Reference guidance direction-based return-for-charging control method

Abstract

The present application discloses a reference guidance direction-based return-for-charging control method, comprising: step A, on the basis of a charging guidance signal emitted by a charging pile, setting reference guidance directions and guidance priorities for corresponding grids in a preset grid map, then entering step B; step B, on the basis of the pointing relationship between the reference guidance directions of two adjacent grids, adjusting the reference guidance direction of the grid with a relatively low guidance priority among the two adjacent grids, and updating in the same grid the adjusted reference guidance direction to the reference guidance direction, then entering step C; and step C, starting from a preset return-for-charging starting point grid, controlling a robot to move towards the charging pile on the basis of the reference guidance directions of the grids, such that the robot moves to the position where the robot docks with the charging pile for charging. By means of the reference guidance directions of the grids, return-for-charging signal information is fixed within the grid area covered by the signal, and a return-for-charging logic is simplified and finalized.

Description

Recharge control method based on reference guidance direction Technical Field

[0001] The present application relates to the technical field of robot control, and in particular to a recharging control method based on a reference guidance direction. Background Art

[0002] The charging guidance signal is fanned out by the transmitter sensors on the charging pile. The transmitter probes of the transmitter sensors at multiple locations emit signals in a specific range, forming a signal distribution pattern that can be divided into center, left, and right signals. To address this, left and right side transmitter sensors are installed on both sides of the charging pile to compensate for detection blind spots. Conventional vacuum cleaners are equipped with two to six dedicated signal receivers. This results in a wide variety of signal reception scenarios. For example, the overlapped area of ​​the signals generated by splitting the center signal into center-left and center-right signals may not be centered (possibly due to the base station structure design within the charging pile, causing the infrared signal to reflect within the base station, resulting in a skewed overlapped area). Signals from the left and right side transmitter sensors may cross boundaries. Signals from the charging pile may have inconsistent density within a regular area. These factors can lead to inconsistent charging information within evenly distributed cells. This increases the complexity of exploring and applying the charging guidance signal during the return process, leading to unstable motion control logic and increasing the time and effort required for human training of the robot for return charging. Summary of the Invention

[0003] This application discloses a recharging control method based on reference guidance direction. The specific technical solution is as follows:

[0004] The recharging control method based on the reference guidance direction includes: step A, based on the charging guidance signal emitted by the charging pile, setting the reference guidance direction and guidance priority for the corresponding grid in a preset grid map; then entering step B; step B, adjusting the reference guidance direction in the grid with relatively low guidance priority among the two adjacent grids according to the directional relationship between the reference guidance directions in the two adjacent grids, and then updating the adjusted reference guidance direction to the reference guidance direction in the same grid; then entering step C; step C, starting from the preset recharging starting point grid, controlling the robot to walk toward the charging pile based on the reference guidance direction in the grid, so that the robot walks to a position where it docks with the charging pile for charging. Compared to existing technologies, this application sets reference guidance directions and guidance priorities for corresponding grids within a pre-set grid map. Based on the directional relationship between the reference guidance directions in two adjacent grids, the reference guidance direction in the grid with the lower guidance priority is adjusted to more closely align with the grid area where the charging station is located. This allows the recharging signal information to be fixed within the signal-covered grid area using the reference guidance directions within the grid, quantified as directional elements (becoming the only variable in the corresponding position of a single grid). This directional element serves as a reference for recharging guidance, and the robot is controlled to move toward the charging station based on the corresponding directional reference direction. This simplifies and stabilizes the recharging logic, reducing the complexity of exploring and applying charging guidance signals. Furthermore, the robot can autonomously train based on the reference guidance directions within the established grids to explore the recharging route, reducing human intervention and saving R&D costs and labor. BRIEF DESCRIPTION OF THE DRAWINGS

[0005] FIG1 is a schematic diagram of an embodiment of the present application disclosing setting a first reference guiding direction directly in front of a grid area where a charging pile is located.

[0006] Figure 2 is a schematic diagram of an embodiment of the present application, in which a second-second reference guiding direction and a second-fourth reference guiding direction are respectively set on the left and right sides of the grid area where the charging pile is located, and a second-first reference guiding direction and a second-third reference guiding direction are respectively set on the left and right sides of a vertical line directly in front of the grid area where the charging pile is located (extending in the vertical forward direction of the middle position of the grid area where the charging pile is located).

[0007] Figure 3 is a schematic diagram of an embodiment of the present application that discloses setting a 32nd reference guiding direction and a 34th reference guiding direction on the left and right sides of the grid area where the charging pile is located, and setting a 31st reference guiding direction and a 33rd reference guiding direction on the left and right sides of a vertical line directly in front of the grid area where the charging pile is located (extending in the vertical forward direction of the middle position of the grid area where the charging pile is located).

[0008] FIG4 is a schematic diagram of an embodiment of the present application, which discloses setting a turning grid and an edge guide grid and adjusting a third reference guide direction in two adjacent grids where directions conflict.

[0009] FIG5 is a schematic diagram showing a situation in which reference guiding directions in two grids distributed along a diagonal line conflict with each other within a grid area composed of four grids according to an embodiment of the present application.

[0010] FIG6 is a schematic diagram showing that, in an embodiment of the present application, reference guiding directions in two adjacent grids conflict with each other within the same grid row.

[0011] FIG7 is a schematic diagram of a recharging route (a route formed by connecting thick black dots) starting from the recharging starting point grid and walking along the reference guide direction in the corresponding grid to a charging pile perpendicular to the charging pile in the grid area to the left of the first guide grid according to an embodiment of the present application.

[0012] FIG8 is a schematic diagram of a recharging route (a route formed by connecting thick black dots) starting from the recharging starting point grid and walking along the reference guide direction in the corresponding grid to a charging pile perpendicular to the charging pile, in the grid area to the right of the first guide grid, disclosed in an embodiment of the present application.

[0013] FIG9 is a flow chart of a method for controlling a robot to walk toward the location of the charging pile based on a reference guidance direction in a grid in step C of an embodiment of the present application. Modes for Carrying Out the Invention

[0014] The technical solutions in the embodiments of the present application will be described in detail below in conjunction with the drawings in the embodiments of the present invention. In the absence of conflict, the following embodiments and the features in the embodiments can be combined with each other. In the present application, it is necessary to understand that the terms "center", "middle position", "central axis", "up", "down", "left", "right", "vertical", "horizontal", "inside", "outside" and the like, the orientation or positional relationship indicated by them is based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation or be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. If terms such as "first", "second", and "third" appear in the embodiments, it is to facilitate the distinction between related features and cannot be understood as indicating or implying their relative importance, order or the number of technical features.

[0015] This application discloses a recharging control method based on a reference guidance direction. The charging station is a device used to charge a robot. The charging station can emit a charging guidance signal that is received by the robot to guide the robot back to the charging station for charging. The robot includes but is not limited to cleaning robots such as sweeping robots, mopping robots, polishing robots, or waxing robots.

[0016] The robot will detect the charging guidance signal emitted by the charging station in real time as it moves. The charging guidance signal is a signal emitted by the charging station to guide the robot back to its seat within various coverage areas. Depending on the number and location of infrared sensors installed in the charging station, the charging guidance signal can be categorized into different signal types, such as a center docking signal emitted by the infrared sensor located in front of the charging station, a left side signal emitted by the infrared sensor located to the left of the charging station, a right side signal emitted by the infrared sensor located to the right of the charging station, and a guard signal emitted by the infrared sensor located in the top light of the charging station (a guardrail signal scattering from the top light in all directions, which will be assigned directional information in this application). Furthermore, the robot can include multiple infrared receiving sensors on its body that can receive the charging guidance signal emitted by the infrared sensor of the charging station, each located at different locations on the body. In some embodiments, the robot's infrared receiving sensor is located on top of the robot and enclosed in a round bulb structure, which facilitates the robot's omnidirectional reception of the charging guidance signal. Thus, the robot's posture is adjusted based on the signal direction information, so that the robot faces the charging station and then moves to the charging station for charging. Preferably, the robot can adopt contact or inductive charging methods, and the front side or front side of the robot can be defined according to the installation position of the charging structure. The front side here can also refer to the side of the body pointing in the direction of the robot's walking, so that the front side of the robot is an area that is convenient for on-site charging operations, and infrared receiving sensors can also be set on both sides of the front side of the robot.

[0017] In this application, the recharge control method includes:

[0018] Step A: Based on the charging guidance signal emitted by the charging station, a reference guidance direction and guidance priority are set for the corresponding grid within a pre-set grid map; then, the process proceeds to Step B. The corresponding grid is pre-rasterized based on the coverage of the charging guidance signal. At the location corresponding to one of the grids, the robot senses the direction of the charging guidance signal emitted by the charging station and the position of the grid relative to the charging station. In Step A, by setting reference guidance directions for the corresponding grids, the guidance role that signals of different types or locations can play is indicated. This allows for a more simplified vector format, saving storage space while also increasing the processing rate of guidance information, enabling the robot to more quickly plan the required direction for recharging from the location corresponding to each grid. Step A also sets guidance priorities for the corresponding grids based on the distance of the charging guidance signal coverage area emitted by the charging station relative to the charging station. In some embodiments, the farther the grid deviates from the centerline directly in front of the charging station, the lower the guidance priority assigned to that grid.

[0019] Before setting a reference guidance direction for the grid, a grid map may exist, constructed by the robot as it navigates a work area centered on the charging pile and detects charging guidance signals. The origin of the grid map's two-dimensional coordinate system is the center of the grid area containing the charging pile. At each location the robot traverses, the robot calculates the corresponding grid position relative to the charging pile and the charging guidance signal detected at that location. When the robot reaches a location where it needs to detect a charging guidance signal, it adjusts its nose to align with the direction of the detected charging guidance signal, aligning the receiving probe in front of the robot with the charging pile. This allows the robot to infer the direction of the charging guidance signal at its current location. The calculated position and detected signal are then recorded in the grid corresponding to the location it traversed, resulting in a grid containing charging guidance information. The robot can also associate the set reference guidance direction with the grid it resides in as signal direction quantization information, forming a signal quantization distribution map, as shown in the grid map in Figure 3. This quantizes the previously detected charging guidance signal within the corresponding grid, establishing a relationship between the robot's return charging guidance direction and the corresponding position in the grid it traversed.

[0020] Moreover, the different types of charging guidance signals emitted by the charging pile will result in differences in the coverage angle range and coverage distance generated by the corresponding types of charging guidance signals relative to the charging pile. Therefore, in the signal quantization distribution diagram, the guidance priority will be set according to the angle and distance of the grid from the center line of the charging pile. Generally, the farther the grid deviates from the center line of the charging pile, the lower the guidance priority is set.

[0021] In the process of detecting the charging guidance signal and constructing the grid map, the robot can walk in turn to the right side area of ​​the charging pile, the front right side area of ​​the charging pile, the area directly in front of the charging pile, the left side area of ​​the charging pile and the front left side area of ​​the charging pile to detect the charging guidance signal at each position. The various positions here include positions arranged at a certain horizontal interval or a certain vertical interval, or positions arranged at a certain angle with the charging pile as the center, so that the robot can record the charging guidance signals that are relatively evenly distributed in the area near the charging pile in the grid map.

[0022] Step B: Based on the directional relationship between the reference guidance directions in two adjacent grids, adjust the reference guidance direction in the grid with the relatively low guidance priority in the two adjacent grids, and then update the adjusted reference guidance direction in the same grid as the reference guidance direction; then proceed to Step C. Within the grid map, Step B requires extracting the reference guidance direction in each of the two adjacent grids and making a judgment before adjusting the reference guidance direction in the corresponding grid and updating the reference guidance direction in the grid map. Furthermore, the adjustment is made to the reference guidance direction in the grid with the relatively low guidance priority in the two adjacent grids. That is, the reference guidance direction in the grid that deviates further from the centerline or central axis of the charging pile requires more adjustment to align it more perpendicularly with the grid area where the charging pile is located. The updated reference guidance direction is then recorded in correspondence with the grid in which it is located, forming the final quantitative distribution information of the signal direction. This provides a reference basis for the subsequent return of the robot to the charging pile.

[0023] In step B, the directional relationship between the reference guiding directions in the two adjacent grids includes whether the positions pointed to by the reference guiding directions in the two adjacent grids are the same, which is specifically manifested as the arrows in the two grids in Figures 5 and 6 contacting each other to form a pair of opposite directions, thereby utilizing the shape characteristics of the grid to set the guiding direction information that is easy to adjust and store and record.

[0024] Step C: Starting from a preset recharging starting point grid, the robot is controlled to move toward the charging pile based on the reference guidance direction in the grid, so that the robot moves to a position where it docks with the charging pile for charging. During the execution of Step C, the reference guidance direction in the grid relied upon includes the reference guidance direction updated in Step B and the reference guidance direction set in Step A but not updated. While the robot is moving toward the charging pile, or after planning a corresponding recharging route based on the reference guidance direction in the grid, the robot will move from the preset recharging starting point grid to the next position at the location it is moving, according to the reference guidance direction in the corresponding grid, until it reaches a position where it docks with the charging pile for charging (corresponding to the grid directly in front of the charging pile in Figures 7 or 8).

[0025] Compared with the prior art, the present application sets reference guidance directions and guidance priorities for corresponding grids in a pre-set grid map, and adjusts the reference guidance direction in the grid with lower guidance priority according to the directional relationship between the reference guidance directions in two adjacent grids to approach the grid area where the charging pile is located. On this basis, the recharging signal information is fixed within the grid area covered by the signal through the reference guidance direction in the grid, and quantified into a direction element (becoming the only variable in the corresponding position of a single grid); the direction element is used as a reference for recharging guidance and the robot is controlled to walk towards the charging pile according to the direction corresponding to the reference guidance direction, thereby simplifying and fixing the recharging logic and reducing the complexity of exploring and applying the charging guidance signal; and then the robot is allowed to autonomously train based on the reference guidance direction in the established grid to explore the recharging route, reducing human intervention and saving R&D costs and labor.

[0026] Specifically, in step A, the method of setting a reference guidance direction and a guidance priority for a corresponding grid in a preset grid map based on the charging guidance signal emitted by the charging pile includes:

[0027] A first guide grid is set based on the vertical forward direction of the middle of the front side of the charging pile, and a first reference guide direction and a guide priority are set in the first guide grid. In the present application, the robot sets a first reference guide direction in the first guide grid based on the vertical forward direction of the middle of the front side of the charging pile, and configures a guide priority for each first guide grid to indicate the priority of the first guide grid adjusted in step B. Preferably, the front side of the charging pile is used to transmit an intermediate docking signal, and the coverage range of the intermediate docking signal includes the direction extending forward from the middle of the front side of the charging pile, specifically the vertical forward direction of the middle of the front side of the charging pile; the first guide grid falls within the grid corresponding to the coverage range of the intermediate docking signal emitted by the charging pile, and can be distributed along the central axis of the charging pile forward, forming a grid with the most guidance value to facilitate the robot to dock the charging pile in a straight line, then the guidance priority set for the grid in the grid map is the highest.

[0028] As shown in Figure 1, the first reference guidance direction set in the first guidance grid is perpendicular to the grid area where the charging pile is located in Figure 1, and the vertical upward arrow in the grid directly below the charging pile points to the middle position of the grid area where the charging pile is located. When the robot walks to the first guidance grid, it can walk in a straight line in the direction of the arrow shown in Figure 1 to the front of the charging pile for docking and charging. Corresponding to the robot's walking environment, the middle docking signal emitted by the front side of the charging pile in front of the charging pile can be regarded as the signal distributed in the area defined by the two forward-extending diagonal lines in the middle of the charging pile.

[0029] A second guidance grid is set based on the coverage of the guard signal emitted by the charging pile, and a second reference guidance direction and guidance priority are set in the second guidance grid. Specifically, the second reference guidance direction can be set in the second guidance grid based on the relationship between the direction of the guard signal emitted by the charging pile and the first reference guidance direction, and a guidance priority is assigned to each second guidance grid to indicate the priority of the second guidance grid adjusted in step B. It may be necessary to set the second guidance grid in a grid area other than the first guidance grid. For example, the second guidance grids may be located near the charging piles and to the left and right of the first guidance grid to eliminate the influence of the grid in the vertical forward direction in the middle of the front of the charging pile, where the first reference guidance direction is already set, and to reduce the duplication of directional information on the grids. Therefore, the guidance priority assigned to the second guidance grid is lower than that assigned to the first guidance grid, resulting in the second highest guidance priority assigned to the grid within the grid map.

[0030] As can be seen from Figures 1 and 2 , the second guide grids are located on the left and right sides of the charging pile and on both sides of the first guide grid directly in front of the charging pile. Horizontal arrows are set in the second guide grids on the left and right sides of the charging pile as second reference guide directions. For example, the left second guide grid sets the second-second reference guide direction, and the right second guide grid sets the second-fourth reference guide direction. The second guide grids on the left and right sides of the first guide grid directly in front of the charging pile each set an arrow pointing outward at a fixed angle relative to the central axis of the charging pile as a second reference guide direction. For example, the left second guide grid sets the second-first reference guide direction, and the right second guide grid sets the second-third reference guide direction. This allows the divergent signal distribution characteristics of the close guard signal within the area centered on the charging pile (the arc distribution characteristics located in front of the charging pile) to be quantified within the grid map. This reduces the need to label multiple emission directions (at least more than four emission directions) and instead quantizes the close guard signal within the grid map as a single angular emission direction, thereby reducing the impact of close guard signal out-of-bounds phenomena.

[0031] Within the coverage range of the alignment signal emitted by the charging pile, the range except the coverage range of the guard signal is set as the effective detection range of the guide signal; wherein, the charging guide signal includes an intermediate docking signal, a guard signal and a side guide signal; the intermediate docking signal and the side guide signal constitute the alignment signal. In some embodiments, the remaining signals in the charging guide signal except the guard signal can be classified as the alignment signal, and the alignment signal can be divided into left and right signal processing. Since the aforementioned embodiment has set the first guide grid and the first reference guide direction, the intermediate signal is not divided from the alignment signal.

[0032] A third guidance grid is then set based on the effective detection range of the alignment signal, and a third reference guidance direction and a guidance priority are set in the third guidance grid. Specifically, a second reference guidance direction may be set in the third guidance grid based on the relationship between the direction in which the alignment signal is transmitted by the charging pile and the first reference guidance direction. A guidance priority is then assigned to each third guidance grid to indicate the priority of the third guidance grid to be adjusted in step B. Thus, by setting a third guidance grid in an area outside the coverage range of the close range signal and assigning the third reference guidance direction therein, the first reference guidance direction, the second reference guidance direction, and the third reference guidance direction can be set from near to far, starting from the grid area where the charging pile is located. This allows the third guidance grid to be distributed around the grid area formed by the second guidance grids and further away from the central axis of the grid area where the charging pile is located than the second guidance grid. Consequently, the guidance priority assigned to the third guidance grid is lower than the guidance priority assigned to the second guidance grid, forming the grid information with the lowest guidance priority within the grid map. In step B, the third reference guidance direction is then used as the guidance direction with the highest priority for adjustment.

[0033] As can be seen from Figures 2 and 3 , the third guide grids are located on the left and right sides of the charging pile and on both sides of the first guide grid directly in front of the charging pile. The third guide grids are located outside the grid area formed by the second guide grids, slightly below the area occupied by the second guide grids in Figure 2 , as shown in Figure 3 , with arrows added to the grids relative to Figure 2 . In each of the third guide grids on the left and right sides of the charging pile, horizontal arrows are provided as third reference guidance directions. For example, the third guide grid on the left side provides the 32nd reference guidance direction, while the third guide grid on the right side provides the 34th reference guidance direction. In each of the third guide grids on the left and right sides of the first guide grid directly in front of the charging pile, arrows pointing toward the center of the charging pile at a fixed angle relative to its central axis are provided as third reference guidance directions. For example, the third guide grid on the left side provides the 31st reference guidance direction, while the third guide grid on the right side provides the 33rd reference guidance direction.

[0034] In the present application, the guidance priority set in the first guidance grid is higher than the guidance priority set in the second guidance grid, and the guidance priority set in the second guidance grid is higher than the guidance priority set in the third guidance grid, so that the third reference guidance direction in the third guidance grid is adjusted first; if the two adjacent grids in step B are a second guidance grid and a third guidance grid, the reference guidance direction in the grid with a relatively low guidance priority among the two adjacent grids to be adjusted is the third reference guidance direction set in the third guidance grid; if the two adjacent grids in step B are a second guidance grid and a third guidance grid, grid, the reference guiding direction in the grid with relatively low guiding priority among the two adjacent grids to be adjusted is the third reference guiding direction set in the third guiding grid; if the two adjacent grids in step B are a first guiding grid and a third guiding grid, the reference guiding direction in the grid with relatively low guiding priority among the two adjacent grids to be adjusted is the third reference guiding direction; if the two adjacent grids in step B are a first guiding grid and a second guiding grid, the reference guiding direction in the grid with relatively low guiding priority among the two adjacent grids to be adjusted is the second reference guiding direction set in the third guiding grid.

[0035] In summary, this application rasterizes the coverage area based on various types of charging guidance signals, and sets corresponding reference guidance directions, so that the recharging information on the grid map is quantified into direction elements (reference guidance directions set in each grid) according to certain rules, so that the robot can find the direction required for recharging more quickly through the quantified direction elements (reference guidance directions set in each grid).

[0036] It should be noted that the charging guidance signals emitted by the charging pile include middle docking signals, guard signals and side guidance signals; specifically, the middle docking signal can be emitted by the front side of the charging pile, the infrared emission sensors located on the front and both sides of the charging pile can emit side guidance signals, and the infrared emission sensor located on the top of the charging pile emits a guard signal, all of which are divided into left and right signals for processing, reducing the impact of the problem that the divided middle signal and the overlapping area of ​​the left and right signals are not centered.

[0037] The robot can determine a preset range based on the location of the charging pile. The shape and size of the preset range can be set accordingly according to specific design requirements. It can be set to a rectangle, square, or ellipse, and set to an area size of 2 square meters, 3 square meters, or 4 square meters. The area enclosed by the outermost rectangular frame corresponding to Figures 1 to 3 is used as the preset range. The robot grids the preset range to form multiple grids. The grids are also recorded as grid units. The grids are virtual grids with a certain length and width. The length and width can be the same or different, but each grid must be the same. For example, they can all be set to 0.1 meter * 0.1 meter squares, or they can all be set to 0.1 meter * 0.15 meter long squares, or they can all be set to 0.15 meter * 0.15 meter squares, etc. The grids shown in Figures 1 to 8 are the grids described in this application. The illustrated grid can be a 0.1 meter * 0.1 meter square virtual cell, which constitutes the grid map preset in this application. The grid map can be divided into multiple square virtual cells. Each grid corresponds to a record of the charging guidance signal collected when the robot is at the position of the grid.

[0038] As an embodiment, the method of setting a first guide grid in a vertical forward direction based on the middle of the front side of the charging pile and setting a first reference guide direction in the first guide grid includes: referring to FIG. 1 ,

[0039] In the grid map, starting from the middle position of the grid area where the charging pile is located, the grids passed by the vertical forward direction of the middle position of the grid area where the charging pile is located are all marked as first guide grids, forming a plurality of first guide grids distributed along the central axis of the charging pile; wherein, the front side of the grid area where the charging pile is located is used to indicate the side of the charging pile that docks with the robot for charging; the vertical forward direction in the middle of the front side of the charging pile is configured as the vertical forward direction of the middle position of the grid area where the charging pile is located; the grid area composed of the plurality of first guide grids is perpendicular to the front of the grid area where the charging pile is located; wherein, the vertical forward direction of the middle position of the grid area where the charging pile is located can be represented in the grid map disclosed in the present application using the opposite direction of the arrow direction shown in Figure 1, and can be regarded as being emitted perpendicular to the front of the charging pile, or as being regarded as extracting the direction perpendicular to the front side of the charging pile from the perspective of the front side of the charging pile transmitting the intermediate docking signal as the direction in which the front side of the charging pile transmits the intermediate docking signal. In this application, it is necessary to simplify the processing and mark it in the corresponding grid in a single direction to realize the gridding of the central axis directly in front of the charging pile, forming a first guiding grid for guiding the robot to dock and recharge in a straight line.

[0040] Corresponding to FIG1 , the grid area composed of a plurality of first guide grids is perpendicular to and directly below the grid area where the charging pile is located and is located on the central axis of the charging pile.

[0041] In this embodiment, the direction opposite to the vertical forward direction of the center of the grid region where the charging pile is located is set as the first reference guidance direction. This first reference guidance direction is then recorded in each first guidance grid. Specifically, the recording includes storing the angle information of the first reference guidance direction within the two-dimensional coordinate system of the grid map, the starting point and end point of the first reference guidance direction (considered as a vector segment) in a single first guidance grid, and other directional information in the cache space corresponding to the first guidance grid. Therefore, in each first guidance grid, the direction opposite to the vertical forward direction of the center of the grid region where the charging pile is located is set as the first reference guidance direction, so that the first reference guidance direction points perpendicularly to the grid region where the charging pile is located within the pre-set grid map. This converts each position directly in front of the charging pile's central axis into a grid on the grid map where the first reference guidance direction is set, so that the robot's front faces the docking charging surface of the charging pile. This reduces the impact of the overlapping alignment signal area, which is formed after the middle signal is divided into the center-left signal and the center-right signal, on the robot's recharging.

[0042] As an embodiment, the method of setting a second guiding grid according to the coverage range of the guard signal emitted by the charging pile and setting a second reference guiding direction in the second guiding grid includes:

[0043] With the grid area where the charging pile is located as the center, the coverage area of ​​the close guard signal is gridded to form multiple second guide grids in the grid area other than the first guide grid, so that a second guide grid corresponds to a grid position within the close guard signal coverage area. The multiple second guide grids are located on either side of the grid area formed by the multiple first guide grids and the grid area where the charging pile is located. The close guard signal coverage area can be considered as a semicircular coverage area with a certain radius centered on the grid area where the charging pile is located. The coverage area excludes the already set first guide grids, that is, the linear grid area perpendicular to the center of the charging pile (the grid area formed by the first guide grid). As shown in Figure 2, starting from a row in the grid area where the charging pile is located and traversing the grid row by row, the multiple second guide grids are distributed in a gradient pattern, with the closer to the grid area where the charging pile is located, the more second guide grids there are, and the farther away from the grid area where the charging pile is located, the fewer second guide grids there are.

[0044] In this embodiment, the guard signal is divided into a center-left guard signal and a side-left guard signal according to the different emission directions on the left side of the charging pile. The distribution of the guard signal on the left side of the charging pile (including the guard signal emission angle detected by the robot at the corresponding position and the corresponding mapped grid) is pre-marked in the corresponding grid area of ​​the grid map. An infrared emission sensor can be installed on the top of each charging pile, and the guard signal emitted by it can be divided into a center-left guard signal and a side-left guard signal. A straight line emission direction of the guard signal emitted from the left side of the front of the charging pile can be represented as the emission direction of the center-left guard signal; a straight line emission direction of the guard signal emitted from the left side of the charging pile can be represented as the emission direction of the side-left guard signal.

[0045] In this embodiment, a direction deflected to the left by a first target guidance angle relative to the first reference guidance direction is set as a second-first reference guidance direction. Alternatively, the direction deflected counterclockwise by the first target guidance angle relative to the first reference guidance direction is the second-first reference guidance direction. The second-first reference guidance direction is then recorded in each second guidance grid on the left side of the grid region formed by the plurality of first guidance grids, such that the opposite direction of the set second-first reference guidance direction points between the front center of the charging pile and the left side of the charging pile. This recording involves storing the angle information of the second-first reference guidance direction within the two-dimensional coordinate system of the grid map, as well as the starting and ending points of the second-first reference guidance direction (considered as a vector segment) within a single second guidance grid, in a cache corresponding to the second guidance grid. Specifically, the second-first reference guidance direction can represent a straight line transmission direction from the charging pile to transmit the aforementioned center-left guard signal. Schematically, the arrow in the grid indicating the second-first reference guidance direction in FIG. 2 points at a 135-degree angle to the vertically upward direction (considered as the first reference guidance direction), making the first target guidance angle equal to 135 degrees.

[0046] In this embodiment, a direction deflected to the left by a second target guidance angle relative to the first reference guidance direction is set as a second reference guidance direction. Alternatively, the direction deflected counterclockwise by the second target guidance angle relative to the first reference guidance direction is the second reference guidance direction. The second reference guidance direction is then recorded in each second guidance grid to the left of the grid area where the charging pile is located, such that the opposite direction of the set second reference guidance direction points to the left of the charging pile. This recording involves storing the angle information of the second reference guidance direction within the two-dimensional coordinate system of the grid map, as well as the starting and ending points of the second reference guidance direction (considered as a vector segment) within a single second guidance grid, in a cache corresponding to the second guidance grid. Specifically, the second reference guidance direction can be used to represent a straight line transmission direction from the charging pile to transmit the aforementioned left-side guard signal. Schematically, the arrow in the grid for the second reference guidance direction shown in FIG2 points horizontally to the left. The arrow in the grid for the second reference guidance direction shown in FIG2 points at a 90-degree angle to the vertical upward direction (considered as the first reference guidance direction), making the second target guidance angle equal to 90 degrees.

[0047] It should be noted that the angle formed by the second-first reference guiding direction and the first reference guiding direction is within the angle formed by the second-second reference guiding direction and the first reference guiding direction; when the second target guiding angle and the first target guiding angle are both between 0 and 180 degrees, the second target guiding angle is smaller than the first target guiding angle. If the direction of the left guard signal emitted by the charging pile and the direction of the left guard signal emitted by the charging pile are respectively represented by a straight line emission direction configured at the corresponding position on the left side of the charging pile, and the emission task can be undertaken by the same infrared emission sensor, then based on the first reference guiding direction, the second-first reference guiding direction and the second-second reference guiding direction can be quantified within the same arc viewing angle range emitted from the left side of the emission sensor.

[0048] This embodiment can also divide the guard signal into a center-right guard signal and a side-right guard signal based on the different transmission directions on the right side of the charging pile. The distribution of the guard signal on the right side of the charging pile (including the guard signal transmission angle detected by the robot at the corresponding position and the corresponding grid mapped to it) is pre-marked in the corresponding grid area of ​​the grid map. An infrared emission sensor can be installed on the top of the charging pile, and the guard signal it emits can be divided into a center-right guard signal and a side-right guard signal. A straight line transmission direction of the guard signal emitted from the front right side of the charging pile can be represented as the direction of the center-right guard signal; a straight line transmission direction of the guard signal emitted from the right side of the charging pile can be represented as the direction of the side-right guard signal. A straight line transmission direction of the guard signal emitted from the front right side of the charging pile can be represented as the direction of the center-right guard signal; a straight line transmission direction of the guard signal emitted from the right side of the charging pile can be represented as the direction of the side-right guard signal.

[0049] In this embodiment, a direction deflected to the right by the first target guidance angle relative to the first reference guidance direction is set as a second-third reference guidance direction. Alternatively, the direction deflected clockwise by the first target guidance angle relative to the first reference guidance direction is the second-third reference guidance direction. The second-third reference guidance direction is then recorded in each second guidance grid to the right of the grid region formed by the plurality of first guidance grids, such that the opposite direction of the set second-third reference guidance direction points between the front center of the charging pile and the right side of the charging pile. The recording of the second-third reference guidance direction includes storing the angle information of the second-third reference guidance direction within the two-dimensional coordinate system of the grid map, as well as the starting and ending points of the second-third reference guidance direction (considered as a vector segment) within a single second guidance grid, in a cache corresponding to the second guidance grid. Specifically, the second-third reference guidance direction can represent a straight line transmission direction from the charging pile to transmit the aforementioned center-right guard signal. Schematically, the arrow in the grid for the second-third reference guidance direction shown in FIG. 2 points at a 135-degree angle to the vertically upward direction (considered as the first reference guidance direction), making the first target guidance angle equal to 135 degrees.

[0050] In this embodiment, the direction of the second target guidance angle deflected to the right relative to the first reference guidance direction is set as the second-fourth reference guidance direction, which can also be understood as the direction of the second target guidance angle deflected clockwise relative to the first reference guidance direction is the second-fourth reference guidance direction; the second-fourth reference guidance direction is then recorded in each second guidance grid on the right side of the grid area where the charging pile is located, so that the opposite direction of the set second-fourth reference guidance direction points to the right side of the charging pile; the recording form involved in the second-fourth reference guidance direction includes storing the angle information of the second-fourth reference guidance direction in the two-dimensional coordinate system of the grid map, the starting point and end point of the second-fourth reference guidance direction (regarded as a vector line segment) in a single second guidance grid and other orientation information in the cache space corresponding to the second guidance grid; specifically, the second-fourth reference guidance direction can be used to represent a straight line transmission direction of the charging pile to transmit the aforementioned left-side guard signal. Schematically, the arrows in the grid of the second fourth reference guiding directions shown in Figure 2 point to the horizontal right direction, and the arrows in the grid of the second fourth reference guiding directions shown in Figure 2 point to 90 degrees from the vertical upward direction (considered as the first reference guiding direction), so that the second target guidance angle is equal to 90 degrees.

[0051] It should be noted that the angle formed by the second-fourth reference guidance direction and the first reference guidance direction is within the angle formed by the second-third reference guidance direction and the first reference guidance direction; when the second target guidance angle and the first target guidance angle are both between 0 and 180 degrees, the second target guidance angle is smaller than the first target guidance angle. If the direction of the right guard signal emitted by the charging pile and the direction of the right guard signal emitted by the charging pile are respectively represented by a straight line emission direction configured at the corresponding position on the right side of the charging pile, and the emission task can be undertaken by the same infrared emission sensor, then based on the first reference guidance direction, the second-third reference guidance direction and the second-fourth reference guidance direction can be quantified within the same arc viewing angle emitted from the right side of the emission sensor.

[0052] In summary, the aforementioned embodiment quantifies the guard signal according to the corresponding coverage range of the guard signal on both sides of the charging pile, thereby converting the second-first reference guidance direction, the second-second reference guidance direction, the second-third reference guidance direction and the second-fourth reference guidance direction in the second guidance grid at different directions, and using simplified direction information to represent the coverage range of the guard signal.

[0053] If the grid area where the charging pile is located is distributed into a row of grid areas in the grid map, corresponding to the charging pile distribution area in Figure 2, then the second guide grid on the left side of the grid area where the charging pile is located and the second guide grid on the right side of the grid area where the charging pile is located are both distributed in the grid area with the same row sequence as the grid area where the charging pile is located, that is, the grid with the second second reference guide direction and the grid with the second fourth reference guide direction in Figure 2 both occupy the same row of grid areas as the grid area where the charging pile is located; and the grid area composed of the multiple first guide grids is in the grid map. The grid areas are distributed in columns, corresponding to the grid distribution area marked with a vertical upward arrow in Figure 2. The second guide grids on the left side of the grid area composed of the multiple first guide grids and the second guide grids on the right side of the grid area composed of the multiple first guide grids are both distributed in the grid area with the same row order as some of the first guide grids, corresponding to the grid with the second-first reference guiding direction (diagonally to the lower left) and the grid with the second-third reference guiding direction (diagonally to the lower right) in Figure 2, which are both the same as the row order of the first guide grids in three consecutive rows below the grid area where the charging pile is located.

[0054] In the grid map of Figure 2, the left side of the grid area corresponds to the negative direction of the horizontal axis of the two-dimensional coordinate system of the grid map, and the right side of the grid area corresponds to the positive direction of the horizontal axis of the two-dimensional coordinate system of the grid map. The row order is represented by the vertical coordinate in the two-dimensional coordinate system of the grid map, and the column order is represented by the horizontal coordinate in the two-dimensional coordinate system of the grid map. The middle position of the grid area where the charging pile is located is the origin of the two-dimensional coordinate system of the grid map.

[0055] In addition, if the grid area where the charging pile is located is distributed in columns into a column of grid areas within the grid map, then the second guide grid to the left of the grid area where the charging pile is located and the second guide grid to the right of the grid area where the charging pile is located are both distributed within the grid area with the same column sequence as the grid area where the charging pile is located. Compared with the second guide grid in the embodiment corresponding to FIG2 , the rows and columns are reversed, but this is not shown in the drawings of the specification of this application. Moreover, if the grid area composed of the plurality of first guide grids is distributed in rows into a row of grid areas within the grid map, then the second guide grid to the left of the grid area composed of the plurality of first guide grids and the second guide grid to the right of the grid area composed of the plurality of first guide grids are both distributed within the grid area with the same column sequence as a portion of the first guide grids. The column sequence of the portion of the first guide grids is one-to-one corresponding to the column sequence of the second guide grid for setting the second-first reference guide direction or the second-third reference guide direction. Among them, the left side of the grid area corresponds to the negative direction of the vertical axis of the two-dimensional coordinate system of the grid map, and the right side of the grid area corresponds to the positive direction of the vertical axis of the two-dimensional coordinate system of the grid map. The column order is represented by the vertical coordinate in the two-dimensional coordinate system of the grid map, and the row order is represented by the horizontal coordinate in the two-dimensional coordinate system of the grid map. In the implementation method corresponding to Figure 2, the horizontal and vertical axes in the two-dimensional coordinate system are swapped.

[0056] It should be noted that the second guide grid on the left side of the grid area composed of the multiple first guide grids does not overlap with the second guide grid on the left side of the grid area where the charging pile is located; and the second guide grid on the right side of the grid area composed of the multiple first guide grids does not overlap with the second guide grid on the right side of the grid area where the charging pile is located. The grid area composed of the multiple first guide grids does not overlap with the grid area where the charging pile is located, the left side of the grid area composed of the multiple first guide grids does not overlap with the area on the same side of the grid area where the charging pile is located, and the right side of the grid area composed of the multiple first guide grids does not overlap with the area on the same side of the grid area where the charging pile is located.

[0057] In one embodiment, the method of setting a third guide grid based on the effective detection range of the alignment signal and setting a third reference guide direction in the third guide grid includes: forming multiple third guide grids by rasterizing the effective detection range of the alignment signal, that is, setting three third guide grids in a grid area excluding the first and second guide grids; and the multiple third guide grids are separated on either side of a grid area consisting of the multiple first guide grids and the grid area where the charging pile is located. Thus, multiple third guide grids are set outside the coverage range of the guard signal, and their corresponding positions all fall within the coverage range of the alignment signal. As shown in FIG3 , starting from a row in the grid area where the charging pile is located, the grid is traversed row by row, and third guide grids with a third reference guide direction (arrows pointing opposite to the second reference guide direction shown in the figure) are set to fill the left and right sides of the grid area consisting of the multiple second guide grids. Because the alignment signal includes multiple signal types, the number of third guide grids formed within the effective detection range of the alignment signal is greater than the number of second guide grids formed within the coverage range of the guard signal.

[0058] In the alignment signal, the middle docking signal includes a middle-left docking signal emitted from the left front side of the charging pile and a middle-right docking signal emitted from the right front side of the charging pile, thereby dividing the middle docking signal into a middle-left docking signal and a middle-right docking signal according to the left and right emission directions of the front side of the charging pile. In the alignment signal, the side guide signal includes a side-left guide signal emitted from the left side of the charging pile and a side-right guide signal emitted from the right side of the charging pile, thereby dividing the middle docking signal into a side-left guide signal and a side-right guide signal according to the left and right sides of the charging pile. The emission angle of the alignment signal detected by the robot at the corresponding position in advance and the corresponding mapped grid are pre-marked in the corresponding grid area of ​​the grid map.

[0059] Preferably, on the left side of the central axis of the charging pile, the middle docking signal emitted in a straight line emission direction close to the middle of the front side of the charging pile is recorded as the middle left docking signal, and the straight line emission direction close to the middle of the front side of the charging pile is preferably 45 degrees to the central axis of the charging pile; and the side guide signal emitted in an emission direction on the left side of the charging pile is recorded as the side left guide signal, and the emission direction on the left side of the charging pile is preferably 90 degrees to the central axis of the charging pile.

[0060] Preferably, on the right side of the central axis of the charging pile, the middle docking signal emitted in a straight line emission direction close to the middle of the front side of the charging pile is recorded as the middle right docking signal, and the straight line emission direction close to the middle of the front side of the charging pile is preferably 45 degrees to the central axis of the charging pile; and the side guide signal emitted in an emission direction on the right side of the charging pile is recorded as the side right guide signal, and the emission direction on the right side of the charging pile is preferably 90 degrees to the central axis of the charging pile.

[0061] In this embodiment, a direction deflected rightward by a third target guidance angle relative to the first reference guidance direction is set as a third reference guidance direction. Alternatively, the direction deflected clockwise by a third target guidance angle relative to the first reference guidance direction is the third reference guidance direction. The third reference guidance direction is then recorded in each third guidance grid on the left side of the grid region formed by the plurality of first guidance grids, such that the set third reference guidance direction points between the front center of the charging pile and the left side of the charging pile. Specifically, the recording of the third reference guidance direction includes storing the angle information of the third reference guidance direction within the two-dimensional coordinate system of the grid map, as well as the starting and ending points of the third reference guidance direction (considered as a vector segment) within a single third guidance grid, in a cache corresponding to the third guidance grid. The third reference guidance direction may represent the opposite direction of the linear transmission direction of the aforementioned center-left docking signal transmitted by the charging pile. For example, the arrow in the grid indicating the third reference guidance direction in FIG3 points at a 45-degree angle to the vertical upward direction (considered as the first reference guidance direction), resulting in a third target guidance angle of 45 degrees.

[0062] In this embodiment, the direction of the second target guidance angle deflected to the right relative to the first reference guidance direction is set as the third-second reference guidance direction, which can also be understood as the direction of the second target guidance angle deflected clockwise relative to the first reference guidance direction is the third-second reference guidance direction; the third-second reference guidance direction is then recorded in each third guidance grid on the left side of the grid area composed of the multiple first guidance grids, so that the set third-second reference guidance direction points to between the front middle position of the charging pile and the left side of the charging pile; specifically, the recording form involved in the third-second reference guidance direction includes storing the angle information of the third-second reference guidance direction in the two-dimensional coordinate system of the grid map, the starting point and end point of the third-second reference guidance direction (regarded as a vector line segment) in a single third guidance grid, and other orientation information in the cache space corresponding to the third guidance grid; the third-second reference guidance direction can represent the opposite direction of a straight line transmission direction of the charging pile to transmit the aforementioned left-side guidance signal. Schematically, the arrows in the grid of the third second reference guiding directions shown in FIG3 point at 90 degrees to the vertical upward direction (considered as the first reference guiding direction), so that the second target guidance angle is equal to 90 degrees, that is, the arrows in the grid of the third second reference guiding directions shown in FIG3 point to the horizontal right direction.

[0063] It should be noted that the angle formed by the third-first reference guidance direction and the first reference guidance direction is within the angle formed by the third-second reference guidance direction and the first reference guidance direction; when the second target guidance angle and the third target guidance angle are both between 0 and 180 degrees, the second target guidance angle is greater than the third target guidance angle. If the direction of the left docking signal emitted by the charging pile and the direction of the left side guidance signal emitted by the charging pile are respectively represented by a straight line emission direction configured at the corresponding position on the left side of the charging pile, and the emission tasks can be respectively undertaken by multiple infrared emission sensors, then based on the first reference guidance direction, the third-first reference guidance direction and the third-second reference guidance direction are quantified within the arc viewing angle range of each emission sensor on the left side.

[0064] In this embodiment, a direction deflected to the left by a third target guidance angle relative to the first reference guidance direction is set as a third-third reference guidance direction. Alternatively, the third-third reference guidance direction can be understood as a direction deflected counterclockwise by a third target guidance angle relative to the first reference guidance direction. The third-third reference guidance direction is then recorded in each third guidance grid to the right of the grid region formed by the plurality of first guidance grids, such that the set third-third reference guidance direction points to the area between the front center of the charging pile and the right side of the charging pile. Specifically, the recording of the third-third reference guidance direction includes storing the angle information of the third-third reference guidance direction within the two-dimensional coordinate system of the grid map, as well as the starting and ending points of the third-third reference guidance direction (considered as a vector segment) within a single third guidance grid, in a cache corresponding to the third guidance grid. The third-third reference guidance direction can represent the opposite direction of the linear transmission direction of the aforementioned center-right docking signal transmitted by the charging pile. For example, the arrow of the third-third reference guidance direction within the grid shown in FIG3 points at a 45-degree angle to the vertical upward direction (considered as the first reference guidance direction), making the third target guidance angle equal to 45 degrees.

[0065] In this embodiment, the direction of the second target guidance angle deflected to the left relative to the first reference guidance direction is set as the third or fourth reference guidance direction, which can also be understood as the direction of the third target guidance angle deflected counterclockwise relative to the first reference guidance direction is the third or fourth reference guidance direction; the third or fourth reference guidance direction is then recorded in each third guidance grid on the right side of the grid area composed of the multiple first guidance grids, so that the set third or fourth reference guidance direction points to between the front middle position of the charging pile and the right side of the charging pile; specifically, the recording form involved in the third or fourth reference guidance direction includes storing the angle information of the third or fourth reference guidance direction in the two-dimensional coordinate system of the grid map, the starting point and end point of the third or fourth reference guidance direction (regarded as a vector line segment) in a single third guidance grid and other orientation information in the cache space corresponding to the third guidance grid; the third or fourth reference guidance direction can represent the opposite direction of a straight line transmission direction of the charging pile to transmit the aforementioned right-side guidance signal. Schematically, the arrows of the third and fourth reference guiding directions shown in Figure 3 in the grid point at 90 degrees to the vertical upward direction (considered as the first reference guiding direction), so that the second target guidance angle is equal to 90 degrees, that is, the arrows of the third and fourth reference guiding directions shown in Figure 3 in the grid point to the horizontal left direction.

[0066] It should be noted that the angle formed by the third reference guidance direction and the first reference guidance direction is within the angle formed by the third fourth reference guidance direction and the first reference guidance direction; when the second target guidance angle and the third target guidance angle are both between 0 and 180 degrees, the second target guidance angle is greater than the third target guidance angle. If the direction of the charging pile transmitting the right docking signal and the direction of the charging pile transmitting the right side guidance signal are respectively represented by a straight line transmission direction configured at the corresponding position on the right side of the charging pile, and the transmission tasks can be respectively undertaken by multiple infrared transmission sensors, then based on the first reference guidance direction, the third third reference guidance direction and the third fourth reference guidance direction are quantified within the arc viewing angle range of each transmission sensor on the right side.

[0067] In summary, the aforementioned embodiment divides the alignment signal into two different reference guidance directions on the left and right sides of the central axis of the charging pile according to the front emission direction and the left and right side emission directions of the charging pile, so as to achieve quantization of a limited number and types of directions in the signal coverage range corresponding to the front and left and right sides of the charging pile and set them to the corresponding grids of the grid map, so as to achieve the purpose of converting the charging guidance signal that originally had multiple emission directions or a larger viewing angle into two relatively fixed reference guidance directions on both sides of the central axis of the charging pile, thereby accelerating the efficiency of the robot returning to the charging pile for docking and charging through the reference guidance directions set in the grid map.

[0068] If the grid area where the charging pile is located is distributed into a row of grid areas in the grid map, then the third guide grid on the left side of the grid area where the charging pile is located and the third guide grid on the right side of the grid area where the charging pile is located are both distributed in grid areas with the same row sequence and adjacent row sequence as the grid area where the charging pile is located, that is, the grids with the third and second reference guidance directions and the grids with the third and fourth reference guidance directions in the first row of grid areas from top to bottom in Figure 3 occupy the same row of grid areas as the grid area where the charging pile is located; the grids with the third and second reference guidance directions and the grids with the third and fourth reference guidance directions are set in the second row of grid areas from top to bottom in Figure 3, and the second row of grid areas is adjacent to the row of grid areas where the charging pile is located.

[0069] The grid area composed of the multiple first guide grids is distributed in columns into a column of grid areas within the grid map, corresponding to the grid distribution area marked with a vertical upward arrow in Figure 3. The third guide grid on the left side of the grid area composed of the multiple first guide grids and the third guide grid on the right side of the grid area composed of the multiple first guide grids are both distributed in the same grid area with the same row sequence as some of the first guide grids, corresponding to the grid with the third-first reference guidance direction (diagonally to the upper right) and the grid with the third-third reference guidance direction (diagonally to the upper left) set in Figure 3, both of which have the same row sequence as the six consecutive rows of first guide grids within the grid area where the charging pile is located.

[0070] In the grid map of Figure 3, the left side of the grid area corresponds to the negative direction of the horizontal axis of the two-dimensional coordinate system of the grid map, and the right side of the grid area corresponds to the positive direction of the horizontal axis of the two-dimensional coordinate system of the grid map. The row order is represented by the vertical coordinate in the two-dimensional coordinate system of the grid map, and the column order is represented by the horizontal coordinate in the two-dimensional coordinate system of the grid map. The middle position of the grid area where the charging pile is located is the origin of the two-dimensional coordinate system of the grid map.

[0071] In addition, the figure does not show that if the grid area where the charging pile is located is distributed as a row of grid areas by column within the grid map, then the third guide grid to the left of the grid area where the charging pile is located and the third guide grid to the right of the grid area where the charging pile is located are both distributed within grid areas with the same column sequence as or adjacent to the grid area where the charging pile is located. Compared to the third guide grid in the embodiment corresponding to FIG3 , the rows and columns are reversed, but this is not shown in the drawings of the specification of this application. Furthermore, if the grid area composed of the plurality of first guide grids is distributed as a row of grid areas by row within the grid map, then the third guide grid to the left of the grid area composed of the plurality of first guide grids and the third guide grid to the right of the grid area composed of the plurality of first guide grids are both distributed within grid areas with the same column sequence as a portion of the first guide grids, and the column sequence of the portion of the first guide grids is in one-to-one correspondence with the column sequence of the second guide grid for setting the third-first reference guide direction or the third-third reference guide direction. Among them, the left side of the grid area corresponds to the negative direction of the vertical axis of the two-dimensional coordinate system of the grid map, and the right side of the grid area corresponds to the positive direction of the vertical axis of the two-dimensional coordinate system of the grid map. The column order is represented by the vertical coordinate in the two-dimensional coordinate system of the grid map, and the row order is represented by the horizontal coordinate in the two-dimensional coordinate system of the grid map. In the implementation method corresponding to Figure 3, the horizontal and vertical axes in the two-dimensional coordinate system are swapped.

[0072] It should be noted that the third guide grid on the left side of the grid area composed of the multiple first guide grids does not overlap with the third guide grid on the left side of the grid area where the charging pile is located; the third guide grid on the right side of the grid area composed of the multiple first guide grids does not overlap with the third guide grid on the right side of the grid area where the charging pile is located.

[0073] In combination with Figures 2 and 3, it can be seen that by executing step A, the second-first reference guiding direction is set to be parallel to the diagonal of the second guiding grid in which it is located so as to point to the end point / corner point of the grid toward the lower left; and the second-second reference guiding direction is set to be perpendicular to the first reference guiding direction. Indicatively, the second-second reference guiding direction can be set to be parallel to the boundary of the second guiding grid in which it is located and perpendicular to the grid area composed of the multiple first guiding grids so as to point to the midpoint of the grid edge, corresponding to the horizontal leftward arrow direction in Figures 2 and 3.

[0074] In combination with Figures 2 and 3, it can be seen that by executing step A, the second-third reference guiding direction is set to be parallel to the diagonal of the second guiding grid in which it is located so as to point to the end point / corner point of the grid toward the lower right; and the third-second reference guiding direction is set to be perpendicular to the first reference guiding direction. Indicatively, the second-fourth reference guiding direction can be set to be parallel to the boundary of the second guiding grid in which it is located and perpendicular to the grid area composed of the multiple first guiding grids so as to point to the midpoint of the grid edge, corresponding to the horizontal rightward arrow direction in Figures 2 and 3.

[0075] In combination with Figures 2 and 3, it can be seen that by executing step A, the third-first reference guiding direction is set to be parallel to the diagonal of the third guiding grid in which it is located so as to point to the end point / corner point of the grid toward the upper right; and the third-second reference guiding direction is set to be perpendicular to the first reference guiding direction, that is, the third-second reference guiding direction can be set to be parallel to the boundary of the third guiding grid in which it is located and perpendicular to the grid area composed of the multiple first guiding grids, corresponding to the horizontal rightward arrow in Figures 2 and 3; wherein, the second-first reference guiding direction is opposite to the third-first reference guiding direction, and the second-second reference guiding direction is opposite to the third-second reference guiding direction.

[0076] By executing step A, the third-third reference guiding direction is set to be parallel to the diagonal of the third guiding grid in which it is located so as to point to the end point / corner point of the grid toward the upper left; and the third-fourth reference guiding direction is set to be perpendicular to the first reference guiding direction, that is, the third-fourth reference guiding direction can be set to be parallel to the boundary of the third guiding grid in which it is located and perpendicular to the grid area composed of the multiple first guiding grids, corresponding to the horizontal leftward arrow in Figures 2 and 3; wherein, the second-third reference guiding direction is opposite to the third-third reference guiding direction, and the second-fourth reference guiding direction is opposite to the third-fourth reference guiding direction.

[0077] In summary, the relationship between the second-first reference guiding direction and the third-first reference guiding direction, the relationship between the second-second reference guiding direction and the third-second reference guiding direction, the relationship between the second-third reference guiding direction and the third-third reference guiding direction, and the relationship between the second-fourth reference guiding direction and the third-fourth reference guiding direction can be determined; in this way, the robot can more accurately know which reference guiding directions are located in which direction of the vertical forward center line / central axis in the middle of the front side of the charging pile, which facilitates the robot to return to the charging pile for docking and charging.

[0078] On the basis of the above embodiments, in combination with Figures 4, 5 and 6, it can be seen that the first reference guiding direction is set to pass through the center of the first guiding grid where it is located and perpendicular to a boundary of the first guiding grid. The first reference guiding direction is perpendicular to the horizontal boundary of the first guiding grid, and can be expressed in the form of a perpendicular bisector of the horizontal boundary of the first guiding grid and points to the middle position of the grid area where the charging pile is located; if the middle position of the grid area where the charging pile is located is used as the origin of the two-dimensional coordinate system of the grid map, then the first reference guiding direction is a straight line direction pointing to the origin to guide the robot to dock with the charging pile in a straight line.

[0079] As shown in Figure 3 , within the area of ​​the second guide grid, the second-first, second-second, second-third, and second-fourth reference guiding directions are all set to pass through the center of the second guide grid within which they are located. Counting from the grid area where the charging pile is located, in a vertical direction away from the charging pile, the second-second and second-fourth reference guiding directions set in the second guide grid in the first row are all perpendicular to the first reference guiding direction, making the second target guiding angle equal to 90 degrees. Counting from the grid area where the charging pile is located, in a vertical direction away from the charging pile, the second-first and second-third reference guiding directions set in the second guide grids in rows 2 through 4 form an angle of 135 degrees with the first reference guiding direction, making the first target guiding angle equal to 135 degrees.

[0080] As can be seen from Figure 3 , within the area where the second guide grid is located, the 31st, 32nd, 33rd, and 34th reference guiding directions are all set to pass through the center of the third guide grid within which they are located. Counting from the grid area where the charging pile is located in a vertically downward direction away from the charging pile, the 32nd and 34th reference guiding directions set in the third guide grid in the first row are both perpendicular to the first reference guiding direction, ensuring that the second target guiding angle is equal to 90 degrees. Counting from the grid area where the charging pile is located in a vertically downward direction away from the charging pile, the 31st and 33rd reference guiding directions set in the third guide grids in rows 2 through 8 form an angle of 45 degrees with the first reference guiding direction, ensuring that the third target guiding angle is equal to 45 degrees.

[0081] Thereby, the second-first reference guiding direction and the second-third reference guiding direction are symmetrically arranged on the left and right sides of the vertical forward central axis in the middle of the front side of the charging pile; the second-second reference guiding direction and the second-fourth reference guiding direction are symmetrically arranged on the left and right sides of the vertical forward central axis in the middle of the front side of the charging pile; the third-first reference guiding direction and the third-third reference guiding direction are symmetrically arranged on the left and right sides of the vertical forward central axis in the middle of the front side of the charging pile; the third-second reference guiding direction and the third-fourth reference guiding direction are symmetrically arranged on the left and right sides of the vertical forward central axis in the middle of the front side of the charging pile.

[0082] It should be noted that the first reference guiding direction, the second-first reference guiding direction, the second-second reference guiding direction, the second-third reference guiding direction, the second-fourth reference guiding direction, the third-first reference guiding direction, the third-second reference guiding direction, the third-third reference guiding direction and the third-fourth reference guiding direction all support the use of vector line segments to represent them within the corresponding grid. Each reference guiding direction will have a vector line segment starting point and a vector line segment end point within the grid to determine the direction angle. The starting point of the vector line segment or the end point of the vector line segment or the midpoint of the vector line segment can be the center point of the grid. The arrow inside the grid in Figure 3 can be used to represent the reference guiding direction, and the line segment with an arrow within the grid represents the reference guiding direction, so that the direction information including the starting and ending point positions, pointing angles, etc. in the vector line segment can be stored in the cache space corresponding to the grid.

[0083] As an embodiment, in step B, the method of adjusting the reference guiding direction in the grid with a relatively low guiding priority among the two adjacent grids according to the directional relationship between the reference guiding directions in the two adjacent grids includes:

[0084] The robot searches for a grid with a set reference guidance direction in a preset grid map and detects the reference guidance direction set in the searched grid; the grid with a set reference guidance direction searched by the robot includes a first guidance grid, a second guidance grid and a third guidance grid.

[0085] Whenever the robot searches for two adjacent grids, it detects whether the reference guide directions in each grid point to the same corner position in the grid within the currently searched two adjacent grids; wherein the corner position is the position in the boundary of a single grid, including the corner points of the grid and the midpoint on the grid edge; two adjacent grids are two adjacent grids located in the same column or the same row or distributed along the same grid diagonal, and the grid area where the two adjacent grids are located can be the grid area including the first guide grid, the second guide grid and the third guide grid.

[0086] When it is detected that the reference guiding directions in the two adjacent grids point to the same corner position within the grids in which they are located, the reference guiding directions in the two adjacent grids are determined to offset each other to form a pair of opposite reference guiding directions; and the reference guiding direction in the grid with relatively low guidance priority among the two adjacent grids is adjusted so that the adjusted reference guiding direction points to the grid area where the charging pile is located, so that the reference guiding direction in a grid among the two adjacent grids that is away from the central axis of the charging pile can be adjusted to tend to point to the middle position of the grid area where the charging pile is located.

[0087] When it is detected that the reference guiding directions in the two adjacent grids point to different corner positions within the grids, it is determined that the reference guiding directions in the two adjacent grids do not overlap, the reference guiding directions in the two adjacent grids are not adjusted, and then new adjacent grids are searched; wherein, the new two adjacent grids are two grids that have not participated in the detection among the grids for which the reference guiding directions have been set, and the two adjacent grids can be searched sequentially along the established coordinate axis direction, or the two adjacent grids can be searched within a neighborhood (e.g., a four-neighborhood, i.e., an area consisting of the four grids shown in FIG5 ) centered on a grid until every grid in the grid map is searched.

[0088] In this embodiment, a pair of opposite reference guiding directions are respectively set in grids covering different signal types. For example, the second guiding grid and the third guiding grid that are adjacent in the row, column, or diagonal direction correspond to the arrow direction inside the third guiding grid located in the two adjacent grids where the direction is opposite in FIG3 being converted to the arrow direction inside the turning grid or edge guiding grid at the same row and column position (coordinate position) in FIG4 ; and before the reference guiding direction is adjusted, the first reference guiding direction set correspondingly in each first guiding grid, second guiding grid, or third guiding grid is the same.

[0089] It should be noted that the two adjacent grids are two first guide grids located in the same column or row, or two second guide grids located in the same column or row, or two third ...

[0090] In each second guide grid on one side of the grid area composed of the multiple first guide grids, the reference guide directions of the two second guide grids located in the same column or the same row or distributed along the same grid diagonal are the same. As shown in FIG3 , the arrows in the corresponding second guide grids on the left side of the grid area composed of the multiple first guide grids all point to the lower left and are parallel to the diagonal of the grid obliquely to the lower left, and the arrows in the corresponding second guide grids on the right side of the grid area composed of the multiple first guide grids all point to the lower right and are parallel to the diagonal of the grid obliquely to the lower right.

[0091] In each second guide grid on one side of the grid area where the charging pile is located, the reference guide directions of the two second guide grids located on the same column or on the same row are the same; it is worth noting that, as shown in Figure 3, the second guide grid on the left side of the grid area where the charging pile is located and the second guide grid on the right side of the grid area where the charging pile is located are both distributed in the grid area with the same column sequence as the grid area where the charging pile is located, and the arrows in the corresponding second guide grids on the left side of the grid area composed of the multiple first guide grids are all horizontally pointing to the left and parallel to the horizontal edge of the grid, and the arrows in the corresponding second guide grids on the right side of the grid area composed of the multiple first guide grids are all horizontally pointing to the right and parallel to the horizontal edge of the grid.

[0092] In each third guide grid on one side of the grid area composed of the multiple first guide grids, the reference guide directions of two third guide grids located in the same column or the same row or distributed along the same grid diagonal are the same; as shown in FIG3 , the arrows in the corresponding third guide grids on the left side of the grid area composed of the multiple first guide grids all point to the upper right and are parallel to the diagonal of the grid obliquely toward the upper right, and the arrows in the corresponding third guide grids on the right side of the grid area composed of the multiple first guide grids all point to the upper left and are parallel to the diagonal of the grid obliquely toward the upper left.

[0093] In each third guide grid on one side of the grid area where the charging pile is located, the reference guide directions of the two third guide grids located on the same column or on the same row are the same. It is worth noting that, as shown in Figure 3, the third guide grid on the left side of the grid area where the charging pile is located and the third guide grid on the right side of the grid area where the charging pile is located are both distributed in grid areas with the same column sequence and adjacent column sequence as the grid area where the charging pile is located; moreover, the arrows in the corresponding third guide grids on the left side of the grid area composed of the multiple first guide grids are consistently horizontally pointing to the right and parallel to the horizontal edge of the grid, and the arrows in the corresponding third guide grids on the right side of the grid area composed of the multiple first guide grids are consistently horizontally pointing to the left and parallel to the horizontal edge of the grid, as shown by the arrow directions in the third guide grids in the first row of grids and the second row of grid areas counted from top to bottom along the opposite direction of the first reference guide direction in Figure 3.

[0094] Based on the foregoing embodiment, when the two adjacent grids are a second guide grid and a third guide grid located in the same column or the same row, if the reference guide directions in the two adjacent grids both point to the midpoint position of the same grid boundary within the grids, then it is determined that the reference guide directions in the two adjacent grids are offset.

[0095] In combination with Figures 3 and 6, it can be seen that if the reference guiding directions in the two adjacent grids are determined to be offset within the left side of the grid area composed of the multiple first guiding grids and the grid area where the charging pile is located in Figure 3, then the second-second reference guiding directions in the two adjacent grids are opposite to the third-second reference guiding directions and point to the midpoint position of the same grid boundary. Corresponding to the two adjacent grids shown in Figure 6, the arrow in the left grid points to the third-second reference guiding direction, and the arrow in the right grid points to the second-second reference guiding direction.

[0096] If the reference guiding directions in the two adjacent grids are determined to be offset within the right side of the grid area composed of the multiple first guiding grids and the grid area where the charging pile is located in Figure 3, then the second-fourth reference guiding directions in the two adjacent grids are opposite to the third-fourth reference guiding directions and point to the midpoint position of the same grid boundary. Corresponding to the two adjacent grids shown in Figure 6, the arrows in the left grid point to the second-fourth reference guiding directions, and the arrows in the right grid point to the third-fourth reference guiding directions.

[0097] If the two adjacent grids are a second guiding grid and a third guiding grid distributed along the diagonal of the same grid, and the reference guiding directions in the two adjacent grids both point to the same corner position within the grids, then the reference guiding directions in the two adjacent grids are determined to be offset. The corner position can be the midpoint of a single grid boundary or a grid corner position. The grid farther from the central axis of the charging pile is generally the third guiding grid, forming the grid with the lowest guidance priority so that the robot can adjust its reference guiding direction first.

[0098] In combination with Figures 3 and 5, it can be seen that if the reference guiding directions in the two adjacent grids are determined to be offset within the left side of the grid area composed of the multiple first guiding grids and the grid area where the charging pile is located in Figure 3, then the second-first reference guiding direction in the two adjacent grids is opposite to the third-first reference guiding direction and points to the same corner position (i.e., one end point of the grid). Corresponding to the four grids shown in Figure 5, the arrow in the lower left grid points to the third-first reference guiding direction, and the arrow in the upper right grid points to the second-first reference guiding direction, both pointing to the center points of the four grids shown in Figure 5.

[0099] In one embodiment, within the left side of the grid area formed by the plurality of first guiding grids and the grid area where the charging pile is located, the method of adjusting the reference guiding direction in the grid with a relatively low guidance priority among two adjacent grids according to the directional relationship between the reference guiding directions in the two adjacent grids includes:

[0100] Comparing the area on the left side of the first reference guiding direction in Figure 3 and Figure 4, it can be seen that when traversing in the opposite direction of the first reference guiding direction, in the first, third, fourth, and fifth row grid areas, there are:

[0101] In the third guiding grid whose reference guiding direction is opposite to the second reference guiding direction of the second guiding grid, the third guiding grid farthest from the grid area where the charging pile is located in the first reference guiding direction is set as the turning grid, and then the third reference guiding direction in the turning grid is adjusted to be perpendicular to the first reference guiding direction, and then the third reference guiding direction adjusted to be perpendicular to the first reference guiding direction is updated as the reference guiding direction in the turning grid to guide the robot from the turning grid to the first guiding grid; corresponding to Figure 3, in the fifth row of grid area, the third reference guiding direction is aligned with the fourth The third guide grid in which the second reference guide directions of the row all point to the corner position is set as the turning grid in the fifth row grid area in Figure 4, so that the two third reference guide directions in the fifth row grid area in Figure 3 are rotated 45 degrees clockwise to become the horizontal rightward arrows in the two adjacent turning grids in Figure 4 (perpendicular to the first reference guide direction), that is, the reference guide direction in the turning grid is updated to the third reference guide direction in the third guide grid in Figure 4, so that the robot can accelerate its movement to the charging docking position pointed by the vertical forward direction in the middle of the front side of the charging pile after walking to the corresponding position of the turning grid.

[0102] In the third guiding grid whose reference guiding direction is opposite to the second reference guiding direction of the second guiding grid, the third reference guiding direction in the third guiding grid excluding the turning grid is adjusted to be 135 degrees with the first reference guiding direction, and then the third reference guiding direction adjusted to be 135 degrees with the first reference guiding direction is updated to the reference guiding direction in the third guiding grid excluding the turning grid, so that the third reference guiding direction biased toward the left side of the charging pile is adjusted to be perpendicular to the grid where the first reference guiding direction is located, so as to guide the robot from the third guiding grid to the front of the grid area where the charging pile is located. Corresponding to FIG3, in the third and fourth row grid areas, the third guide grids whose third reference guide directions and the second reference guide directions of the previous row of grids are both pointing to the corner positions are set as the grids in FIG4 that need to adjust the reference guide directions, so that the two third reference guide directions in the third row grid area in FIG3 are rotated 90 degrees clockwise to become the oblique lower right arrows in the two adjacent grids in the third row grid area in FIG4 (forming 135 degrees clockwise relative to the first reference guide direction), and the two third reference guide directions in the fourth row grid area in FIG3 are rotated clockwise 90 degrees is changed to the direction of the oblique downward right arrows in the two adjacent grids in the fourth row of the grid area in Figure 4 (forming 135 degrees clockwise relative to the first reference guiding direction), thereby updating to the third reference guiding direction in the third guiding grid in Figure 4, so that the robot can accelerate its walking through the third guiding grid to the front of the grid area where the charging pile is located or in the perpendicular direction to the central axis of the charging pile (considered to be the straight line where the first reference guiding direction is located), that is, the direction of guiding the robot to return to charging is pointed to the area in front of the charging pile. Then, when the robot enters the area in front of the charging pile, it accelerates to adjust its posture to return to charging.

[0103] The third guiding grid whose reference guiding direction is opposite to the second reference guiding direction of the second guiding grid is set as the side guiding grid, and then the third reference guiding direction in the side guiding grid is adjusted to be 135 degrees with the first reference guiding direction, and then the third reference guiding direction adjusted to be 135 degrees with the first reference guiding direction is updated as the third reference guiding direction in the side guiding grid to guide the robot from the side guiding grid to the front of the grid area where the charging pile is located. Corresponding to Figure 3, in the first row of grid areas, the third guide grid whose third reference guiding direction and the second reference guiding direction in the adjacent grid to which it is located are pointed to the midpoint of the same boundary is set as the side guide grid in Figure 4, so that a third reference guiding direction in the first row of grid areas in Figure 3 is rotated 45 degrees clockwise to become the direction of the oblique lower right arrow in the grid with the same column order in the first row of grid areas in Figure 4 (forming 135 degrees clockwise relative to the first reference guiding direction), that is, the reference guiding direction in the side guide grid is updated to the third reference guiding direction in the third guide grid in Figure 4, so that the robot accelerates its walking through the side guide grid to the front of the grid area where the charging pile is located or in a direction perpendicular to the central axis of the charging pile (considered to be the straight line where the first reference guiding direction is located), that is, the direction of guiding the robot to return to charging is pointed to the area in front of the charging pile, and then when the robot enters the area in front of the charging pile, it accelerates the posture adjustment to return to charging.

[0104] As an embodiment, within the right side of the grid area formed by the plurality of first guiding grids and the grid area where the charging pile is located, the method of adjusting the reference guiding direction in the grid with a relatively low guidance priority among two adjacent grids according to the directional relationship between the reference guiding directions in the two adjacent grids includes:

[0105] Comparing the area on the right side of the first reference guiding direction in Figure 3 and Figure 4, it can be seen that when traversing in the opposite direction of the first reference guiding direction, in the first, third, fourth, and fifth row grid areas, there are:

[0106] In the third guiding grid whose reference guiding direction is opposite to the second and third reference guiding directions of the second guiding grid, the third guiding grid which is farthest from the grid area where the charging pile is located in the first reference guiding direction is set as the turning grid, and then the third and third reference guiding directions in the turning grid are adjusted to be perpendicular to the first reference guiding direction, and then the third and third reference guiding directions adjusted to be perpendicular to the first reference guiding direction are updated as the reference guiding direction in the turning grid to guide the robot from the turning grid to the first guiding grid; corresponding to FIG3 , in the fifth row of grid area, the third reference guiding direction is aligned with the fourth The third guide grid in which the second reference guide directions of the row all point to the corner position is set as the turning grid in the fifth row grid area in Figure 4, so that the two third reference guide directions in the fifth row grid area in Figure 3 are rotated counterclockwise by 45 degrees to become the horizontal left arrows in the two adjacent turning grids in Figure 4 (perpendicular to the first reference guide direction), that is, the reference guide direction in the turning grid is updated to the third reference guide direction in the third guide grid in Figure 4, so that the robot can accelerate its movement to the charging docking position pointed by the vertical forward direction in the middle of the front side of the charging pile after walking to the corresponding position of the turning grid.

[0107] In the third guiding grid where the reference guiding direction is opposite to the second-third reference guiding directions of the second guiding grid, the third-third reference guiding directions in the third guiding grid excluding the turning grid are adjusted to be 135 degrees to the first reference guiding direction, and then the third-third reference guiding directions adjusted to be 135 degrees to the first reference guiding direction are updated to the reference guiding directions in the third guiding grid excluding the turning grid, thereby adjusting the third-third reference guiding direction biased toward the right side of the charging pile to be perpendicular to the grid where the first reference guiding direction is located, so as to guide the robot from the third guiding grid to the front of the grid area where the charging pile is located. Corresponding to Figure 3, in the third and fourth row grid areas, the third guide grids whose third reference guide directions and the second reference guide directions of the previous row of grids are both pointing to the corner positions are set as the grids in Figure 4 that need to adjust the reference guide directions, so that the two third reference guide directions in the third row grid area in Figure 3 are rotated 90 degrees counterclockwise to become the oblique lower left arrows in the two adjacent grids in the third row grid area in Figure 4 (forming 135 degrees clockwise relative to the first reference guide direction), and the two third reference guide directions in the fourth row grid area in Figure 3 are rotated counterclockwise 90 degrees is changed to the direction of the oblique lower left arrows in the two adjacent grids in the fourth row of the grid area in Figure 4 (forming 135 degrees clockwise relative to the first reference guiding direction), thereby updating to the third reference guiding direction in the third guiding grid in Figure 4, so that the robot can accelerate its walking through the third guiding grid to the front of the grid area where the charging pile is located or in the perpendicular direction to the central axis of the charging pile (considered to be the straight line where the first reference guiding direction is located), that is, the direction of guiding the robot to return to charging is pointed to the area in front of the charging pile. Then, when the robot enters the area in front of the charging pile, it accelerates to adjust its posture to return to charging.

[0108] The third guiding grid whose reference guiding direction is opposite to the second four reference guiding directions of the second guiding grid is set as the side guiding grid, and then the third four reference guiding directions in the side guiding grid are adjusted to be 135 degrees with the first reference guiding direction, and then the third four reference guiding directions adjusted to be 135 degrees with the first reference guiding direction are updated as the third four reference guiding directions in the side guiding grid to guide the robot from the side guiding grid to the front of the grid area where the charging pile is located. Corresponding to Figure 3, in the first row of grid areas, the third guide grid whose third reference guiding direction and the second reference guiding direction in the adjacent grid to which it is located point to the midpoint of the same boundary is set as the side guide grid in Figure 4, so that a third reference guiding direction in the first row of grid areas in Figure 3 is rotated 45 degrees counterclockwise to become the direction of the oblique lower left arrow in the grid with the same column order in the first row of grid areas in Figure 4 (forming 135 degrees relative to the first reference guiding direction), that is, the reference guiding direction in the side guide grid is updated to the third and fourth reference guiding directions in the third guide grid in Figure 4, so that the robot accelerates its walking through the side guide grid to the front of the grid area where the charging pile is located or in a direction perpendicular to the central axis of the charging pile (considered to be the straight line where the first reference guiding direction is located), that is, the direction of guiding the robot to return to charging is pointed to the area in front of the charging pile, and then when the robot enters the area in front of the charging pile, it accelerates the posture adjustment to return to charging.

[0109] As an embodiment, in step C, starting from a preset recharging starting point grid, the robot is controlled to walk toward the charging pile based on a reference guidance direction in the grid, and the method for causing the robot to walk to a position where it docks with the charging pile for charging, as shown in FIG9 , includes the following steps:

[0110] Step C1, determine whether the pre-set recharging starting point grid is the grid with a set reference guide direction. If so, execute step C2, otherwise execute step C6; the grid with a set reference guide direction can be the first guide grid, the second guide grid or the third guide grid disclosed in the aforementioned embodiment. When the robot starts to return to the charging pile from the first guide grid, the second guide grid or the third guide grid, it can walk in sequence to the front of the charging pile through the corresponding reference guide directions set in steps A and B and can adjust its posture to dock with the charging pile for charging.

[0111] Step C2: The robot starts from the recharging starting grid and determines the next grid according to the reference guidance direction in the recharging starting grid to shorten the distance between the grid where the robot is located and the first guidance grid, or covers the next grid with the first guidance grid; wherein the next grid is set with a reference guidance direction; and the next grid includes the grid whose reference guidance direction has been adjusted in step B, or can be the grid whose reference guidance direction has not been adjusted and the reference guidance direction has only been set in step A; then execute step C3.

[0112] Step C3: Determine whether the next grid is located in the grid area where the charging pile is located. If so, execute step C5; otherwise, execute step C4; thereby detecting in real time whether the robot has completed the recharging route.

[0113] Step C4: Control the robot to walk to the position corresponding to the next grid, and update the next grid to the recharging starting grid, and update the reference guidance direction in the next grid to the reference guidance direction in the recharging starting grid, and then update the grid to be walked to next time to the current position of the robot; then execute step C2.

[0114] Step C5: Determine that the robot has reached the position where it docks and charges with the charging pile, that is, the robot moves until it can contact the front side of the charging pile, that is, moves to the central axis directly in front of the charging pile; and form a route that starts from a recharging starting point grid that has never been updated and connects to the grid area where the charging pile is located in sequence, so as to plan a recharging route extending to the charging pile; wherein the grid corresponding to the position where the charging pile docks and charges is the first guide grid, and at this time, the direction of the robot's head is adjusted to the first reference guide direction.

[0115] Schematically, Figure 7 is a schematic diagram of an embodiment of the present application in which the recharging starting point grid is in the grid area on the left side of the first guide grid, starting from the recharging starting point grid and walking along the reference guide direction in the corresponding grid to a recharging route (a route formed by connecting black thick dots) perpendicular to the charging pile. The corresponding recharging route formed in Figure 7 is a dotted line segment with an arrow connected in sequence by the black thick dots in the figure, and is located on the left side of the central axis of the charging pile (the grid area composed of the multiple first guide grids) to guide the robot to start docking and recharging from the left side of the central axis of the charging pile. Alternatively, Figure 8 is a schematic diagram of an embodiment of the present application in which the recharging starting point grid is in the grid area to the right of the first guide grid, starting from the recharging starting point grid and walking along the reference guide direction in the corresponding grid to a recharging route (a route formed by connecting black thick dots) that points vertically to the charging pile. The corresponding recharging route formed in Figure 8 is a dotted line segment with an arrow connected in sequence by the black thick dots in the figure, and is located to the right of the central axis of the charging pile (the grid area composed of the multiple first guide grids) to guide the robot to start docking and recharging from the right side of the central axis of the charging pile.

[0116] Step C6: Select a grid with a reference guide direction set closest to the recharging starting point grid in the grid map and update it as the recharging starting point grid, and then control the robot to walk from the current position to the position corresponding to the updated recharging starting point grid; then execute step C2; wherein, the grid with a reference guide direction set closest to the recharging starting point grid can be the first guide grid, the second guide grid and the third guide grid. If the position where the robot starts recharging is outside the coverage range of the alignment signal, the third guide grid is generally selected as the recharging starting point grid; if the position where the robot starts recharging is outside the coverage range of the guard signal but does not exceed the coverage range of the alignment signal, the second guide grid is generally selected as the recharging starting point grid; if the position where the robot starts recharging is in the adjacent grid area of ​​the grid area where the charging pile is located, the first guide grid is selected as the recharging starting point grid.

[0117] In this embodiment, the reference guide direction in the grid is configured to point to the direction of the next grid to indicate the next walking direction of the robot; by repeatedly executing step C2, a recharging route can be connected starting from the original recharging starting point grid according to the reference guide direction in the grid corresponding to the position walked, so that the robot finally points vertically to the charging pile, thereby completing the recharging function through step C on the basis of setting the reference guide direction in steps A and B.

[0118] In executing steps C2 to C4, the method for determining the next grid according to the reference guidance direction in the refill starting grid includes:

[0119] If the recharging starting point grid is the third guiding grid or the second guiding grid, the grid pointed to by the reference guiding direction in the recharging starting point grid is set as the next grid, so as to configure the next grid as the first guiding grid, the second guiding grid or the third guiding grid; schematically, in Figure 7, the recharging starting point grid is the third guiding grid, then by executing step C2, it can be determined that the next grid is the adjacent third guiding grid on the diagonal line, and then in step C4, continue to walk along the diagonal line and in the direction pointing to the center of the charging pile to the next adjacent third guiding grid. Then, by executing step C4 multiple times to update the next grid, the robot can walk along the corresponding reference guide direction to the position corresponding to the next grid, until the next grid is the turning grid, and determine to cover the next grid to the third guide grid in which the reference guide direction and the second reference guide direction of the second guide grid are offset; then, the robot can be guided to the corresponding position of the first guide grid by the reference guide direction in the turning grid, as shown in Figures 7 and 8, the third reference guide direction in the turning grid shown is vertically pointing to the first guide grid, and after the robot walks through two adjacent turning grids in the same row, it walks to the position adjacent to the first guide grid and is not configured with a turning grid. At the corresponding position of the third guide grid, the robot uses the reference guide direction of the vertical line in the grid that points obliquely upward to the front of the grid area where the charging pile is located to walk to the first guide grid. The walking route is the dotted line segment with an arrow (connected by black thick dots) extending to the upper right in Figure 7 (which can be regarded as the extension direction of the diagonal line pointing to the upper right), or it can be the dotted line segment with an arrow (connected by black thick dots) extending to the upper left in Figure 8 (which can be regarded as the extension direction of the diagonal line pointing to the upper left); then the robot can walk in a straight line through the first reference guide direction in the first guide grid to the position where it docks and charges with the charging pile. The route formed is shown in the dotted line segment with an arrow formed by connecting the vertically upward black thick dots in Figures 7 and 8.

[0120] In Figure 7, when the next grid is configured as the third guide grid, the third guide grid can be updated to the next grid multiple times until the next grid covers the turning grid, and then the next grid is set to the first guide grid through the reference guide direction adjusted in step B in the turning grid.

[0121] In Figure 8, when the recharging starting point grid is updated to the second guide grid, the next grid can be determined to be the third guide grid, and then the robot can walk to the position corresponding to the third guide grid through the dotted line segment with an arrow pointing to the lower right as shown in Figure 8. At this time, the third guide grid walked by the robot happens to be the third guide grid with the reference guide direction adjusted by step B. The next grid can be set to the turning grid through the reference guide direction adjusted by step B in the third guide grid, and then be accelerated to guide to the first guide grid.

[0122] In step C2, the refill starting grid and the next grid form the two adjacent grids.

[0123] On the basis of the above-mentioned embodiment, if the recharging starting point grid is the first guide grid, the grid pointed to by the reference guide direction in the recharging starting point grid is set as the next grid, and the next grid is configured as other first guide grids, so that the robot sets the navigation priority of the first guide grid to the highest; since the first reference guide direction in each first guide grid in the grid map points vertically to the front side of the charging pile, the robot will walk along the vertical line directly in front of the grid area where the charging pile is located in the first guide grid to the front of the charging pile.

[0124] Therefore, by combining steps A to C, the quantified direction elements at the corresponding grid positions are adjusted from far to near from the perspective of priority, so as to connect a recharging route that is close to the recharging docking direction in the middle of the charging pile.

[0125] Obviously, the above embodiments are only part of the embodiments of the present invention, not all of them, and the technical solutions between the various embodiments can be combined with each other. Since the above embodiment is a combination of a grid map and a charging guidance signal, other methods can be introduced to strengthen the positioning relationship, such as adding a barcode identification code to the charging pile, a camera to identify the charging pile, etc. The method of strengthening the positioning relationship is not limited here, and can be improved by technical personnel in related fields using conventional methods of visually identifying charging piles; the above embodiment can also build an aging environment and improve the setting method of the reference guidance direction and guidance priority, or adopt other related conversion conditions to improve the recharging effect, and then form signal quantization information and store it as firmware, which can be packaged and burned with the firmware during robot production. If the robot recharging effect is ideal, the hardware equipment can also be reduced, such as removing some infrared transmitting sensors in the charging pile and the infrared receiving sensors in the robot.

[0126] Although the present invention has been described in detail with reference to preferred embodiments, ordinary technicians in the field should understand that the specific implementation methods of the present invention can still be modified or some technical features can be replaced by equivalents; without departing from the spirit of the technical solution of the present invention, they should all be included in the scope of the technical solution for protection of the present invention.

Claims

1. A recharging control method based on a reference guidance direction, characterized in that: include: Step A: Based on the charging guidance signal emitted by the charging pile, a reference guidance direction and a guidance priority are set for the corresponding grid in a preset grid map; Then proceed to step B; Step B, adjusting the reference guiding direction in the grid with relatively low guiding priority among the two adjacent grids according to the directional relationship between the reference guiding directions in the two adjacent grids, and then updating the adjusted reference guiding direction as the reference guiding direction in the same grid; then proceeding to step C; Step C: starting from a preset recharging starting point grid, the robot is controlled to walk toward the charging pile based on a reference guide direction in the grid, so that the robot walks to a position where it docks with the charging pile for charging.

2. The recharging control method according to claim 1, characterized in that: In step A, the method for setting a reference guidance direction and a guidance priority for a corresponding grid in a preset grid map based on a charging guidance signal emitted by a charging pile includes: A first guiding grid is set based on the vertical forward direction of the middle of the front side of the charging pile, and a first reference guiding direction and a guiding priority are set in the first guiding grid; Setting a second guidance grid according to the coverage of the close guard signal emitted by the charging pile, and setting a second reference guidance direction and a guidance priority in the second guidance grid; Within the coverage range of the alignment signal emitted by the charging pile, the range other than the coverage range of the close guard signal is set as the effective detection range of the alignment signal; then a third guide grid is set according to the effective detection range of the alignment signal, and a third reference guide direction and a guide priority are set in the third guide grid; wherein the middle docking signal and the side guide signal constitute the alignment signal; Wherein, the charging guidance signal includes an intermediate docking signal, a close guard signal and a side guidance signal; wherein the guidance priority set in the first guidance grid is higher than the guidance priority set in the second guidance grid, and the guidance priority set in the second guidance grid is higher than the guidance priority set in the third guidance grid, so that the third reference guidance direction in the third guidance grid is adjusted preferentially; The reference guiding directions include a first reference guiding direction, a second reference guiding direction and a third reference guiding direction; and the corresponding grids include a first guiding grid, a second guiding grid and a third guiding grid.

3. The recharging control method according to claim 2, characterized in that: The method of setting a first guide grid based on the vertical forward direction of the middle of the front side of the charging pile and setting a first reference guide direction in the first guide grid includes: In the grid map, starting from the middle position of the grid area where the charging pile is located, the grids passed by the middle position of the grid area where the charging pile is located in the vertical forward direction are all marked as first guide grids, forming a plurality of first guide grids distributed along the central axis of the charging pile; wherein the front side of the grid area where the charging pile is located is used to indicate the side of the charging pile that docks with the robot for charging; the vertical forward direction in the middle of the front side of the charging pile is configured as the vertical forward direction of the middle position of the grid area where the charging pile is located; The opposite direction of the vertical forward direction of the middle position of the grid area where the charging pile is located is set as the first reference guiding direction, and then the first reference guiding direction is recorded in each first guiding grid, so that the first reference guiding direction points vertically to the grid area where the charging pile is located in the pre-set grid map.

4. The recharging control method according to claim 3, characterized in that: The method of setting a second guiding grid according to the coverage range of the close guard signal emitted by the charging pile and setting a second reference guiding direction in the second guiding grid includes: Taking the grid area where the charging pile is located as the center, by gridding the coverage range of the guard signal, a plurality of second guide grids are formed in the grid area except the first guide grid, so that a second guide grid is a grid corresponding to a position within the coverage range of the guard signal; wherein the plurality of second guide grids are separated on both sides of the grid area formed by the plurality of first guide grids and the grid area where the charging pile is located; Setting a direction deflected to the left by the first target guiding angle relative to the first reference guiding direction as a second-first reference guiding direction, and then recording the second-first reference guiding direction into each second guiding grid on the left side of the grid area composed of the plurality of first guiding grids, so that the opposite direction of the set second-first reference guiding direction points to between the middle position of the front side of the charging pile and the left side of the charging pile; Setting a direction deflected to the left by a second target guiding angle relative to the first reference guiding direction as a second reference guiding direction, and then recording the second reference guiding direction into each second guiding grid on the left side of the grid area where the charging pile is located, so that the opposite direction of the set second reference guiding direction points to the left side of the charging pile; The direction of the first target guiding angle deflected to the right relative to the first reference guiding direction is set as a second third reference guiding direction, and the second third reference guiding direction is recorded in each second guiding grid on the right side of the grid area composed of the plurality of first guiding grids, so that the opposite direction of the set second third reference guiding direction points to between the middle position of the front side of the charging pile and the right side of the charging pile; Setting the direction of the second target guidance angle deflected to the right relative to the first reference guidance direction as a second fourth reference guidance direction, and then recording the second fourth reference guidance direction into each second guidance grid on the right side of the grid area where the charging pile is located, so that the opposite direction of the set second fourth reference guidance direction points to the right side of the charging pile; Wherein, when the second target guidance angle and the first target guidance angle are both between 0 and 180 degrees, the second target guidance angle is smaller than the first target guidance angle; The second reference guiding directions include a second-first reference guiding direction, a second-second reference guiding direction, a second-third reference guiding direction and a second-fourth reference guiding direction.

5. The recharging control method according to claim 4, characterized in that: If the grid area where the charging pile is located is distributed in rows into a row of grid areas in the grid map, then the second guide grid on the left side of the grid area where the charging pile is located and the second guide grid on the right side of the grid area where the charging pile is located are both distributed in the grid area with the same row sequence as the grid area where the charging pile is located; and, if the grid area composed of the plurality of first guide grids is distributed in columns into a column of grid areas in the grid map, then the second guide grid on the left side of the grid area composed of the plurality of first guide grids and the second guide grid on the right side of the grid area composed of the plurality of first guide grids are both distributed in the grid area with the same row sequence as some of the first guide grids; wherein the left side of the grid area corresponds to the negative direction of the horizontal axis of the two-dimensional coordinate system of the grid map, the right side of the grid area corresponds to the positive direction of the horizontal axis of the two-dimensional coordinate system of the grid map, the row sequence is represented by the ordinate in the two-dimensional coordinate system of the grid map, and the column sequence is represented by the abscissa in the two-dimensional coordinate system of the grid map; If the grid area where the charging pile is located is distributed into a column of grid areas by columns in the grid map, then the second guide grid on the left side of the grid area where the charging pile is located and the second guide grid on the right side of the grid area where the charging pile is located are both distributed in the grid area with the same column order as the grid area where the charging pile is located; and, if the grid area composed of the plurality of first guide grids is distributed into a row of grid areas by rows in the grid map, then the second guide grid on the left side of the grid area composed of the plurality of first guide grids and the second guide grid on the right side of the grid area composed of the plurality of first guide grids are both distributed in the grid area with the same column order as part of the first guide grids; wherein the left side of the grid area corresponds to the negative direction of the ordinate axis of the two-dimensional coordinate system of the grid map, the right side of the grid area corresponds to the positive direction of the ordinate axis of the two-dimensional coordinate system of the grid map, the column order is represented by the ordinate in the two-dimensional coordinate system of the grid map, and the row order is represented by the abscissa in the two-dimensional coordinate system of the grid map; Among them, the second guide grid on the left side of the grid area composed of the multiple first guide grids does not overlap with the second guide grid on the left side of the grid area where the charging pile is located; the second guide grid on the right side of the grid area composed of the multiple first guide grids does not overlap with the second guide grid on the right side of the grid area where the charging pile is located.

6. The recharging control method according to claim 4, characterized in that: The method of setting a third guide grid according to the effective detection range of the alignment signal and setting a third reference guide direction in the third guide grid includes: The effective detection range of the alignment signal is gridded to form a plurality of third guide grids, so that each position of the effective detection range of the alignment signal corresponds to a third guide grid; and the plurality of third guide grids are located on both sides of a grid area formed by the plurality of first guide grids and a grid area where the charging pile is located; Setting a direction deflected to the right by a third target guiding angle relative to the first reference guiding direction as a third-first reference guiding direction, and then recording the third-first reference guiding direction into each third guiding grid on the left side of the grid area composed of the plurality of first guiding grids, so that the set third-first reference guiding direction points between the front middle position of the charging pile and the left side of the charging pile; Setting the direction deflected to the right by the second target guidance angle relative to the first reference guidance direction as a third-second reference guidance direction, and then recording the third-second reference guidance direction into each third guidance grid on the left side of the grid area where the charging pile is located, so that the set third-second reference guidance direction points to the left side of the charging pile; Setting a direction deflected to the left by a third target guiding angle relative to the first reference guiding direction as a third-third reference guiding direction, and then recording the third-third reference guiding direction into each third guiding grid on the right side of the grid area composed of the plurality of first guiding grids, so that the set third-third reference guiding direction points between the front middle position of the charging pile and the right side of the charging pile; Setting the direction deflected to the left by the second target guidance angle relative to the first reference guidance direction as the third or fourth reference guidance direction, and then recording the third or fourth reference guidance direction into each third guidance grid on the right side of the grid area where the charging pile is located, so that the set third or fourth reference guidance direction points to the right side of the charging pile; Wherein, when the second target guidance angle and the third target guidance angle are both between 0 and 180 degrees, the third target guidance angle is smaller than the second target guidance angle; The third reference guiding directions include a thirty-first reference guiding direction, a thirty-second reference guiding direction, a thirty-third reference guiding direction and a thirty-fourth reference guiding direction.

7. The recharging control method according to claim 6, characterized in that: If the grid area where the charging pile is located is distributed into a row of grid areas by row in the grid map, then the third guide grid on the left side of the grid area where the charging pile is located and the third guide grid on the right side of the grid area where the charging pile is located are both distributed in grid areas with the same row sequence and adjacent to the row sequence of the grid area where the charging pile is located; and, if the grid area composed of the plurality of first guide grids is distributed into a column of grid areas by column in the grid map, then the third guide grid on the left side of the grid area composed of the plurality of first guide grids and the third guide grid on the right side of the grid area composed of the plurality of first guide grids are both distributed in grid areas with the same row sequence as some of the first guide grids; wherein the left side of the grid area corresponds to the negative direction of the horizontal axis of the two-dimensional coordinate system of the grid map, the right side of the grid area corresponds to the positive direction of the horizontal axis of the two-dimensional coordinate system of the grid map, the row sequence is represented by the ordinate in the two-dimensional coordinate system of the grid map, and the column sequence is represented by the abscissa in the two-dimensional coordinate system of the grid map; If the grid area where the charging pile is located is distributed into a column of grid areas by columns in the grid map, then the third guide grid on the left side of the grid area where the charging pile is located and the third guide grid on the right side of the grid area where the charging pile is located are both distributed in grid areas with the same column sequence and adjacent column sequence as the grid area where the charging pile is located; and, if the grid area composed of the plurality of first guide grids is distributed into a row of grid areas by rows in the grid map, then the third guide grid on the left side of the grid area composed of the plurality of first guide grids and the third guide grid on the right side of the grid area composed of the plurality of first guide grids are both distributed in grid areas with the same column sequence as some of the first guide grids; wherein the left side of the grid area corresponds to the negative direction of the ordinate axis of the two-dimensional coordinate system of the grid map, the right side of the grid area corresponds to the positive direction of the ordinate axis of the two-dimensional coordinate system of the grid map, the column sequence is represented by the ordinate in the two-dimensional coordinate system of the grid map, and the row sequence is represented by the abscissa in the two-dimensional coordinate system of the grid map; Among them, the third guide grid on the left side of the grid area composed of the multiple first guide grids does not overlap with the third guide grid on the left side of the grid area where the charging pile is located; the third guide grid on the right side of the grid area composed of the multiple first guide grids does not overlap with the third guide grid on the right side of the grid area where the charging pile is located.

8. The recharging control method according to claim 6, characterized in that: Setting the second first reference guiding direction to be parallel to the diagonal line of the second guiding grid where the second first reference guiding direction is located, and setting the second second reference guiding direction to be perpendicular to the first reference guiding direction; Setting the second third reference guiding direction to be parallel to the diagonal of the second guiding grid where the second third reference guiding direction is located, and setting the second fourth reference guiding direction to be perpendicular to the first reference guiding direction; The third-first reference guiding direction is set to be parallel to the diagonal of the third guiding grid where it is located, and the third-second reference guiding direction is set to be perpendicular to the first reference guiding direction; wherein the second-first reference guiding direction is opposite to the third-first reference guiding direction, and the second-second reference guiding direction is opposite to the third-second reference guiding direction; The third-third reference guiding direction is set to be parallel to the diagonal of the third guiding grid in which it is located, and the third-fourth reference guiding direction is set to be perpendicular to the first reference guiding direction; wherein the second-third reference guiding direction is opposite to the third-third reference guiding direction, and the second-fourth reference guiding direction is opposite to the third-fourth reference guiding direction.

9. The recharging control method according to claim 8, characterized in that: The first reference guiding direction is set to pass through the center of the first guiding grid where the first reference guiding direction is located and is perpendicular to a boundary of the first guiding grid; The second-first reference guiding direction, the second-second reference guiding direction, the second-third reference guiding direction and the second-fourth reference guiding direction are all set to pass through the center of the second guiding grid where they are located; The thirty-first reference guiding direction, the thirty-second reference guiding direction, the thirty-third reference guiding direction, and the thirty-fourth reference guiding direction are all set to pass through the center of the third guiding grid where they are located; Among them, the first reference guiding direction, the second-first reference guiding direction, the second-second reference guiding direction, the second-third reference guiding direction, the second-fourth reference guiding direction, the third-first reference guiding direction, the third-second reference guiding direction, the third-third reference guiding direction and the third-fourth reference guiding direction all support the use of vector line segments to represent them within the corresponding grid.

10. The recharging control method according to claim 8, characterized in that: In step B, the method of adjusting the reference guiding direction in the grid with a relatively low guiding priority among the two adjacent grids according to the directional relationship between the reference guiding directions in the two adjacent grids includes: The robot searches for a grid in a preset grid map for which a reference guidance direction has been set, and detects the reference guidance direction and guidance priority set in the searched grid; Whenever the robot searches two adjacent grids, it detects whether the corner positions pointed to by the reference guidance directions in each grid are the same in the two adjacent grids currently searched; wherein the corner positions are positions in the boundaries of a single grid; When it is detected that the reference guiding directions in the two adjacent grids point to the same corner position in the grids, determine that the reference guiding directions in the two adjacent grids are offset to form a pair of opposite reference guiding directions, and adjust the reference guiding direction in the grid with a relatively low guiding priority among the two adjacent grids so that the adjusted reference guiding direction points to the grid area where the charging pile is located; When it is detected that the reference guiding directions in the two adjacent grids do not point to the same corner positions in the grids, it is determined that the reference guiding directions in the two adjacent grids do not overlap, the reference guiding directions in the two adjacent grids are not adjusted, and then new adjacent two grids are searched; wherein the new two adjacent grids are two grids that have not participated in the detection among the grids for which the reference guiding directions have been set.

11. The recharging control method according to claim 10, characterized in that: When the two adjacent grids are a second guiding grid and a third guiding grid located in the same column or the same row, if the reference guiding directions in the two adjacent grids both point to the midpoint position of the same grid boundary in the grids, then it is determined that the reference guiding directions in the two adjacent grids are offset; In the case where the two adjacent grids are a second guiding grid and a third guiding grid distributed along the diagonal line of the same grid, if the reference guiding directions in the two adjacent grids both point to the same corner point position in the grids, then it is determined that the reference guiding directions in the two adjacent grids are offset; The corner positions include the midpoint positions of a single grid boundary and the corner positions of the grid.

12. The recharging control method according to claim 11, characterized in that: In the left side of the grid area composed of the plurality of first guiding grids and the grid area where the charging pile is located, the method of adjusting the reference guiding direction in the grid with relatively low guiding priority among two adjacent grids according to the pointing relationship between the reference guiding directions in the two adjacent grids comprises: Among the third guiding grids whose reference guiding directions are opposite to the second reference guiding direction of the second guiding grid, the third guiding grid which is farthest from the grid area where the charging pile is located in the first reference guiding direction is set as a turning grid, and then the third reference guiding direction in the turning grid is adjusted to be perpendicular to the first reference guiding direction, and then the third reference guiding direction adjusted to be perpendicular to the first reference guiding direction is updated as the reference guiding direction in the turning grid, so as to guide the robot from the turning grid to the first guiding grid; wherein the guiding priority of the turning grid is lower than the guiding priority of the second guiding grid; In a third guiding grid whose reference guiding direction is opposite to the second reference guiding direction of the second guiding grid, the third reference guiding direction in the third guiding grid except the turning grid is adjusted to be 135 degrees with the first reference guiding direction, and then the third reference guiding direction adjusted to be 135 degrees with the first reference guiding direction is updated to the reference guiding direction in the third guiding grid except the turning grid, so as to guide the robot from the third guiding grid to the front of the grid area where the charging pile is located; A third guiding grid whose reference guiding direction is opposite to the second reference guiding direction of the second guiding grid is set as a side guiding grid, and then the third-second reference guiding direction in the side guiding grid is adjusted to be 135 degrees with the first reference guiding direction, and then the third-second reference guiding direction adjusted to be 135 degrees with the first reference guiding direction is updated to the third-second reference guiding direction in the side guiding grid, so as to guide the robot from the side guiding grid to the front of the grid area where the charging pile is located; wherein the guiding priority of the side guiding grid is lower than the guiding priority of the second guiding grid.

13. The recharging control method according to claim 11, characterized in that: In the right side of the grid area composed of the plurality of first guiding grids and the grid area where the charging pile is located, the method of adjusting the reference guiding direction in the grid with relatively low guiding priority among two adjacent grids according to the pointing relationship between the reference guiding directions in the two adjacent grids comprises: Among the third guiding grids whose reference guiding directions are opposite to the second third reference guiding directions of the second guiding grid, the third guiding grid which is farthest from the grid area where the charging pile is located in the first reference guiding direction is set as a turning grid, and then the third third reference guiding direction in the turning grid is adjusted to be perpendicular to the first reference guiding direction, and then the third third reference guiding direction adjusted to be perpendicular to the first reference guiding direction is updated as the reference guiding direction in the turning grid, so as to guide the robot from the turning grid to the first guiding grid; wherein the guiding priority of the turning grid is lower than the guiding priority of the second guiding grid; In the third guiding grid whose reference guiding direction is opposite to the second third reference guiding direction of the second guiding grid, the third third reference guiding direction in the third guiding grid except the turning grid is adjusted to be 135 degrees with the first reference guiding direction, and then the third third reference guiding direction adjusted to be 135 degrees with the first reference guiding direction is updated to the reference guiding direction in the third guiding grid except the turning grid, so as to guide the robot from the third guiding grid to the front of the grid area where the charging pile is located; The third guiding grid whose reference guiding direction is opposite to the second four reference guiding directions of the second guiding grid is set as the side guiding grid, and then the third four reference guiding directions in the side guiding grid are adjusted to be 135 degrees with the first reference guiding direction, and then the third four reference guiding directions adjusted to be 135 degrees with the first reference guiding direction are updated to the third four reference guiding directions in the side guiding grid, so as to guide the robot from the side guiding grid to the front of the grid area where the charging pile is located; wherein, the guiding priority of the side guiding grid is lower than the guiding priority of the second guiding grid.

14. The recharging control method according to claim 12 or 13, characterized in that: In step C, starting from a preset recharging starting point grid, the robot is controlled to walk toward the charging pile based on a reference guide direction in the grid, and the method for making the robot walk to a position where the robot docks with the charging pile for charging includes: Step C1, determining whether the preset refill starting point grid is a grid for which a reference guide direction has been set; when the preset refill starting point grid is a grid for which a reference guide direction has been set, executing step C2; when the preset refill starting point grid is not a grid for which a reference guide direction has been set, executing step C6; Step C2, the robot starts from the recharging starting grid and determines the next grid according to the reference guiding direction in the recharging starting grid; wherein the next grid is provided with a reference guiding direction, and the next grid includes the grid whose reference guiding direction has been adjusted in step B; then executing step C3; Step C3, determining whether the next grid is located in the grid area where the charging pile is located; when the next grid is located in the grid area where the charging pile is located, executing step C5; when the next grid is not located in the grid area where the charging pile is located, executing step C4; Step C4, controlling the robot to walk to the position corresponding to the next grid, and updating the next grid to the recharging starting grid, and updating the reference guiding direction in the next grid to the reference guiding direction in the recharging starting grid, and then executing step C2; Step C5, determining that the robot has reached a position where it docks with the charging pile for charging, and forming a route starting from a recharging starting point grid that has never been updated and sequentially connected to the grid area where the charging pile is located; wherein the grid corresponding to the position where the charging pile docks for charging is the first guide grid; Step C6, selecting a grid with a reference guide direction set closest to the recharging starting grid in the grid map and updating it as the recharging starting grid, and then controlling the robot to walk from the current position to the position corresponding to the updated recharging starting grid; then executing step C2; Wherein, the reference guide direction in the grid is configured to point to the direction of the next grid to indicate the direction in which the robot will walk next time; The grids set in the reference guiding direction include the first guiding grid, the second guiding grid and the third guiding grid.

15. The recharging control method according to claim 14, characterized in that: In executing the steps C2 to C4, the method for determining the next grid according to the reference guiding direction in the backfilling starting grid includes: If the refilling starting grid is the third guiding grid or the second guiding grid, the grid pointed to by the reference guiding direction in the refilling starting grid is set as the next grid; then the next grid is updated by executing step C4 multiple times until the next grid is the turning grid, and the robot is guided to the corresponding position of the first guiding grid by the reference guiding direction in the turning grid; If the refilling starting point grid is the first guiding grid, the grid pointed to by the reference guiding direction in the refilling starting point grid is set as the next grid, and the next grid is configured as another first guiding grid; In the step C2, the refill starting grid and the next grid form the two adjacent grids.

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