CN115268432A

CN115268432A - Robot, automatic recharging method and device thereof and storage medium

Info

Publication number: CN115268432A
Application number: CN202210809462.2A
Authority: CN
Inventors: 黄高波; 张华�; 黄俊峰
Original assignee: Shenzhen Youjiyuan Technology Co ltd; Shenzhen Ubtech Technology Co ltd
Current assignee: Shenzhen Youjiyuan Technology Co ltd; Shenzhen Ubtech Technology Co ltd
Priority date: 2022-07-11
Filing date: 2022-07-11
Publication date: 2022-11-01

Abstract

The application relates to the field of robots and provides a robot, an automatic recharging method and device thereof and a storage medium. The method comprises the following steps: the robot is guided to move towards the direction of the charging pile in the area in front of the charging pile through the infrared carrier signal; when the robot is located at a first position, the distance between the robot and the charging pile is smaller than a first distance threshold value, a second position is determined through radar scanning; controlling the robot to move to the second position, and enabling a charging contact piece of the robot to be aligned with a charging pile; and controlling the pile loading charging of the robot according to the second position and the charging pile position. Because the robot can be through the accurate definite second position of radar when the primary importance to according to the robot orientation with fill electric pile orientation rotating robot, thereby make the accurate alignment of robot fill electric pile direction, can remove the restraint of the position of charging contact piece, improved the positioning accuracy of robot moreover, be favorable to increasing the robot success rate that charges.

Description

Robot, automatic recharging method and device thereof and storage medium

Technical Field

The present application relates to the field of robots, and in particular, to a robot, an automatic recharging method and apparatus thereof, and a storage medium.

Background

The automatic recharging technology of the robot is a technology that enables the robot to intelligently complete work. For example, when a household sweeping robot automatically returns to a charging pile to charge, infrared carrier guidance is usually adopted to mainly perform the login of the charging pile. The infrared guide that logs on fills electric pile, usually will set up the transmitter of a plurality of infrared carrier signal. And guiding the robot to a middle area in front of the charging pile based on the infrared signals emitted by the emitters of the plurality of set infrared carrier signals.

The mode of registering is filled back to the robot through infrared guide requires that the metal contact piece of infrared carrier wave receiving head and robot all is located the same direction of robot, for example all in the dead ahead or all in the dead behind, causes the restraint to the design of robot to guide the robot to the middle zone in charging pile the place ahead through infrared carrier signal, make the positioning accuracy of robot not high, be unfavorable for guaranteeing the success rate that the robot filled back.

Disclosure of Invention

In view of this, embodiments of the present application provide a robot, an automatic recharging method and apparatus thereof, and a storage medium, so as to solve the problems in the prior art that when a robot is guided to be charged by an infrared carrier signal, design of the robot is constrained, positioning accuracy of the robot is not high, and the robot is not favorable for ensuring success rate of recharging the robot.

A first aspect of an embodiment of the present application provides an automatic recharging method for a robot, where the method includes:

the robot is guided to move towards the direction of the charging pile in the area in front of the charging pile through the infrared carrier signal;

when the robot is located at a first position, the distance between the robot and a charging pile is smaller than a first distance threshold value, scanning the charging pile through a radar, and determining a second position, located at a second distance in front of the charging pile;

controlling the robot to move from the first position to the second position, rotating the robot according to the orientation of the robot, and enabling a charging contact piece of the robot to be aligned with a charging pile;

and controlling the pile loading charging of the robot according to the second position and the charging pile position.

With reference to the first aspect, in a first possible implementation manner of the first aspect, the determining, by radar scanning a charging pile, a second position at a second distance in front of the charging pile includes:

determining profile information of the charging pile through data scanned by a radar;

and determining a second position in front of the charging pile according to the contour information and the first distance.

With reference to the first possible implementation manner of the first aspect, in a second possible implementation manner of the first aspect, when the profile information of the charging pile is an arc, determining a second position in front of the charging pile according to the profile information and the first distance includes:

according to the scanned arc of the charging pile, determining the circle center of the arc and the center point of the arc;

and determining a straight line where the robot is located according to the central point and the circle center, and determining the distance between the robot and the circle center according to the first distance.

With reference to the first aspect, in a third possible implementation manner of the first aspect, rotating the robot according to the orientation of the robot to align the charging contact of the robot with the charging post includes:

determining the orientation of the robot according to the first position and the second position;

determining an included angle between the orientation of the robot and the orientation of the charging pile;

and determining a rotation angle of the robot according to the included angle and the position of a charging contact sheet of the robot, and rotating according to the rotation angle to enable the charging contact sheet of the robot to be aligned with the charging pile.

With reference to the third possible implementation manner of the first aspect, in a fourth possible implementation manner of the first aspect, the determining a rotation angle of the robot according to the included angle and the position of the charging contact of the robot includes:

when the charging contact sheet is located right behind the robot, the robot is rotated according to the included angle, and the orientation of the robot is consistent with that of the charging pile;

when the charging contact sheet is located right in front of the robot, the robot is rotated according to the included angle, and the direction of the robot is opposite to that of the charging pile.

With reference to the first aspect, in a fifth possible implementation manner of the first aspect, the controlling charging of the pile on the robot according to the second position and the charging pile position includes:

determining a radius of the robot;

determining the moving distance of the robot according to the difference between the first distance between the second position and the position of the charging pile and the radius of the robot;

and controlling the charging of the pile on the robot according to the determined moving distance.

Combine the first aspect, in the sixth possible implementation of the first aspect, it is provided with the central infrared carrier wave transmitter of coverage area for filling electric pile dead ahead region on the electric pile to and be provided with the non-central infrared carrier wave transmitter of coverage area for filling electric pile both sides region, through infrared carrier wave signal guide robot filling electric pile place ahead region to filling electric pile direction removal, include:

when the robot receives the infrared carrier signal transmitted by the central infrared carrier transmitter, keeping the robot moving linearly;

and when the robot receives the non-central infrared carrier transmitter or only receives the infrared carrier signal transmitted by the non-central infrared carrier transmitter, controlling the robot to move to the central area according to a preset rotation angle.

A second aspect of an embodiment of the present application provides an automatic recharging apparatus of a robot, the apparatus including:

the mobile control unit is used for guiding the robot to move towards the charging pile in the front area of the charging pile through the infrared carrier signal;

the position determining unit is used for scanning the charging pile through a radar and determining a second position at a second distance in front of the charging pile when the robot is located at a first position where the distance between the robot and the charging pile is smaller than a first distance threshold value;

the rotating unit is used for controlling the robot to move from the first position to the second position, rotating the robot according to the orientation of the robot, and enabling the charging contact piece of the robot to be aligned with the charging pile;

and the pile feeding control unit is used for controlling the robot to charge the pile according to the second position and the charging pile position.

A third aspect of embodiments of the present application provides a robot comprising a memory, a processor and a computer program stored in the memory and executable on the processor, the processor implementing the steps of the method according to any one of the first aspect when executing the computer program.

A fourth aspect of embodiments of the present application provides a computer-readable storage medium, which stores a computer program that, when executed by a processor, implements the steps of the method according to any one of the first aspects.

Compared with the prior art, the embodiment of the application has the advantages that: according to the embodiment of the application, the robot is guided to move towards the charging pile through the infrared carrier signal in the charging pile front area, when the robot is located at a first position where the distance between the robot and the charging pile is smaller than a first distance threshold value, the charging pile is scanned through a radar, a second position where a second distance is located in the charging pile front is determined, the robot is controlled to move from the first position to the second position, the charging contact is aligned with the charging pile according to the orientation of the robot, and the position of the charging contact is rotated. Because the robot can be through the accurate definite second position of radar when the primary importance to according to the robot orientation with fill electric pile orientation rotation robot, thereby make the accurate alignment of robot fill electric pile direction, can remove the restraint of the position of charging contact piece, improved the positioning accuracy of robot moreover, be favorable to increasing the robot success rate that charges.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive exercise.

Fig. 1 is a schematic diagram of an infrared carrier signal coverage range of a charging pile according to a method provided in an embodiment of the present application;

FIG. 2 is a schematic diagram of a trajectory of a pile on a robot according to an embodiment of the present disclosure;

fig. 3 is a schematic flow chart illustrating an implementation process of an automatic recharging method for a robot according to an embodiment of the present disclosure;

FIG. 4 is a schematic diagram of a moving track of a robot during pile loading according to an embodiment of the present disclosure;

FIG. 5 is a schematic diagram of a pile on a robot according to an embodiment of the present disclosure;

fig. 6 is a schematic view of an automatic recharging device of a robot according to an embodiment of the present disclosure;

fig. 7 is a schematic diagram of a robot provided in 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 particular system structures, 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 explain the technical means described in the present application, the following description will be given by way of specific examples.

In the recharging positioning method of the robot, a plurality of infrared carrier signal transmitters can be arranged on the charging pile, and different infrared carrier signal transmitters cover different areas. When the robot receives the infrared carrier signal transmitted by the infrared carrier signal transmitter, the area where the robot is located can be determined according to the identification of the infrared carrier signal transmitter included in the received infrared carrier signal, and the robot is controlled to move to the charging pile according to the area where the robot is located. For example, in the schematic diagram of the infrared carrier signal emission range shown in fig. 1, four infrared carrier signal emitters Q1, Q2, Q3 and Q4 are sequentially arranged from right to left in the charging pile. Wherein, the coverage area of Q1 is the left side area, the coverage area of Q2 is the left middle area, the coverage area of Q3 is the right middle area, and the coverage area of Q4 is the right side area. The coverage areas of two adjacent infrared carrier signal transmitters have a common coverage area. Since the coverage area of Q2 and the coverage area of Q3 are located in the left middle area and the right middle area, respectively, the relevant areas of Q2 and Q3 can more accurately position the robot at the position of the middle area.

In the positioning and navigation process of the robot, the infrared carrier signals received by the robot can be detected in real time. When the robot can only detect the infrared carrier signal transmitted by the infrared carrier signal transmitter on the left side, the robot is controlled to move towards the right side until the position of the robot can receive the infrared carrier signal transmitted by the infrared carrier signal transmitter with the coverage area in the left middle area, or as shown in the robot movement curve diagram of fig. 2, the robot simultaneously receives the infrared carrier signals transmitted by two infrared carrier signal transmitters with the coverage areas respectively in the left middle area and the right middle area. Similarly, when the robot can only receive the infrared carrier signal of the right area, the robot is controlled to move to the left. The robot is controlled to be in the intersection area of the infrared carrier signal transmitters Q2 (the coverage area is the left middle area) and Q3 (the coverage area is the right middle area), namely, the robot receives the infrared carrier signals transmitted by the infrared carrier signal transmitters Q2 and Q3 at the same time. When only the infrared carrier signal transmitted by the Q2 can be received, the robot is controlled to move to the left, and when only the infrared carrier signal transmitted by the Q3 can be received, the robot is controlled to move to the right. The moving range of the robot is located or approximately located in the intersection area of Q2 and Q3, namely, the robot is controlled to move through the intersection area of the two infrared carrier signal transmitters relative to the situation of a single infrared carrier signal transmitter, so that the robot can be accurately located in the front area of the charging pile.

When the robot is positioned through the infrared carrier signals, the robot can be positioned in the front area of the charging pile, for example, in the intersection area of the infrared carrier signals transmitted by the two infrared carrier signal transmitters, and the positioning precision of the robot can be improved to a certain extent. However, since the robot is still located in a positioning area, the positioning accuracy of the robot may still not accurately meet the charging requirement of the upper pile of the robot, and the infrared carrier signal receiver of the robot and the charging contact piece are required to be located at the same orientation, which restricts the design of the robot.

In order to solve the above problem, an embodiment of the present application proposes an automatic recharging method for a robot, as shown in fig. 3, the method including:

in S301, the robot is guided by the infrared carrier signal to move toward the charging pile in the area in front of the charging pile.

Specifically, fill electric pile and can set up a plurality of infrared carrier signal transmitter. For example, in the coverage area schematic diagrams of the infrared carrier signal transmitters shown in fig. 1 and fig. 2, four infrared carrier signal transmitters are arranged, the coverage areas are a left area, a left middle area, a right middle area and a right area, respectively, and the coverage areas of two adjacent infrared carrier signal transmitters have an intersection area. Can be according to the infrared carrier signal that the robot received, make the robot be in the place ahead region of filling electric pile. For example, whether the robot receives an infrared carrier signal with a coverage area of a left middle area or an infrared carrier signal with a coverage area of a right middle area can be detected, and when any one of the two infrared carrier signal transmitters is received, the robot is in the middle area, the robot has a large moving space, the number of times of steering when the robot moves can be reduced, a moving track as shown in fig. 4 can be obtained, and the moving fluency of the robot can be improved.

Or, it may also be determined whether the robot receives the infrared carrier signal whose coverage area is the left middle area and the infrared carrier signal whose coverage area is the right middle area at the same time, and when the robot receives the infrared carrier signals of the two infrared carrier signal transmitters at the same time, it indicates that the robot is in the intersection area of the two infrared carrier signal transmitters, so that the robot may be more biased to the middle area when moving.

When the robot deviates from the set area, the deviated direction of the robot can be determined according to the currently received infrared carrier signal, and the moving direction of the robot is adjusted according to the deviated direction, so that the robot moves towards the direction of the central area in front of the charging pile and the direction close to the charging pile.

In a possible implementation, if the robot does not detect an infrared carrier signal, a full house search may be initiated until an infrared carrier signal is detected. If the robot detects an infrared carrier signal located on the left or right side, the robot may be directed to move toward the center area until an infrared carrier signal located in the center area, such as an infrared carrier signal located on the left or right middle side, is detected.

It will be appreciated that there are no limitations to providing 4 infrared carrier signal emitters, and that there may be a greater or lesser number of infrared carrier signal emitters, such as 5, 3, etc.

In S302, when the robot is located at a first position where the distance between the robot and a charging pile is smaller than a first distance threshold value, a radar scans the charging pile, and a second position in front of the charging pile at a second distance is determined.

In the embodiment of the application, can be according to infrared carrier signal, measure the robot with distance between the infrared carrier signal transmitter, for example can be according to the length of time between the emission time of infrared carrier signal and the receipt time, calculate distance between infrared carrier signal transmitter and the robot, as the robot with fill electric pile distance between. Without being limited thereto, other distance measuring devices may also be employed to determine the distance between the robot and the charging post (or infrared carrier emitter).

When the distance between the robot and the charging pile is smaller than a first distance threshold value, the robot is close to the charging pile, and the initial positioning of the infrared carrier signals can be converted into the accurate positioning of the laser radar. Fill electric pile through laser radar scanning, can obtain the profile information who fills electric pile. But based on the profile information of the stake of charging that the scanning obtained, but confirm rectilinear movement, and the displacement is less can accomplish the position of going up the stake, second position in this application promptly.

The second position is located on the center line of the position right in front of the charging pile, and the distance between the second position and the charging pile is a preset second distance. The second distance is greater than the radius of the robot, namely when the robot is at the second position, the robot can move towards the charging pile, and therefore pile charging of the robot is completed.

According to the point cloud collected by the laser radar of the robot, the point cloud can be fitted to obtain the profile information of the charging pile. For example, in the schematic diagram of pile installation on a robot shown in fig. 5, for a charging pile in an arc state, the profile information of the arc of the charging pile can be obtained through fitting of a point cloud of the charging pile. According to the fitted contour information of the charging pile, the position of a center line located right in front of the charging pile can be further determined.

In a possible implementation manner, when the profile information of the charging pile is in a circular arc shape, the position of the circle center can be calculated according to the circular arc. And according to the center point of the fitted arc, combining a connecting line generated by the position of the circle center, namely the center line right in front of the charging pile.

The profile information of the charging pile is not necessarily limited to the arc shape, and may include any other shape. The position of the center line in front of the charging pile can be determined according to specific shape information.

After the position of the center line in front of the charging pile is determined, the second position, used for logging in, of the robot can be determined according to the position of the charging pile and the preset second distance.

The second distance may be smaller than the first distance, that is, the robot may continue to move closer to the charging pile according to the determined second position after reaching the first position.

In S303, the robot is controlled to move from the first position to the second position, and the robot is rotated according to the orientation of the robot, so that the charging contact piece of the robot is aligned with the charging pile.

Since the first position and the second position have been determined, the robot may be controlled to move to the second position along a straight line formed by the first position and the second position. When the robot moves from the first position to the second position along a straight line, the robot is oriented in a direction in which the first position points to the second position.

When the robot moves to the second position, the rotation angle of the robot needs to be determined according to the position of the charging contact of the robot. Through rotating the robot, make the contact piece that charges of robot aim at fill electric pile, perhaps make the contact piece that charges of robot aim at fill the last charging contact piece that sets up of electric pile.

As shown in fig. 5, when the robot moves linearly from the first position to the second position, the orientation of the robot is such that the first position points to the second position. The orientation of the charging pile is the direction of the positive center of the direction faced by the charging contact sheet of the robot. An angle between the orientation of the robot and the orientation of the charging post may be determined, such as θ 1 shown in fig. 5. The rotation angle of the robot may be determined based on the angle in combination with the position of the charging contact of the robot.

When the charging contact sheet is located right behind the robot, the robot is rotated according to the included angle, and the orientation of the robot is consistent with that of the charging pile; when the charging contact sheet is located right in front of the robot, the robot is rotated according to the included angle, and the direction of the robot is opposite to that of the charging pile.

For example, when the charging contact of the robot is located right in front of the robot, the rotation angle may be pi- θ 1, and the rotation direction is a direction in which the right in front of the robot can be aligned with the charging pile by rotating by a small angle. Of course, the robot can rotate by an angle of pi + theta 1, and after the robot rotates by a large angle, the direction of the charging pile can be aligned right in front of the robot.

When the charging contact piece of the robot is located right behind the robot, the rotation angle may be θ 1, and the rotation direction is a direction in which the right behind the robot is aligned with the charging pile by rotating by a small angle. Or the robot rotates by an angle of 2 pi-theta 1, and after the robot rotates by a larger angle, the right back of the robot is aligned with the direction of the charging pile.

The charging contact sheet is not limited to be arranged right in front of or right behind the robot, and the charging contact sheet can be arranged in other directions of the robot, and the rotation angle of the robot is correspondingly determined according to the set direction, so that the charging contact sheet of the robot can meet the requirements of the charging contact sheet on the charging post.

The charging contact piece of the robot is aligned with the charging contact piece on the charging pile. The alignment may be understood as a directional alignment, e.g. it may be understood that the center of the robot and the center point of the charging contact of the robot constitute a first line, the center point of the charging contact of the charging post being located in the first line.

And in S304, controlling the pile on the robot to charge according to the second position and the position of the charging pile.

When the robot moves to the second position and rotates, the charging contact piece of the robot is aligned with the charging pile, or the charging contact piece of the charging pile is aligned, the robot can be controlled to move linearly towards the charging pile direction, and pile charging of the robot is completed.

When the robot carries out piling from the second position, the moving mode of the robot can be determined according to the position of the charging contact sheet of the robot.

When the charging contact sheet is positioned right in front of the robot, the robot can be controlled to advance for a preset distance, so that the pile on the robot is charged.

When the charging contact piece is positioned right behind the robot, the robot can be controlled to back for a preset distance, so that the pile on the robot is charged.

When the robot is at the second position, the preset distance that the robot needs to move can be determined according to the distance between the robot and the charging pile. For example, when the distance between the second position and the charging pile is the second distance, the robot is a circular robot, and the predetermined distance that the robot needs to move can be determined according to the difference between the second distance and the radius of the robot. Or the distance which the robot needs to move can be determined according to the difference between the distance between the charging contact sheet of the charging pile and the robot and the radius of the robot. And the size of the preset distance can be adjusted according to the charging error in the actual moving process, so that the success rate of pile charging on the robot is improved.

It should be understood that, the sequence numbers of the steps in the foregoing embodiments do not imply an execution sequence, and the execution sequence of each process should be determined by functions and internal logic of the process, and should not constitute any limitation to the implementation process of the embodiments of the present application.

Fig. 6 is a schematic diagram of an automatic recharging apparatus of a robot according to an embodiment of the present disclosure, as shown in fig. 5, the apparatus includes:

the mobile control unit 601 is used for guiding the robot to move towards the charging pile in the front area of the charging pile through an infrared carrier signal;

a position determining unit 602, configured to scan a charging pile through a radar and determine a second position at a second distance in front of the charging pile when the robot is at a first position where a distance from the charging pile is smaller than a first distance threshold;

a rotating unit 603, configured to control the robot to move from the first position to the second position, and rotate the robot according to the orientation of the robot, so that the charging contact of the robot is aligned with the charging post;

and a pile feeding control unit 604, configured to control pile feeding and charging of the robot according to the second position and the charging pile position.

The automatic recharging apparatus for a robot shown in fig. 6 corresponds to the automatic recharging method for a robot shown in fig. 3.

Fig. 7 is a schematic diagram of a robot provided in an embodiment of the present application. As shown in fig. 7, the robot 7 of this embodiment includes: a processor 70, a memory 71 and a computer program 72, such as an automatic recharge program for a robot, stored in said memory 71 and executable on said processor 70. The processor 70, when executing the computer program 72, implements the steps in the above-described automatic recharging method embodiments of the respective robots. Alternatively, the processor 70 implements the functions of the modules/units in the above-described device embodiments when executing the computer program 72.

Illustratively, the computer program 72 may be partitioned into one or more modules/units that are stored in the memory 71 and executed by the processor 70 to accomplish the present application. The one or more modules/units may be a series of computer program instruction segments capable of performing specific functions, which are used to describe the execution of the computer program 72 in the robot 7.

The robot may include, but is not limited to, a processor 70, a memory 71. Those skilled in the art will appreciate that fig. 7 is merely an example of a robot 7 and does not constitute a limitation of robot 7 and may include more or fewer components than shown, or some components in combination, or different components, e.g., the robot may also include input output devices, network access devices, buses, etc.

The Processor 70 may be a Central Processing Unit (CPU), other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic, discrete hardware components, etc. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.

The memory 71 may be an internal storage unit of the robot 7, such as a hard disk or a memory of the robot 7. The memory 71 may also be an external storage device of the robot 7, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), and the like, provided on the robot 7. Further, the memory 71 may also include both an internal storage unit and an external storage device of the robot 7. The memory 71 is used for storing the computer program and other programs and data required by the robot. The memory 71 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-mentioned division of the functional units and modules is illustrated, and in practical applications, the above-mentioned function distribution may be performed by different functional units and modules according to needs, that is, the internal structure of the apparatus is divided into different functional units or modules to perform all or part of the above-mentioned functions. Each functional unit and module in the embodiments may be integrated in one processing unit, or each unit may exist alone physically, or two or more units are integrated in one unit, and the integrated unit may be implemented in a form of hardware, or in a form of software functional unit. In addition, specific names of the functional units and modules are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present application. For the specific working processes of the units and modules in the system, reference may be made to the corresponding processes in the foregoing method embodiments, which are not described herein again.

In the above embodiments, the descriptions of the respective embodiments have respective emphasis, and reference may be made to the related descriptions of other embodiments for parts that are not described or illustrated in a certain embodiment.

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 implementation. 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 ways. For example, the above-described embodiments of the apparatus/terminal device are merely illustrative, and for example, the division of the modules or units is only one logical division, and there may be other divisions when actually implemented, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.

The units described as separate parts may or may not be physically separate, and parts displayed 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 can be selected according to actual needs to achieve the purpose of the solution of the embodiment.

In addition, functional units in the embodiments of the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.

The integrated modules/units, if implemented in the form of software functional units and sold or used as separate products, may be stored in a computer readable storage medium. Based on such understanding, all or part of the processes in the methods of the embodiments described above can be implemented by hardware related to instructions of a computer program, which can be stored in a computer readable storage medium, and when the computer program is executed by a processor, the steps of the methods described above can be implemented. Wherein the computer program comprises computer program code, which may be in the form of source code, object code, an executable file or some intermediate form, etc. The computer-readable medium may include: any entity or device capable of carrying the computer program code, recording medium, usb disk, removable hard disk, magnetic disk, optical disk, computer Memory, read-Only Memory (ROM), random Access Memory (RAM), electrical carrier wave signals, telecommunications signals, software distribution medium, and the like. It should be noted that the computer readable medium may contain suitable additions or subtractions depending on the requirements of legislation and patent practice in jurisdictions, for example, in some jurisdictions, computer readable media may not include electrical carrier signals or telecommunication signals in accordance with legislation and patent practice.

The above-mentioned embodiments are only used for illustrating the technical solutions of the present application, and not for limiting the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not substantially depart from the spirit and scope of the embodiments of the present application and are intended to be included within the scope of the present application.

Claims

1. A method for automatic robot refill, the method comprising:

and controlling the charging of the pile on the robot according to the second position and the position of the charging pile.

2. The method of claim 1, wherein determining a second location at a second distance in front of a charging post by radar scanning the charging post comprises:

3. The method of claim 2, wherein determining a second position in front of the charging post from the profile information and the first distance when the profile information of the charging post is a circular arc comprises:

4. The method of claim 1, wherein rotating the robot according to its orientation to align a charging contact of the robot with a charging post comprises:

and determining the rotation angle of the robot according to the included angle and the position of the charging contact sheet of the robot, and rotating according to the rotation angle to enable the charging contact sheet of the robot to be aligned with the charging pile.

5. The method of claim 4, wherein determining the angle of rotation of the robot based on the angle and the position of the charging contact of the robot comprises:

6. The method of claim 1, wherein controlling the charging of the pile on the robot based on the second position and the charging pile position comprises:

determining a radius of the robot;

7. The method of claim 1, wherein the charging pile is provided with a central infrared carrier transmitter with a coverage area being an area right in front of the charging pile and a non-central infrared carrier transmitter with a coverage area being areas on two sides of the charging pile, and the infrared carrier signals guide the robot to move towards the charging pile in the area in front of the charging pile, and the method comprises the following steps:

when the robot receives the infrared carrier signal transmitted by the central infrared carrier transmitter, the robot keeps moving linearly;

8. A robotic automatic refill device, said device comprising:

9. A robot comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that the steps of the method according to any of claims 1 to 7 are implemented when the computer program is executed by the processor.

10. A computer-readable storage medium, in which a computer program is stored which, when being executed by a processor, carries out the steps of the method according to any one of claims 1 to 7.