CN112207810A

CN112207810A - Self-moving robot and recharging method, charging seat and storage medium thereof

Info

Publication number: CN112207810A
Application number: CN201910620511.6A
Authority: CN
Inventors: 徐晓明; 金方明; 高磊; 郑电浩; 孙淑萍
Original assignee: Midea Group Co Ltd; Jiangsu Midea Cleaning Appliances Co Ltd
Current assignee: Midea Robozone Technology Co Ltd
Priority date: 2019-07-10
Filing date: 2019-07-10
Publication date: 2021-01-12
Also published as: WO2021004149A1

Abstract

The application discloses a self-moving robot and a recharging method, a charging seat and a computer readable storage medium thereof, wherein the method comprises the following steps: scanning communication signals in the environment where the self-moving robot is located through a first communication module of the self-moving robot; when the communication signal broadcasted by the charging seat is scanned and the self-moving robot enters the recharging mode, the position of the charging seat is positioned according to the communication signal broadcasted by the charging seat, wherein the charging seat is used for charging the self-moving robot; according to the positioned position of the charging seat, the self-moving robot is controlled to move to the position of the charging seat for recharging, the method assists in positioning the position of the charging seat through the communication signal broadcast by the charging seat, the recharging process of the self-moving robot can be accelerated, the problem of low recharging success rate of the self-moving robot is solved, and the investment cost is low.

Description

Self-moving robot and recharging method, charging seat and storage medium thereof

Technical Field

The present application relates to the field of robotics, and in particular, to a self-moving robot, a recharging method, a charging stand, and a computer-readable storage medium thereof.

Background

With the development of national economic technology and the improvement of living standard of people, the self-moving robot is widely applied, and when the robot is freely moved to carry out work such as security protection or cleaning, the supply of energy sources of the robot is totally dependent on a battery of the robot. For example, the sweeping robot is used for household cleaning, and generally needs to return to the charging seat to be charged when the sweeping robot finishes a sweeping task, so that the electric quantity of the sweeping robot is sufficient when next sweeping is performed, the recharging is not performed in the sweeping process, and the sweeping efficiency is improved. Therefore, the recharging function of the self-moving robot is an indispensable important function in the using process, and the quality of the recharging function directly affects the user experience and the intelligence level of the self-moving robot.

In the related art, the recharging success rate of the self-moving robot can be improved by methods such as laser radar and video, but the cost is high, and the recharging effect of the self-moving robot at a middle and low end is not good.

Disclosure of Invention

The object of the present application is to solve at least to some extent one of the above mentioned technical problems.

Therefore, a first objective of the present application is to provide a recharging method for a self-moving robot, which is applied to a self-moving robot, and the recharging method assists to locate a position of a charging seat through a communication signal broadcast by the charging seat, so as to accelerate a recharging process of the self-moving robot, solve a problem of low recharging success rate of the self-moving robot, and reduce investment cost.

A second object of the present application is to propose another method of refilling from a mobile robot.

A third object of the present application is to propose yet another method of recharging from a mobile robot.

A fourth object of the present application is to provide a self-moving robot.

A fifth object of the present application is to propose another self-moving robot.

A sixth objective of the present application is to provide a self-moving robot charging stand.

A seventh object of the present application is to propose yet another self-moving robot.

An eighth object of the present application is to provide another self-moving robot charging stand.

A ninth object of the present application is to propose a computer-readable storage medium.

In order to achieve the above object, an embodiment of a first aspect of the present application provides a method for recharging a self-moving robot, which is applied to a self-moving robot having a first communication module, and the method includes: scanning, by the first communication module, communication signals within an environment in which the self-moving robot is located; when a communication signal broadcasted by a charging seat is scanned and the self-moving robot enters a recharging mode, positioning the position of the charging seat according to the communication signal broadcasted by the charging seat, wherein the charging seat is used for charging the self-moving robot; and controlling the self-moving robot to move to the position of the charging seat to carry out recharging according to the positioned position of the charging seat.

The recharging method of the mobile robot is applied to the self-mobile robot, the self-mobile robot is provided with a first communication module, and communication signals in the environment where the self-mobile robot is located are scanned through the first communication module; when a communication signal broadcasted by a charging seat is scanned and the self-moving robot enters a recharging mode, positioning the position of the charging seat according to the communication signal broadcasted by the charging seat, wherein the charging seat is used for charging the self-moving robot; and controlling the self-moving robot to move to the position of the charging seat to carry out recharging according to the positioned position of the charging seat. The method assists in positioning the position of the charging seat through the communication signal broadcast by the charging seat, can accelerate the recharging process of the self-moving robot, solves the problem of low recharging success rate of the self-moving robot, and has low investment cost.

In order to achieve the above object, a second embodiment of the present application provides another recharging method for a self-moving robot, which is applied to a self-moving robot having a first communication module, and the method includes: establishing communication connection between the self-moving robot and a charging seat through the first communication module and a second communication module in the charging seat, wherein the charging seat is used for charging the self-moving robot; determining a current state of the self-moving robot; transmitting a current state of the self-moving robot to the charging dock based on the communication connection; the current state of the self-moving robot is used for indicating the charging seat to dynamically adjust the power of the recharging butt joint signal transmitting device; when the self-moving robot enters a recharging state, positioning the position of the charging seat according to the communication signal broadcast by the charging seat; and controlling the self-moving robot to move to the position of the charging seat to carry out recharging according to the positioned position of the charging seat.

The recharging method of the self-moving robot is applied to the self-moving robot, the self-moving robot is provided with a first communication module, and communication connection between the self-moving robot and a charging seat is established through the first communication module and a second communication module in the charging seat, wherein the charging seat is used for charging the self-moving robot; determining a current state of the self-moving robot; transmitting a current state of the self-moving robot to the charging dock based on the communication connection; the current state of the self-moving robot is used for indicating the charging seat to dynamically adjust the power of the recharging butt joint signal transmitting device; when the self-moving robot enters a recharging state, positioning the position of the charging seat according to the communication signal broadcast by the charging seat; and controlling the self-moving robot to move to the position of the charging seat to carry out recharging according to the positioned position of the charging seat. The method is based on the communication connection between the self-moving robot and the charging seat, the current state of the self-moving robot is sent to the charging seat, the charging seat adjusts the power of the recharging butt-joint signal transmitting device in real time, the recharging intellectualization of the self-moving robot is improved, the power consumption of the charging seat is reduced, meanwhile, the position of the charging seat is assisted and positioned through the communication signal broadcasted by the charging seat, the recharging process of the self-moving robot can be accelerated, the problem of low recharging success rate of the self-moving robot is solved, and the investment cost is low.

In order to achieve the above object, a third aspect of the present application provides a recharging method for a self-moving robot, which is applied to a charging dock for charging the self-moving robot, the self-moving robot having a first communication module, the charging dock having a second communication module, the method including:

when the self-moving robot is monitored to leave the charging seat, controlling the charging seat to broadcast a communication signal based on the second communication module and controlling a recharging and docking signal transmitting device in the charging seat to transmit a recharging and docking signal; the self-moving robot scans communication signals broadcast by a charging seat based on the first communication module; and when the self-moving robot moves to the position of the charging seat based on the communication signal broadcasted by the charging seat and is inserted into the charging seat based on the recharging and docking signal, controlling the charging seat to charge the self-moving robot.

The recharging method of the self-moving robot is applied to a charging seat, the charging seat is used for charging the self-moving robot, the self-moving robot is provided with a first communication module, the charging seat is provided with a second communication module, when the situation that the self-moving robot leaves the charging seat is monitored, the charging seat is controlled to broadcast communication signals based on the second communication module, and a recharging butt joint signal transmitting device in the charging seat is controlled to transmit recharging butt joint signals; the self-moving robot scans communication signals broadcast by a charging seat based on the first communication module; and when the self-moving robot moves to the position of the charging seat based on the communication signal broadcasted by the charging seat and is inserted into the charging seat based on the recharging and docking signal, controlling the charging seat to charge the self-moving robot. The method assists in positioning the position of the charging seat through the communication signal broadcasted by the charging seat, can accelerate the recharging process of the self-moving robot, solves the problem of low recharging success rate of the self-moving robot, and has low investment cost.

To achieve the above object, a fourth aspect of the present application provides a self-moving robot, including: the first communication module is used for scanning communication signals in the environment where the self-moving robot is located; the position positioning module is used for positioning the position of the charging seat according to the communication signal broadcasted by the charging seat when the communication signal broadcasted by the charging seat is scanned and the self-moving robot enters a recharging mode, wherein the charging seat is used for charging the self-moving robot; and the recharging control module is used for controlling the self-moving robot to move to the position of the charging seat according to the positioned position of the charging seat so as to recharge.

The self-moving robot of the embodiment of the application scans communication signals in the environment where the self-moving robot is located through the first communication module; when a communication signal broadcasted by a charging seat is scanned and the self-moving robot enters a recharging mode, positioning the position of the charging seat according to the communication signal broadcasted by the charging seat, wherein the charging seat is used for charging the self-moving robot; and controlling the self-moving robot to move to the position of the charging seat to carry out recharging according to the positioned position of the charging seat. This from mobile robot passes through the position of this charging seat of the supplementary location of the communication signal of charging seat broadcast, can accelerate the process of recharging from mobile robot, has solved the problem that the success rate of recharging from mobile robot is low, and the input cost is lower.

To achieve the above object, a fifth embodiment of the present application provides another self-moving robot, including: the communication module is used for establishing communication connection between the self-moving robot and a charging seat, wherein the charging seat is used for charging the self-moving robot; the state determination module is used for determining the current state of the self-moving robot; a state sending module, configured to send a current state of the self-moving robot to the charging dock based on the communication connection; the current state of the self-moving robot is used for indicating the charging seat to dynamically adjust the power of the recharging butt joint signal transmitting device; the position determining module is used for positioning the position of the charging seat according to the communication signal broadcast by the charging seat when the self-moving robot enters a recharging state; and the control module is used for controlling the self-moving robot to move to the position of the charging seat for recharging according to the positioned position of the charging seat.

According to the self-moving robot, the communication connection between the self-moving robot and a charging seat is established through the first communication module and a second communication module in the charging seat, wherein the charging seat is used for charging the self-moving robot; determining a current state of the self-moving robot; transmitting a current state of the self-moving robot to the charging dock based on the communication connection; the current state of the self-moving robot is used for indicating the charging seat to dynamically adjust the power of the recharging butt joint signal transmitting device; when the self-moving robot enters a recharging state, positioning the position of the charging seat according to the communication signal broadcast by the charging seat; and controlling the self-moving robot to move to the position of the charging seat to carry out recharging according to the positioned position of the charging seat. This from mobile robot is based on the communication connection between self and the charging seat, send the current state of self to the charging seat, the charging seat adjusts back in real time and fills the power of butt joint signalling device, the intellectuality of filling back from mobile robot has been improved, and the consumption of charging seat has been reduced, and simultaneously, the position of this charging seat of communication signal assistance-localization real-time through the charging seat broadcast, can be with higher speed from mobile robot's the process of filling back, the problem that the success rate is low is filled back to having solved from mobile robot, and the input cost is lower.

In order to achieve the above object, a sixth aspect of the present application provides a self-moving robot charging cradle, the self-moving robot charging cradle having a first communication module, the charging cradle having a second communication module, the charging cradle comprising: the signal control module is used for controlling the charging seat to broadcast communication signals based on the second communication module and controlling a recharging docking signal transmitting device in the charging seat to transmit recharging docking signals when the self-moving robot is monitored to leave the charging seat; the self-moving robot scans communication signals broadcast by a charging seat based on the first communication module; and the charging control module is used for controlling the charging seat to charge the self-moving robot when the self-moving robot moves to the position of the charging seat based on the communication signal broadcasted by the charging seat and is inserted into the charging seat based on the recharging butt joint signal.

When the self-moving robot is monitored to leave the charging seat, the charging seat is controlled to broadcast communication signals based on the second communication module, and a recharging and docking signal transmitting device in the charging seat is controlled to transmit recharging and docking signals; the self-moving robot scans communication signals broadcast by a charging seat based on the first communication module; and when the self-moving robot moves to the position of the charging seat based on the communication signal broadcasted by the charging seat and is inserted into the charging seat based on the recharging and docking signal, controlling the charging seat to charge the self-moving robot. Therefore, the position of the charging seat can be positioned in an auxiliary manner through the communication signal broadcasted by the mobile robot based on the charging seat, the recharging process of the mobile robot can be accelerated, the problem of low recharging success rate of the mobile robot is solved, and the investment cost is low.

To achieve the above object, a seventh embodiment of the present application provides a self-moving robot, including: the self-moving robot recharging method comprises a memory, a processor and a computer program which is stored on the memory and can run on the processor, wherein when the processor executes the program, the recharging method of the self-moving robot is realized.

To achieve the above object, an eighth aspect of the present invention provides a self-moving robot charging stand, including: the self-moving robot recharging method comprises a memory, a processor and a computer program which is stored on the memory and can run on the processor, wherein when the processor executes the program, the recharging method of the self-moving robot is realized.

To achieve the above object, a ninth aspect of the present application provides a computer-readable storage medium, having a computer program stored thereon, where the computer program, when executed by a processor, implements the method for recharging a self-moving robot according to the embodiments of the present application.

Additional aspects and advantages of the present application 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 present application.

Drawings

Fig. 1 is a schematic flow chart of a recharging method for a self-moving robot according to one embodiment of the present application;

fig. 2 is a schematic flow chart of a recharging method for a self-moving robot according to another embodiment of the present application;

fig. 3 is a schematic flow chart of a recharging method for a self-moving robot according to yet another embodiment of the present application;

FIG. 4 is a schematic flow chart diagram illustrating another method for recharging a self-moving robot in accordance with one embodiment of the present application;

FIG. 5 is a schematic flow chart diagram illustrating a method for recharging a self-moving robot according to an embodiment of the present application;

FIG. 6 is a schematic diagram of a self-moving robot in accordance with one embodiment of the present application;

FIG. 7 is a schematic diagram of another self-moving robot in accordance with one embodiment of the present application;

fig. 8 is a schematic structural diagram of a charging stand of a self-moving robot according to an embodiment of the present application;

fig. 9 is a schematic structural diagram of another self-moving robot according to an embodiment of the present application.

Detailed Description

Reference will now be made in detail to embodiments of the present application, 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 drawings are exemplary and intended to be used for explaining the present application and should not be construed as limiting the present application.

A self-moving robot, a recharging method thereof, a charging stand, and a computer-readable storage medium according to embodiments of the present application are described below with reference to the accompanying drawings.

Fig. 1 is a flowchart illustrating a recharging method for a self-moving robot according to an embodiment of the present application. The recharging method of the self-moving robot is applied to the self-moving robot, and the self-moving robot is provided with a first communication module. As one example, self-moving robots may include, but are not limited to, sweeping robots, mopping robots, and cleaning robots.

As shown in fig. 1, the recharging method of the self-moving robot includes the following steps:

step 101, scanning communication signals in the environment where the self-moving robot is located through a first communication module.

In the embodiment of the application, when the self-moving robot leaves the charging seat, the charging seat recognizes that the self-moving robot leaves, the second communication module is started, and the first communication module of the self-moving robot scans communication signals in the environment where the self-moving robot is located. The mobile robot includes a first communication module, and the charging stand includes a second communication module. The communication signal may be, but is not limited to, a WiFi signal, a bluetooth signal, etc. Preferably, the communication signal may be a bluetooth signal.

Step 102, when the communication signal broadcasted by the charging seat is scanned and the self-moving robot enters the recharging mode, the position of the charging seat is positioned according to the communication signal broadcasted by the charging seat, wherein the charging seat is used for charging the self-moving robot.

Further, when the first communication module scans the communication signal in the environment where the self-moving robot is located, the communication signal broadcasted by the charging seat is scanned, and when the self-moving robot enters the recharging mode, the self-moving robot positions the position of the charging seat according to the communication signal broadcasted by the charging seat.

As an example, when the self-moving robot locates the position of the charging dock according to the communication signal broadcasted by the charging dock, the intensity of the received communication signal broadcasted by the charging dock can be detected, and the detected intensity of the communication signal broadcasted by the charging dock is used to estimate the position of the charging dock, thereby locating the position of the charging dock. For example, taking the communication signal as a WiFi signal as an example, the self-moving robot detects the WiFi signal strength of the currently received charging cradle broadcast, and performs distance estimation by using the WiFi signal strength of the charging cradle broadcast, thereby implementing positioning of the charging cradle position.

As another example, taking the communication signal as a bluetooth signal as an example, the specific implementation process of the self-moving robot positioning the position of the charging seat according to the communication signal broadcast by the charging seat may be as follows: the position of the charging seat is positioned by utilizing the Bluetooth positioning technology. The bluetooth positioning technology can be divided into, but not limited to: based on ranging, without ranging, triangulation, etc. In the ranging-based method, during the positioning process, the self-moving robot needs to measure the angle information or the distance of the bluetooth signal broadcast by the charging seat, and the algorithm may be, but is not limited to, time-based arrival, time difference-based arrival angle-based reception signal strength indication, and the like. The algorithm that does not require ranging may be, but is not limited to, a centroid algorithm, a distance vector routing algorithm, convex optimization, a node localization algorithm (MDS-MAP for short), and the like. In the process of triangulation, the self-moving robot can calculate the current position of the charging seat through auxiliary methods such as a weighted average algorithm, a time weighted algorithm, an inertial navigation algorithm, a Kalman filtering algorithm, a Gaussian filtering algorithm and the like according to the intensity of the Bluetooth signal broadcast by the charging seat.

In addition, it should be noted that, in order to better assist the positioning of the charging stand to speed up the recharging process of the self-moving robot and reduce the power consumption of the recharging docking signal transmitting device in the charging stand, optionally, after scanning the communication signal broadcasted by the charging stand, before the self-moving robot enters the recharging mode, a communication connection between the self-moving robot and the charging stand can be established through the first communication module and the second communication module in the charging stand based on the communication signal broadcasted by the charging stand; determining a current state of the self-moving robot; based on the communication connection, sending the current state of the self-moving robot to the charging seat; and the current state of the self-moving robot is used for indicating the charging seat to dynamically adjust the power of the recharging butt joint signal transmitting device.

That is, after scanning the communication signal broadcasted by the charging stand, before the self-moving robot enters the recharging mode, the communication connection between the self-moving robot and the charging stand is automatically established through the first communication module in the self-moving robot and the second communication module in the charging stand based on the communication signal broadcasted by the charging stand, for example, the self-moving robot bluetooth signal and the charging stand bluetooth signal can be paired by default, so as to establish the communication connection between the self-moving robot and the charging stand. Then, the first communication module in the self-moving robot is connected through communication, and can send self-state information to the second communication module of the charging seat, and communicate self-state information with the charging seat in real time, so that the charging seat can determine the current state of the self-moving robot, for example, the current state may include: working state, recharging state, etc. Then, the charging base can dynamically adjust the power of the recharging butt joint signal transmitting device according to the current state of the self-moving robot, if the self-moving robot is in the working state, in order to reduce the interference of the recharging butt joint signal to the self-moving robot in the working state and reduce the power consumption of the charging base, the charging base can adjust the power of the recharging butt joint signal transmitting device of the self-moving robot to be small, if the self-moving robot is in the recharging process, the self-moving robot can better recharge according to the recharging butt joint signal, and the charging base can adjust the power of the recharging butt joint signal transmitting device to be large. Wherein, the recharging butt joint signal can be an infrared signal.

And 103, controlling the self-moving robot to move to the position of the charging seat according to the positioned position of the charging seat so as to carry out recharging.

In the embodiment of the application, after the self-moving robot is positioned to the position of the charging seat according to the communication signal broadcast by the charging seat, the self-moving robot is controlled to move to the position of the charging seat for recharging.

As an example, according to the position of the located charging seat, the self-moving robot may control itself to move to the position of the charging seat for recharging, alternatively, as shown in fig. 2, the self-moving robot may control the self-moving robot to move to the position direction of the charging seat for recharging according to the position of the located charging seat, and the specific steps are as follows:

and step 201, controlling the self-moving robot to move towards the position direction of the charging seat according to the positioned position of the charging seat.

Step 202, when the mobile robot moves to the area covered by the recharging docking signal of the charging seat, the mobile robot is controlled to move to the position of the charging seat for recharging based on the position of the charging seat and the recharging docking signal.

It can be understood that, as the environment of the self-moving robot is increasingly complex and the space is increasingly large, the self-moving robot can be positioned to the position of the charging seat based on the first communication module, and then the self-moving robot is controlled to move towards the position of the charging seat, and when the self-moving robot moves to the area covered by the recharging and docking signal of the charging seat, the self-moving robot is controlled to move to the position of the charging seat for recharging based on the position of the charging seat and the recharging and docking signal.

In addition, it can be understood that, in order to further accelerate the recharging from the mobile robot, when the mobile robot is controlled to move to the charging-stand position for recharging, as shown in fig. 3, the shortest recharging path can be determined. The method comprises the following specific steps:

step 301, determining the current position of the self-moving robot, and generating the shortest recharging path according to the current position of the self-moving robot and the position of the located charging seat.

And step 302, controlling the self-moving robot to move towards the position direction of the charging seat according to the shortest recharging path.

And 303, in the process of moving the self-moving robot to the position direction of the charging seat, if the self-moving robot encounters an obstacle, controlling the self-moving robot to leave the obstacle based on the path finding auxiliary strategy, returning to execute the step of determining the current position of the self-moving robot, and generating the shortest recharging path according to the current position of the self-moving robot and the positioned position of the charging seat until the self-moving robot moves to the position of the charging seat for recharging.

It is understood that the self-moving robot can generate the shortest recharging path according to the current position and the positioned position of the charging seat, in the process of moving towards the position direction of the charging seat from the self-moving robot, if the self-moving robot encounters an obstacle, the self-moving robot is controlled to leave the obstacle based on the routing auxiliary strategy, the state of determining the current position of the self-moving robot is returned, and the shortest recharging path is generated again according to the current position of the self-moving robot and the positioned position of the charging seat until the self-moving robot smoothly moves to the position of the charging seat for recharging. Wherein controlling the self-moving robot to leave the obstacle based on the wayfinding assistance policy may be, but is not limited to, passing the obstacle edgewise from the self-moving robot.

The recharging method of the mobile robot is applied to the self-mobile robot, the self-mobile robot is provided with a first communication module, and communication signals in the environment where the self-mobile robot is located are scanned through the first communication module; when a communication signal broadcasted by a charging seat is scanned and the self-moving robot enters a recharging mode, positioning the position of the charging seat according to the communication signal broadcasted by the charging seat, wherein the charging seat is used for charging the self-moving robot; and controlling the self-moving robot to move to the position of the charging seat to carry out recharging according to the positioned position of the charging seat. The method can assist in positioning the position of the charging seat through the communication signal broadcasted by the charging seat, can accelerate the recharging process of the self-moving robot, solves the problem of low recharging success rate of the self-moving robot, and can realize the accelerated recharging of the self-moving robot only by utilizing the communication modules (such as Bluetooth modules) on the self-moving robot and the charging seat, thereby greatly reducing the investment cost.

In order to better assist in positioning the position of the charging stand to accelerate the recharging process of the self-moving robot and solve the problem of low recharging success rate of the self-moving robot, as shown in fig. 4, the present application further provides another recharging method of the self-moving robot, which is applied to the self-moving robot, wherein the self-moving robot has a first communication module, and the specific steps are as follows:

step 401, establishing a communication connection between the self-moving robot and a charging seat through a first communication module and a second communication module in the charging seat, wherein the charging seat is used for charging the self-moving robot.

At step 402, the current state of the self-moving robot is determined.

Step 403, sending the current state of the self-moving robot to a charging seat based on communication connection; and the current state of the self-moving robot is used for indicating the charging seat to dynamically adjust the power of the recharging butt joint signal transmitting device.

Step 404, when the self-moving robot enters the recharging state, the position of the charging seat is located according to the communication signal broadcasted by the charging seat.

And 405, controlling the mobile robot to move to the position of the charging seat according to the positioned position of the charging seat so as to carry out recharging.

In the embodiment of the present application, a communication connection is automatically established between the self-moving robot and the charging dock based on a communication signal broadcast by the charging dock through a first communication module in the self-moving robot and a second communication module in the charging dock, for example, a bluetooth signal of the self-moving robot and a bluetooth signal of the charging dock can be paired by default, so as to establish a communication connection between the self-moving robot and the charging dock. Then, the first communication module of the self-moving robot can send the self-state information to the second communication module of the charging stand, and communicate the self-state information with the charging stand in real time, so that the charging stand can determine the current state of the self-moving robot, for example, the current state can include: working state, recharging state, etc. Then, the charging base can dynamically adjust the power of the recharging butt joint signal transmitting device according to the state of the self-moving robot, if the self-moving robot is in a working state, in order to reduce the interference of the recharging butt joint signal to the self-moving robot in working and reduce the power consumption of the charging base, the charging base adjusts the power of the recharging butt joint signal transmitting device to be small, if the self-moving robot is in the recharging process, the self-moving robot can better recharge according to the recharging butt joint signal, and the charging base can adjust the power of the recharging butt joint signal transmitting device to be large. And then, controlling the self-moving robot to move to the position of the charging seat according to the positioned position of the charging seat so as to carry out recharging. When the self-moving robot enters the recharging state, the self-moving robot can position the position of the charging seat according to the communication signal broadcast by the charging seat, and control the self-moving robot to move to the position of the charging seat for recharging according to the positioned position of the charging seat, which can be seen in step 102 and step 103 of the embodiment of fig. 1, which is not described in detail in the embodiments of the present application.

The recharging method of the self-moving robot is applied to the self-moving robot, the self-moving robot is provided with a first communication module, and communication connection between the self-moving robot and a charging seat is established through the first communication module and a second communication module in the charging seat, wherein the charging seat is used for charging the self-moving robot; determining a current state of the self-moving robot; transmitting a current state of the self-moving robot to the charging dock based on the communication connection; the current state of the self-moving robot is used for indicating the charging seat to dynamically adjust the power of the recharging butt joint signal transmitting device; when the self-moving robot enters a recharging state, positioning the position of the charging seat according to the communication signal broadcast by the charging seat; and controlling the self-moving robot to move to the position of the charging seat to carry out recharging according to the positioned position of the charging seat. The method is based on the communication connection between the self-moving robot and the charging seat, the current state of the self-moving robot is sent to the charging seat, the power of a recharging butt joint signal transmitting device is adjusted in real time, the recharging intellectualization of the self-moving robot is improved, the power consumption of the charging seat is reduced, meanwhile, the position of the charging seat is assisted and positioned through a communication signal broadcasted by the charging seat, the recharging process of the self-moving robot is accelerated, the problem of low recharging success rate of the self-moving robot is solved, in addition, the accelerated recharging of the self-moving robot can be realized only by utilizing communication modules (such as Bluetooth modules) on the self-moving robot and the charging seat, and the investment cost is greatly reduced.

In order to implement the above embodiments, the present invention further provides another recharging method for a self-moving robot, as shown in fig. 5, which can be applied to a charging dock, where the charging dock can be used to charge the self-moving robot. The self-moving robot is provided with a first communication module, the charging seat is provided with a second communication module, and the method comprises the following specific steps:

step 501, when it is monitored that the self-moving robot leaves the charging base, controlling the charging base to broadcast a communication signal based on a second communication module, and controlling a recharging docking signal transmitting device in the charging base to transmit a recharging docking signal; the self-moving robot scans the communication signal broadcasted by the charging seat based on the first communication module.

In the embodiment of the application, when it is monitored that the self-moving robot leaves the charging seat, the charging seat controls the second communication module of the charging seat to broadcast the communication signal, and then, optionally, through the first communication module and the second communication module, the communication connection between the self-moving robot and the charging seat is established based on the communication signal broadcast by the charging seat; receiving a current status sent from the mobile robot based on the communication connection; and adjusting the power of the recharging butt joint signal transmitting device according to the current state of the self-moving robot.

That is to say, when it is monitored that the mobile robot leaves the charging seat, after the charging seat controls the second communication module of the charging seat to broadcast the communication signal, the first communication module of the mobile robot and the second communication module of the charging seat are connected through communication, based on the communication signal broadcast by the charging seat, communication connection is automatically established between the mobile robot and the charging seat, and then the first communication module of the mobile robot is connected through communication, and self-state information can be sent to the second communication module of the charging seat, and the self-state information is communicated with the charging seat in real time, so that the charging seat can determine the current state of the mobile robot, for example, the current state can include: working state, recharging state, etc. Then, the charging base can dynamically adjust the power of the recharging butt-joint signal transmitting device according to the current state of the self-moving robot, if the self-moving robot is in the working state, in order to reduce the interference of the recharging butt-joint signal to the self-moving robot in the working state and reduce the power consumption of the recharging butt-joint signal transmitting device in the charging base, the charging base adjusts the power of the recharging butt-joint signal transmitting device to be small, if the self-moving robot is in the recharging process, so that the self-moving robot can better recharge according to the recharging butt-joint signal, and the charging base adjusts the power of the recharging butt-joint signal transmitting device to be large.

Step 502, when the mobile robot moves to the position of the charging seat based on the communication signal broadcasted by the charging seat and is inserted into the charging seat based on the recharging docking signal, the charging seat is controlled to charge the mobile robot.

It should be understood that the self-moving robot is located at the charging-stand position and moved to the charging-stand position based on the communication signal broadcasted by the charging-stand, and the charging-stand can control the self-moving robot to charge when the self-moving robot is inserted into the charging-stand based on the recharging docking signal. The specific steps of positioning the mobile robot to the charging seat position based on the communication signal broadcast by the charging seat and moving the mobile robot to the charging seat position can be referred to as step 102 and step 103 in the embodiment of fig. 1, which are not described in detail herein.

The recharging method of the self-moving robot is applied to a charging seat, the charging seat is used for charging the self-moving robot, the self-moving robot is provided with a first communication module, the charging seat is provided with a second communication module, when the self-moving robot is monitored to leave the charging seat, the charging seat is controlled to broadcast communication signals based on the second communication module, and a recharging butt joint signal transmitting device in the charging seat is controlled to transmit recharging butt joint signals; the self-moving robot scans communication signals broadcast by the charging seat based on the first communication module; and when the self-mobile robot moves to the position of the charging seat based on the communication signal broadcasted by the charging seat and is inserted into the charging seat based on the recharging butt-joint signal, controlling the charging seat to charge the self-mobile robot. From this, the accessible can be based on the position of this charging seat of communication signal of charging seat broadcast with the assistance-localization real-time from mobile robot, can accelerate the process of recharging from mobile robot, has solved the problem that the success rate of recharging is low from mobile robot to, only need utilize from mobile robot and the communication module (like bluetooth module) on the charging seat can realize recharging with higher speed from mobile robot, greatly reduced the input cost.

Corresponding to the self-moving robot recharging method provided in the embodiments shown in fig. 1 to 3, an embodiment of the present application further provides a self-moving robot, and since the self-moving robot provided in the embodiment of the present application corresponds to the self-moving robot recharging method provided in the embodiments shown in fig. 1 to 3, the foregoing embodiments of the self-moving robot recharging method are also applicable to the self-moving robot provided in the embodiment, and will not be described in detail in the embodiment. Fig. 6 is a schematic structural diagram of a self-moving robot according to an embodiment of the present application. As shown in fig. 6, the self-moving robot 600 includes: a first communication module 610, a position location module 620, and a recharge control module 630.

Specifically, the first communication module 610 is configured to scan communication signals from an environment in which the mobile robot is located; a position locating module 620, configured to locate a position of the charging dock according to a communication signal broadcasted by the charging dock when the communication signal broadcasted by the charging dock is scanned and the self-moving robot enters a recharging mode, where the charging dock is used to charge the self-moving robot; and a recharging control module 630, configured to control the mobile robot to move to the position of the charging seat for recharging according to the located position of the charging seat.

The self-moving robot scans communication signals in the environment where the self-moving robot is located through the first communication module; when the communication signal broadcasted by the charging seat is scanned and the self-moving robot enters the recharging mode, the position of the charging seat is positioned according to the communication signal broadcasted by the charging seat, wherein the charging seat is used for charging the self-moving robot; and controlling the self-moving robot to move to the position of the charging seat according to the positioned position of the charging seat so as to carry out recharging. This from mobile robot passes through the position of this charging seat of the supplementary location of the communication signal of charging seat broadcast, can accelerate the process of recharging from mobile robot, has solved the problem that the success rate is low of recharging from mobile robot to, only need utilize communication module (like bluetooth module) on mobile robot and the charging seat can realize recharging with higher speed from mobile robot, greatly reduced the input cost.

Corresponding to the self-moving robot recharging method provided in the embodiment shown in fig. 4, an embodiment of the present application also provides another self-moving robot, and since the self-moving robot provided in the embodiment of the present application corresponds to the self-moving robot recharging method provided in the embodiment shown in fig. 4, the implementation of the recharging method of the self-moving robot described above is also applicable to the self-moving robot provided in this embodiment, and will not be described in detail in this embodiment. Fig. 7 is a schematic structural diagram of a self-moving robot according to an embodiment of the present application. As shown in fig. 7, the self-moving robot 700 includes: a communication module 710, a status determination module 720, a status transmission module 730, a location determination module 740, and a control module 750.

Specifically, the communication module 710 is configured to establish a communication connection between the self-moving robot and a charging dock, where the charging dock is configured to charge the self-moving robot; a state determination module 720 for determining a current state of the self-moving robot; a state sending module 730, configured to send the current state of the mobile robot to the charging dock based on the communication connection; the current state of the self-moving robot is used for indicating the charging seat to dynamically adjust the power of the recharging butt joint signal transmitting device; a position determining module 740, configured to locate the position of the charging cradle according to a communication signal broadcast by the charging cradle when the self-moving robot enters a recharging state; and a control module 750, configured to control the mobile robot to move to the position of the charging seat for recharging according to the located position of the charging seat.

The self-moving robot of the embodiment of the application establishes communication connection between the self-moving robot and the charging seat through the first communication module and the second communication module in the charging seat, wherein the charging seat is used for charging the self-moving robot; determining a current state of the self-moving robot; based on the communication connection, sending the current state of the self-moving robot to the charging seat; the current state of the self-moving robot is used for indicating the charging seat to dynamically adjust the power of the recharging butt joint signal transmitting device; when the self-moving robot enters a recharging state, positioning the position of the charging seat according to a communication signal broadcasted by the charging seat; and controlling the self-moving robot to move to the position of the charging seat according to the positioned position of the charging seat so as to carry out recharging. This from mobile robot is based on the communication connection between self and the charging seat, current status with self sends to the charging seat, the charging seat adjusts back in real time and fills the power of butt joint signalling device, the intellectuality of filling from mobile robot back has been improved, and the consumption of charging seat has been reduced, and simultaneously, the position of this charging seat of communication signal assistance-localization real-time through the charging seat broadcast, can be with higher speed from mobile robot's the process of filling back, the problem that the success rate is low is filled back from mobile robot has been solved, and, only need utilize communication module (like bluetooth module) on mobile robot and the charging seat can realize filling with higher speed from mobile robot, greatly reduced the input cost.

Corresponding to the recharging method for the self-moving robot provided in the embodiment shown in fig. 5, an embodiment of the present application further provides a charging stand for a self-moving robot, and since the charging stand for a self-moving robot provided in the embodiment of the present application corresponds to the recharging method for a self-moving robot provided in the embodiment shown in fig. 5, the implementation of the recharging method for a self-moving robot described above is also applicable to the charging stand for a self-moving robot provided in this embodiment, and will not be described in detail in this embodiment. Fig. 8 is a schematic structural diagram of a charging stand of a self-moving robot according to an embodiment of the present disclosure. As shown in fig. 8, the charging stand includes: a signal control module 810 and a charging control module 820.

Specifically, the signal control module 810 is configured to control the charging dock to broadcast a communication signal based on the second communication module and control the recharging dock signal transmitting device in the charging dock to transmit a recharging dock signal when it is monitored that the mobile robot leaves the charging dock; the self-moving robot scans communication signals broadcast by the charging seat based on the first communication module; and a charging control module 820 for controlling the charging base to charge the self-moving robot when the self-moving robot moves to the position of the charging base based on the communication signal broadcasted by the charging base and is inserted into the charging base based on the recharging docking signal.

When the self-moving robot is monitored to leave the charging seat, the charging seat of the self-moving robot is controlled to broadcast communication signals based on the second communication module, and a recharging and docking signal transmitting device in the charging seat is controlled to transmit recharging and docking signals; the self-moving robot scans communication signals broadcast by the charging seat based on the first communication module; and when the self-mobile robot moves to the position of the charging seat based on the communication signal broadcasted by the charging seat and is inserted into the charging seat based on the recharging butt-joint signal, controlling the charging seat to charge the self-mobile robot. From this, the accessible is from mobile robot based on the position of this charging seat of the communication signal of charging seat broadcast with the assistance-localization real-time, and the process of recharging from mobile robot has been solved from mobile robot's the problem that the success rate is low of recharging to, only need utilize from mobile robot and the communication module (like bluetooth module) on the charging seat can realize recharging with higher speed from mobile robot, greatly reduced the input cost.

In order to implement the embodiments shown in fig. 1 to 4, a further self-moving robot is further provided in the embodiments of the present application, and fig. 9 is a schematic structural diagram of the further self-moving robot provided in the embodiments of the present application. The self-moving robot may include a memory 1001, a processor 1002, and a computer program stored on the memory 1001 and executable on the processor 1002. The processor 1002, when executing the program, implements the method for refilling a self-moving robot provided in the embodiments shown in fig. 1 to 4.

Further, the self-moving robot further includes: a communication interface 1003 for communicating between the memory 1001 and the processor 1002. A memory 1001 for storing computer programs that may be run on the processor 1002. Memory 1001 may include high-speed RAM memory and may also include non-volatile memory (e.g., at least one disk memory). The processor 1002 is configured to implement the recharging method of the self-moving robot according to the embodiment shown in fig. 1 to 4 when executing the program. If the memory 1001, the processor 1002, and the communication interface 1003 are implemented independently, the communication interface 1003, the memory 1001, and the processor 1002 may be connected to each other through a bus and perform communication with each other. The bus may be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, an Extended ISA (EISA) bus, or the like. The bus may be divided into an address bus, a data bus, a control bus, etc. For ease of illustration, only one thick line is shown in FIG. 9, but this does not indicate only one bus or one type of bus.

Optionally, in a specific implementation, if the memory 1001, the processor 1002, and the communication interface 1003 are integrated on one chip, the memory 1001, the processor 1002, and the communication interface 1003 may complete communication with each other through an internal interface.

The processor 1002 may be a Central Processing Unit (CPU), an Application Specific Integrated Circuit (ASIC), or one or more Integrated circuits configured to implement embodiments of the present invention.

In order to implement the embodiment shown in fig. 5, an embodiment of the present application further provides a self-moving robot charging cradle, where the charging cradle includes: the device comprises a memory, a processor and a computer program which is stored on the memory and can run on the processor, wherein when the processor executes the program, the recharging method of the self-moving robot in the embodiment shown in the figure 5 is realized.

In order to implement the foregoing embodiments, the present application further provides a computer-readable storage medium, on which a computer program is stored, so as to implement the method for recharging a self-moving robot according to the embodiments of the present application.

In the description herein, reference to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the application. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.

Furthermore, the terms "first", "second" and "first" 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, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present application, "plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.

Any process or method descriptions in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more executable instructions for implementing steps of a custom logic function or process, and alternate implementations are included within the scope of the preferred embodiment of the present application in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order, depending on the functionality involved, as would be understood by those reasonably skilled in the art of the present application.

The logic and/or steps represented in the flowcharts or otherwise described herein, e.g., an ordered listing of executable instructions that can be considered to implement logical functions, can be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions. For the purposes of this description, a "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of the computer-readable medium would include the following: an electrical connection (electronic device) having one or more wires, a portable computer diskette (magnetic device), a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). Additionally, the computer-readable medium could even be paper or another suitable medium upon which the program is printed, as the program can be electronically captured, via for instance optical scanning of the paper or other medium, then compiled, interpreted or otherwise processed in a suitable manner if necessary, and then stored in a computer memory.

It should be understood that portions of the present application may be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, the various steps or methods may be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. If implemented in hardware, as in another embodiment, any one or combination of the following techniques, which are known in the art, may be used: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application specific integrated circuit having an appropriate combinational logic gate circuit, a Programmable Gate Array (PGA), a Field Programmable Gate Array (FPGA), or the like.

It will be understood by those skilled in the art that all or part of the steps carried by the method for implementing the above embodiments may be implemented by hardware related to instructions of a program, which may be stored in a computer readable storage medium, and when the program is executed, the program includes one or a combination of the steps of the method embodiments.

In addition, functional units in the embodiments of the present application may be integrated into one processing module, or each unit may exist alone physically, or two or more units are integrated into one module. The integrated module can be realized in a hardware mode, and can also be realized in a software functional module mode. The integrated module, if implemented in the form of a software functional module and sold or used as a stand-alone product, may also be stored in a computer readable storage medium.

The storage medium mentioned above may be a read-only memory, a magnetic or optical disk, etc. Although embodiments of the present application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present application, and that variations, modifications, substitutions and alterations may be made to the above embodiments by those of ordinary skill in the art within the scope of the present application.

Claims

1. A recharging method for a self-moving robot is applied to the self-moving robot, and is characterized in that the self-moving robot is provided with a first communication module, and the method comprises the following steps:

scanning, by the first communication module, communication signals within an environment in which the self-moving robot is located;

when a communication signal broadcasted by a charging seat is scanned and the self-moving robot enters a recharging mode, positioning the position of the charging seat according to the communication signal broadcasted by the charging seat, wherein the charging seat is used for charging the self-moving robot;

and controlling the self-moving robot to move to the position of the charging seat to carry out recharging according to the positioned position of the charging seat.

2. A recharging method for a self-moving robot is applied to the self-moving robot, and is characterized in that the self-moving robot is provided with a first communication module, and the method comprises the following steps:

establishing communication connection between the self-moving robot and a charging seat through the first communication module and a second communication module in the charging seat, wherein the charging seat is used for charging the self-moving robot;

determining a current state of the self-moving robot;

transmitting a current state of the self-moving robot to the charging dock based on the communication connection; the current state of the self-moving robot is used for indicating the charging seat to dynamically adjust the power of the recharging butt joint signal transmitting device;

when the self-moving robot enters a recharging state, positioning the position of the charging seat according to the communication signal broadcast by the charging seat;

3. The method of claim 1, wherein after the scanning for the communication signal broadcast to the charging dock, prior to the self-moving robot entering a recharge mode, the method further comprises:

establishing communication connection between the self-moving robot and the charging seat based on a communication signal broadcasted by the charging seat through the first communication module and a second communication module in the charging seat;

determining a current state of the self-moving robot;

transmitting a current state of the self-moving robot to the charging dock based on the communication connection; and the current state of the self-moving robot is used for indicating the charging seat to dynamically adjust the power of the recharging and docking signal transmitting device.

4. The method according to claim 1 or 2, wherein the controlling the self-moving robot to move to the position of the charging seat for recharging according to the located position of the charging seat comprises:

controlling the self-moving robot to move towards the position direction of the charging seat according to the positioned position of the charging seat;

when the self-moving robot moves to the area covered by the recharging and docking signal of the charging seat, the self-moving robot is controlled to move to the position of the charging seat for recharging based on the position of the charging seat and the recharging and docking signal.

5. The method according to claim 1 or 2, wherein the controlling the self-moving robot to move to the position of the charging seat for recharging according to the located position of the charging seat comprises:

determining the current position of the self-moving robot, and generating a shortest recharging path according to the current position of the self-moving robot and the position of the positioned charging seat;

controlling the self-moving robot to move towards the position direction of the charging seat according to the shortest recharging path;

in the process that the self-moving robot moves towards the position direction of the charging seat, if the self-moving robot meets an obstacle, the self-moving robot is controlled to leave the obstacle based on a path finding auxiliary strategy, the current position of the self-moving robot is determined, and the shortest recharging path is generated according to the current position of the self-moving robot and the positioned position of the charging seat until the self-moving robot moves to the position of the charging seat for recharging.

6. The method of claim 1 or 2, wherein the communication signal is a WiFi signal.

7. The method of claim 1 or 2, wherein the self-moving robots comprise sweeping, mopping and cleaning robots.

8. A recharging method of a self-moving robot is applied to a charging seat, and is characterized in that the charging seat is used for charging the self-moving robot, the self-moving robot is provided with a first communication module, the charging seat is provided with a second communication module, and the method comprises the following steps:

when the self-moving robot is monitored to leave the charging seat, controlling the charging seat to broadcast a communication signal based on the second communication module and controlling a recharging and docking signal transmitting device in the charging seat to transmit a recharging and docking signal; the self-moving robot scans communication signals broadcast by a charging seat based on the first communication module;

and when the self-moving robot moves to the position of the charging seat based on the communication signal broadcasted by the charging seat and is inserted into the charging seat based on the recharging and docking signal, controlling the charging seat to charge the self-moving robot.

9. The method of claim 1, wherein after the controlling the cradle to broadcast communication signals based on the second communication module, the method further comprises:

establishing communication connection between the self-moving robot and the charging seat based on a communication signal broadcast by the charging seat through the first communication module and the second communication module;

receiving a current state sent by the self-moving robot based on the communication connection;

and adjusting the power of the recharging butt joint signal transmitting device according to the current state of the self-moving robot.

10. A self-moving robot, comprising:

the first communication module is used for scanning communication signals in the environment where the self-moving robot is located;

the position positioning module is used for positioning the position of the charging seat according to the communication signal broadcasted by the charging seat when the communication signal broadcasted by the charging seat is scanned and the self-moving robot enters a recharging mode, wherein the charging seat is used for charging the self-moving robot;

and the recharging control module is used for controlling the self-moving robot to move to the position of the charging seat according to the positioned position of the charging seat so as to recharge.

11. A self-moving robot, comprising:

the communication module is used for establishing communication connection between the self-moving robot and a charging seat, wherein the charging seat is used for charging the self-moving robot;

the state determination module is used for determining the current state of the self-moving robot;

a state sending module, configured to send a current state of the self-moving robot to the charging dock based on the communication connection; the current state of the self-moving robot is used for indicating the charging seat to dynamically adjust the power of the recharging butt joint signal transmitting device;

the position determining module is used for positioning the position of the charging seat according to the communication signal broadcast by the charging seat when the self-moving robot enters a recharging state;

and the control module is used for controlling the self-moving robot to move to the position of the charging seat for recharging according to the positioned position of the charging seat.

12. A charging stand for a self-moving robot, the self-moving robot having a first communication module, the charging stand having a second communication module, the charging stand comprising:

the signal control module is used for controlling the charging seat to broadcast communication signals based on the second communication module and controlling a recharging docking signal transmitting device in the charging seat to transmit recharging docking signals when the self-moving robot is monitored to leave the charging seat; the self-moving robot scans communication signals broadcast by a charging seat based on the first communication module;

and the charging control module is used for controlling the charging seat to charge the self-moving robot when the self-moving robot moves to the position of the charging seat based on the communication signal broadcasted by the charging seat and is inserted into the charging seat based on the recharging butt joint signal.

13. A self-moving robot, comprising: memory, processor and computer program stored on the memory and executable on the processor, which when executed by the processor implements the method of recharging a self-moving robot as claimed in any one of claims 1 to 7.

14. The utility model provides a self-moving robot charging seat which characterized in that includes: memory, processor and computer program stored on the memory and executable on the processor, which when executed by the processor implements the method of recharging a self-moving robot as claimed in claim 8 or 9.

15. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the method for recharging a self-moving robot according to any one of claims 1 to 7, or carries out the method for recharging a self-moving robot according to claim 8 or 9.