CN112147994B - Robot and recharging control method and device thereof - Google Patents
Robot and recharging control method and device thereof Download PDFInfo
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- CN112147994B CN112147994B CN201910575121.1A CN201910575121A CN112147994B CN 112147994 B CN112147994 B CN 112147994B CN 201910575121 A CN201910575121 A CN 201910575121A CN 112147994 B CN112147994 B CN 112147994B
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0225—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving docking at a fixed facility, e.g. base station or loading bay
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Abstract
The recharging control method of the robot comprises the following steps: acquiring the position of the robot in a charging pile coordinate system; according to the position of the robot in the charging pile coordinate system, two or more middle points are determined between the robot position and the charging pile position, and one or more of the middle points are positioned in the charging port opposite direction of the charging pile; determining a plurality of moving road sections according to the middle point position, the robot position and the charging pile position; and determining the movement parameters of the moving road section according to the target position of the moving road section and the current position of the robot, and controlling the robot to move according to the movement parameters. When the robot moves to each middle point, the movement parameters are determined, and alignment correction can be carried out for a plurality of times according to the movement parameters, so that the charging pile can be aligned more accurately and reliably to charge when the robot moves to the charging pile position.
Description
Technical Field
The application belongs to the field of robots, and particularly relates to a robot and a recharging control method and device thereof.
Background
Mobile robots, including service robots, inspection robots, etc., all require the use of automatic recharging techniques. When the robot finishes a task or the electric quantity is lower than a certain value, the robot logs in the charging pile through an automatic recharging technology to charge. When the robot uses the automatic recharging technology, the surrounding charging piles are searched through the positioning technology, and then the robot navigates to the front of the charging piles, logs in the charging piles and is powered on.
When the robot navigates to the front of the charging pile, due to the influence of motion errors and feedback errors of the odometer, certain deviation exists when the robot moves to the charging pile, and accurate and reliable alignment with the charging pile is not facilitated.
Disclosure of Invention
In view of the above, the embodiment of the application provides a seed robot and a recharging control method and device thereof, so as to solve the problems that in the prior art, when the robot moves to a charging pile, certain deviation exists, and the accurate and reliable alignment and charging with the charging pile are not facilitated.
A first aspect of an embodiment of the present application provides a recharging control method for a robot, including:
acquiring the position of the robot in a charging pile coordinate system;
according to the position of the robot in the charging pile coordinate system, two or more middle points are determined between the robot position and the charging pile position, and one or more of the middle points are positioned in the charging port opposite direction of the charging pile;
determining a plurality of moving road sections according to the middle point position, the robot position and the charging pile position;
and determining the movement parameters of the moving road section according to the target position of the moving road section and the current position of the robot, and controlling the robot to move according to the movement parameters.
With reference to the first aspect, in a first possible implementation manner of the first aspect, the step of determining two or more intermediate points between the robot position and the charging pile position according to the position of the robot in the charging pile coordinate system includes:
determining the distance between the robot and the charging pile according to the position of the robot in a coordinate system with the charging pile;
And searching the number of the middle points corresponding to the distance between the robot and the charging pile according to the preset corresponding relation between the distance and the number of the middle points.
With reference to the first aspect, in a second possible implementation manner of the first aspect, the step of determining two or more intermediate points between the robot position and the charging pile position according to the position of the robot in the charging pile coordinate system includes:
Setting the determined number of intermediate points in the direction opposite to the charging port of the charging pile;
And determining the position of the middle point according to the distance between the adjacent middle points, the distance between the robot and the nearest middle point, and the balance of the distance between the charging pile and the nearest middle point.
With reference to the first aspect, in a third possible implementation manner of the first aspect, the step of determining, according to a target position of a mobile road segment and a current position of a robot, a movement parameter of the mobile road segment includes:
Determining a first corner of the robot according to the current direction of the robot and the directions of the current position and the target position of the robot;
and determining a first distance of the robot according to the current position of the robot and the target position.
With reference to the first aspect, in a fourth possible implementation manner of the first aspect, the step of determining two or more intermediate points between the robot position and the charging pile position according to the position of the robot in the charging pile coordinate system includes:
acquiring the corresponding relation between the number of intermediate points, the distance between the robot and the charging pile and the alignment rate when the robot finishes charging;
and selecting the number of intermediate points corresponding to the alignment rate larger than a preset threshold according to the corresponding relation.
A second aspect of an embodiment of the present application provides a recharging control device for a robot, including:
The position acquisition unit is used for acquiring the position of the robot in the charging pile coordinate system;
The middle point determining unit is used for determining two or more middle points between the robot position and the charging pile position according to the position of the robot in the charging pile coordinate system, and one or more of the middle points are positioned in the charging port opposite direction of the charging pile;
A moving road section determining unit for determining a plurality of moving road sections according to the intermediate point position, the robot position and the charging pile position;
and the movement parameter determining unit is used for determining the movement parameter of the moving road section according to the target position of the moving road section and the current position of the robot and controlling the robot to move according to the movement parameter.
With reference to the second aspect, in a first possible implementation manner of the second aspect, the intermediate point determining unit includes:
a distance determining subunit, configured to determine a distance between the robot and the charging pile according to a position of the robot in a coordinate system with the charging pile;
And the middle point determining subunit is used for searching the number of middle points corresponding to the distance between the robot and the charging pile according to the preset corresponding relation between the distance and the number of the middle points.
With reference to the second aspect, in a second possible implementation manner of the second aspect, the intermediate point determining unit includes:
The middle point setting subunit is used for setting the determined number of middle points in the direction opposite to the charging port of the charging pile;
And the middle point position determining subunit is used for determining the position of the middle point according to the distance between the adjacent middle points, the distance between the robot and the nearest middle point and the balance of the distance between the charging pile and the nearest middle point.
A third aspect of an embodiment of the present application provides a robot, including a memory, a processor, and a computer program stored in the memory and executable on the processor, the processor implementing the steps of the recharging control method of the robot according to any one of the first aspects when the computer program is executed.
A fourth aspect of the embodiments of the present application provides a computer-readable storage medium storing a computer program which, when executed by a processor, implements the steps of the recharging control method of a robot according to any one of the first aspects.
Compared with the prior art, the embodiment of the application has the beneficial effects that: the position of the robot in the coordinate system of the charging pile is obtained, two or more than two middle points which are positioned in the direction opposite to the charging opening of the charging pile are determined according to the position, the moving parameters are determined when the robot moves to each middle point, and the alignment correction can be carried out for many times according to the moving parameters, so that the charging pile can be aligned more accurately and reliably to charge when the robot moves to the position of the charging pile.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the embodiments or the description of the prior art will be briefly described below, it being obvious that the drawings in the following description are only some embodiments of the present application, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic diagram of an implementation flow of recharging control of a robot according to an embodiment of the present application;
fig. 2 is a schematic diagram of a coordinate system of a charging pile according to an embodiment of the present application;
FIG. 3 is a schematic diagram of an implementation flow of a method for determining the number of intermediate points according to an embodiment of the present application;
FIG. 4 is a schematic flow chart of an implementation of a method for determining a middle point location according to an embodiment of the present application;
FIG. 5 is a schematic diagram of a position distribution of intermediate points according to an embodiment of the present application;
FIG. 6 is a schematic diagram of a movement parameter according to an embodiment of the present application;
fig. 7 is a schematic diagram of a recharging control device of a robot according to an embodiment of the present application;
fig. 8 is a schematic view of a robot according to an embodiment of the present application.
Detailed Description
In the following description, for purposes of explanation and not limitation, specific details are set forth such as the particular system architecture, techniques, etc., in order to provide a thorough understanding of the embodiments of the present application. It will be apparent, however, to one skilled in the art that the present application may be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present application with unnecessary detail.
In order to illustrate the technical scheme of the application, the following description is made by specific examples.
Fig. 1 is a schematic implementation flow chart of a recharging control method of a robot according to an embodiment of the present application, which is described in detail below:
In step S101, a position of the robot in a charging pile coordinate system is acquired;
specifically, the robot can search the charging pile in the current scene of the robot in a wireless communication mode, and after the charging pile to be charged is selected, the position of the charging pile relative to the robot is determined.
The charging pile coordinate system may be established according to the position of the charging pile as a dot, as shown in fig. 2, where the charging pile coordinate system is X ' O ' Y ', and the robot coordinate system is XOY. The direction of one axis of the charging pile coordinate system may be set as the charging in-out direction of the charging pile. After the charging pile coordinate system is established, the moving distance and the rotating direction of the robot can be calculated more efficiently and accurately according to the coordinate position and the direction of the robot, and therefore the control efficiency of the rotation and the movement of the robot is improved.
In step S102, two or more intermediate points are determined between the robot position and the charging pile position according to the position of the robot in the charging pile coordinate system, and one or more of the intermediate points are located in the charging port facing direction of the charging pile;
when two or more intermediate points are determined between the robot position and the charging pile position, two steps of determining the number of the intermediate points and determining the positions of the intermediate points may be included. The determining the number of the intermediate points may, as shown in fig. 3, include:
In step S301, determining a distance between the robot and the charging pile according to the position of the robot in the coordinate system with the charging pile;
When the robot completes a task or detects that the electric quantity needs recharging, the distance between the position of the robot and the position of the charging pile is different. The distance between the robot and the charging pile can be determined according to the position of the charging pile and the position of the robot, and the number of intermediate points is determined according to the determination.
In step S302, the number of intermediate points corresponding to the distance between the robot and the charging pile is searched according to the preset correspondence between the distance and the number of intermediate points.
The effective distance with smaller errors generated in the moving process of the robot can be used as a basis for dividing the number of the middle points, so that the robot can generate the effective distance with smaller errors according to a plurality of effective distances. After the effective distance is determined, the distance between the robot and the charging pile is divided, and the number of the needed intermediate points is obtained.
Or the corresponding relation between the distance range and the number of the intermediate points can be established according to the preset distance threshold, so that the distance range where the distance between the robot and the charging pile is located can be quickly searched according to the corresponding relation, and the number of the required intermediate points can be determined.
In fig. 3, only one method for determining the number of intermediate points may further select the number of intermediate points when the alignment rate is greater than the predetermined threshold according to the counted number of intermediate points, the correspondence between the distance between the robot and the charging pile and the alignment rate, so that the charging alignment precision may be further improved and the charging efficiency may be improved according to the selected number of intermediate points.
After determining the number of intermediate points, the position of the intermediate points may be determined according to the intermediate point setting method described in fig. 4, including:
in step S401, the determined number of intermediate points are set in the charging port facing direction of the charging pile;
when the distance from the robot to the line where the charging port direction of the charging pile is located is smaller, for example, smaller than a predetermined distance, all the intermediate points may be disposed on the line where the charging port direction is located. In the application, the charging port faces the direction, namely the direction in which the robot can move according to the direction and can finish effective alignment charging. When the middle point is arranged in the charging port opposite direction of the charging pile, the robot can be adjusted through a plurality of middle points positioned in the charging port opposite direction, so that the alignment accuracy of the robot is improved.
In step S402, the position of the middle point is determined according to the distance between the adjacent middle points, the distance between the robot and the nearest middle point, and the balance of the distance between the charging pile and the nearest middle point.
As shown in fig. 5, the distances between the intermediate points can be adjusted according to the intermediate points point2, point3 and point4 all located in the opposite direction of the charging port, and the distances between the two adjacent intermediate points after adjustment, the distance from the closest intermediate point to the charging pile, and the distance from the closest intermediate point to the robot point1 are balanced, so that the robot can be adjusted in a plurality of effective distance ranges, and the probability of alignment errors of the robot is reduced. Of course, in alternative embodiments, the distance between the charging pile and its closest intermediate point may be chosen to be a smaller value.
Of course, in an alternative embodiment, if the distance between the robot and the straight line where the charging port of the charging pile is opposite to the direction is far, the distances of the robot moving to the straight line where the charging port is opposite to the direction may be taken to be completely equal, or a line segment of other specified angles may be taken as the route of the robot moving to the first intermediate point. For the remaining segments between the intermediate points and the charging piles, the positions of the intermediate points can be determined in an evenly divided manner.
In step S103, determining a plurality of moving road segments according to the intermediate point position, the robot position and the charging pile position;
After determining the positions of a plurality of intermediate points in the process that the robot moves to the charging pile, a moving road section can be determined according to the closest intermediate point of the robot and the robot, and a plurality of moving road sections can be determined according to two adjacent intermediate points or the intermediate point closest to the charging pile and the charging pile.
It should be noted that the moving road section determined by the present application and the moving road section actually operated by the robot may reproduce smaller errors, including errors such as track errors, or errors of rotation angles of the robot, etc. Therefore, the charging port of the charging pile is opposite to the direction, and the robot is subjected to error correction for a plurality of times, so that the improvement of the charging alignment precision is facilitated.
In step S104, a movement parameter of the moving road section is determined according to the target position of the moving road section and the current position of the robot, and the robot is controlled to move according to the movement parameter.
When the robot moves from the initial position to the first intermediate point, or from the first intermediate point to the second intermediate point, or from the nth intermediate point to the charging pile, the movement parameters, the first rotation angle, the first distance, and the second rotation angle, as shown in fig. 6, may be determined, wherein:
Determining a first corner of the robot according to the current direction of the robot and the directions of the current position and the target position of the robot;
and determining a first distance of the robot according to the current position of the robot and the target position.
As shown in fig. 6, when the robot moves from point a to point B, a first angle theta1 at which the robot needs to rotate is determined according to the direction determined by the connection line of point a and point B, the robot is determined to move a first distance according to the adjusted first angle according to the distance between point a and point B,
And then, after the first distance is moved, the direction of the robot is readjusted according to the current direction of the robot and the next target position of the robot, the movement of the next moving road section is continuously completed until the robot reaches the charging pile position, and the direction of the robot can be further adjusted according to the charging pile position, so that the alignment precision of the robot is improved.
It should be understood that the sequence number of each step in the foregoing embodiment does not mean that the execution sequence of each process should be determined by the function and the internal logic, and should not limit the implementation process of the embodiment of the present application.
Fig. 7 is a schematic structural diagram of a recharging control device for a robot according to an embodiment of the present application, which is described in detail below:
The recharging control device of the robot comprises:
A position obtaining unit 701, configured to obtain a position of the robot in the charging pile coordinate system;
an intermediate point determining unit 702, configured to determine two or more intermediate points between the robot position and the charging pile position according to the position of the robot in the charging pile coordinate system, where one or more of the intermediate points are located in a charging port facing direction of the charging pile;
A moving road section determining unit 703 for determining a plurality of moving road sections according to the intermediate point position, the robot position, and the charging pile position;
And the movement parameter determining unit 704 is configured to determine a movement parameter of the moving road section according to the target position of the moving road section and the current position of the robot, and control the robot to move according to the movement parameter.
Preferably, the intermediate point determining unit includes:
a distance determining subunit, configured to determine a distance between the robot and the charging pile according to a position of the robot in a coordinate system with the charging pile;
And the middle point determining subunit is used for searching the number of middle points corresponding to the distance between the robot and the charging pile according to the preset corresponding relation between the distance and the number of the middle points.
Preferably, the intermediate point determining unit includes:
The middle point setting subunit is used for setting the determined number of middle points in the direction opposite to the charging port of the charging pile;
And the middle point position determining subunit is used for determining the position of the middle point according to the distance between the adjacent middle points, the distance between the robot and the nearest middle point and the balance of the distance between the charging pile and the nearest middle point.
The recharging control device of the robot shown in fig. 7 corresponds to the recharging control method of the robot shown in fig. 1.
Fig. 8 is a schematic view of a robot according to an embodiment of the present application. As shown in fig. 8, the robot 8 of this embodiment includes: a processor 80, a memory 81 and a computer program 82 stored in the memory 81 and executable on the processor 80, such as a recharging control program of a robot. The processor 80, when executing the computer program 82, implements the steps of the recharging control method embodiment of each robot described above. Or the processor 80, when executing the computer program 82, performs the functions of the modules/units of the apparatus embodiments described above.
By way of example, the computer program 82 may be partitioned into one or more modules/units that are stored in the memory 81 and executed by the processor 80 to complete the present application. The one or more modules/units may be a series of computer program instruction segments capable of performing a specific function for describing the execution of the computer program 82 in the robot 8. For example, the computer program 82 may be partitioned into:
The position acquisition unit is used for acquiring the position of the robot in the charging pile coordinate system;
The middle point determining unit is used for determining two or more middle points between the robot position and the charging pile position according to the position of the robot in the charging pile coordinate system, and one or more of the middle points are positioned in the charging port opposite direction of the charging pile;
A moving road section determining unit for determining a plurality of moving road sections according to the intermediate point position, the robot position and the charging pile position;
and the movement parameter determining unit is used for determining the movement parameter of the moving road section according to the target position of the moving road section and the current position of the robot and controlling the robot to move according to the movement parameter.
The robot may include, but is not limited to, a processor 80, a memory 81. It will be appreciated by those skilled in the art that fig. 8 is merely an example of a robot 8 and is not meant to be limiting of the robot 8, and may include more or fewer components than shown, or may combine certain components, or different components, e.g., the robot may also include input and output devices, network access devices, buses, etc.
The Processor 80 may be a central processing unit (Central Processing Unit, CPU), other general purpose Processor, digital signal Processor (DIGITAL SIGNAL Processor, DSP), application SPECIFIC INTEGRATED Circuit (ASIC), off-the-shelf Programmable gate array (Field-Programmable GATE ARRAY, FPGA) or other Programmable logic device, discrete gate or transistor logic device, discrete hardware components, or the like. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
The memory 81 may be an internal storage unit of the robot 8, such as a hard disk or a memory of the robot 8. The memory 81 may be an external storage device of the robot 8, such as a plug-in hard disk, a smart memory card (SMART MEDIA CARD, SMC), a Secure Digital (SD) card, a flash memory card (FLASH CARD), or the like, which are provided on the robot 8. Further, the memory 81 may also include both an internal memory unit and an external memory device of the robot 8. The memory 81 is used for storing the computer program and other programs and data required by the robot. The memory 81 may also be used to temporarily store data that has been output or is to be output.
It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-described division of the functional units and modules is illustrated, and in practical application, the above-described functional distribution may be performed by different functional units and modules according to needs, i.e. the internal structure of the apparatus is divided into different functional units or modules to perform all or part of the above-described functions. The functional units and modules in the embodiment may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit, where the integrated units may be implemented in a form of hardware or a form of a software functional unit. In addition, the specific names of the functional units and modules are only for distinguishing from each other, and are not used for limiting the protection scope of the present application. The specific working process of the units and modules in the above system may refer to the corresponding process in the foregoing method embodiment, which is not described herein again.
In the foregoing embodiments, the descriptions of the embodiments are emphasized, and in part, not described or illustrated in any particular embodiment, reference is made to the related descriptions of other embodiments.
Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the solution. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.
In the embodiments provided in the present application, it should be understood that the disclosed apparatus/terminal device and method may be implemented in other manners. For example, the apparatus/terminal device embodiments described above are merely illustrative, e.g., the division of the modules or units is merely a logical function division, and there may be additional divisions in actual implementation, e.g., multiple units or components may be combined or integrated into another system, or some features may be omitted or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed may be an indirect coupling or communication connection via interfaces, devices or units, which may be in electrical, mechanical or other forms.
The units described as separate units may or may not be physically separate, and units shown as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
In addition, each functional unit in the embodiments of the present application may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit. The integrated units may be implemented in hardware or in software functional units.
The integrated modules/units, if implemented in the form of software functional units and sold or used as stand-alone products, may be stored in a computer readable storage medium. Based on such understanding, the present application may implement all or part of the flow of the method of the above embodiment, or may be implemented by a computer program to instruct related hardware, where the computer program may be stored in a computer readable storage medium, and when the computer program is executed by a processor, the computer program may implement the steps of each of the method embodiments described above. Wherein the computer program comprises computer program code which may be in source code form, object code form, executable file or some intermediate form etc. The computer readable medium may include: any entity or device capable of carrying the computer program code, a recording medium, a U disk, a removable hard disk, a magnetic disk, an optical disk, a computer Memory, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), an electrical carrier signal, a telecommunications signal, a software distribution medium, and so forth. It should be noted that the computer readable medium may include content that is subject to appropriate increases and decreases as required by jurisdictions in which such content is subject to legislation and patent practice, such as in certain jurisdictions in which such content is not included as electrical carrier signals and telecommunication signals.
The above embodiments are only for illustrating the technical solution of the present application, and not for limiting the same; although the application has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present application, and are intended to be included in the scope of the present application.
Claims (6)
1. The recharging control method of the robot is characterized by comprising the following steps of:
acquiring the position of the robot in a charging pile coordinate system;
Determining the distance between the robot and the charging pile according to the position of the robot in a charging pile coordinate system, searching the number of intermediate points corresponding to the distance between the robot and the charging pile according to the corresponding relation between the preset distance and the number of intermediate points, determining two or more intermediate points between the robot position and the charging pile position, determining that one or more intermediate points in the intermediate points are positioned in the charging port opposite direction of the charging pile, and determining the position of the intermediate point according to the distance between the adjacent intermediate points, the distance between the robot and the nearest intermediate point and the balance of the distance between the charging pile and the nearest intermediate point;
determining a plurality of moving road sections according to the middle point position, the robot position and the charging pile position;
and determining the movement parameters of the moving road section according to the target position of the moving road section and the current position of the robot, and controlling the robot to move according to the movement parameters.
2. The recharging control method of the robot of claim 1, wherein the step of determining the movement parameter of the moving road section according to the target position of the moving road section and the current position of the robot comprises:
Determining a first corner of the robot according to the current direction of the robot and the directions of the current position and the target position of the robot;
and determining a first distance of the robot according to the current position of the robot and the target position.
3. The recharging control method of the robot according to claim 1, wherein the step of determining two or more intermediate points between the robot position and the charging stake position according to the position of the robot in the charging stake coordinate system includes:
acquiring the corresponding relation between the number of intermediate points, the distance between the robot and the charging pile and the alignment rate when the robot finishes charging;
and selecting the number of intermediate points corresponding to the alignment rate larger than a preset threshold according to the corresponding relation.
4. A recharging control device of a robot, the recharging control device of the robot comprising:
The position acquisition unit is used for acquiring the position of the robot in the charging pile coordinate system;
The middle point determining unit is used for determining the distance between the robot and the charging pile according to the position of the robot in the coordinate system of the charging pile, searching the number of middle points corresponding to the distance between the robot and the charging pile according to the corresponding relation between the preset distance and the number of middle points, determining two or more middle points between the position of the robot and the position of the charging pile, wherein one or more middle points in the middle points are positioned in the direction opposite to the charging port of the charging pile, and determining the position of the middle point according to the distance between the adjacent middle points, the distance between the robot and the nearest middle point and the balance of the distance between the charging pile and the nearest middle point;
A moving road section determining unit for determining a plurality of moving road sections according to the intermediate point position, the robot position and the charging pile position;
and the movement parameter determining unit is used for determining the movement parameter of the moving road section according to the target position of the moving road section and the current position of the robot and controlling the robot to move according to the movement parameter.
5. A robot comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that the processor, when executing the computer program, realizes the steps of the recharging control method of the robot according to any of claims 1 to 3.
6. A computer-readable storage medium storing a computer program, characterized in that the computer program, when executed by a processor, implements the steps of the recharging control method of the robot according to any one of claims 1 to 3.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910575121.1A CN112147994B (en) | 2019-06-28 | 2019-06-28 | Robot and recharging control method and device thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910575121.1A CN112147994B (en) | 2019-06-28 | 2019-06-28 | Robot and recharging control method and device thereof |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN112147994A CN112147994A (en) | 2020-12-29 |
| CN112147994B true CN112147994B (en) | 2024-06-14 |
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| CN113138596A (en) * | 2021-03-31 | 2021-07-20 | 深圳市优必选科技股份有限公司 | Robot automatic charging method, system, terminal device and storage medium |
| CN113359777A (en) * | 2021-07-20 | 2021-09-07 | 山东新一代信息产业技术研究院有限公司 | Automatic pile returning and charging method and system for robot |
| CN113703456A (en) * | 2021-08-30 | 2021-11-26 | 山东新一代信息产业技术研究院有限公司 | Automatic pile returning and charging method of robot based on multiple sensors |
| CN113459852A (en) * | 2021-09-01 | 2021-10-01 | 北京智行者科技有限公司 | Path planning method and device and mobile tool |
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