CN110202569A

CN110202569A - Robot recharging method, device, system, electronic equipment and storage medium

Info

Publication number: CN110202569A
Application number: CN201910381043.1A
Authority: CN
Inventors: 陈贤文
Original assignee: Shenzhen Aitken Stone Technology Co Ltd
Current assignee: Shenzhen Aitken Stone Technology Co Ltd
Priority date: 2019-05-08
Filing date: 2019-05-08
Publication date: 2019-09-06
Anticipated expiration: 2039-05-08
Also published as: CN110202569B

Abstract

The embodiment of the present application discloses a kind of robot recharging method, device, system, electronic equipment and storage medium.This method comprises: requesting in response to return, the first infrared signal and the second infrared signal of charging equipment transmitting are received, and continues the first signal strength of the first infrared signal that detection receives and the second signal intensity of the second infrared signal；Control robot is mobile towards the direction for enhancing the first signal strength and second signal intensity all, until robot is moved at the position of charging equipment.The application is when robot needs return, by the signal strength for detecting two infrared signals, robot is improved to the judging nicety rate of charging equipment present position, efficiency and accuracy rate that robot recharges can be improved to avoid moving repeatedly during robot return.

Description

Robot recharging method, device, system, electronic equipment and storage medium

Technical field

The invention relates to mobile robot technology fields, more particularly, to a kind of robot recharging method, dress It sets, system, electronic equipment and storage medium.

Background technique

With the fast development of science and technology, service robot progresses into people's lives, wherein cleaning humanoid robot Cleaning works can be completed in the case where no worker monitor, while guaranteeing home care, moreover it is possible to user's life convenient degree is improved, Thus favor of the cleaning humanoid robot by more and more users, popularity also gradually increase.However, cleaning humanoid robot exists It is often difficult to find charging equipment in operational process, affects the normal use of user.

Summary of the invention

The embodiment of the present application provides a kind of robot recharging method, device, system, electronic equipment and storage medium, can be with Improve efficiency and success rate that robot recharges.

In a first aspect, the embodiment of the present application provides a kind of robot recharging method, it is applied in robot, the robot Recharging method includes: to request in response to return, receives the first infrared signal and the second infrared signal of charging equipment transmitting, and Persistently detect the first signal strength of the first infrared signal received and the second signal intensity of the second infrared signal；Control Robot is mobile towards the direction for enhancing the first signal strength and second signal intensity all, until robot is moved to charging and sets At standby position.

Second aspect, the embodiment of the present application provide a kind of robot recharging method, are applied in charging equipment, charging is set Standby establish with robot communicates to connect, which includes: to request in response to return, receive that machine human hair penetrates the One infrared signal and the second infrared signal, and continue the first signal strength of the first infrared signal that detection receives and the The second signal intensity of two infrared signals；According to the strong and weak variation of the first signal strength and second signal intensity, to robot Signal intensity instruction is sent, so that robot is instructed according to signal intensity, court makes the first signal strength and second signal intensity The direction all enhanced is mobile, until robot is moved at the position of charging equipment.

The third aspect, the embodiment of the present application provide a kind of robot recharging device, which is characterized in that are applied to robot In, which includes: signal detection module, for requesting in response to return, receives the of charging equipment transmitting One infrared signal and the second infrared signal, and continue the first signal strength of the first infrared signal that detection receives and the The second signal intensity of two infrared signals；Mobile control module makes the first signal strength and second for controlling court, robot The direction that signal strength all enhances is mobile, until robot is moved at the position of charging equipment.

Fourth aspect, the embodiment of the present application provide a kind of robot recharging device, are applied in charging equipment, charging is set Standby establish with robot communicates to connect, which includes: signal processing module, for being requested in response to return, The first infrared signal and the second infrared signal that machine human hair is penetrated are received, and continues the first infrared signal that detection receives The second signal intensity of first signal strength and the second infrared signal；Instruction sending module, for according to the first signal strength And the strong and weak variation of second signal intensity, signal intensity instruction is sent to robot, so that robot refers to according to signal intensity It enables, it is mobile towards the direction for enhancing the first signal strength and second signal intensity all, until robot is moved to charging equipment Position at.

5th aspect, the embodiment of the present application provide a kind of robot and recharge system, which is characterized in that the robot recharges System includes charging equipment and the robot with charging equipment communication connection；Charging equipment includes for emitting the first infrared letter Number the first infrared transmitter and the second infrared transmitter for emitting the second infrared signal；Robot includes the first infrared letter Number receiver and the second infrared signal receiver receive the first infrared letter of charging equipment transmitting for requesting in response to return Number and the second infrared signal, and continue the first signal strength and the second infrared letter of the first infrared signal that detection receives Number second signal intensity；Robot, being also used to control court, robot increases the first signal strength and second signal intensity all Strong direction is mobile, until robot is moved at the position of charging equipment.

6th aspect, the embodiment of the present application provides a kind of electronic equipment comprising: it processor, memory and is stored in On the memory and the computer program that can run on the processor, the computer program are executed by the processor The step of robot recharging method of the Shi Shixian as described in above-mentioned first aspect or second aspect.

7th aspect, the embodiment of the present application provide a kind of computer readable storage medium, the computer-readable storage Computer program is stored on medium, and such as above-mentioned first aspect or second aspect are realized when the computer program is executed by processor The step of described robot recharging method.

Robot recharging method, device, system, electronic equipment and computer readable storage medium provided by the present application lead to It crosses and is requested in response to return, receive the first infrared signal and the second infrared signal of charging equipment transmitting, and continue detection and connect First signal strength of the first infrared signal received and the second signal intensity of the second infrared signal, then control robot It is mobile towards the direction for enhancing the first signal strength and second signal intensity all, until robot is moved to the position of charging equipment Set place.To by detecting the signal strength of two infrared signals, improve robot and be set to charging when robot needs return The judging nicety rate of standby present position can improve the effect that robot recharges to avoid moving repeatedly during robot return Rate and accuracy rate.

These aspects or other aspects of the application can more straightforward in the following description.

Detailed description of the invention

In order to more clearly explain the technical solutions in the embodiments of the present application, make required in being described below to embodiment Attached drawing is briefly described, it should be apparent that, the drawings in the following description are only some examples of the present application, without It is whole embodiments.Based on the embodiment of the present application, those of ordinary skill in the art are under that premise of not paying creative labor Every other examples and drawings obtained, shall fall within the protection scope of the present invention.

Fig. 1 shows a kind of application environment schematic diagram suitable for the embodiment of the present application；

Fig. 2 shows the method flow diagrams for the robot recharging method that the application one embodiment provides；

Fig. 3 shows the method flow diagram of the robot recharging method of another embodiment of the application offer；

Fig. 4 shows the schematic diagram of four kinds of different moving directions of another embodiment of the application offer；

Fig. 5 shows the schematic diagram of the robot moving process of another embodiment of the application offer；

Fig. 6 shows the method flow diagram of the robot recharging method of another embodiment of the application offer；

Fig. 7 shows the method flow diagram of the robot recharging method of the application further embodiment offer；

Fig. 8 shows the method flow diagram provided by the embodiments of the present application that robot is controlled according to radio signal；

Fig. 9 shows the method flow diagram of the robot recharging method of the application a still further embodiment offer；

Figure 10 shows the module frame chart of the robot recharging device of the application one embodiment offer；

Figure 11 shows the module frame chart of the robot recharging device of another embodiment of the application offer；

Figure 12 shows the embodiment of the present application for executing the electronics of the robot recharging method according to the embodiment of the present application The hardware block diagram of equipment；

Figure 13 shows the embodiment of the present application for executing the calculating of the robot recharging method according to the embodiment of the present application The module frame chart of machine readable storage medium storing program for executing.

Specific embodiment

In order to make those skilled in the art more fully understand application scheme, below in conjunction in the embodiment of the present application Attached drawing, the technical scheme in the embodiment of the application is clearly and completely described.It should be appreciated that specific reality described herein It applies example to be only used for explaining the application, is not used to limit the application.

Robot is often emitted single optical signal, robot receives optical signal when independently recharging by charging equipment And signal strength is detected, the direction of light source is judged by examination movement, to move closer to charging equipment, such robot is recharged Efficiency it is lower, it is also possible to can get lost, it is difficult to give charging equipment for change.

Based on the above issues, inventor has studied and improves the difficulty that robot recharges technology at present, even more comprehensively considers The use demand of actual scene proposes the robot recharging method of the embodiment of the present application, device, system, electronic equipment and deposits Storage media.

In order to be best understood from a kind of robot recharging method provided by the embodiments of the present application, device, system, electronic equipment and Storage medium is below first described the application environment for being suitable for the embodiment of the present application.

Referring to Fig. 1, Fig. 1 is the application environment schematic diagram suitable for the embodiment of the present application.It is provided by the embodiments of the present application Robot recharging method can be applied to robot as shown in Figure 1 and recharge in system 10.It includes machine that robot, which recharges system 10, Device people 110 and the charging equipment 120 communicated to connect with robot 110.

Wherein, charging equipment 120 includes two Infrared Projectors, specifically, including for emitting the first infrared letter Number the first Infrared Projector 121 and the second Infrared Projector 122 for emitting the second infrared signal.Specifically Ground, the first infrared signal and the second infrared signal can be conical.First Infrared Projector 121 and second infrared The infrared signal that signal projector 122 emits can use different encoded informations.

In some embodiments, the first Infrared Projector 121 and the second Infrared Projector 122 are at the angle of the crossing Degree, so that the first infrared signal and the second infrared signal intersecting angles.

In one embodiment, robot 110 includes at least two infrared signal receivers, and robot 110 is based on red External signal receiver can receive and identify the infrared signal received, can also identify the signal strength of infrared signal.Specifically Ground, robot 110 may include the first infrared signal receiver 111 and the second infrared signal receiver 112.Wherein, first Infrared signal receiver 111 only receives the first infrared signal emitted by the first Infrared Projector 121, the second infrared signal Receiver 112 only receives the second infrared signal emitted by the second Infrared Projector 122.

In some other possible embodiment, robot 110 can also only include an infrared signal receiver, should Infrared signal receiver can receive at least two different infrared signals.Robot 110 is based on the infrared signal receiver can It, can be with identification signal intensity to receive and identify at least two infrared signals.

It below will be by specific embodiment to robot recharging method provided by the embodiments of the present application, device, system, electronics Equipment and storage medium are described in detail.

Referring to Fig. 2, the method flow diagram of the robot recharging method provided Fig. 2 shows the application one embodiment, It can be applied to above-mentioned robot.It will be explained in detail below for step shown in Fig. 2, the method can specifically include Following steps:

Step S210: requesting in response to return, receives the first infrared signal and the second infrared letter of charging equipment transmitting Number, and the second signal for continuing the first signal strength of the first infrared signal and the second infrared signal that detection receives is strong Degree.

Wherein, return request is to be used to indicate robot to return to instruction at the position of charging equipment.

In one embodiment, return request can be robot triggering, specifically, as a kind of mode, machine When electricity is lower than threshold value, meeting automatic trigger return request returns at charging equipment people so that robot is requested in response to return It charges, allows robot is timely automated to recharge, be not necessarily to human intervention, improve system effectiveness and user uses just Benefit；Alternatively, the working time of robot after charging be more than preset time when, also can automatic trigger return ask It asks, wherein preset time can be systemic presupposition, and it is customized to be also possible to user, so that robot reaches continuing working After preset time, self-return, specifically, at this time it is considered that robot completes cleaning, it is possible thereby in assurance function Under the premise of realization, the power consumption of robot is reduced.As another mode, return request can also be user by pressing machine What the key on people's shell triggered, it can also be through voice control, so that voice execution is corresponding based on the received for robot Order.It is understood that not constituting and limiting to the present embodiment the above is only exemplary illustration.

In another embodiment, return request can be the terminal device that connect with robot communication to machine human hair It send, specifically, application program is installed on terminal device, robot can be added, realize in the application program to machine The control of people, for example, user can send return to robot by terminal device such as mobile phone and ask when friend to visit in home It asks, so that periods of robot operation stop and returning to charging equipment, guest's action can be caused not to avoid in the robot course of work Just, user experience is improved.

In this present embodiment, charging equipment configuration is there are two Infrared Projector, emit respectively the first infrared signal with And second infrared signal, robot are configured at least one infrared signal receiver, can receive the first infrared signal and the Two infrared signals, and continue the second of the first signal strength of the first infrared signal and the second infrared signal that detection receives Signal strength.

As an implementation, robot is configured with an Infrared Projector, and it is infrared can to receive first simultaneously Signal and the second infrared signal, and the different encoded informations used according to two kinds of infrared signals can identify different red External signal and its corresponding signal strength.

As another embodiment, there are two Infrared Projectors, respectively the first infrared signal for robot configuration Receiver and the second infrared remote receiver can receive the first infrared signal and the second infrared signal, wherein first is red respectively External signal receiver only can receive with the first infrared signal of identification and the corresponding second signal intensity of the first infrared signal, second Infrared signal receiver only can receive second signal intensity corresponding with the second infrared signal of identification and the second infrared signal.

In this present embodiment, the direction of the launch of the first infrared signal and the second infrared signal can be intersect it is angled, It is also possible to be parallel to each other, it is not limited here.

Step S220: control robot is mobile towards the direction for enhancing the first signal strength and second signal intensity all, Until robot is moved at the position of charging equipment.

In this present embodiment, robot in response to return request, in moving process, persistently detect the first signal strength with And second signal intensity, when the first signal strength and second signal intensity are simultaneously in enhancing, it is believed that robot is when Forward Dynamic direction is correctly, even to keep current moving direction to continue to move to, be conducive to faster return.Specifically, pass through the first letter The direction that number intensity and second signal intensity all enhance, can determine the launch party of the first infrared signal and the second infrared signal To i.e. charging equipment present position may thereby determine that charging equipment relative to direction locating for robot, improves robot pair The judging nicety rate of charging equipment.

In addition, when the first signal strength is non-reinforced at least one in second signal intensity, it is believed that robot works as Preceding mobile poor direction, even keeps current moving direction to continue to move to, will deviate from charging equipment, can not return, this time control Robot processed is mobile towards the direction for enhancing the first signal strength and second signal intensity all, until robot is moved to charging At the position of equipment.Specifically, for example, if the first signal strength weakening and second signal enhanced strength, control robot to The direction of first signal strength enhancing rotates, and when the first signal strength and second signal intensity all enhance, towards what is all enhanced Direction continues to move to.To which robot determines moving direction by judging the signal strength of two groups of infrared signals, can pass through The primary mobile direction of the launch that the direction that the signal strength of two groups of infrared signals is enhanced is determined as to infrared signal of examination, i.e., Direction of the charging equipment relative to robot avoids moving repeatedly during robot return, in current movement side, robot To it is incorrect when, in time adjust robot moving direction, control robot towards enhance two groups of infrared signals all direction move It is dynamic, constantly close to charging setting, until return, improves the accuracy rate that robot recharges efficiency and return.

Robot recharging method provided in this embodiment by receiving two groups of infrared signals of charging equipment transmitting, and is held The signal strength of two groups of infrared signals of continuous detection, the direction for enhancing the signal strength of two groups of infrared signals all is determined as infrared The direction of the launch of signal, i.e. charging equipment are relative to the direction of robot and the correct direction of robot return, compared to existing There is technology, the present embodiment can judge correct direction by less examination movement by persistently detecting two groups of infrared signal intensity And it is mobile to charging equipment, moving repeatedly during robot return is avoided, robot is improved and recharges efficiency and accurate Rate.

Referring to Fig. 3, the application can be applied to above-mentioned machine another embodiment provides for a kind of robot recharging method People.Specifically, the method comprising the steps of S310 to step S320.

Step S310: requesting in response to return, is received based on the first infrared signal receiver and continues what detection received First signal strength of the first infrared signal, received based on the second infrared signal receiver and continue detection receive it is second red The second signal intensity of external signal.

In this present embodiment, charging equipment includes the first infrared transmitter for emitting the first infrared signal and for sending out The second infrared transmitter of the second infrared signal is penetrated, robot includes the first infrared signal receiver and the second IR signal reception Device.Robot is requested in response to return, is received based on the first infrared signal receiver and continue to detect receive it is first infrared First signal strength of signal is received based on the second infrared signal receiver and continues the second infrared signal that detection receives Second signal intensity.To which robot passes through two groups that two infrared signal receivers receive two Infrared Projectors respectively Infrared signal allows robot to judge moving direction according to the signal strength of the infrared signal detected respectively.

As an implementation, the direction of the launch of the first infrared signal and the second infrared signal can intersect angled, For example, as shown in Figure 1, robot includes the first infrared signal receiver 111 and the second infrared signal receiver 112, charging Equipment includes the first Infrared Projector 121 for emitting the first infrared signal and for emitting the second infrared signal Second Infrared Projector 122.Specifically, the first infrared signal receiver 111 receives the first Infrared Projector 121 hair The first infrared signal penetrated, it is infrared that the second infrared signal receiver 112 receives the second Infrared Projector 122 emits second Signal.

Step S320: control robot is mobile towards the direction for enhancing the first signal strength and second signal intensity all, Until robot is moved at the position of charging equipment.

In this present embodiment, at default between the direction of the launch of the first infrared signal and the direction of the launch of the second infrared signal Angle, as shown in Figure 1.Specifically, in one embodiment, predetermined angle can according to the receivable range of infrared signal with The position of the infrared remote receiver of robot is configured, so that the first infrared signal receiver and the second infrared signal of robot Receiver can receive the first infrared signal and the second infrared signal in the receivable range of infrared signal.

Specifically, for convenience of stating, referring to Fig. 4, Fig. 4 shows the schematic diagram of four kinds of different moving directions, by first Infrared signal is expressed as signal R₁, the second infrared signal is expressed as signal R₂, further, signal R₁With signal R₂Transmitting Charging equipment front region can be divided into four regions at predetermined angle by direction, respectively region A, region B, region C with And region D.Wherein, region A is with charging equipment apart from nearest region, and region D is with charging equipment apart from farthest region. Correct direction can be considered as towards the moving direction of region A.It should be noted that the first infrared signal and the second infrared signal can Be it is conical, be also possible to cylindrical type, and show in figure with form of straight lines, only for convenience of describing, not to the present embodiment Constitute any restriction.

As an implementation, changed according to the first signal strength and the strong and weak of second signal intensity, obtain machine The current moving direction of people, and adjust the current moving direction of robot.Specifically, as follows:

If the enhancing of the first signal strength and second signal remitted its fury, determine that the current moving direction of robot is in direction During charging equipment is mobile, the direction for being directed away from the second infrared transmitter is deviateed, and is adjusted to the second infrared transmitter Current moving direction.As shown in Fig. 4 (1), i.e., the current moving direction of robot is mobile towards the direction of region B, is controlled at this time Robot adjusts current moving direction to the second infrared transmitter.

If the first signal strength weakening and second signal enhanced strength, determine that the current moving direction of robot is in direction During charging equipment is mobile, the direction for being directed away from the first infrared transmitter is deviateed, and is adjusted to the first infrared transmitter Current moving direction.As shown in Fig. 4 (2), i.e., the current moving direction of robot is mobile towards the direction of region D, is controlled at this time Robot adjusts current moving direction to the first infrared transmitter.

If the first signal strength enhances with second signal intensity, determine that the current moving direction of robot is to fill in direction During electric equipment is mobile, do not deviate towards the direction of the first infrared transmitter or the second infrared transmitter.Such as Fig. 4 (3) institute Show, i.e., the current moving direction of robot is mobile towards the direction of region A, is not deviateed at this time, current moving direction is just True moving direction, robot can keep current moving direction to continue to move to.

If the first signal strength weakens with second signal intensity, determine that the current moving direction of robot is far from charging Equipment, and opposite direction is adjusted to current moving direction.As shown in Fig. 4 (4), i.e., the current moving direction of robot is towards area The direction of domain C is mobile, controls robot u-turn at this time, opposite direction is adjusted to current moving direction.Specifically, can pass through It rotates clockwise, it can also be by rotating counterclockwise, so that robot moves in the opposite direction.

By above embodiment, robot is controlled towards the side for enhancing the first signal strength and second signal intensity all Pass through the power of the first signal strength and second signal intensity to movement until robot is moved at the position of charging equipment Variation, judges current moving direction, and controls robot towards the side for enhancing the first signal strength and second signal intensity all To movement, the accuracy rate that robot recharges is improved, and since two groups of infrared signals can be obtained by once examination movement Power variation, can judicious direction, therefore substantially increase robot recharges efficiency.

In addition, in robot during close to charging equipment, the first infrared signal receiver of robot and second Infrared signal receiver possibly can not receive the infrared signal of charging equipment transmitting.

In one embodiment, the direction of the launch of charging equipment emits the first infrared signal and the second infrared signal is not It changes, the specific embodiment of control robot return can be found in foregoing description, and details are not described herein.

In another embodiment, the launch party of the first infrared signal and the second infrared signal of charging equipment transmitting To meeting change according to robot to the mobile displacement of charging equipment.Specifically, it is moved according to robot to charging equipment Displacement, to charging equipment sending direction adjustment instruction, so that charging equipment adjusts the direction of the launch and second of the first infrared signal The direction of the launch of infrared signal, increase the first infrared signal the direction of the launch and the second infrared signal the direction of the launch between institute at Angle, allow the first infrared signal receiver and the second infrared signal receiver to continue to receive the first infrared signal and the Two infrared signals improve system availability to improve robot to the acceptance rate of infrared signal.

In this embodiment, in one embodiment, it can receive in robot red to the first infrared signal and first When external signal, robot continues to charging equipment sending direction adjustment instruction, so that the first infrared signal and the second infrared signal The direction of the launch displacement real-time change mobile to charging equipment according to robot, and make the first infrared signal receiver and the Two infrared signal receivers can continue to receive the first infrared signal and the second infrared signal, to improve robot to infrared letter Number acceptance rate, guarantee lasting detection to the first signal strength and second signal intensity, thus standard of the raising to walking direction True rate improves robot and recharges efficiency.

In another embodiment, when being less than pre-determined distance threshold value at a distance from charging equipment when robot, according to machine The device people displacement mobile to charging equipment, to charging equipment sending direction adjustment instruction.Wherein, pre-determined distance threshold value can be The distance between the intersection region and charging equipment of one infrared signal and the second infrared signal, which can be in intersection region Any point is the distance between to charging equipment, it is not limited here.It is only mobile and mobile to charging equipment when robot as a result, To when crossing the intersection region between the first infrared signal and the second infrared signal, machine talent's sending direction adjustment instruction makes The first infrared signal and the second infrared signal the direction of the launch according to the displacement real-time change of robot.Specifically, such as Fig. 5 institute Show, the direction of the launch of the first infrared signal and the second infrared signal is at predetermined angle, it is assumed that the first infrared signal and second infrared Signal intersects at intersection region X, when robot is from moment T₁To moment T₂, the first infrared remote receiver gets over the second infrared remote receiver Crossed intersection region X, wherein intersection region X can be a point, be also possible to a panel region, specifically with the first infrared signal And second infrared signal beam emissions shape it is related.It is understood that if intersection region X has crossed in robot, first Infrared signal receiver 111 can not receive the first infrared signal of the first Infrared Projector 121 transmitting, the second infrared letter Number receiver 112 can not receive the second infrared signal of the second Infrared Projector 122 transmitting, in addition to this, this implementation Example does not make other any restrictions to intersection region X.

In the present embodiment, when being less than pre-determined distance threshold value at a distance from charging equipment when robot, according to robot The displacement mobile to charging equipment, to charging equipment sending direction adjustment instruction, so that charging equipment adjusts the first infrared signal The direction of the launch and the second infrared signal the direction of the launch, increase the first infrared signal the direction of the launch and the described second infrared letter Number the direction of the launch between angulation so that can be still continuously detected first after crossing intersection region infrared for robot Signal and the second infrared signal.To improve robot to the acceptance rate of infrared signal, guarantee to the first signal strength and the The lasting detection of binary signal intensity improves robot and recharges efficiency to improve the accuracy rate to walking direction.And due to this Embodiment is only crossing intersection region ability sending direction adjustment instruction, so that the direction of the launch real-time change of infrared signal, because And the power consumption of robot can also be reduced.

Robot recharging method provided in this embodiment is received by the first signal receiver and second signal of robot Device persistently detects the signal strength of the first infrared signal Yu the second infrared signal respectively, and is changed according to the power of signal strength, The moving direction of robot is adjusted, control robot is moved towards the direction for enhancing the first signal strength and second signal intensity all It is dynamic, the accuracy rate that robot recharges is improved, and since the power of two groups of infrared signals can be obtained by once examination movement Variation, can judicious direction, therefore substantially increase robot recharges efficiency.

Referring to Fig. 6, Fig. 6 shows the method flow of the robot recharging method of another embodiment of the application offer Figure, can be applied to above-mentioned robot.Specifically, the method comprising the steps of S610 to S640.

Step S610: requesting in response to return, is received based on the first infrared signal receiver and continues what detection received First signal strength of the first infrared signal, received based on the second infrared signal receiver and continue detection receive it is second red The second signal intensity of external signal.

In the present embodiment, the specific descriptions of step S610 can refer to step S310, and details are not described herein.

Step S620: the signal strength difference between the first signal strength and second signal intensity is obtained.

In this present embodiment, charging equipment is based on equal-wattage the first infrared signal of transmitting and the second infrared signal, by This, if robot is mobile towards correct direction, the first signal strength detected can be equal with second signal intensity, if deviateing correct Direction is mobile, and the first signal strength detected can be unequal with second signal intensity, and departure degree is bigger, detects Signal strength difference between first signal strength and second signal intensity is bigger.

As an implementation, robot asks poor according to the first signal strength and second signal intensity, obtains the first letter The absolute value of difference number between intensity and second signal intensity is as signal strength difference.

Step S630: according to signal strength difference, the movement speed of robot is adjusted.

In this present embodiment, signal strength difference is bigger, and the departure degree that robot deviates correct direction is bigger, and signal is strong Degree difference is smaller, and departure degree is smaller.

As a result, according to signal strength difference, when signal strength difference is larger, reduce the movement speed of robot, so that When departure degree is larger, movement is slower, and mobile distance is shorter for robot, so as to control the departure degree of robot, Prevent departure degree from further increasing；When signal strength difference is smaller, the movement speed of robot is improved, at this time departure degree It is smaller, accelerate movement, recharges efficiency so as to improve.To by adjusting the movement of robot according to signal strength difference Speed can make robot in departure degree hour, accelerate close to charging equipment, when departure degree is big, slow down far from charging Equipment, so that improving robot recharges efficiency.

Step S640: control robot with movement speed adjusted towards the first signal strength and second signal intensity all The direction of enhancing is mobile, until robot is moved at the position of charging equipment.

In this present embodiment, changed according to the first signal strength and the strong and weak of second signal intensity, the first signal will be made strong The direction that the direction that degree and second signal intensity all enhance is determined as charging equipment relative to robot, i.e. robot return are just True direction improves the accuracy rate of walking direction and recharges efficiency.And in moving process, according to the first signal strength and second Signal strength difference between signal strength adjusts the movement speed of robot, improves the seating velocity of robot and can control Robot departure degree, further increase robot recharges efficiency.

It should be noted that the part being not described in detail in the present embodiment please refers to above-described embodiment, details are not described herein.

Robot recharging method provided in this embodiment, by the first signal strength of lasting detection and second signal intensity, According to the strong and weak variation adjustment robot moving direction of the two, and robot speed is adjusted according to the signal strength difference of the two Degree, so that robot is requested in response to return, the direction all enhanced towards the first signal strength and second signal intensity is mobile, and It can accelerate movement when robot moving direction is substantially correct, movement of slowing down when direction is deviateed further increases robot Recharge efficiency.

Referring to Fig. 7, Fig. 7 shows the method flow of the robot recharging method of the application further embodiment offer Figure, can be applied to above-mentioned robot.Specifically, the method comprising the steps of S710 to S780.

Step S710: requesting in response to return, is received based on the first infrared signal receiver and continues what detection received First signal strength of the first infrared signal, received based on the second infrared signal receiver and continue detection receive it is second red The second signal intensity of external signal.

Step S720: the signal strength difference between the first signal strength and second signal intensity is obtained.

Step S730: judge whether signal strength difference is more than default deviation threshold value.

Wherein, presetting deviation threshold value can be systemic presupposition, and it is customized to be also possible to user.Specifically, by setting Default deviation threshold value is set, the departure degree that can control robot is not too big, improves return success rate.

In this present embodiment, judge whether signal strength difference is more than after presetting deviation threshold value, further includes:

If signal strength difference is more than default deviation threshold value, step S740 can be executed；

If signal strength difference is less than default deviation threshold value, step S750 can be executed.

Step S740: according to signal strength difference, controlling robot and rotate towards the direction that signal strength difference reduces, so that Signal strength difference is decreased to be no more than default deviation threshold value.

In this present embodiment, when signal strength difference is more than default deviation threshold value, according to signal strength difference, machine is controlled Device people rotates towards the direction that signal strength difference reduces, so that signal strength difference is decreased to be no more than default deviation threshold value, from And by judging whether signal strength difference is more than default deviation threshold value, at the time of can determining direction adjustment, and control machine People deviate correct direction departure degree it is excessive when, in time to correct direction adjust so that signal strength difference be decreased to it is pre- If deviateing threshold value, in this way, the success rate of robot return can be improved.

Step S750: judge whether signal strength difference is more than preset difference value.

In this present embodiment, if signal strength difference is less than default deviation threshold value, judge whether signal strength difference surpasses Cross preset difference value, wherein preset difference value is no more than default deviation threshold value.

Wherein, judge signal strength difference more than after preset difference value, further includes:

If signal strength difference is more than preset difference value, step S760 can be executed；

If signal strength difference is less than preset difference value, step S770 can be executed.

Step S760: the movement speed of robot is reduced to pre-set velocity low value.

Step S770: the movement speed of robot is improved to pre-set velocity high level.

Wherein, pre-set velocity low value is no more than pre-set velocity high level.

In this present embodiment, when signal strength difference is less than default deviation threshold value, further judge difference in signal strength Whether value is more than preset difference value, and when signal strength difference is more than preset difference value, reduces the movement speed of robot to default Speed low value improves the movement speed of robot to pre-set velocity high level when signal strength difference is less than preset difference value, from And control the amplitude of variation of movement speed of robot during mobile towards charging equipment, be maintained at pre-set velocity low value with Between pre-set velocity high level, adjustment sensitivity is reduced, larger burden is caused to the power consumption of robot due to frequently regulating the speed, because And by setting pre-set velocity low value and pre-set velocity high level, the adjustment frequency of speed is reduced, robot can be reduced and recharged Required power consumption improves system availability.

Step S780: control robot with movement speed adjusted towards the first signal strength and second signal intensity all The direction of enhancing is mobile, until robot is moved at the position of charging equipment.

It should be noted that the part being not described in detail in the present embodiment, can refer to previous embodiment, it is no longer superfluous herein It states.

In robot recharging method provided in this embodiment, by the signal strength of two groups of infrared signals of lasting detection, and The direction for enhancing two groups of signal strengths all is determined as correct direction, avoids robot during return, moves repeatedly, mention The accuracy rate of high walking direction.In addition, by obtain two groups of signal strengths between signal strength difference, and judge whether be more than It is default to deviate threshold value, at the time of can determining direction adjustment, adjust the moving direction of robot in time when departure degree is larger, Improve the success rate that robot recharges.In addition, when signal strength difference is less than default deviation threshold value, also by judging signal Whether strength difference is more than preset difference value, adjusts the movement speed of robot, improves robot seating velocity, and by robot Movement speed controls between pre-set velocity low value and pre-set velocity high level, reduces the adjustment frequency of speed, can reduce machine People recharges required power consumption, improves system availability.

Further, requested in response to return, received based on the first infrared signal receiver and continue detection receive The first infrared signal the first signal strength, received based on the second infrared signal receiver and continue detection receive second Before the second signal intensity of infrared signal, robot can also control robot according to radio signal and specifically please refer to Fig. 8, Fig. 8 show the method flow diagram provided by the embodiments of the present application that robot is controlled according to radio signal, can be applied to Above-mentioned robot.Specifically, this method comprises: step S810 to step S830.

Step S810: the radio signal of detection charging equipment transmitting.

Wherein, charging equipment further includes a radio signal transmitting unit, and for emitting radio signal, robot is also Including radio signal reception unit, for receiving the radio signal of charging equipment transmitting.

As an implementation, radio signal is ZigBee signal, and specifically, charging equipment includes that ZigBee coordinates Device, robot include ZigBee terminal, and robot can receive charging equipment by ZigBee terminal and pass through ZigBee coordinator The radio signal of sending, and detect the signal strength of radio signal.Due to radio signal in the presence of having shelter still It can be received by robot, therefore robot is when infrared signal is blocked, by the radio signal of detection charging equipment transmitting, Orientation locating for charging equipment can be still known, so that robot be when infrared signal can not be received by falling into signal dead angle, still Charging equipment can voluntarily be given for change and carry out return.In addition, the receivable range of radio signal is greater than the receivable model of infrared signal Enclose, thus robot apart from charging equipment farther out, when can not receive infrared signal, can by detect radio signal look for Recharge electric equipment.

Further, during robot is mobile towards charging equipment, into infrared signal receivable range and connect When receiving the infrared signal of charging equipment transmitting, robot can judge to charge according further to the signal strength of infrared signal The accuracy rate of robot return is improved in direction of the equipment relative to robot so that robot it is mobile towards charging equipment until It returns at the position of charging equipment.

Step S820: according to radio signal, judge the orientation that charging equipment is presently in.

As an implementation, robot is according to the change in signal strength of radio signal, it can be determined that charging equipment The orientation being presently in, specifically, robot is in moving process, every the radio that preset time detection charging equipment issues The signal strength of signal, the direction determining by signal strength enhancing is the direction that charging equipment is presently in, thus there is obstacle When object blocks, by detecting radio signal, it can be determined that go out the orientation that charging equipment is presently in, improves system availability, And improve the success rate of robot return.

Step S830: the orientation being presently according to charging equipment, adjustment robot turns to charging equipment, so that robot The first infrared signal and the second infrared signal can be received.

In this present embodiment, the orientation being presently according to charging equipment, adjustment robot turns to charging equipment, so that machine The infrared signal receiver of device people can receive the first infrared signal and the second infrared signal towards charging equipment.

In robot recharging method provided in this embodiment, pass through the radio signal of detection charging equipment transmitting, judgement The orientation that charging equipment is presently in, and the orientation being presently according to charging equipment, adjustment robot turn to charging equipment, make The first infrared signal and the second infrared signal can be received by obtaining robot.So that robot can have barrier block or When apart from charging equipment farther out, orientation locating for charging equipment is determined by detecting radio signal, and control robot steering Charging equipment is mobile, so that robot can receive to the first infrared signal and the second infrared signal, and infrared according to first The signal strength of signal and the second infrared signal gives charging equipment for change.To solve when there is barrier to block infrared signal, The problem of orientation locating for charging equipment, can not be known in robot, improve the success rate of robot return.

Referring to Fig. 9, Fig. 9 shows the method flow of the robot recharging method of the application a still further embodiment offer Figure, can be applied to above-mentioned charging equipment.Specifically, this method comprises: step S910 to step S920.

Step S910: requesting in response to return, receives the first infrared signal and the second infrared signal that machine human hair is penetrated, And continue the first signal strength of the first infrared signal that detection receives and the second signal intensity of the second infrared signal.

In this present embodiment, robot includes the first infrared transmitter for emitting the first infrared signal and for sending out The second Infrared Projector of the second infrared signal is penetrated, charging equipment includes infrared for receiving the first of the first infrared signal Signal receiver.Charging equipment in response to return request, is received based on the first infrared signal receiver and continue detect receive The first infrared signal the first signal strength, received based on the second infrared signal receiver and continue detection receive second The second signal intensity of infrared signal.To which charging equipment receives two infrared signals by two infrared signal receivers respectively Two groups of infrared signals of transmitter, allow robot according to the signal strength of the infrared signal detected respectively, judge to move Direction.

Step S920: changing according to the first signal strength and the strong and weak of second signal intensity, sends signal to robot Variation instruction, so that robot is instructed according to signal intensity, court enhances the first signal strength and second signal intensity all Direction is mobile, until robot is moved at the position of charging equipment.

In this present embodiment, charging equipment changes according to the first signal strength and the strong and weak of second signal intensity, to machine Device human hair send signal intensity to instruct, so that robot is instructed according to signal intensity, court makes the first signal strength and second signal The direction that intensity all enhances is mobile, until robot is moved at the position of charging equipment.Specifically, the letter that charging equipment is sent In number variation instruction, it may include detected the first signal strength and second signal intensity, also may include the first signal The changing value of intensity and second signal intensity can also include the variation tendency of the first signal strength and second signal intensity, such as By sending signal intensity instruction " 1120 ", so that robot knows that current moving direction makes the increase of the first signal strength and second Signal strength reduces, and mobile towards the direction for enhancing the first signal strength and second signal intensity all, until robot is mobile To the position of charging equipment.

As an implementation, the side that court, control robot enhances the first signal strength and second signal intensity all It is roughly the same with the method for step S320 to mobile method, details are not described herein identical part, the difference is that, this reality Shi Lizhong robot is the signal intensity instruction adjustment moving direction sent according to charging equipment, to the first signal strength and second The detection of signal strength is realized by charging equipment, specifically, by the processing unit of charging equipment, it is strong to obtain two groups of signals It spends and sends signal intensity instruction to robot, robot is changed according to two groups of the strong and weak of signal strength, determination is filled The direction of electric equipment, and it is mobile towards charging equipment.

It should be noted that the part that the present embodiment is not described in detail can be with reference to previous embodiment, details are not described herein.

Robot recharging method provided in this embodiment is connect by the first signal receiver and the second signal of charging equipment Device is received, the signal strength of persistently detection machine human hair is penetrated respectively the first infrared signal and the second infrared signal, and according to signal The strong and weak variation of intensity sends signal intensity instruction to robot, adjusts the moving direction of robot, so that robot is towards making the The direction that one signal strength and second signal intensity all enhance is mobile, improves the accuracy rate that robot recharges, and due to logical The strong and weak variation of two groups of infrared signals can be obtained by crossing primary examination movement, can judicious direction, therefore substantially increase Robot recharges efficiency.

It should be understood that although each step in the method flow diagram of Fig. 3 to Fig. 9 is successively shown according to the instruction of arrow Show, but these steps are not that the inevitable sequence according to arrow instruction successively executes.Unless expressly state otherwise herein, this There is no stringent sequences to limit for the execution of a little steps, these steps can execute in other order.Moreover, Fig. 3 is into Fig. 9 At least part step may include multiple sub-steps perhaps these sub-steps of multiple stages or stage be not necessarily Synchronization executes completion, but can execute at different times, and the execution sequence in these sub-steps or stage also need not Be so successively carry out, but can at least part of the sub-step or stage of other steps or other steps in turn or Person alternately executes.

Referring to Fig. 10, Figure 10 shows a kind of module frame of robot recharging device of the application one embodiment offer Figure, can be applied to above-mentioned robot.It will be illustrated below for module frame chart shown in Fig. 10, the robot recharging device 1000 include: signal detection module 1010 and mobile control module 1020, in which:

Signal detection module 1010, in response to return request, receive charging equipment transmitting the first infrared signal with And second infrared signal, and continue the first signal strength and the second infrared signal of the first infrared signal that detection receives Second signal intensity.

Mobile control module 1020 enhances the first signal strength and second signal intensity all for controlling court, robot Direction it is mobile, until robot is moved at the position of charging equipment.

In some embodiments, charging equipment includes the first infrared transmitter and use for emitting the first infrared signal In the second infrared transmitter for emitting the second infrared signal, robot includes the first infrared signal receiver and the second infrared signal Receiver.

Further, signal detection module 1010 includes: detecting signal unit, in which:

Detecting signal unit is received based on the first infrared signal receiver for requesting in response to return and continues to detect First signal strength of the first infrared signal received, received based on the second infrared signal receiver and continue detection receive The second infrared signal second signal intensity.

In some embodiments, between the direction of the launch of the first infrared signal and the direction of the launch of the second infrared signal at Predetermined angle.

Further, mobile control module 1020 includes: moving direction acquiring unit, first movement unit, the second movement Unit, third mobile unit and the 4th mobile unit, in which:

Moving direction acquiring unit is obtained for being changed according to the first signal strength and the strong and weak of second signal intensity The current moving direction of robot.

First movement unit, if determining working as robot for the enhancing of the first signal strength and second signal remitted its fury Preceding moving direction is during mobile towards charging equipment, and the direction for being directed away from the second infrared transmitter is deviateed, and to Second infrared transmitter adjusts current moving direction.

Second mobile unit determines working as robot if being used for the first signal strength weakening and second signal enhanced strength Preceding moving direction is during mobile towards charging equipment, and the direction for being directed away from the first infrared transmitter is deviateed, and to First infrared transmitter adjusts current moving direction.

Third mobile unit determines the current of robot if enhancing for the first signal strength and second signal intensity Moving direction is during mobile towards charging equipment, not towards the side of the first infrared transmitter or the second infrared transmitter To deviation.

4th mobile unit determines the current of robot if weakening for the first signal strength and second signal intensity Moving direction is separate charging equipment, and opposite direction is adjusted to current moving direction.

In some embodiments, charging equipment is based on equal-wattage the first infrared signal of transmitting and the second infrared letter Number.

Further, mobile control module 1020 further include: difference acquiring unit, speed adjustment unit and mobile control Unit, in which:

Difference acquiring unit, for obtaining the signal strength difference between the first signal strength and second signal intensity.

Speed adjustment unit, for adjusting the movement speed of robot according to signal strength difference.

Mobile control unit is believed with movement speed adjusted towards the first signal strength and second for controlling robot The direction that number intensity all enhances is mobile, until robot is moved at the position of charging equipment.

Further, speed adjustment unit includes: to deviate threshold decision subelement and direction adjustment subelement, in which:

Deviate threshold decision subelement, for judging whether signal strength difference is more than default deviation threshold value.

Direction adjusts subelement, for when signal strength difference be more than it is default deviate threshold value when, according to signal strength difference, Control robot is rotated towards the direction that signal strength difference reduces, so that signal strength difference is decreased to be no more than default deviation threshold Value.

Further, robot recharging device 1000 further include: the direction of the launch adjusts module, the direction of the launch adjusts module, For the displacement mobile to charging equipment according to robot, to charging equipment sending direction adjustment instruction, so that charging equipment tune The direction of the launch of the direction of the launch of whole first infrared signal and the second infrared signal, increase the direction of the launch of the first infrared signal with Angulation between the direction of the launch of second infrared signal.

Preset difference value judgment module, for judging signal strength when signal strength difference is less than default deviation threshold value Whether difference is more than preset difference value, and preset difference value is no more than default deviation threshold value；

Movement speed reduces module, for reducing the mobile speed of robot when signal strength difference is more than preset difference value It spends to pre-set velocity low value；

Movement speed improves module, for improving the movement of robot when signal strength difference is no more than preset difference value Speed to pre-set velocity high level, pre-set velocity low value is no more than pre-set velocity high level.

Further, robot further includes radio signal reception unit, for receiving the radio of charging equipment transmitting Signal, robot recharging device 1000 further include:

Radio signal detection module, for detecting the radio signal of charging equipment transmitting；

Orientation judgment module, for judging the orientation that charging equipment is presently according to radio signal；

Orientation adjustment module, the orientation for being presently according to charging equipment, adjustment robot turn to charging equipment, with It allows the robot to receive the first infrared signal and the second infrared signal.

Robot recharging device provided by the embodiments of the present application is for realizing corresponding robot in preceding method embodiment Recharging method, and the beneficial effect with corresponding embodiment of the method, details are not described herein.

It is apparent to those skilled in the art that robot recharging device energy provided by the embodiments of the present application Enough realize each process in the embodiment of the method for Fig. 3 to Fig. 8, for convenience and simplicity of description, foregoing description device and module Specific work process, can be refering to the corresponding process in preceding method embodiment, details are not described herein.

Figure 11 is please referred to, Figure 11 shows a kind of module of robot recharging device of another embodiment of the application offer Block diagram can be applied to above-mentioned charging equipment.It will be illustrated below for module frame chart shown in Figure 11, the robot recharges Device 1100 includes: signal processing module 1110 and instruction sending module 1120, in which:

Signal processing module 1110, for being requested in response to return, receive the first infrared signal for penetrating of machine human hair and Second infrared signal, and continue the of the first signal strength of the first infrared signal that detection receives and the second infrared signal Binary signal intensity.

Instruction sending module 1120, for being changed according to the first signal strength and the strong and weak of second signal intensity, to machine Device human hair send signal intensity to instruct, so that robot is instructed according to signal intensity, court makes the first signal strength and second signal The direction that intensity all enhances is mobile, until robot is moved at the position of charging equipment.

It is apparent to those skilled in the art that robot recharging device energy provided by the embodiments of the present application Enough realize each process in embodiment of the method shown in Fig. 9, for convenience and simplicity of description, foregoing description device and module Specific work process, can be refering to the corresponding process in preceding method embodiment, and details are not described herein.

In several embodiments provided herein, the mutual coupling of shown or discussed module or direct coupling It closes or communication connection can be through some interfaces, the indirect coupling or communication connection of device or module can be electrical property, mechanical Or other forms.

It, can also be in addition, can integrate in a processing module in each functional module in each embodiment of the application It is that modules physically exist alone, can also be integrated in two or more modules in a module.Above-mentioned integrated mould Block both can take the form of hardware realization, can also be realized in the form of software function module.

The embodiment of the present application also provides a kind of robots to recharge system, and it includes charging equipment that the robot, which recharges system, And the robot with charging equipment communication connection, in which:

Charging equipment includes the first infrared transmitter for emitting the first infrared signal and for emitting the second infrared letter Number the second infrared transmitter.

Robot includes the first infrared signal receiver and the second infrared signal receiver, for being requested in response to return, The first infrared signal and the second infrared signal of charging equipment transmitting are received, and continues the first infrared signal that detection receives The first signal strength and the second infrared signal second signal intensity.

Robot is also used to control robot and moves towards the direction for enhancing the first signal strength and second signal intensity all It is dynamic, until robot is moved at the position of charging equipment.

Robot provided by the embodiments of the present application recharges system for realizing corresponding robot in preceding method embodiment Recharging method, and the beneficial effect with corresponding embodiment of the method, details are not described herein.

The embodiment of the present application provides a kind of electronic equipment, and the electronic equipment includes processor and memory, the storage At least one instruction, at least a Duan Chengxu, code set or instruction set are stored in device, at least one instruction, this at least one section Program, the code set or instruction set are loaded as the processor and are executed to realize as provided by above method embodiment such as Fig. 3 To robot recharging method described in Fig. 9.In the present embodiment, electronic equipment can be robot or charging equipment etc. and can run The electronic equipment of application program.

Memory can be used for storing software program and module, and processor is stored in the software program of memory by operation And module, thereby executing various function application and data processing.Memory can mainly include storing program area and storage number According to area, wherein storing program area can application program needed for storage program area, function etc.；Storage data area can store basis The equipment uses created data etc..In addition, memory may include high-speed random access memory, can also include Nonvolatile memory, for example, at least a disk memory, flush memory device or other volatile solid-state parts.Phase Ying Di, memory can also include Memory Controller, to provide access of the processor to memory.

Figure 12 is a kind of hardware knot of the electronic equipment 1200 for robot recharging method that the application one embodiment provides Structure block diagram.Specifically, electronic equipment can execute when being robot and realize that such as Fig. 3 is extremely as provided by above method embodiment Robot recharging method described in Fig. 8, wherein electronic equipment can be the robot etc. that robot recharges in system and can run The electronic equipment of application program, such as sweeping robot.Electronic equipment can be executed and be realized such as above-mentioned side when being charging equipment Robot recharging method as described in Figure 9 provided by method embodiment, wherein electronic equipment can be robot and recharge in system Charging equipment etc. can run the electronic equipment of application program.

As shown in figure 12, which can generate bigger difference because configuration or performance are different, can wrap Including one or more processors 1210, (processor 1210 can include but is not limited to Micro-processor MCV or programmable logic The processing unit of device FPGA etc.), memory 1230 for storing data, one or more storage application programs 1223 Or the storage medium 1220 (such as one or more mass memory units) of data 1222.Wherein, it memory 1430 and deposits Storage media 1220 can be of short duration storage or persistent storage.The program for being stored in storage medium 1220 may include one or one With upper module, each module may include to the series of instructions operation in electronic equipment 1200.Further, processor 1210 can be set to communicate with storage medium 1220, and a series of fingers in storage medium 1220 are executed on electronic equipment 1200 Enable operation.Electronic equipment 1200 can also include one or more power supplys 1260, one or more are wired or wireless Network interface 1250, one or more input/output interfaces 1240, and/or, one or more operating systems 1221, Such as WindowsServerTM, MacOSXTM, UnixTM, LinuxTM, FreeBSDTM etc..

It should be noted that the power supply 1260 can be comprising independent current source module to power to electronic equipment 1200, It is also possible to for connecting external power supply to power to electronic equipment 1200.

Input/output interface 1240 can be used for that data are received or sent via a network.Above-mentioned network is specifically real Example may include the wireless network that the communication providers of electronic equipment 1200 provide.In an example, input/output interface 1240 Including a network adapter (NetworkInterfaceController, NIC), base station and other network equipments can be passed through It is connected so as to be communicated with internet.In an example, input/output interface 1240 can be radio frequency (RadioFrequency, RF) module is used to wirelessly be communicated with internet.

It will appreciated by the skilled person that structure shown in Figure 12 is only to illustrate, above-mentioned electronics is not set Standby structure causes to limit.For example, electronic equipment 1200 may also include than shown in Figure 12 more perhaps less component or With the configuration different from shown in Figure 12.

The embodiment of the present application also provides a kind of computer readable storage medium.Figure 13 is that the application one embodiment provides A kind of module frame chart of the computer readable storage medium 1300 of robot recharging method.On computer readable storage medium 1300 It is stored with computer program 1310, which, which is executed by processor, realizes above-mentioned robot recharging method embodiment Each process, and identical technical effect can be reached, to avoid repeating, which is not described herein again.Wherein, the computer can Storage medium 1300 is read, such as read-only memory (Read-OnlyMemory, abbreviation ROM), random access memory (RandomAccessMemory, abbreviation RAM), magnetic or disk etc..

It should be noted that, in this document, the terms "include", "comprise" or its any other variant are intended to non-row His property includes, so that the process, method, article or the device that include a series of elements not only include those elements, and And further include other elements that are not explicitly listed, or further include for this process, method, article or device institute it is intrinsic Element.In the absence of more restrictions, the element limited by sentence "including a ...", it is not excluded that including being somebody's turn to do There is also other identical elements in the process, method of element, article or device.

Through the above description of the embodiments, those skilled in the art can be understood that above-described embodiment side Method can be realized by means of software and necessary general hardware platform, naturally it is also possible to by hardware, but in many cases The former is more preferably embodiment.Based on this understanding, the technical solution of the application substantially in other words does the prior art The part contributed out can be embodied in the form of software products, which is stored in a storage medium In (such as ROM/RAM, magnetic disk, CD), including some instructions are used so that a terminal (can be intelligent gateway, mobile phone calculates Machine, server, air conditioner or network equipment etc.) execute method described in each embodiment of the application.

Each embodiment of the application is described above in conjunction with attached drawing, but the application be not limited to it is above-mentioned specific Embodiment, the above mentioned embodiment is only schematical, rather than restrictive, those skilled in the art Under the inspiration of the present invention, it when not departing from the application objective and scope of the claimed protection, can also make very much Form belongs within the protection scope of the application.

Claims

1. a kind of robot recharging method, which is characterized in that be applied in robot, the robot recharging method includes:

It is requested in response to return, receives the first infrared signal and the second infrared signal of charging equipment transmitting, and continue to detect First signal strength of first infrared signal received and the second signal intensity of second infrared signal；

It is mobile towards the direction for enhancing first signal strength and the second signal intensity all to control the robot, directly It is moved at the position of the charging equipment to the robot.

2. robot recharging method according to claim 1, which is characterized in that the charging equipment includes for emitting The first infrared transmitter of the first infrared signal and the second infrared transmitter for emitting second infrared signal are stated, it is described Robot includes the first infrared signal receiver and the second infrared signal receiver, described to request in response to return, reception charging The first infrared signal and the second infrared signal of equipment transmitting, and continue the of first infrared signal that detection receives The second signal intensity of one signal strength and second infrared signal, comprising:

It is requested in response to return, received based on first infrared signal receiver and continues detection receives described first and is red First signal strength of external signal is received based on second infrared signal receiver and continues detection receives described second The second signal intensity of infrared signal.

3. robot recharging method according to claim 1 or 2, which is characterized in that the robot recharging method also wraps It includes:

According to the robot displacement mobile to the charging equipment, Xiang Suoshu charging equipment sending direction adjustment instruction, so that institute It states charging equipment and adjusts the direction of the launch of first infrared signal and the direction of the launch of second infrared signal, described in increase Angulation between the direction of the launch of first infrared signal and the direction of the launch of second infrared signal.

4. robot recharging method according to claim 2, which is characterized in that the direction of the launch of first infrared signal At predetermined angle between the direction of the launch of second infrared signal, the control court, robot makes first signal Direction that intensity and the second signal intensity all enhance is mobile, comprising: according to first signal strength and described the The strong and weak variation of binary signal intensity, obtains the current moving direction of the robot, wherein

If the first signal strength enhancing and the second signal remitted its fury, determine the current moving direction of the robot Deviate during mobile towards the charging equipment, to be directed away from the direction of second infrared transmitter, and to institute It states the second infrared transmitter and adjusts current moving direction；Or,

If first signal strength weakening and the second signal enhanced strength, determine the current moving direction of the robot Deviate during mobile towards the charging equipment, to be directed away from the direction of first infrared transmitter, and to institute It states the first infrared transmitter and adjusts current moving direction；Or,

If first signal strength enhances with the second signal intensity, determine that the current moving direction of the robot is During mobile towards the charging equipment, not towards first infrared transmitter or second infrared transmitter Deviate in direction；Or,

If first signal strength weakens with the second signal intensity, determine that the current moving direction of the robot is Far from the charging equipment, and opposite direction is adjusted to current moving direction.

5. robot recharging method according to claim 1, which is characterized in that the charging equipment is sent out based on equal-wattage Penetrate first infrared signal and second infrared signal；The control court, robot makes first signal strength And the direction that the second signal intensity all enhances is mobile, until the robot is moved to the position of the charging equipment Place, comprising:

Obtain the signal strength difference between first signal strength and the second signal intensity；

According to the signal strength difference, the movement speed of the robot is adjusted；

Control the robot with movement speed adjusted towards first signal strength and the second signal intensity all The direction of enhancing is mobile, until the robot is moved at the position of the charging equipment.

6. robot recharging method according to claim 5, which is characterized in that it is described according to the signal strength difference, Adjust the movement speed of the robot, comprising:

Judge whether the signal strength difference is more than default deviation threshold value；

When the signal strength difference is more than the default deviation threshold value, according to the signal strength difference, the machine is controlled Device people rotates towards the direction that the signal strength difference reduces, so that the signal strength difference is decreased to be no more than described preset Deviate threshold value.

7. robot recharging method according to claim 6 judges whether the signal strength difference is more than pre- described If the robot recharging method further includes after deviateing threshold value；

When the signal strength difference is less than the default deviation threshold value, judge whether the signal strength difference is more than pre- If difference, the preset difference value is no more than the default deviation threshold value；

When the signal strength difference is more than the preset difference value, the movement speed for reducing the robot is low to pre-set velocity Value；

When the signal strength difference is no more than the preset difference value, the movement speed of the robot is improved to pre-set velocity High level, the pre-set velocity low value are no more than the pre-set velocity high level.

8. robot recharging method described in -7 any claims according to claim 1, which is characterized in that the robot is also Including radio signal reception unit, for receiving the radio signal of the charging equipment transmitting, the reception charging equipment The first infrared signal and the second infrared signal of transmitting, and continue the first letter of first infrared signal that detection receives Before the second signal intensity of number intensity and second infrared signal, further includes:

Detect the radio signal of the charging equipment transmitting；

According to the radio signal, the orientation that the charging equipment is presently in is judged；

According to the orientation that the charging equipment is presently in, adjusts the robot and turn to the charging equipment, so that the machine Device people can receive first infrared signal and second infrared signal.

9. a kind of robot recharging method, which is characterized in that be applied in charging equipment, the charging equipment and robot establish Communication connection, the robot recharging method include:

It is requested in response to return, receives the first infrared signal and the second infrared signal of the robot transmitting, and continue to examine Survey the first signal strength of first infrared signal received and the second signal intensity of second infrared signal；

According to the strong and weak variation of first signal strength and the second signal intensity, Xiang Suoshu robot sends signal and becomes Change instruction, so that the robot is instructed according to the signal intensity, court makes first signal strength and second letter The direction that number intensity all enhances is mobile, until the robot is moved at the position of the charging equipment.

10. a kind of robot recharging device, which is characterized in that be applied in robot, the robot recharging device includes:

Signal detection module, for requesting in response to return, the first infrared signal and second that reception charging equipment emits are red External signal, and continue the first signal strength of first infrared signal that detection receives and second infrared signal Second signal intensity；

Mobile control module makes first signal strength and the second signal intensity all for controlling the court, robot The direction of enhancing is mobile, until the robot is moved at the position of the charging equipment.

11. a kind of robot recharging device, which is characterized in that be applied in charging equipment, the charging equipment is built with robot Vertical communication connection, the robot recharging device include:

Signal processing module receives the first infrared signal and second of the robot transmitting for requesting in response to return Infrared signal, and continue the first signal strength and second infrared signal of first infrared signal that detection receives Second signal intensity；

Instruction sending module, for being changed according to first signal strength and the strong and weak of the second signal intensity, to institute It states robot and sends signal intensity instruction, so that the robot is instructed according to the signal intensity, court makes first signal The direction that intensity and the second signal intensity all enhance is mobile, until the robot is moved to the position of the charging equipment Set place.

12. a kind of robot recharges system, which is characterized in that the robot recharge system include charging equipment and with it is described The robot of charging equipment communication connection；

The charging equipment includes the first infrared transmitter for emitting the first infrared signal and for emitting the second infrared letter Number the second infrared transmitter；

The robot includes the first infrared signal receiver and the second infrared signal receiver, for being requested in response to return, Receive charging equipment transmitting first infrared signal and second infrared signal, and continue detection receive it is described The second signal intensity of first signal strength of the first infrared signal and second infrared signal；

The robot, being also used to control the court, robot makes first signal strength and the second signal intensity all The direction of enhancing is mobile, until the robot is moved at the position of the charging equipment.

13. a kind of electronic equipment characterized by comprising

Processor, memory and it is stored in the computer program that can be run on the memory and on the processor, it is described Computer program realizes robot recharging method as claimed in any one of claims 1-9 wherein when being executed by the processor Step.

14. a kind of computer readable storage medium, which is characterized in that store computer journey on the computer readable storage medium Sequence, the computer program realize robot recharging method as claimed in any one of claims 1-9 wherein when being executed by processor The step of.