charging docking method according to claim 1, characterized in that, The low-power operating state includes shutting down the robot's power supply while maintaining logic power supply.

7. The autonomous charging docking method according to claim 1, characterized in that, The charging base station also includes a locking device, and the autonomous charging docking method further includes: After determining that the robot has successfully reached its designated position, the locking device is activated to fix the relative position between the robot and the charging base station.

8. The autonomous charging docking method according to claim 1, characterized in that, The autonomous charging docking method also includes: If the robot fails to reach its destination successfully within a preset time, the robot is controlled to retreat according to a preset retreat strategy and the charging docking process is re-executed.

9. A robot autonomous charging and docking system, characterized in that, Including robots and charging stations: The robot is configured to perform the charging docking method as described in any one of claims 1-8; The charging base station is configured to communicate with the robot and supply power to the robot when the robot meets the positioning conditions.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program, which, when executed by a processor, performs the autonomous charging docking method as described in any one of claims 1-8.

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