CN111358369A

CN111358369A - Recharging system, control method thereof, controller and computer readable storage medium

Info

Publication number: CN111358369A
Application number: CN202010156712.8A
Authority: CN
Inventors: 游斌
Original assignee: Midea Group Co Ltd; GD Midea Air Conditioning Equipment Co Ltd
Current assignee: Midea Group Co Ltd; GD Midea Air Conditioning Equipment Co Ltd
Priority date: 2020-03-09
Filing date: 2020-03-09
Publication date: 2020-07-03

Abstract

The invention discloses a recharging system, a control method thereof, a controller and a computer readable storage medium. Be provided with a plurality of infrared transmitting tubes that are used for transmitting infrared signal on the power supply seat side by side, it is a plurality of infrared transmitting tube's effective signal coverage area part overlaps, and the controller can respond to the request of charging back, and control infrared receiving tube and open, and when infrared receiving tube received the infrared signal of power supply seat transmission, the control robot basis infrared signal is rotatory and move towards the power supply seat, and is successful until the robot docks with the power supply seat, and the time of homing that charges of robot can effectively be shortened to this scheme, and is applicable to the complex environment.

Description

Recharging system, control method thereof, controller and computer readable storage medium

Technical Field

The invention relates to the technical field of intelligent charging, in particular to a recharging system, a control method thereof, a controller and a computer readable storage medium.

Background

At present, the way of returning the power supply seat of the sweeping robot is simpler. For example, the direction of the power supply base is determined according to the strength relationship of the received infrared signals, and although the sweeping robot can be controlled to return to the power supply base, the return speed is slow.

Disclosure of Invention

The present invention is directed to solving, at least to some extent, one of the technical problems in the related art. To this end, an object of the present invention is to provide a robot recharging system capable of controlling a robot to quickly return to a power supply stand and to be docked with the power supply stand.

Another objective of the present invention is to provide a recharging control method for a recharging system.

The recharging system for robot recharging according to the first aspect embodiment of the invention comprises:

the power supply seat is provided with a plurality of infrared transmitting tubes used for transmitting infrared signals side by side, and effective signal coverage areas of the infrared transmitting tubes are partially overlapped;

the robot is in communication connection with the power supply seat and comprises infrared receiving tubes, and the infrared receiving tubes are used for receiving and detecting infrared signal values of the infrared transmitting tubes;

and the controller responds to a recharging request, controls the infrared receiving tube to be started and receives the infrared signal, controls the robot to rotate according to the infrared signal so as to determine the moving direction, and enables the robot to move along the moving direction until the robot is successfully butted with the power supply seat.

According to the recharging system provided by the embodiment of the invention, the plurality of infrared transmitting tubes are arranged on the power supply seat side by side, different infrared signals and intensities transmitted by the power supply seat are detected, the robot is controlled to gradually move towards the power supply seat, and the robot is quickly returned to the power supply seat and successfully butted, so that the recharging and homing time of the robot is effectively shortened.

According to some embodiments of the invention, the robot is provided with a direct current power supply and power receiving contacts, and the power supply base is provided with power supply contacts.

According to some embodiments of the invention, the robot or the power supply base is provided with an electromagnetic attraction device, and the electromagnetic attraction device can generate magnetic force, so that the robot and the power supply base are attracted and locked by the magnetic force.

According to the recharging control method of the recharging system for the robot, the recharging system comprises a power supply seat, the robot and a controller, wherein the robot is in communication connection with the power supply seat, a plurality of infrared transmitting tubes for transmitting infrared signals are arranged side by side, and effective signal coverage areas of the infrared transmitting tubes are partially overlapped; the robot comprises an infrared receiving tube, the infrared receiving tube can receive and detect infrared signals of a plurality of infrared transmitting tubes, and the recharging method comprises the following steps:

responding to a recharging request, controlling the infrared receiving tube to be started and receiving the infrared signal;

and controlling the robot to rotate according to the infrared signal to determine a moving direction, and enabling the robot to move along the moving direction until the robot is successfully butted with the power supply seat.

According to the recharging control method provided by the embodiment of the invention, the plurality of infrared transmitting tubes are arranged on the power supply seat side by side, different infrared signals and intensities transmitted by the power supply seat are detected, the robot is controlled to move to the power supply seat, and the robot is quickly returned to the power supply seat and successfully butted, so that the recharging and homing time of the robot is effectively shortened.

According to some embodiments of the present invention, the plurality of infrared emission tubes are specifically three infrared emission tubes, and respectively emit a first infrared signal, a second infrared signal and a third infrared signal, wherein the second infrared signal is located between the first infrared signal and the third infrared signal, and the controlling the robot to rotate according to the infrared signals to determine the moving direction includes the following steps:

detecting the type of the received infrared signal;

in response to receiving only the first infrared signal or the third infrared signal, taking the position direction in which the first infrared signal or the third infrared signal is strongest as a circumferential positioning direction;

and in response to receiving the second infrared signal, taking the direction of the position where the second infrared signal is strongest as a circumferential positioning direction.

According to some embodiments of the invention, the controlling the robot to rotate according to the infrared signal to determine the moving direction further comprises:

controlling the robot to rotate and detecting a signal value of the infrared signal;

comparing the signal values;

in response to the newly received signal value being lower than the current signal value, rotating back in a direction opposite to the current rotation direction;

and responding to the newly received signal value higher than the current signal value, and continuing to rotate towards the current direction until the position direction with the strongest infrared signal is determined to be the circumferential positioning direction.

and responding to the fact that the robot rotates for more than 360 degrees, and if the infrared signal is not detected, sending out alarm information.

According to some embodiments of the invention, the controlling the robot to rotate according to the infrared signal to determine a moving direction, and the controlling the robot to move along the moving direction comprises:

controlling the robot to move towards a direction forming a first angle with the clockwise direction of the circumferential positioning direction in response to the infrared receiving tube only receiving the first infrared signal;

in response to the first infrared signal interruption, determining that an obstacle is encountered, and controlling the robot to retreat;

and controlling the robot to continuously shift towards the clockwise direction by an angle on the basis of the previous moving direction.

in response to the infrared receiving tube receiving the first infrared signal and the second infrared signal at the same time, controlling the robot to move towards a direction forming a second angle with the clockwise direction of the circumferential positioning direction;

in response to the first infrared signal and the second infrared signal being interrupted, determining that an obstacle is encountered, and controlling the robot to retreat;

responding to the infrared receiving tube to simultaneously receive the first infrared signal, the second infrared signal and the third infrared signal, and controlling the robot to move towards the circumferential positioning direction;

in response to the first infrared signal, the second infrared signal and the third infrared signal being interrupted, determining that an obstacle is encountered, and controlling the robot to retreat;

and controlling the robot to shift a third angle in a clockwise direction or a counterclockwise direction on the basis of the previous moving direction.

in response to the infrared receiving tube receiving the second infrared signal and the third infrared signal at the same time, controlling the robot to move in a direction forming a fourth angle with the counterclockwise direction of the circumferential positioning direction;

in response to the second infrared signal and the third infrared signal being interrupted, determining that an obstacle is encountered, and controlling the robot to retreat;

and controlling the robot to continuously move towards the counterclockwise direction by an angle on the basis of the previous moving direction.

controlling the robot to move towards a direction forming a fifth angle with the counterclockwise direction of the circumferential positioning direction in response to the infrared receiving tube only receiving the third infrared signal;

in response to the interruption of the third infrared signal, determining that an obstacle is encountered, and controlling the robot to retreat;

controlling the robot to move towards the circumferential positioning direction in response to the infrared receiving tube only receiving the second infrared signal;

in response to the second infrared signal interruption, determining that an obstacle is encountered, and controlling the robot to retreat;

and controlling the robot to shift towards the clockwise direction or the anticlockwise direction by a sixth degree on the basis of the previous moving direction, and continuing to move until the robot is successfully butted with the power supply seat.

According to some embodiments of the present invention, the robot comprises a dc power source and a power receiving contact, the power supply contact is disposed on the power supply base, and the robot and/or the power supply base is provided with an electromagnetic attraction device, and the method for controlling the robot to rotate to determine a moving direction and controlling the robot to move along the moving direction comprises the following steps until the robot is successfully docked with the power supply base:

and controlling the electromagnetic attraction device to be electrified in response to the successful butt joint of the power receiving contact and the power supply contact.

According to some embodiments of the present invention, after the power receiving contact and the power supply contact are successfully butted, the electromagnetic attraction device is controlled to be powered on, and after the robot and the power supply base are attracted and locked by magnetic force, the method further includes the following steps:

and in response to the shutdown or charging completion of the air conditioner, controlling the electromagnetic attraction device to be disconnected and controlling the air conditioner to move away from the power supply seat.

A controller for a recharging system according to an embodiment of a third aspect of the present invention includes: the charging control method comprises a memory, a processor and a computer program stored on the memory and capable of running on the processor, wherein the processor executes the program to realize the charging control method in the second aspect embodiment.

According to the computer-readable storage medium of the fourth aspect of the present invention, there are stored computer-executable instructions for executing the recharge control method of the second aspect.

Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.

Drawings

FIG. 1 is a schematic diagram of a recharging system in accordance with one embodiment of the present invention;

FIG. 2 is a schematic diagram of an air conditioner and a power supply base according to an embodiment of the present invention;

FIG. 3 is a schematic diagram of an air conditioner and a power supply base according to another embodiment of the present invention;

FIG. 4 is a diagram of an infrared signal coverage area of one embodiment of a power base of the present invention;

FIG. 5 is a method diagram of a recharge control method according to a first embodiment of the present invention;

FIG. 6 is a method diagram of a recharge control method according to a second embodiment of the present invention;

fig. 7 is a method diagram of a recharge control method according to a third embodiment of the present invention;

FIG. 8 is a schematic view of a robot in a first infrared signal coverage area in accordance with an embodiment of the present invention;

FIG. 9 is a schematic diagram of the robot of one embodiment of the present invention rotating to the position of the strongest first IR signal in the position of FIG. 7 in the coverage area of the first IR signal;

fig. 10 is a method diagram of a recharge control method according to a fourth embodiment of the present invention;

fig. 11 is a method diagram of a recharge control method according to a fifth embodiment of the present invention;

fig. 12 is a method diagram of a recharge control method according to a sixth embodiment of the present invention;

fig. 13 is a method diagram of a recharge control method according to a seventh embodiment of the present invention;

FIG. 14 is a schematic diagram of a movement path of a robot moving from a first infrared signal coverage area to a first infrared signal and a second infrared signal coverage area according to an embodiment of the present invention;

FIG. 15 is a schematic diagram illustrating a direction of movement of a robot from a first, a second and a third coverage area to a power supply base according to an embodiment of the present invention;

fig. 16 is a method diagram of a recharge control method according to an eighth embodiment of the present invention;

fig. 17 is a method diagram of a recharge control method according to a ninth embodiment of the present invention;

fig. 18 is a method diagram of a recharge control method according to a tenth embodiment of the present invention;

fig. 19 is a method diagram of a recharge control method according to an eleventh embodiment of the present invention;

fig. 20 is a flowchart of an air conditioner controlling method according to a twelfth embodiment of the present invention;

fig. 21 is a method diagram of a recharge control method according to a thirteenth embodiment of the present invention;

fig. 22 is a system architecture diagram of a controller according to an embodiment of the present invention.

Reference numerals:

a power supply stand 101; a robot 102; a first infrared-emitting tube 103; a second infrared-emitting tube 104; a third infrared-emitting tube 105; an infrared receiving tube 106; a power supply contact 107; a power receiving contact 108; a mobile device 109; a DC power supply 110; a controller 111;

an air conditioner 200; a compressor 201; a condenser 202; a throttle device 203; an evaporator 204; a conduit 205; a drive device 206; a temperature sensor 207; a universal wheel 208; a four-way valve 209; the thermal storage device 210; a heat storage tank 211; the heat storage agent 212; a wind wheel 213; an air inlet 214; an air outlet 215;

a processor 2211; a memory 2212; a bus 2213.

Detailed Description

Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention.

Furthermore, the terms "first", "second", "third", "fourth", "fifth" and "sixth" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, features defined as "first", "second", "third", "fourth", "fifth" and "sixth" may explicitly or implicitly include one or more features; plural means two or more.

In the description of the present invention, it is to be noted that, unless otherwise explicitly specified or limited, the term "connected" is to be interpreted broadly, and may be, for example, a fixed connection or a movable connection, a detachable connection or a non-detachable connection, or an integral connection; may be mechanically connected, may be electrically connected or may be in communication with each other; they may be directly connected or indirectly connected through intervening media, or may be connected through one or more other elements or indirectly connected through one or more other elements or in an interactive relationship between two elements.

In the description of the present invention, it should be noted that, the robot 102 of the present invention, as should be understood by those skilled in the art in a broad sense, can be a sweeping robot, a mobile air conditioner, an intelligent humanoid robot, etc. with an automatic recharging requirement; and the technical terms in the description should also be interpreted broadly in view of the skilled person in the art, without limiting the scope of application of the technical idea.

The following disclosure provides many different embodiments, or examples, for implementing different aspects of the invention.

Referring to fig. 1, a robot 102 recharging system according to some embodiments of the first aspect of the present invention includes a power supply base 101, a robot 102 communicatively connected to the power supply base 101, and a controller 111.

In some embodiments, referring to fig. 3, a first infrared transmitting tube 103 for transmitting a first infrared signal, a second infrared transmitting tube 104 for transmitting a second infrared signal and a third infrared transmitting tube 105 for transmitting a third infrared signal are arranged side by side on the power supply base 101, effective coverage areas of the first infrared signal, the second infrared signal and the third infrared signal are partially overlapped to divide a front area of the power supply base 101 into six different signal areas, wherein the six different signal areas include a left far field area H, a left near field area J, a middle far field area K, a middle near field area Q, a right near field area L and a right far field area P, and the left far field area H only has the first infrared signal, the left near field area J only has the first infrared signal and the second infrared signal, the middle far field area K has the first infrared signal, the second infrared signal and the third infrared signal, and the power supply base 101 has the first infrared transmitting tube 103, the second infrared signal and the third infrared signal, The middle near field region Q only has a second infrared signal, the right near field region L only has a second infrared signal and a third infrared signal, and the right far field region P only has a third infrared signal. It should be noted that the number of the infrared transmitting tubes is not limited to three, and more than two (i.e. multiple) infrared transmitting tubes are required, so that effective coverage areas of the infrared signals transmitted by the multiple infrared transmitting tubes are partially overlapped, which is convenient for the robot 102 to accurately position the power supply base 101.

In some embodiments, referring to fig. 1, the robot 102 includes an infrared receiving tube 106, and the infrared receiving tube 106 is capable of receiving the first infrared signal, the second infrared signal, and the third infrared signal transmitted by the power supply socket 101 and continuously detecting signal values of the first infrared signal, the second infrared signal, and the third infrared signal; the controller 111 can respond to the recharging request, control the infrared receiving tube 106 to be opened, and control the robot 102 to rotate and move towards the power supply seat 101 when the infrared receiving tube 106 receives the infrared signal value transmitted by the power supply seat 101 until the robot 102 is successfully docked with the power supply seat 101. It can be appreciated that the robot 102 has a moving device 109 in order to facilitate movement of the robot 102.

In some embodiments, referring to fig. 4, the effective coverage area of the first infrared signal is a sector area formed by the dotted line s, the dotted line r and the center of the first infrared transmitting tube 103; the effective coverage area of the second infrared signal is a sector area formed by the dotted line t, the dotted line u and the center of the second infrared transmitting tube 104; the effective coverage area of the third infrared signal is a sector area formed by the dashed line v and the dashed line w and the center of the third infrared transmitting tube 105, wherein there is an overlapping area between the first infrared signal coverage area, the second infrared signal coverage area, and the third infrared signal coverage area. The front area of the power supply stand 101 is divided into six different signal areas, wherein the six different signal areas include a left far field area H, a left near field area J, a middle far field area K, a middle near field area Q, a right near field area L and a right far field area P. It should be noted that each infrared transmitting tube has a transmitting angle range, for example, the transmitting angle is 120 degrees, and the closer to the center of the infrared transmitting tube, the stronger the transmitted infrared signal.

In the technical scheme that this embodiment provided, through setting up a plurality of infrared transmitting tubes on power supply seat 101 side by side for the effective coverage area part of the infrared signal of transmission overlaps, and detects different infrared signal and intensity that power supply seat 101 was launched, and control robot 102 is rotatory and move towards power supply seat 101, and it is successful to dock with power supply seat 101 until robot 102, can effectively shorten robot 102's the time of navigating back that charges, and is applicable to the complex environment.

In some embodiments, referring to fig. 1, the robot 102 includes a dc power source 110 and a power receiving contact 108, and accordingly, the power supply socket 101 is provided with a power supply contact 107. To facilitate the docking of the power receiving contact 108 and the power supply contact 107, the power receiving contact 108 is located directly above or directly below the infrared receiving tube 106 (directly above in the scheme shown in fig. 1), and the corresponding power supply contact 107 is located directly above or directly below the second infrared transmitting tube 104 (directly above in the scheme shown in fig. 1).

In some embodiments, at least one of the robot 102 and the power supply socket 101 is provided with an electromagnetic attraction device (not shown), and after the power receiving contact 108 of the robot 102 is in contact with the power supply contact 107 of the power supply socket 101 and is powered on, the electromagnetic attraction device of the robot 102 and/or the electromagnetic attraction device of the power supply socket 101 can generate a magnetic attraction force or a magnetic repulsion force. When only one electromagnetic attraction device is provided, the electromagnetic attraction device can be arranged on the power supply seat 101 or on the robot 102, and when the electromagnetic attraction device is arranged on the robot 102, the size of the power supply seat 101 can be reduced, so that the power supply seat 101 is made small and exquisite as much as possible.

In some embodiments, the electromagnetic attraction device is an electromagnet, and after the electromagnetic attraction device generates a magnetic force, the robot 102 and the power supply base 101 are attracted and locked when supplying power, so as to prevent the robot and the power supply base from being accidentally knocked apart, thereby ensuring reliability when supplying power. In addition, an electromagnetic attraction device may be provided on each of the robot 102 and the power supply base 101 to generate magnetic force.

In some embodiments, referring to fig. 2 and 3, the robot 102 is embodied as an air conditioner 200, which includes: the air conditioner 200 further includes: a heat storage device 210 including a heat storage tank 211, the condenser 202 being disposed in the heat storage tank 211, and a heat storage agent 212 being disposed in the heat storage tank 211; a driving device 206 for driving the air conditioner 200 to move; a temperature sensor 207 provided in the heat storage tank 211 to detect the temperature of the heat storage agent 212; the controller 111, after the air conditioner 200 is cooled by the refrigerant circulation loop, when the temperature of the heat storage agent 212 is higher than the first preset value T₁At this time, the controller 111 controls the compressor 201 to stop operating. In addition, the air conditioner is configured to be chargedThe device needs to be moved to the separately arranged power supply seat 101 for charging according to the power condition.

In some embodiments, the heat storage agent 212 includes a hydrated salt phase-change energy storage material having a melting point between 20 degrees Celsius (C.) and 65 degrees Celsius (C.).

It should be noted that, the temperature sensor 207 is inserted into the heat storage agent 212, it is not necessarily required that the temperature sensor 207 is directly inserted into the heat storage agent 212 and directly contacts with the heat storage agent 212, and the method also includes sleeving a sleeve (not shown) with good heat conduction around the temperature sensor 207, filling heat conduction glue between the temperature sensor 207 and the sleeve, and the temperature sensor 207 indirectly contacts with the heat storage agent 212 to protect the temperature sensor 207, so as to facilitate replacement of the heat storage agent 212, and simultaneously avoid damage or corrosion of the temperature sensor 207, thereby improving reliability and convenience of operation of the temperature sensor 207.

In some embodiments, the air conditioner 200 is provided with a wind wheel 213 cooperating with the evaporator 204, and under the action of the wind wheel 213, an air flow enters from the air inlet 214, and after heat exchange with the evaporator 204, cold air is discharged from the air outlet 215. It should be noted that the wind wheel 213 may be an axial flow wind wheel, a centrifugal wind wheel, or a cross flow wind wheel. The controller 111 is electrically connected to the compressor 201, the temperature sensor 207, the wind turbine 213, the driving device 206, and the like.

It should be noted that the driving device 206 includes a driving motor (not shown) and a universal wheel 208, and the universal wheel 208 can increase the flexibility of the movement of the air conditioner 200.

It should be further noted that the first preset value is the first preset value T₁A value lower than the discharge temperature value of the compressor 101 is set to 55 to 60 c, for example, the first preset value T1 is set to 60 c. Meanwhile, the first preset value T1 also takes into account the melting point of the heat storage agent 112, the ambient temperature, and the like.

It should be further noted that the hydrated salt phase change energy storage material may be: calcium chloride hexahydrate (CaCl)₂·6H₂O), melting point 30 ℃; sodium acetate trihydrate (CH)₃COONa·3H₂O), melting point 58 ℃; hydrogen phosphate dodecahydrateDisodium salt (Na)₂HPO₄·12H₂O), the melting point is 35 ℃, and the hydrous salt phase change energy storage material has the advantages of moderate phase change temperature, large heat conductivity coefficient and high latent heat value, and can improve the refrigeration efficiency.

Fig. 2 shows a schematic structural diagram of an air conditioner 200 according to some embodiments of the present invention during a cooling operation, where a solid arrow is a flow direction of a refrigerant, a dotted arrow is a flow direction of air, the air conditioner 200 performs a cooling operation, an air flow enters from an air inlet 214, exchanges heat with an evaporator 204, and is discharged from an air outlet 215 by a wind wheel 213, the refrigerant in a pipeline 205 of the evaporator 204 passes through a four-way valve 209 and enters an air inlet of a compressor 201, the refrigerant becomes a high-temperature and high-pressure refrigerant after being discharged from the compressor 201, enters a condenser 202, exchanges heat with a heat storage agent 212 in a heat storage device 210, the heat storage agent 212 absorbs heat of the refrigerant, changes from a solid state to a liquid state, or increases temperature, absorbs and stores the heat of the refrigerant in the heat storage agent 212, and then throttles by a throttling device 203 and enters the evaporator 204 again to complete a. The heat storage agent 212 is Na₂HPO₄·12H₂O, when the temperature value T detected by the temperature sensor 207 is higher than the first preset value T₁At 60 ℃, the controller 111 controls the compressor 201 to stop.

It will be appreciated that the particular location of the temperature sensor 207, i.e., either near the condenser 202 or remote from the condenser 202, may be selected as desired.

In some embodiments, the air conditioner 200 further includes a reminding device (not shown in the drawings), the reminding device can send out a reminding message, and the controller 111 is electrically connected to the reminding device and can control the reminding device to send out a sound or a light, and the reminding message may be a sound of dropping or a flashing of the light. Note that the sound includes a voice prompt or a sound generated by vibration.

In some embodiments, after the air conditioner 200 forcibly dissipates heat in the refrigerant circulation loop, the temperature of the heat storage agent 212 is lower than the third predetermined value T₃In time, the controller 111 controls the compressor 201 to stop running and controls the reminding device to send out the reminding information. Purpose(s) toThe user is prompted that the heat storage agent 212 in the heat storage device 210 of the air conditioner 200 has completed dissipating heat, and cooling can be continued to a region in the room where the temperature is high.

In order to realize the forced heat radiation, the air conditioner 200 is provided with a four-way valve 209 between the condenser 202 and the compressor 201, and the four-way valve 209 is electrically connected to the controller 111 and controlled by the controller 111 to perform a reversing function to switch the refrigerant flow path and the flow direction. Third preset value T₃Is lower than the melting point T of the heat storage agent 212₀A value of (1), i.e., Na2HPO₄·12H₂O is, i.e. T₀35 ℃. The user can perform subsequent operations after receiving prompt information such as sound or light emitted by the air conditioner 200.

Fig. 2 shows a schematic structural diagram of an air conditioner 200 according to some embodiments of the present invention during forced heat dissipation, where solid arrows are a refrigerant flowing direction, dotted arrows are an air flowing direction, the air conditioner 200 performs heating operation, an air flow enters from an air inlet 214, exchanges heat with an evaporator 204, and then discharges hot air from an air outlet 215 by a wind wheel 213, the refrigerant in the evaporator 204 flows into a throttling device 203 through a pipeline 205 to become a low-temperature and low-pressure refrigerant, and then enters into a heat storage device 210 to exchange cold with a heat storage agent 212 in the heat storage device 210, and the heat storage agent 212 releases heat, and the temperature is reduced, or changed from a liquid state to a solid state, or the temperature of the heat storage agent 212 is further reduced after the solid state, for example, the temperature of the heat storage agent 212 may be further reduced to 20 ℃ after the solid state. The temperature of the refrigerant after heat exchange with the heat storage agent 212 increases, and then the refrigerant enters the suction port of the compressor 201 through the four-way valve 209, and after being discharged from the compressor 201, the refrigerant becomes a high-temperature and high-pressure refrigerant, and enters the evaporator 204, thereby completing a heating cycle to forcibly dissipate heat from the heat storage agent 212. When Na is used₂HPO₄·12H₂O as the heat storage agent 212, the temperature of the heat storage agent 212 being lower than the third preset value T₃When the temperature is 16 ℃, the compressor 201 is stopped, and after the heat storage agent 212 completes the forced heat dissipation, the sound or light prompt can be given again to prompt the user that the air conditioner 200 completes the heat dissipation and can be used in the refrigeration cycle again.

Referring to fig. 5 to 21, which are illustrations of a recharging control method of the recharging system according to the second aspect of the present invention, it should be noted that the following description is only an exemplary illustration and is not a specific limitation of the invention.

Referring to fig. 5, a recharging control method of a recharging system according to some embodiments of the present invention is applied to control the recharging system shown in fig. 1 and the air conditioner recharging system shown in fig. 2 and 3, where the recharging control method in this embodiment may be executed by a controller 111 of the recharging system according to some embodiments of the present invention, and the controller 111 may be configured in the recharging system to implement the control method of the recharging system.

The structure of the recharging system shown in fig. 1 or the recharging system of the air conditioner shown in fig. 2 and 3 is described in some specific embodiments above, and is not repeated herein, and as shown in fig. 5, as a first embodiment of the recharging control method of the recharging system of the present invention, the recharging control method includes the following steps:

step S510, in response to the recharging request, controlling the infrared receiving tube 106 to be turned on to receive the infrared signal transmitted by the power supply socket 101;

when the power monitoring system of the robot 102 monitors that the power is lower than a threshold, a recharging request is sent to the controller 111, and the controller 111 controls the infrared receiving tube 106 to be turned on to receive the infrared signal sent by the power supply socket 101, which in some embodiments includes a first infrared signal sent by the first infrared transmitting tube 103, a second infrared signal sent by the second infrared transmitting tube 104, and a third infrared signal sent by the third infrared transmitting tube 105.

And step S520, controlling the robot 102 to rotate according to the infrared signal to determine the moving direction, and controlling the robot 102 to move along the moving direction until the robot 102 is successfully butted with the power supply seat 101.

The robot 102 may determine the direction in which the infrared signal is strongest by rotating in situ, and accordingly move toward the power supply socket 101. The plurality of infrared transmitting tubes on the power supply base 101 can transmit different infrared coding signals, the robot 102 judges the position and the direction of the power supply base 101 according to the infrared coding signals, the robot moves towards the power supply base 101 under the driving of the universal wheels at the bottom of the robot, and when the air conditioner moves, the robot is powered by the built-in direct current power supply 110, so that the interference of a power line can be avoided.

In the technical scheme provided by this embodiment, three infrared emission tubes are sequentially arranged on the power supply seat 101 from left to right, and the area in front of the power supply seat 101 is divided into six different signal areas according to the coverage areas of the different infrared emission tubes; and detect different infrared signal and intensity that power supply seat 101 launched, control robot 102 rotation and move towards power supply seat 101, until robot 102 and power supply seat 101 dock successfully, can effectively shorten the time of navigating back that charges of robot 102.

Referring to fig. 6, as a second embodiment of the recharge control method according to the present invention, based on the above embodiment, step S520 further includes the following steps:

step S610, detecting the type of the received infrared signal;

step S620, in response to receiving only the first infrared signal or the third infrared signal, taking the position direction with the strongest first infrared signal or the strongest third infrared signal as a circumferential positioning direction;

in step S630, in response to receiving the second infrared signal, the direction of the position where the second infrared signal is strongest is taken as the circumferential positioning direction.

The circumferential positioning direction is determined by detecting the type of the infrared signal, and the moving direction is further rapidly positioned.

In some embodiments, referring to fig. 8, the robot 102 is within the first infrared signal coverage area and the infrared receiving tube 106 on the robot 102 is located at the circumference s 1. In the moving process of the robot 102, the robot rotates clockwise or counterclockwise at any time in the circumferential direction to perform circumferential positioning, and the circumferential positioning direction is the circumferential positioning direction in which the strongest infrared signal of one of the three infrared transmitting tubes arranged on the power supply base 101 and received by the infrared receiving tube 106 of the robot 102 is. If the infrared receiving tube 106 can only receive the first infrared signal of the first infrared transmitting tube 103 (i.e. located in the left far field region), the robot 102 takes the direction in which the first infrared signal of the first infrared transmitting tube 103 is strongest as the circumferential positioning direction; if the infrared receiving tube 106 can receive the second infrared signal of the second infrared transmitting tube 104 (i.e. located in the left near-field region, the right near-field region, the middle-far-field region, or the middle-near-field region), the robot 102 uses the direction in which the second infrared signal of the second infrared transmitting tube 104 is strongest as the circumferential positioning direction; if the infrared receiving tube 106 can only receive the third infrared signal of the third infrared transmitting tube 105 (i.e. located in the right far field region), the robot 102 uses the direction in which the third infrared signal of the third infrared transmitting tube 105 is strongest as the circumferential positioning direction.

Referring to fig. 7, as a third embodiment of the recharge control method according to the present invention, based on the above embodiment, step S520 further includes the following steps:

step S710, controlling the robot to rotate and detecting a signal value of an infrared signal;

step S720, comparing the signal values;

step S730, in response to the newly received signal value being lower than the current signal value, rolling back and rotating in a direction opposite to the current rotating direction;

in step S740, in response to the newly received signal value being higher than the current signal value, the rotation in the current direction is continued until the position direction in which the infrared signal is strongest is determined to be the circumferential positioning direction, i.e., the position direction in which the center of the infrared receiving tube 106 is aligned at this time.

In some embodiments, referring to fig. 9, when the robot 102 rotates to the position where the first infrared signal coverage area is located (refer to fig. 6), specifically, when the robot 102 is at the position shown in fig. 7, the infrared receiving tube 106 of the robot starts to be located at the circumferential position s1, the infrared receiving tube 106 receives the first infrared signal at this time, that is, is located in the far left area, the robot 102 rotates in the circumferential direction, and finds the position where the first infrared signal is strongest, that is, the robot 102 slowly rotates clockwise (or counterclockwise), and detects the newly received infrared signal value while rotating. If the value of the newly received infrared signal is lower than the current value, backing back and rotating in the direction opposite to the current rotating direction; if the newly received infrared signal value is higher than the current infrared signal value, the infrared receiver tube 106 continues to rotate in the current direction until the intensity of the infrared signal is reduced no matter the infrared receiver tube rotates clockwise or counterclockwise, and the position direction aligned with the center of the infrared receiver tube 106 at this time is the position direction with the strongest infrared signal. If the received infrared signal values are all equal in a certain circumferential area angle range, the signals are all the strongest signals, namely the center of the circumferential area angle capable of simultaneously receiving the strongest infrared signals is taken as the direction of the strongest infrared signals. In fig. 8, the infrared receiver tube 106 disposed on the robot 102 is rotated from the circumferential position s1 to the circumferential position s2, and when the infrared receiver tube 106 is located in the direction connecting the center of the robot 102 and the center of the first infrared transmitter tube 103, the first infrared signal is received most strongly.

Referring to fig. 10, as a fourth embodiment of the recharge control method according to the present invention, based on the above embodiment, the step S520 further includes the steps of:

step S1010, in response to the robot 200 rotating more than 360 degrees and not detecting the infrared signal, an alarm message is issued.

If the infrared receiver 106 does not receive the infrared signal from any of the infrared transmitter, the robot 102 rotates slowly in the clockwise direction (or counterclockwise direction) along the circumferential direction, detects the infrared signal while rotating, and if the infrared receiver rotates 360 degrees or exceeds 360 degrees, does not receive any infrared signal. An alarm message is sent out; and if the infrared signals can be detected, determining the circumferential position direction with the strongest infrared signals.

Referring to fig. 11, as a fifth embodiment of the recharge control method according to the present invention, based on the above embodiment, the step S520 further includes the steps of:

step S1110, in response to the infrared receiving tube 106 receiving only the first infrared signal, controlling the robot 102 to move in a direction forming a first angle with the clockwise direction of the circumferential positioning direction;

step S1120, in response to the interruption of the first infrared signal, determining that an obstacle is encountered, and controlling the robot 102 to move back;

in step S1130, the robot 102 is controlled to continue moving in the clockwise direction by an angle offset from the previous moving direction.

Referring to fig. 9, the direction in which the first infrared signal of the robot 102 is the strongest is the direction in which the circumferential position s2 is connected to the first infrared transmitting tube 103 (hereinafter, referred to as "s 2 direction"), and the robot 102 moves forward in the direction of s2 by the first angle a in the clockwise direction. The forward movement along the direction which is offset clockwise by the first angle a from the strongest direction of the first infrared signal may be forward movement for a set time period, for example, 5 seconds, or 3 seconds, or may also be forward movement for a set distance, for example, 10 centimeters, and the like, and may be specifically set according to the actual situation. With the movement of the robot 102, the direction of the position with the strongest first infrared signal is dynamically changed, and the robot 102 rotates to determine the direction of the position with the strongest first infrared signal and moves forwards at a first angle a in the clockwise direction of the position with the strongest first infrared signal; accordingly, the retraction may be a backward movement for a set period of time, for example, a movement of 5 seconds, or a movement of 3 seconds, or a movement for a set distance, for example, a movement of 10 centimeters, which may be set according to actual circumstances.

Referring to fig. 12, as a sixth embodiment of the recharge control method according to the present invention, based on the above embodiment, step S520 further includes the steps of:

step S1210, in response to the infrared receiving tube 106 receiving the first infrared signal and the second infrared signal at the same time, controlling the robot 102 to move in a direction forming a second angle with the clockwise direction of the circumferential positioning direction;

step S1220, in response to the interruption of the first infrared signal and the second infrared signal, determining that an obstacle is encountered, and controlling the robot 102 to move back;

and step S1230, controlling the robot to continue moving in the clockwise direction by an angle on the basis of the previous moving direction.

When the infrared receiving tube 106 receives the first infrared signal and the second infrared signal at the same time, that is, the robot 102 is located in the left near field area, the circumferential positioning direction at this time is the direction in which the second infrared signal is strongest.

In some embodiments, referring to fig. 14, the robot 102 moves from the far left field area H to the near left field area J in a schematic manner. After determining the circumferential locating direction (the dotted line direction of the m1 position in the figure) in which the first infrared signal is strongest at the m1 position, the robot 102 shifts to the m2 position by the first angle a in the clockwise direction, rotates in the circumferential direction at the m2 position, determines the circumferential locating direction (the dotted line direction of the m2 position in the figure) in which the first infrared signal is strongest at the m2 position, shifts to the m3 region by the first angle a in the clockwise direction, enters the J region where the first infrared signal and the second infrared signal can be received at the same time, then uses the second infrared signal as the location, rotates in the circumferential direction at the m3 position of the J region, finds the circumferential locating direction (the dotted line direction of the m3 position in the figure) in which the second infrared signal is strongest, then moves forward in the clockwise direction which forms the second angle B with the circumferential locating direction, and so on, while rotating to find the circumferential location of the second infrared signal which is strongest, the side moves in the direction and position of the power supply socket 101.

Referring to fig. 13, as a seventh embodiment of the recharge control method according to the present invention, based on the above embodiment, the step S520 further includes the steps of:

step S1310, in response to the infrared receiving tube 106 receiving the first infrared signal, the second infrared signal, and the third infrared signal at the same time, controlling the robot 102 to move toward the circumferential positioning direction;

step S1320, responding to the interruption of the first infrared signal, the second infrared signal and the third infrared signal, determining that an obstacle is encountered, and controlling the robot to move back;

in step S1330, the robot 102 is controlled to continue moving in the clockwise direction or the counterclockwise direction by the third angle E based on the previous moving direction.

When the infrared receiving tube 106 receives the first infrared signal, the second infrared signal, and the third infrared signal at the same time, that is, the robot 102 is located in the middle and far field area, the circumferential positioning direction at this time is the direction in which the second infrared signal is strongest.

In some embodiments, referring to fig. 15, the robot 102 is a schematic diagram of a moving route from the first, third and third infrared signal coverage areas (i.e., the middle-far field area K) to the power supply socket 101. When the infrared receiving tube 106 receives the first infrared signal, the second infrared signal, and the third infrared signal at the same time, in the area K in the figure, the robot 102 rotates in the circumferential direction, finds the direction of the position where the second infrared signal is strongest, and moves toward the direction of the position where the second infrared signal is strongest. With the movement of the robot 102, the direction of the strongest position of the second infrared signal is dynamically changed, and the robot 102 moves towards the direction of the strongest position of the infrared signal while rotating to find the direction of the strongest position of the second infrared signal; when an obstacle is encountered, the power supply socket moves backwards, and moves towards the left front (or the right front) by shifting the third angle E towards the counterclockwise direction (or the clockwise direction) on the basis of the previous forward moving direction until the power supply socket is successfully butted with the power supply socket 101.

Referring to fig. 16, as an eighth embodiment of the recharge control method according to the present invention, based on the above embodiment, the step S520 further includes the steps of:

step S1610, in response to the infrared receiving tube 106 receiving the second infrared signal and the third infrared signal at the same time, controlling the robot 102 to move in a direction forming a fourth angle C with the counterclockwise direction of the circumferential positioning direction;

step S1620, in response to the interruption of the second infrared signal and the third infrared signal, determining that an obstacle is encountered, and controlling the robot 102 to move back;

in step S1630, the robot 102 is controlled to continue moving in the counterclockwise direction by shifting the angle based on the previous moving direction.

When the infrared receiving tube 106 receives the third infrared signal and the second infrared signal at the same time, that is, the robot 102 is located in the right near field area, the circumferential positioning direction at this time is the direction in which the second infrared signal is strongest.

Referring to fig. 17, as a ninth embodiment of the recharge control method according to the present invention, based on the above embodiment, the step S520 further includes the steps of:

step S1710, in response to the infrared receiving tube 106 receiving only the third infrared signal, controlling the robot 102 to move in a direction forming a fifth angle with the counterclockwise direction of the circumferential positioning direction;

step S1720, in response to the interruption of the third infrared signal, determining that an obstacle is encountered, and controlling the robot 102 to retreat;

in step S1730, the robot 102 is controlled to continue moving in the counterclockwise direction by an angle based on the previous moving direction.

When the infrared receiving tube 106 receives only the third infrared signal, that is, the robot 102 is located in the far-right field area, the circumferential location direction at this time is the direction in which the third infrared signal is strongest.

Referring to fig. 18, as a tenth embodiment of the recharge control method according to the present invention, based on the above embodiment, step S520 further includes the steps of:

step S1810, in response to the infrared receiving tube 106 receiving only the second infrared signal, controlling the robot 102 to move in the circumferential positioning direction;

step S1820, in response to the interruption of the second infrared signal, determining that an obstacle is encountered, and controlling the robot 102 to retreat;

in step S1830, the robot 102 is controlled to shift by a sixth angle in the clockwise direction or the counterclockwise direction based on the previous moving direction, and the movement is continued until the docking with the power supply socket 106 is successful.

When the infrared receiving tube 106 receives only the second infrared signal, that is, the robot 102 is located in the middle near field area, the circumferential location direction at this time is the direction in which the second infrared signal is strongest.

The first angle a, the second angle B, the third angle E, the fourth angle C, the fifth angle D, and the sixth angle E are all any angles between 1 ° and 90 °, and may be the same angle or different angles.

In some embodiments, the first angle a, the second angle B, the third angle E, the fourth angle C, the fifth angle D, and the sixth angle E are all 45 °. When an obstacle is encountered, after the obstacle is retracted, an offset angle is needed to avoid the obstacle, the offset angle is not limited by the above angle range, namely the offset angle of the obstacle moving after being retracted can be larger than 90 degrees until the mobile air conditioner can successfully bypass the obstacle.

Referring to fig. 19, as an eleventh embodiment of the recharge control method according to the present invention, based on the above embodiment, the method further includes the following steps after step S520:

in step S1910, in response to the power receiving contact 108 and the power supplying contact 107 being successfully butted, the electromagnetic attraction apparatus is powered on.

The robot 102 and the power supply seat 101 are attracted and locked by magnetic force, so that the robot is prevented from being knocked off by people or animals carelessly, and the charging reliability is enhanced.

Referring to fig. 20, as a twelfth embodiment of the recharge control method of the present invention, a specific flow of the recharge control method is as follows:

step S2010, firstly, detecting whether the robot 102 is successfully docked with the power supply seat 101, and if not, executing step S2002; if the docking is successful, the electromagnetic attraction device is powered on, and the robot 102 and the power supply base 101 are attracted and locked due to magnetic force. The electromagnetic attraction device is disconnected until the robot 102 no longer needs the power supply of the power supply base 101.

Step S2020, if the robot 102 and the power supply base 101 are not successfully docked, detecting whether the infrared receiving tube 106 only detects the second infrared signal, and if not, executing step S2030; if only the second infrared signal is detected, the robot 102 rotates, determines the circumferential positioning direction in which the second infrared signal is strongest, moves to the circumferential positioning direction until the robot 102 is successfully butted with the power supply base 101, and then executes step S2010;

step S2030, detecting whether the infrared receiving tube 106 receives the first infrared signal, the second infrared signal and the third infrared signal at the same time, if not, executing step S2040; if the first infrared signal, the second infrared signal and the third infrared signal are detected at the same time, the robot 102 rotates, the circumferential positioning direction with the strongest second infrared signal is determined, the robot moves towards the circumferential positioning direction until the robot 102 is successfully butted with the power supply seat 101, and then the step S2010 is executed;

step S2040, detecting whether the infrared receiving tube 106 receives the first infrared signal and the second infrared signal at the same time, and does not receive the third infrared signal, if not, executing step S2050; if the first infrared signal and the second infrared signal are detected at the same time, the robot 102 rotates, determines the circumferential positioning direction in which the second infrared signal is strongest, and moves in a direction of deflecting a second angle B clockwise to the circumferential positioning direction, and then executes step S2001;

step S2050, detecting whether the infrared receiving tube 106 receives the second infrared signal and the third infrared signal at the same time, and does not receive the first infrared signal, if not, executing step S2060; if the third infrared signal and the second infrared signal are detected at the same time, the robot 102 rotates, determines the circumferential locating direction in which the second infrared signal is strongest, and moves in a direction of deflecting a sixth angle E in the counterclockwise direction of the circumferential locating direction, and then executes step S2010;

step S2060, detecting whether the infrared receiving tube 106 only receives the third infrared signal, if not, executing step S2070; if only the third infrared signal is detected, controlling the robot 102 to rotate, determining a circumferential positioning direction in which the third infrared signal is strongest, and moving in a direction deviating from a counterclockwise direction of the circumferential positioning direction by a fifth angle D, and then executing step S2010;

step S2070, detecting whether the infrared receiving tube 106 only receives the first infrared signal, if not, executing step S2080; if only the first infrared signal is detected, controlling the robot 102 to rotate, determining a circumferential positioning direction in which the first infrared signal is strongest, and moving in a direction of deflecting by a first angle a clockwise from the circumferential positioning direction, and then executing step S2010;

step S2080, detecting whether the infrared receiving tube 106 does not receive any one of the first infrared signal, the second infrared signal, and the third infrared signal, if not, executing step S2010; if the three infrared signals are not received, the robot 102 is controlled to rotate for more than 360 degrees, and if the robot 102 does not detect any infrared signal, prompts such as voice, light and sound are given, the user waits for intervention, and the machine is stopped. If any one or more infrared signals can be detected, the forward and rotation actions are executed according to the detected infrared signals, and the step S2010 is executed continuously.

Referring to fig. 21, as a thirteenth embodiment of the recharge control method of the present invention, based on the above embodiment, step S1910 further includes the steps of:

in step S2110, in response to the shutdown or charging of the air conditioner 200 being completed, the electromagnetic attraction device (not shown) is turned off, and the air conditioner 200 is removed from the power supply base 101. The safety problem caused by long-time charging is avoided, and the service life of the direct current power supply 110 is prolonged.

Referring to fig. 22, the controller 111 according to the third aspect of the present invention is shown, and the controller 111 may be any type of control module, such as a control board, a control box, a control chip, and the like.

Specifically, the controller 111 includes: one or more processors 2211 and memories 2212, one processor 2211 and memory 2212 being exemplified in fig. 22. The processor 2211 and the memory 2212 may be connected by a bus 2213 or by other means, such as by the bus 2213 in fig. 22.

The memory 2212 is used as a non-transitory computer readable storage medium for storing a non-transitory software program and a non-transitory computer executable program, such as the recharge control method in the second embodiment of the present invention. The processor 2211 implements the recharge control method in the second embodiment of the present invention by running a non-transitory software program and instructions stored in the memory 2212.

The memory 2212 may include a program storage area and a data storage area, wherein the program storage area may store an operating system, an application program required for at least one function; the storage data area may store data and the like necessary to execute the control method of the air conditioner in the embodiment of the second aspect described above. Further, the memory 2212 may include high-speed random access memory, and may also include non-transitory memory, such as at least one magnetic disk storage device, flash memory device, or other non-transitory solid-state storage device. In some implementations, the memory 2212 optionally includes memory located remotely from the processor 2211, and such remote memory 2212 may be connected to the terminal through a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.

The non-transitory software programs and instructions required to implement the recharge control method in the above-described second aspect embodiment are stored in the memory 2212, when executed by the one or more processors 2211, performs the control method of the air conditioner in the second aspect embodiment described above, for example, method steps S510 to S520 in fig. 5, method steps S610 to S630 in fig. 6, method steps S710 to S740 in fig. 7, method step S1010 in fig. 10, method steps S1110 to S1130 in fig. 11, method steps S1210 to S1230 in fig. 12, method steps S1310 to S1330 in fig. 13, method steps S1610 to S1630 in fig. 16, method steps S1710 to S1730 in fig. 17, method steps S1810 to S1830 in fig. 18, method step S1910 in fig. 19, method steps S2010 to S2080 in fig. 20, and method step S2110 in fig. 21 described above are performed.

In a fourth aspect of the present invention, a computer-readable storage medium is provided, which stores computer-executable instructions, which are executed by one or more control processors 2211, for example, by one processor 2211 in fig. 22, and can cause the one or more processors 2211 to execute the recharging control method in the second aspect embodiment, for example, to execute the above-described method steps S510 to S520 in fig. 5, method steps S610 to S630 in fig. 6, method steps S710 to S740 in fig. 7, method step S1010 in fig. 10, method steps S1110 to S1130 in fig. 11, method steps S1210 to S1230 in fig. 12, method steps S1310 to S1330 in fig. 13, method steps S1610 to S1630 in fig. 16, method steps S1710 to S0 in fig. 17, and method steps S1730 in fig. 18, Method step S1910 in fig. 19, method steps S2010 to S2080 in fig. 20, and method step S2110 in fig. 21.

The above-described embodiments of the apparatus are merely illustrative, wherein the units illustrated as separate components may or may not be physically separate, i.e. may be located in one place, or may also be distributed over a plurality of network elements. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment.

One of ordinary skill in the art will appreciate that all or some of the steps, systems, and methods disclosed above may be implemented as software, firmware, hardware, and suitable combinations thereof. Some or all of the physical components may be implemented as software executed by a processor 2211, such as a central processing unit, digital signal processor, or microprocessor, or as hardware, or as integrated circuits, such as an application specific integrated circuit. Such software may be distributed on computer readable media, which may include computer storage media (or non-transitory media) and communication media (or transitory media). The term computer storage media includes volatile and nonvolatile, removable and non-removable media implemented in any method or technology for storage of information such as computer readable instructions, data structures, program modules or other data, as is well known to those of ordinary skill in the art. Computer storage media includes, but is not limited to, RAM, ROM, EEPROM, flash memory or other memory technology, CD-ROM, Digital Versatile Disks (DVD) or other optical disk storage, magnetic cassettes, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other medium which can be used to store the desired information and which can accessed by a computer. In addition, communication media typically embodies computer readable instructions, data structures, program modules or other data in a modulated data signal such as a carrier wave or other transport mechanism and includes any information delivery media as known to those skilled in the art.

While embodiments of the present invention have been shown and described, it will be understood by those of ordinary skill in the art that: various changes, modifications, substitutions and alterations can be made to the embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.

Claims

1. Robot returns charging system, its characterized in that includes:

the robot is in communication connection with the power supply seat and comprises infrared receiving tubes, and the infrared receiving tubes are used for receiving and detecting infrared signals of the infrared transmitting tubes;

2. The robot recharging system of claim 1, wherein the robot is configured with a dc power source and power receiving contacts, and wherein the power supply socket is configured with power supply contacts.

3. The robot recharging system of claim 2, wherein the robot and/or the power supply base are/is provided with an electromagnetic attraction device, the electromagnetic attraction device can generate magnetic force, so that the robot and the power supply base are locked by the magnetic attraction.

4. A recharging control method of a recharging system is used for a robot, and is characterized in that the recharging system comprises a power supply seat, the robot and a controller, wherein the robot is in communication connection with the power supply seat, a plurality of infrared transmitting tubes used for transmitting infrared signals are arranged side by side, and effective signal coverage areas of the infrared transmitting tubes are partially overlapped; the robot comprises an infrared receiving tube, the infrared receiving tube can receive and detect infrared signals of a plurality of infrared transmitting tubes, and the recharging method comprises the following steps:

5. The recharging control method according to claim 4, wherein the plurality of infrared emission tubes are specifically three infrared emission tubes, and respectively emit a first infrared signal, a second infrared signal and a third infrared signal, wherein the second infrared signal is located between the first infrared signal and the third infrared signal, and the controlling the robot to rotate according to the infrared signals to determine the moving direction comprises the following steps:

detecting the type of the received infrared signal;

6. The recharge control method according to claim 5, wherein said controlling said robot to rotate according to said infrared signal to determine a moving direction further comprises the steps of:

comparing the signal values;

7. The recharge control method according to claim 6, wherein said controlling said robot to rotate according to said infrared signal to determine a direction of movement further comprises the steps of:

and responding to the fact that the infrared signal is not detected when the robot rotates for more than 360 degrees, and sending out alarm information.

8. The recharge control method according to claim 6, wherein said controlling said robot to rotate according to said infrared signal to determine a moving direction and controlling said robot to move in said moving direction comprises the steps of:

9. The recharge control method according to claim 6, wherein said controlling said robot to rotate according to said infrared signal to determine a moving direction and controlling said robot to move in said moving direction comprises the steps of:

10. The recharge control method according to claim 6, wherein said controlling said robot to rotate according to said infrared signal to determine a moving direction and controlling said robot to move in said moving direction comprises the steps of:

11. The recharge control method according to claim 6, wherein said controlling said robot to rotate according to said infrared signal to determine a moving direction and controlling said robot to move in said moving direction comprises the steps of:

12. The recharge control method according to claim 6, wherein said controlling said robot to rotate according to said infrared signal to determine a moving direction and controlling said robot to move in said moving direction comprises the steps of:

13. The recharge control method according to claim 6, wherein said controlling said robot to rotate according to said infrared signal to determine a moving direction and controlling said robot to move in said moving direction comprises the steps of:

and controlling the robot to shift by a sixth angle towards the clockwise direction or the anticlockwise direction on the basis of the previous moving direction, and continuing to move until the robot is successfully butted with the power supply seat.

14. The method of claim 4, wherein the robot comprises a DC power source and a power receiving contact, the power supply socket is provided with a power supply contact, and the robot and/or the power supply socket is provided with an electromagnetic attraction device, the method comprises the following steps:

15. The recharging control method of claim 14, wherein after the power receiving contact and the power supply contact are successfully butted, the electromagnetic attraction device is controlled to be powered on, and after the robot and the power supply base are magnetically attracted and locked, the method further comprises the following steps:

16. A controller for use in a recharging system, comprising: a memory, a processor and a computer program stored on the memory and executable on the processor, the processor implementing the recharge control method of any one of claims 4 to 15 when executing the program.

17. Computer-readable storage media storing computer-executable instructions for performing the recharge control method according to any one of claims 4 to 15.