CN112147994A - Robot and recharging control method and device thereof - Google Patents
Robot and recharging control method and device thereof Download PDFInfo
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- CN112147994A CN112147994A CN201910575121.1A CN201910575121A CN112147994A CN 112147994 A CN112147994 A CN 112147994A CN 201910575121 A CN201910575121 A CN 201910575121A CN 112147994 A CN112147994 A CN 112147994A
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- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
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Abstract
A robot recharge control method comprises the following steps: acquiring the position of the robot in a charging pile coordinate system; according to the position of the robot in a charging pile coordinate system, two or more intermediate points are determined between the position of the robot and the position of the charging pile, and one or more of the intermediate points are located in the direction opposite to a charging port of the charging pile; determining a plurality of mobile road sections according to the positions of the intermediate points, the positions of the robots and the positions of the charging piles; and determining the movement parameters of the moving road section according to the target position of the moving road section and the current position of the robot, and controlling the robot to move according to the movement parameters. The mobile parameters are determined when the robot moves to each intermediate point, and alignment correction can be performed for multiple times according to the mobile parameters, so that when the robot moves to the position of the charging pile, the charging pile can be more accurately and reliably aligned to charge.
Description
Technical Field
The application belongs to the field of robots, and particularly relates to a robot and a recharging control method and device thereof.
Background
Mobile robots, including service robots, inspection robots, etc., all require the use of automatic recharging techniques. When the robot completes the task or the electric quantity is lower than a certain value, the robot logs in the charging pile through an automatic recharging technology to charge. When the robot uses the automatic recharging technology, the surrounding charging pile is firstly searched through the positioning technology, then the robot navigates to the front of the charging pile, and the robot logs in the charging pile and is powered on.
Navigation when filling electric pile the place ahead at the robot, owing to receive the influence of the feedback error of motion error and odometer, there is certain deviation when the robot removes to filling electric pile, be unfavorable for accurate reliable with fill electric pile and aim at the charging.
Disclosure of Invention
In view of this, the embodiment of the application provides a robot and a recharging control method and device thereof, so as to solve the problem that in the prior art, when the robot moves to a charging pile, a certain deviation exists, and the robot is not favorable for accurately and reliably aligning the charging pile with the charging pile for charging.
A first aspect of an embodiment of the present application provides a robot recharging control method, where the robot recharging control method includes:
acquiring the position of the robot in a charging pile coordinate system;
according to the position of the robot in a charging pile coordinate system, two or more intermediate points are determined between the position of the robot and the position of the charging pile, and one or more of the intermediate points are located in the direction opposite to a charging port of the charging pile;
determining a plurality of mobile road sections according to the positions of the intermediate points, the positions of the robots and the positions of the charging piles;
and determining the movement parameters of the moving road section according to the target position of the moving road section and the current position of the robot, and controlling the robot to move according to the movement parameters.
With reference to the first aspect, in a first possible implementation manner of the first aspect, the step of determining two or more intermediate points between the robot position and the charging pile position according to the position of the robot in the charging pile coordinate system includes:
determining the distance between the robot and the charging pile according to the position of the robot and the charging pile coordinate system;
and searching the number of the intermediate points corresponding to the distance between the robot and the charging pile according to the preset corresponding relation between the distance and the number of the intermediate points.
With reference to the first aspect, in a second possible implementation manner of the first aspect, the step of determining two or more intermediate points between the robot position and the charging pile position according to the position of the robot in the charging pile coordinate system includes:
setting the intermediate points with the determined quantity in the direction opposite to the charging port of the charging pile;
and determining the position of the intermediate point according to the distance between the adjacent intermediate points, the distance between the robot and the nearest intermediate point of the robot and the balance between the charging pile and the nearest intermediate point of the robot.
With reference to the first aspect, in a third possible implementation manner of the first aspect, the determining, according to the target location of the moving road segment and the current location of the robot, a moving parameter of the moving road segment includes:
determining a first corner of the robot according to the current pointing direction of the robot, the current position of the robot and the pointing direction of the target position;
and determining a first distance of the robot according to the current position of the robot and the target position.
With reference to the first aspect, in a fourth possible implementation manner of the first aspect, the determining two or more intermediate points between the robot position and the charging pile position according to the position of the robot in the charging pile coordinate system includes:
acquiring the corresponding relation among the number of intermediate points when the robot finishes charging, the distance between the robot and the charging pile and the alignment rate;
and selecting the number of the intermediate points corresponding to the alignment rate larger than a preset threshold value according to the corresponding relation.
A second aspect of an embodiment of the present application provides a recharging control device for a robot, including:
the position acquisition unit is used for acquiring the position of the robot in a charging pile coordinate system;
the device comprises a middle point determining unit, a charging pile driving unit and a control unit, wherein the middle point determining unit is used for determining two or more middle points between the position of the robot and the position of the charging pile according to the position of the robot in a charging pile coordinate system, and one or more of the middle points are positioned in the direction opposite to a charging port of the charging pile;
the mobile road section determining unit is used for determining a plurality of mobile road sections according to the intermediate point position, the robot position and the charging pile position;
and the movement parameter determining unit is used for determining the movement parameters of the moving road section according to the target position of the moving road section and the current position of the robot, and controlling the robot to move according to the movement parameters.
With reference to the second aspect, in a first possible implementation manner of the second aspect, the intermediate point determining unit includes:
the distance determining subunit is used for determining the distance between the robot and the charging pile according to the position of the robot in the coordinate system of the charging pile;
and the intermediate point determining subunit is used for searching the number of the intermediate points corresponding to the distance between the robot and the charging pile according to the preset corresponding relationship between the distance and the number of the intermediate points.
With reference to the second aspect, in a second possible implementation manner of the second aspect, the intermediate point determining unit includes:
the intermediate point setting subunit is used for setting the intermediate points with the determined number in the direction opposite to the charging port of the charging pile;
and the intermediate point position determining subunit is used for determining the position of the intermediate point according to the distance between the adjacent intermediate points, the distance between the robot and the nearest intermediate point of the robot and the balance of the distance between the charging pile and the nearest intermediate point of the robot.
A third aspect of embodiments of the present application provides a robot, including a memory, a processor, and a computer program stored in the memory and executable on the processor, where the processor implements the steps of the robot recharge control method according to any one of the first aspect when executing the computer program.
A fourth aspect of embodiments of the present application provides a computer-readable storage medium, which stores a computer program, and the computer program, when executed by a processor, implements the steps of the robot recharge control method according to any one of the first aspects.
Compared with the prior art, the embodiment of the application has the advantages that: through the position that acquires the robot at filling electric pile coordinate system to according to this position determination two or more, be located the intermediate point that fills electric pile's the mouth of charging just right direction, confirm the migration parameter when the robot removes to every intermediate point, can align according to the migration parameter many times and rectify, thereby make when removing to filling electric pile position, can charge by more accurate reliable alignment electric pile.
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In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive exercise.
Fig. 1 is a schematic flow chart illustrating an implementation process of recharging control of a robot according to an embodiment of the present disclosure;
fig. 2 is a schematic diagram of a coordinate system of a charging pile according to an embodiment of the present disclosure;
fig. 3 is a schematic flow chart illustrating an implementation of a method for determining the number of intermediate points according to an embodiment of the present application;
FIG. 4 is a flowchart illustrating an implementation of a method for determining a midpoint position according to an embodiment of the present disclosure;
FIG. 5 is a schematic diagram illustrating a distribution of positions of intermediate points according to an embodiment of the present disclosure;
FIG. 6 is a schematic diagram of a motion parameter provided by an embodiment of the present application;
fig. 7 is a schematic view of a recharging control device of a robot according to an embodiment of the present disclosure;
fig. 8 is a schematic view of a robot provided in an embodiment of the present application.
Detailed Description
In the following description, for purposes of explanation and not limitation, specific details are set forth, such as particular system structures, techniques, etc. in order to provide a thorough understanding of the embodiments of the present application. It will be apparent, however, to one skilled in the art that the present application may be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present application with unnecessary detail.
In order to explain the technical solution described in the present application, the following description will be given by way of specific examples.
Fig. 1 is a schematic flow chart of an implementation process of a robot recharge control method provided in an embodiment of the present application, which is detailed as follows:
in step S101, a position of the robot in a charging pile coordinate system is acquired;
specifically, this application the robot can seek the electric pile that fills in the current scene of robot through wireless communication's mode, selects the electric pile that fills that needs to charge after, confirms to fill electric pile for the position of robot.
A charging pile coordinate system can be established by taking the position of the charging pile as a dot, as shown in fig. 2, the charging pile coordinate system is X ' O ' Y ', and the robot coordinate system is XOY. The direction of one of them axle of filling electric pile coordinate system can set up to fill electric pile's the business turn over direction of charging. After a charging pile coordinate system is established, the moving distance and the rotating direction of the robot can be calculated more efficiently and accurately according to the coordinate position and the orientation of the robot, and therefore the control efficiency of rotation and movement of the robot is improved.
In step S102, according to the position of the robot in the charging pile coordinate system, two or more intermediate points are determined between the robot position and the charging pile position, and one or more of the intermediate points are located in a direction opposite to a charging port of the charging pile;
when two or more intermediate points are determined between the robot position and the charging pile position, the method can comprise two steps of determining the number of the intermediate points and determining the positions of the intermediate points. When determining the number of the intermediate points, as shown in fig. 3, the method may include:
in step S301, determining the distance between the robot and the charging pile according to the position of the robot in the coordinate system of the charging pile;
because the robot is when accomplishing the task, perhaps detects the electric quantity and need to return when filling, the position at robot place and fill the distance between the electric pile position and have the difference. The distance between the robot and the charging pile can be determined according to the position of the charging pile and the position of the robot, and the number of the intermediate points is determined according to the determination.
In step S302, the number of intermediate points corresponding to the distance between the robot and the charging pile is found according to the preset correspondence between the distance and the number of intermediate points.
The effective distance of the robot generating smaller errors in the moving process can be used as a basis for dividing the number of the intermediate points, so that the robot can generate the effective distances with smaller errors according to the effective distances. After the effective distance is determined, the distance between the robot and the charging pile is divided to obtain the number of the required intermediate points.
Or, the corresponding relation between the distance range and the number of the intermediate points can be established according to a preset distance threshold value, so that the distance range where the distance between the robot and the charging pile is located can be quickly searched according to the corresponding relation, and the number of the required intermediate points can be determined.
Fig. 3 is only a method for determining the number of intermediate points, and the number of intermediate points at which the alignment rate is greater than the predetermined threshold value may be selected according to the number of intermediate points obtained by statistics, the distance between the robot and the charging pile, and the correspondence between the alignment rate, so that the charging alignment accuracy may be further improved, and the charging efficiency may be improved according to the number of selected intermediate points.
After the number of intermediate points is determined, the determining the position of the intermediate point according to the intermediate point setting method described in fig. 4 may include:
in step S401, setting the intermediate points with the determined number in the direction opposite to the charging port of the charging pile;
when the distance from the robot to the straight line of the charging port direction of the charging pile is small, for example, smaller than a predetermined distance, all the intermediate points may be disposed on the straight line of the charging port direction. In the application, the charging port is opposite to the direction, namely the direction in which the robot can move according to the direction and effectively align to charge is completed. The intermediate point sets up when charging mouthful of filling electric pile just to the direction, can be located through a plurality of the intermediate point that the mouth just to the direction that charges is to the robot is adjusted to be favorable to improving the alignment accuracy of robot.
In step S402, the position of the intermediate point is determined according to the balance of the distance between the adjacent intermediate points, the distance between the robot and the nearest intermediate point, and the distance between the charging pile and the nearest intermediate point.
As shown in fig. 5, the distance between the intermediate points can be adjusted according to the intermediate points point2, point3 and point4 which are all located in the opposite direction of the charging port, and the distance between the two adjacent intermediate points after adjustment is balanced with the distance between the intermediate point closest to the charging post and the point1 of the robot, so that the robot can be adjusted within a plurality of effective distance ranges, and the probability of alignment errors of the robot is reduced. Of course, in alternative embodiments, the distance between the charging pile and the closest intermediate point may be selected to be smaller.
Of course, in an alternative embodiment, if the distance from the robot to the straight line where the charging port of the charging pile faces the direction is relatively long, the distance between the robot and each moving section may be not limited to be completely equal, and a perpendicular line section where the robot moves to the straight line where the charging port faces the direction or a line section with other specified angles may be taken as a route where the robot moves to the first intermediate point. For the remaining intermediate points and the road sections from the intermediate points to the charging pile, the positions of the intermediate points can be determined in an average division mode.
In step S103, determining a plurality of moving road sections according to the intermediate point position, the robot position, and the charging pile position;
after the robot is determined to move to a plurality of intermediate points in the charging pile process, a moving road section can be determined according to the robot and the nearest intermediate point of the robot, and a plurality of moving road sections can be determined according to two adjacent intermediate points or the intermediate point closest to the charging pile and the charging pile.
It should be noted that the moving path determined by the present application may reproduce a small error, such as a track error or an error of a rotation angle of the robot, from the moving path actually traveled by the robot. Therefore, the charging port of the charging pile is opposite to the direction, and the robot is subjected to error correction for many times, so that the improvement of the charging alignment precision is facilitated.
In step S104, a movement parameter of the moving link is determined according to the target position of the moving link and the current position of the robot, and the robot is controlled to move according to the movement parameter.
When the robot moves from the initial position to the first intermediate point, or from the first intermediate point to the second intermediate point, or from the nth intermediate point to the charging pile, the movement parameters, the first rotation angle, the first distance, and the second rotation angle may be determined as shown in fig. 6, wherein:
determining a first corner of the robot according to the current pointing direction of the robot, the current position of the robot and the pointing direction of the target position;
and determining a first distance of the robot according to the current position of the robot and the target position.
As shown in fig. 6, when the robot moves from point a to point B, the first angle theta1 that the robot needs to rotate is determined according to the direction determined by the connection line between point a and point B, the first distance that the robot moves after adjusting the first angle is determined according to the distance between point a and point B,
and then, after the first distance is moved, the orientation theta2 of the robot is readjusted according to the current orientation of the robot and the next target position of the robot, and the movement of the next moving road section is continuously completed until the robot reaches the position of the charging pile.
It should be understood that, the sequence numbers of the steps in the foregoing embodiments do not imply an execution sequence, and the execution sequence of each process should be determined by its function and inherent logic, and should not constitute any limitation to the implementation process of the embodiments of the present application.
Fig. 7 is a schematic structural diagram of a recharging control device of a robot according to an embodiment of the present application, which is detailed as follows:
the recharging control device of the robot comprises:
a position acquiring unit 701, configured to acquire a position of the robot in a charging pile coordinate system;
an intermediate point determining unit 702, configured to determine two or more intermediate points between the robot position and the charging pile position according to the position of the robot in the charging pile coordinate system, where one or more of the intermediate points are located in a direction opposite to a charging port of the charging pile;
a moving road section determining unit 703, configured to determine a plurality of moving road sections according to the intermediate point position, the robot position, and the charging pile position;
and a movement parameter determining unit 704, configured to determine a movement parameter of the moving road section according to the target position of the moving road section and the current position of the robot, and control the robot to move according to the movement parameter.
Preferably, the intermediate point determining unit includes:
the distance determining subunit is used for determining the distance between the robot and the charging pile according to the position of the robot in the coordinate system of the charging pile;
and the intermediate point determining subunit is used for searching the number of the intermediate points corresponding to the distance between the robot and the charging pile according to the preset corresponding relationship between the distance and the number of the intermediate points.
Preferably, the intermediate point determining unit includes:
the intermediate point setting subunit is used for setting the intermediate points with the determined number in the direction opposite to the charging port of the charging pile;
and the intermediate point position determining subunit is used for determining the position of the intermediate point according to the distance between the adjacent intermediate points, the distance between the robot and the nearest intermediate point of the robot and the balance of the distance between the charging pile and the nearest intermediate point of the robot.
The recharging control apparatus for the robot shown in fig. 7 corresponds to the recharging control method for the robot shown in fig. 1.
Fig. 8 is a schematic view of a robot provided in an embodiment of the present application. As shown in fig. 8, the robot 8 of this embodiment includes: a processor 80, a memory 81 and a computer program 82 stored in said memory 81 and executable on said processor 80, such as a robot recharge control program. The processor 80 implements the steps in the above-described respective robot recharge control method embodiments when executing the computer program 82. Alternatively, the processor 80 implements the functions of the modules/units in the above-described device embodiments when executing the computer program 82.
Illustratively, the computer program 82 may be partitioned into one or more modules/units that are stored in the memory 81 and executed by the processor 80 to accomplish the present application. The one or more modules/units may be a series of computer program instruction segments capable of performing specific functions, which are used to describe the execution of the computer program 82 in the robot 8. For example, the computer program 82 may be divided into:
the position acquisition unit is used for acquiring the position of the robot in a charging pile coordinate system;
the device comprises a middle point determining unit, a charging pile driving unit and a control unit, wherein the middle point determining unit is used for determining two or more middle points between the position of the robot and the position of the charging pile according to the position of the robot in a charging pile coordinate system, and one or more of the middle points are positioned in the direction opposite to a charging port of the charging pile;
the mobile road section determining unit is used for determining a plurality of mobile road sections according to the intermediate point position, the robot position and the charging pile position;
and the movement parameter determining unit is used for determining the movement parameters of the moving road section according to the target position of the moving road section and the current position of the robot, and controlling the robot to move according to the movement parameters.
The robot may include, but is not limited to, a processor 80, a memory 81. Those skilled in the art will appreciate that fig. 8 is merely an example of a robot 8 and does not constitute a limitation of robot 8 and may include more or fewer components than shown, or some components in combination, or different components, e.g., the robot may also include input output devices, network access devices, buses, etc.
The Processor 80 may be a Central Processing Unit (CPU), other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field-Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic device, discrete hardware component, or the like. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
The memory 81 may be an internal storage unit of the robot 8, such as a hard disk or a memory of the robot 8. The memory 81 may also be an external storage device of the robot 8, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), and the like, which are provided on the robot 8. Further, the memory 81 may also include both an internal storage unit and an external storage device of the robot 8. The memory 81 is used for storing the computer program and other programs and data required by the robot. The memory 81 may also be used to temporarily store data that has been output or is to be output.
It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-mentioned division of the functional units and modules is illustrated, and in practical applications, the above-mentioned function distribution may be performed by different functional units and modules according to needs, that is, the internal structure of the apparatus is divided into different functional units or modules to perform all or part of the above-mentioned functions. Each functional unit and module in the embodiments may be integrated in one processing unit, or each unit may exist alone physically, or two or more units are integrated in one unit, and the integrated unit may be implemented in a form of hardware, or in a form of software functional unit. In addition, specific names of the functional units and modules are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present application. The specific working processes of the units and modules in the system may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
In the above embodiments, the descriptions of the respective embodiments have respective emphasis, and reference may be made to the related descriptions of other embodiments for parts that are not described or illustrated in a certain embodiment.
Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.
In the embodiments provided in the present application, it should be understood that the disclosed apparatus/terminal device and method may be implemented in other ways. For example, the above-described embodiments of the apparatus/terminal device are merely illustrative, and for example, the division of the modules or units is only one logical division, and there may be other divisions when actually implemented, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The integrated modules/units, if implemented in the form of software functional units and sold or used as separate products, may be stored in a computer readable storage medium. Based on such understanding, all or part of the flow in the method of the embodiments described above can be realized by a computer program, which can be stored in a computer-readable storage medium and can realize the steps of the embodiments of the methods described above when the computer program is executed by a processor. Wherein the computer program comprises computer program code, which may be in the form of source code, object code, an executable file or some intermediate form, etc. The computer-readable medium may include: any entity or device capable of carrying the computer program code, recording medium, usb disk, removable hard disk, magnetic disk, optical disk, computer Memory, Read-Only Memory (ROM), Random Access Memory (RAM), electrical carrier wave signals, telecommunications signals, software distribution medium, and the like. It should be noted that the computer readable medium may contain other components which may be suitably increased or decreased as required by legislation and patent practice in jurisdictions, for example, in some jurisdictions, computer readable media which may not include electrical carrier signals and telecommunications signals in accordance with legislation and patent practice.
The above-mentioned embodiments are only used for illustrating the technical solutions of the present application, and not for limiting the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not substantially depart from the spirit and scope of the embodiments of the present application and are intended to be included within the scope of the present application.
Claims (10)
1. A robot recharge control method, comprising:
acquiring the position of the robot in a charging pile coordinate system;
according to the position of the robot in a charging pile coordinate system, two or more intermediate points are determined between the position of the robot and the position of the charging pile, and one or more of the intermediate points are located in the direction opposite to a charging port of the charging pile;
determining a plurality of mobile road sections according to the positions of the intermediate points, the positions of the robots and the positions of the charging piles;
and determining the movement parameters of the moving road section according to the target position of the moving road section and the current position of the robot, and controlling the robot to move according to the movement parameters.
2. The method of claim 1, wherein the step of determining two or more intermediate points between the robot position and the charging post position based on the position of the robot in the charging post coordinate system comprises:
determining the distance between the robot and the charging pile according to the position of the robot and the charging pile coordinate system;
and searching the number of the intermediate points corresponding to the distance between the robot and the charging pile according to the preset corresponding relation between the distance and the number of the intermediate points.
3. The method of claim 1, wherein the step of determining two or more intermediate points between the robot position and the charging post position based on the position of the robot in the charging post coordinate system comprises:
setting the intermediate points with the determined quantity in the direction opposite to the charging port of the charging pile;
and determining the position of the intermediate point according to the distance between the adjacent intermediate points, the distance between the robot and the nearest intermediate point of the robot and the balance between the charging pile and the nearest intermediate point of the robot.
4. The recharging control method for the robot according to claim 1, wherein the step of determining the moving parameter of the moving section according to the target position of the moving section and the current position of the robot comprises:
determining a first corner of the robot according to the current pointing direction of the robot, the current position of the robot and the pointing direction of the target position;
and determining a first distance of the robot according to the current position of the robot and the target position.
5. The method of claim 1, wherein the step of determining two or more intermediate points between the robot position and the charging post position based on the position of the robot in the charging post coordinate system comprises:
acquiring the corresponding relation among the number of intermediate points when the robot finishes charging, the distance between the robot and the charging pile and the alignment rate;
and selecting the number of the intermediate points corresponding to the alignment rate larger than a preset threshold value according to the corresponding relation.
6. A recharge control apparatus for a robot, comprising:
the position acquisition unit is used for acquiring the position of the robot in a charging pile coordinate system;
the device comprises a middle point determining unit, a charging pile driving unit and a control unit, wherein the middle point determining unit is used for determining two or more middle points between the position of the robot and the position of the charging pile according to the position of the robot in a charging pile coordinate system, and one or more of the middle points are positioned in the direction opposite to a charging port of the charging pile;
the mobile road section determining unit is used for determining a plurality of mobile road sections according to the intermediate point position, the robot position and the charging pile position;
and the movement parameter determining unit is used for determining the movement parameters of the moving road section according to the target position of the moving road section and the current position of the robot, and controlling the robot to move according to the movement parameters.
7. The recharging control device of the robot according to claim 6, wherein the intermediate point determining unit includes:
the distance determining subunit is used for determining the distance between the robot and the charging pile according to the position of the robot in the coordinate system of the charging pile;
and the intermediate point determining subunit is used for searching the number of the intermediate points corresponding to the distance between the robot and the charging pile according to the preset corresponding relationship between the distance and the number of the intermediate points.
8. The recharging control device of the robot according to claim 6, wherein the intermediate point determining unit includes:
the intermediate point setting subunit is used for setting the intermediate points with the determined number in the direction opposite to the charging port of the charging pile;
and the intermediate point position determining subunit is used for determining the position of the intermediate point according to the distance between the adjacent intermediate points, the distance between the robot and the nearest intermediate point of the robot and the balance of the distance between the charging pile and the nearest intermediate point of the robot.
9. A robot comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that the processor, when executing the computer program, carries out the steps of the method for recharging control of a robot according to any of claims 1 to 5.
10. A computer-readable storage medium, in which a computer program is stored which, when being executed by a processor, carries out the steps of a method for controlling recharging of a robot according to any one of claims 1 to 5.
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