CN112214015A

CN112214015A - Self-moving robot and recharging method, system and computer storage medium thereof

Info

Publication number: CN112214015A
Application number: CN202010921643.5A
Authority: CN
Inventors: 刘喜兵
Original assignee: Anker Innovations Co Ltd
Current assignee: Anker Innovations Co Ltd
Priority date: 2020-09-04
Filing date: 2020-09-04
Publication date: 2021-01-12
Anticipated expiration: 2040-09-04
Also published as: CN112214015B

Abstract

The embodiment of the invention discloses a self-moving robot and a recharging method, a system and a computer storage medium thereof, wherein the method comprises the following steps: acquiring a receiving signal from a mobile robot, wherein the receiving signal comprises a guiding signal transmitted by at least two guiding signal transmitters of a charging seat and an identification signal transmitted by an identification signal transmitter of the charging seat; determining the relative position between the self-moving robot and the charging seat according to the received signal; determining the moving speed of the self-moving robot according to the relative position; moving at the moving speed to approach the charging stand. Therefore, the self-moving robot in the embodiment of the invention can realize recharging control according to the received signal, does not need to construct and analyze a grid map in real time to analyze the position of the charging seat, does not need to preset a moving track, can simplify the recharging operation process, and has more accurate and stronger real-time guiding mode according to the signal.

Description

Self-moving robot and recharging method, system and computer storage medium thereof

Technical Field

The application relates to the field of smart home, in particular to a method for recharging by a self-moving robot, the self-moving robot, a system and a computer storage medium.

Background

With the development of Artificial Intelligence (AI), a variety of self-moving robots are involved in various scenes. Such as a sweeping robot in a home environment, etc.

The self-moving robot needs to be charged when the work is finished or the electric quantity is low, in order to enable the self-moving robot to automatically recharge, the position of a map storage charging seat can be built by the self-moving robot, or a preset track and the like can be stored, so that the self-moving robot can be guided to return to the charging seat for charging.

However, the time for constructing the map is long, and deviation is easy to occur in navigation; and the error probability of the mode of storing the preset track is higher. There is therefore a need for an efficient and simple recharging method.

Disclosure of Invention

The invention provides a self-moving robot recharging method, a computer storage medium, a self-moving robot and a self-moving system.

In a first aspect, an embodiment of the present invention provides a method for recharging from a mobile robot, including:

acquiring a receiving signal from a mobile robot, wherein the receiving signal comprises a guiding signal transmitted by at least two guiding signal transmitters of a charging seat and an identification signal transmitted by an identification signal transmitter of the charging seat;

determining the relative position between the self-moving robot and the charging seat according to the received signal;

determining the moving speed of the self-moving robot according to the relative position;

moving at the moving speed to approach the charging dock.

In one embodiment, before acquiring the received signal, the method further comprises: and determining a first moving speed based on a first speed reference, and moving towards the charging seat at the first moving speed until the guide signal and the identification signal are detected.

In one embodiment, the first speed reference comprises a first linear speed reference and a first turning radius reference, wherein the linear speed of the first moving speed is less than or equal to the first linear speed reference, and the angular speed of the first moving speed is less than or equal to the ratio of the first linear speed reference to the first turning radius reference.

In one embodiment, determining the relative position between the self-moving robot and the charging dock comprises: storing the received signal in a signal queue; and determining the relative position between the self-moving robot and the charging seat according to the change of the received signals of a plurality of continuous periods in the signal queue.

In one embodiment, determining the moving speed of the self-moving robot according to the relative position comprises: determining a normalized control deviation and a speed reference according to the relative position; and determining the moving speed of the self-moving robot according to the control deviation and the speed reference.

In one embodiment, the speed reference comprises a linear speed reference and a turning radius reference, the moving speed comprises a moving linear speed and a moving turning radius,

determining the moving speed of the self-moving robot according to the control deviation and the speed reference, and the determining comprises the following steps: and determining the moving linear speed according to the linear speed reference, and determining the moving turning radius according to the turning radius reference and the control deviation, wherein the moving linear speed is less than or equal to the linear speed reference.

In one embodiment, determining a normalized control deviation and a velocity reference based on the relative position comprises:

if the included angle between the relative position indication center connecting line and the first direction is an acute angle, the control deviation is a positive value;

if the relative position indicates that the included angle between the central connecting line and the first direction is a right angle, the control deviation is zero;

if the relative position indicates that the included angle between the central connecting line and the first direction is an obtuse angle, the control deviation is a negative value;

if the relative position indicates that an included angle between the central connecting line and the second direction is greater than an included angle threshold value, the speed reference is a second speed reference;

if the relative position indicates that an included angle between the central connecting line and the second direction is smaller than or equal to the included angle threshold value, the speed reference is a third speed reference;

the center connecting line is a connecting line between the center of the self-moving robot and the center of the charging seat, the second direction is parallel to the axis of the charging seat and points to the transmitting direction of the guide signal, the second direction is perpendicular to the first direction, and the first direction is coincided with the second direction after being rotated by 90 degrees anticlockwise.

In a second aspect, a computer storage medium is provided, on which a computer program is stored, which, when being executed by a processor, carries out the steps of the method of any of the above embodiments.

In a third aspect, there is provided a self-moving robot comprising a processor and a computer storage medium, the computer storage medium being the computer storage medium of the previous aspect, the processor being configured to execute a computer program stored on the computer storage medium.

In a fourth aspect, there is provided a self-moving system comprising: a charging stand, and the self-moving robot of the above aspect.

Therefore, the self-moving robot in the embodiment of the invention can realize recharging control according to the received signal, does not need to construct and analyze a grid map in real time to analyze the position of the charging seat, does not need to preset a moving track, can simplify the recharging operation process, and has more accurate and stronger real-time guiding mode according to the signal.

Drawings

The above and other objects, features and advantages of the present invention will become more apparent by describing in more detail embodiments of the present invention with reference to the attached drawings. The accompanying drawings are included to provide a further understanding of the embodiments of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention. In the drawings, like reference numbers generally represent like parts or steps.

FIG. 1 is a schematic diagram of a top view of a charging dock according to an embodiment of the present invention;

FIG. 2 is a schematic diagram of at least two pilot signal transmitters of a cradle according to an embodiment of the present invention;

FIG. 3 is a schematic diagram of a top view of a self-moving robot of an embodiment of the present invention;

FIG. 4 is a schematic diagram of a first charging electrode interfacing with a second charging electrode in accordance with an embodiment of the present invention;

FIG. 5 is a schematic diagram of at least two signal receivers of a self-moving robot of an embodiment of the present invention;

FIG. 6 is a schematic flow chart of an automatic recharge from a mobile robot in accordance with an embodiment of the present invention;

FIG. 7 is another schematic flow chart of an automatic recharge from a mobile robot in accordance with an embodiment of the present invention;

fig. 8 is a schematic block diagram of a self-moving robot of an embodiment of the present invention.

Detailed Description

In the following description, numerous specific details are set forth in order to provide a more thorough understanding of the present invention. It will be apparent, however, to one skilled in the art, that the present invention may be practiced without one or more of these specific details. In other instances, well-known features have not been described in order to avoid obscuring the invention.

In the following description, for purposes of explanation, specific details are set forth in order to provide a thorough understanding of the present invention. It is apparent that the practice of the invention is not limited to the specific details set forth herein as are known to those of skill in the art. The following detailed description of the preferred embodiments of the invention, however, the invention is capable of other embodiments in addition to the detailed description and should not be construed as limited to the embodiments set forth herein.

It is to be understood that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention, as the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. When the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof. The terms "upper", "lower", "front", "rear", "left", "right" and the like as used herein are for purposes of illustration only and are not limiting.

Ordinal words such as "first" and "second" are referred to herein merely as labels, and do not have any other meaning, such as a particular order, etc. Also, for example, the term "first component" does not itself imply the presence of "second component", and the term "second component" does not itself imply the presence of "first component".

The embodiment of the invention can be applied to various self-moving systems, wherein the systems comprise a charging seat and a self-moving robot. The self-moving robot is also referred to as a walking robot, a self-moving device, and the like, and examples thereof include a sweeping robot, a companion robot, a cargo robot, and the like, but the present invention is not limited thereto.

The charging seat can be used for charging for self-moving robot, and the charging seat is provided with first charging electrode, and self-moving robot is provided with the second and charges the electric level to when the second charges electric level and first charging electrode butt joint, the charging seat can charge for self-moving robot.

For example, the first charging electrode may include a pair of charging heads, such as a first charging head and a second charging head. The second charging electrode may include a corresponding pair of charging pads, such as a first charging pad and a second charging pad. It can be understood that the distance between the first charging head and the second charging head is equal to the distance between the first charging sheet and the second charging sheet, so that the accuracy of butt joint during charging is ensured, and the charging efficiency is ensured.

In connection with an example of a top view of the charging cradle shown in fig. 1, the charging cradle in the embodiment of the present invention, which may also be referred to as a charging device, may include a charging cradle body 10, a first charging electrode 40, an identification signal transmitter 20, and at least two guidance signal transmitters 30.

It is understood that the charging base body can be connected to the utility power to obtain power.

The identification signal emitter may also be referred to as an identification sensor, the guidance signal emitter may also be referred to as a guidance sensor, and the like, which are not limited in this application.

If the signal emitting direction of at least two guiding signal emitters is defined as front (as the positive direction of Y shown in fig. 1), the first charging electrode may be disposed in front of the charging-stand body, for example, may be located on a front protruding portion of the charging-stand body. Illustratively, the first charging electrode 40 may include a pair of charging heads (also referred to as a pair of electrodes).

It is understood that a charging-stand controller (not shown in fig. 1) may be further disposed inside the charging-stand body, and may be used to control the signal transmission of the identification signal transmitter 20 and the at least two guidance signal transmitters 30, such as the transmission time, the transmission period, the frequency and amplitude of the transmission signal, and the like.

Illustratively, the identification signal transmitter, the at least two guiding signal transmitters may be any one of an infrared transmitter, a laser transmitter, an ultrasonic transmitter, etc., and the identification signal transmitter and the guiding signal transmitter may be the same type or model or different types or models. The identification signal transmitter is used for transmitting an identification signal, the guide signal transmitter is used for transmitting a guide signal, and the identification signal and the guide signal have different signal parameters, such as frequency, amplitude and the like.

As an example, the signals transmitted by the identification signal transmitter and the at least two pilot signal transmitters are infrared encoded signals, but the infrared carrier signal transmitted by the identification signal transmitter has a first code value and the infrared carrier signal transmitted by the at least two pilot signal transmitters has a second code value. For the purpose of distinction, the signal emitted by the identification signal emitter is hereinafter referred to as identification signal and the signal emitted by the pilot signal emitter is referred to as pilot signal.

The identification signal emitted by the identification signal emitter may form a first region, that is to say a range within which the identification signal can reach, and the maximum value of the distance between a point in this first region and the identification signal emitter may be the first distance. The first distance is small and the identification signal transmitter can be adjusted as needed to set the first distance, e.g., 0.5 meters, 0.8 meters, etc. The first area may be in a shape of a circle or a semicircle centered on the identification signal transmitter, and is used for recognition from the mobile robot to prevent a false collision with and arrival near the charging stand. That is, as long as the self-moving robot can detect the identification signal transmitted by the identification signal transmitter, it can be determined that the vicinity of the charging stand has been reached.

As an example, the radiation range of the identification signal transmitter may be 360 degrees, i.e. it transmits the identification signal to all around, and the first area is circular.

Illustratively, the at least two pilot signal emitters may be symmetrically disposed, e.g., symmetrical with respect to a centerline of the first charging electrode, e.g., symmetrical with respect to an axis of symmetry of the charging dock, and so forth. Illustratively, the number of pilot signal emitters may be an even number, e.g., 2, 4, etc., with 4 pilot signal emitters as shown in fig. 1. However, the number may be an odd number, such as 3 or 5, and the like, which is not limited in the present application.

For example, the at least two pilot signal transmitters may be disposed on the same horizontal line, for example, a line connecting centers of the at least two pilot signal transmitters and a line connecting the two charging heads are parallel.

For example, the at least two pilot signal emitters may be arranged uniformly, i.e., each two adjacent pilot signal emitters are equally spaced apart, e.g., both at a first spacing (denoted as D1). Generally, D1 is set to be small, a specific value is related to the size of the cradle and the size of the object of the guidance signal transmitter, for example, D1 may be set equal to two or three times the size of the object of the guidance signal transmitter.

The guide signal emitters are used for emitting guide signals, and the guide signals emitted by each guide signal emitter form different areas, and the areas formed by the guide signals emitted by two adjacent guide signal emitters are partially overlapped. Taking 4 pilot signal transmitters as an example, it is assumed that a first pilot signal transmitter and a third pilot signal transmitter are located on one side of the symmetry axis, a second pilot signal transmitter and a fourth pilot signal transmitter are located on the other side of the symmetry axis, and the first pilot signal transmitter and the second pilot signal transmitter are closer to the symmetry axis.

Alternatively, the at least two pilot signal emitters may have the same arrangement, e.g. the angle of the radiation range of each emitted signal is equal. Alternatively, at least two pilot signal emitters may have different settings, for example the angles of the radiation ranges of the signals emitted by the different pilot signal emitters are not equal.

In connection with fig. 2, assuming that the first guide signal emitter (hereinafter, T1) and the second guide signal emitter (hereinafter, T2) have the same arrangement, the angles of the radiation ranges of the emitted signals are equal. Assuming that the third pilot signal emitter (hereinafter T3) and the fourth pilot signal emitter (hereinafter T4) have the same arrangement, the angles of the radiation ranges of the emitted signals are equal.

In fig. 2, a dotted line S indicates an axis of symmetry, and an angle of a radiation range of the signal emitted by T1 is assumed to be α, and an angle of a radiation range of the signal emitted by T3 is assumed to be β. Due to symmetry, it is also assumed that the angle of the radiation range of the T2 emitted signal is α and the angle of the radiation range of the T4 emitted signal is β, not shown in fig. 2. And the radiation range of the signal emitted by T1 intersects the radiation range of the signal emitted by T2, the radiation range of the signal emitted by T1 intersects the radiation range of the signal emitted by T3, and the radiation range of the signal emitted by T2 intersects the radiation range of the signal emitted by T4.

The pilot signals emitted by the at least two pilot signal emitters may form a second area, for example 4 pilot signal emitters, which is a union of the radiation ranges of the signals emitted by the respective pilot signal emitters. It will be appreciated that, because of the relatively small separation (D1) between each two adjacent pilot signal emitters, the second region may be approximated as a sector region, negligible in areas where the signal of either pilot signal emitter would not be reachable, taking into account the pilot signal emitters. The second area is used for identifying and controlling the walking direction from the mobile robot. As an example, the second region may be a semicircular region. That is, the total radiation angle formed by the pilot signals emitted by the at least two pilot signal emitters may be 180 degrees. Wherein, the maximum value of the distance between the point in the second region and the center of the at least two pilot signal transmitters (the intersection point of the line connecting the at least two pilot signal transmitters and the symmetry axis, such as O in fig. 2) may be the second distance. The second distance is larger than the first distance and at least two guiding signal transmitters can be adjusted as required to set the second distance, for example the second distance is 3 meters or 5 meters, etc.

Returning to fig. 2, as an example, α may be assumed to be 40 ° and β may be 70 °. Also, it can be assumed that an angle between the radiation region of T1 and the radiation region of T2 is 20 degrees, and as in fig. 2, an angle α 1 between the right boundary of the radiation region of T1 and the symmetry axis is 10 °. The angle between the radiation area of T1 and the radiation area of T3 is β 1 — 20 °. It is understood that the angle values are merely examples and should not be construed as limiting the embodiments of the present application.

It should be noted that although an embodiment of 4 pilot signal transmitters is shown in connection with fig. 2, the present invention is not limited thereto, and may be, for example, 2 pilot signal transmitters, which may include T1 and T2 but not T3 and T4 in connection with fig. 2. For example, the angles of the radiation areas of the guide signals emitted by T1 and T2 may be both 100 degrees, and the second areas formed by the guide signals emitted by T1 and T2 are semicircular, i.e., 10 degrees between the radiation areas of the guide signals emitted by T1 and the radiation areas of the guide signals emitted by T2 are coincident areas. Alternatively, in this example, the angles of the radiation areas of the guide signals emitted by T1 and T2 may both be 90 degrees, that is, there is no overlapping portion between the radiation areas of the two.

It is understood that the transmitted signal of the cradle may include an identification signal transmitted by the identification signal transmitter and a pilot signal transmitted by at least two pilot signal transmitters. Illustratively, the charging dock controller may be operable to control the transmission of signals by the identification signal transmitter and the at least two guidance signal transmitters. As an example, the identification signal transmitter and the at least two pilot signal transmitters may or may not transmit simultaneously. To prevent signal interference, the transmissions may be spaced apart, e.g., the identification signal may be transmitted by the identification signal transmitter during a first time period when at least two pilot signal transmitters are not transmitting any signals; the pilot signal is transmitted by at least two pilot signal transmitters during a second time period when the identification signal transmitter is not transmitting a signal.

Alternatively, the signal may be transmitted periodically, assuming a period of T. For the identification signal transmitter, it may start transmitting the identification signal at time T1 for a transmission time period of T01, and then retransmit the identification signal at time T1+ T, the transmission time period still being T01. For at least two pilot signal transmitters, it may start transmitting pilot signals at time T2 for a time period T02, and then retransmit pilot signals at time T2+ T, again for a time period T02. Wherein, T01 and T02 may be equal or unequal. Wherein the sum of T01 and T02 may be less than T or may be equal to T. In the same T period, the intervals T1 to T1+ T01 and the intervals T2 to T2+ T02 may be disjoint, that is, the identification signal and the guidance signal are not transmitted at the same time, so as to prevent signal interference between them and influence the judgment of the signal received from the mobile robot.

In connection with an example of a top view of the self-moving robot shown in fig. 3, the self-moving robot in the embodiment of the present invention may include a robot body 11, a second charging electrode 12, and at least two signal receivers 13.

Illustratively, the self-moving robot may further include a robot controller, a memory, a walking unit, a speed measuring unit, a timing unit, an electric energy storage unit, a charge and discharge management unit, and the like.

Illustratively, the self-moving robot may further include a distance sensor, a collision detection sensor, and the like. The Distance Sensor may be a Laser Distance Sensor (LDS) or may be a pair of infrared pair tubes, and the like, and may be disposed at the front end of the self-moving robot, and configured to sense a Distance from an obstacle in a forward direction of the self-moving robot. Where the "front end" is defined according to the forward direction of the self-moving robot (the forward direction of Y in fig. 3). It is understood that the self-moving robot can adjust the traveling speed and direction of the self-moving robot according to the sensing of the distance sensor. In particular, it may be used to slow down and prevent collisions, and may also be used to assist in adjusting the speed of movement (otherwise known as the walking speed) during recharge, as described below in connection with fig. 6 and 7.

The second charging electrode may include a pair of charging pads (also referred to as a pair of electrodes), such as a first charging pad and a second charging pad, which may be disposed at a bottom of the front end of the self-moving robot. For example, the distance between the first charging pad and the second charging pad may be set to be equal to the distance between the first charging head and the second charging head of the charging stand, so that the electrical connection between the two is uniform between the charging electrodes at both ends.

For example, the alignment between the first charging electrode of the charging stand and the second charging electrode of the self-moving robot is not limited in the embodiment of the present invention, and as shown in fig. 4, the first charging electrode of the charging stand may be aligned to the left (a in fig. 4), or may be aligned to the right (b in fig. 4), or may be aligned to the center (c in fig. 4).

For example, the signal receiver may also be referred to as a signal receiving sensor, etc., which is not limited in this application.

In one implementation, the at least two signal receivers are configured to receive the transmission signal of the charging dock, i.e., to receive the signals transmitted by the identification signal transmitter and/or the at least two guidance signal transmitters, and may also be configured to determine whether the identification signal or the guidance signal is received. Specifically, at least two signal receivers can detect the transmission signal of the cradle, thereby acquiring the reception signal.

In one embodiment, at least two signal receivers may be disposed near the front end from the top of the mobile robot, and illustratively, the at least two signal receivers may be disposed on the same horizontal line, for example, a line connecting centers of the two signal receivers and a line connecting the two charging pads are parallel, for example, the line connecting centers of the two signal receivers and the central axis of the mobile robot are perpendicular to each other. For example, the at least two signal receivers may be arranged uniformly, that is to say, the spacing between each two adjacent signal receivers is equal, for example, both are at the second spacing (denoted as D2). Generally, D2 is set to be smaller.

It is assumed that the number of the at least two signal receivers is two, i.e. the self-moving robot comprises a first signal receiver and a second signal receiver.

It is assumed that the number of the at least two signal receivers is three, i.e., the self-moving robot includes a first signal receiver, a second signal receiver, and a third signal receiver. Here, the third signal receiver may be disposed on the left or right side of the self-moving robot, such as the signal receiver 13(2) illustrated in fig. 3, disposed on the right side, it is understood that the right side is forward with respect to the forward direction. Optionally, the third signal receiver 13(2) is configured to receive a pilot signal. Wherein the angle of the range in which the third signal receiver 13(2) can receive the signal is

As shown in fig. 3. The application is right

The specific value of (a) is not limited, and for example,

and the like.

In conjunction with fig. 5, assuming that the first signal receiver (hereinafter, R1) and the second signal receiver (hereinafter, R2) have the same arrangement, the angles of the ranges capable of receiving signals are equal. In fig. 5, a broken line S1 indicates a symmetry axis, which is a symmetry axis between R1 and R2 on the one hand, and a central axis of the self-moving robot on the other hand. Wherein the distance between R1 and R2 is D2.

In an embodiment of the present invention, D2 may be preset according to the positions of the first and second charging electrodes and the first distance (D1) between the first and second pilot signal emitters (T1, T2). Specifically, the deviation when the second charging electrode of the self-moving robot is docked with the first charging electrode of the charging dock should be taken into account, so that when the charging electrodes of the two are docked, R1 can receive the pilot signal of T1, and R2 can receive the pilot signal of T2. Also, when the self-moving robot retreats from the charging stand, that is, when the self-moving robot does not have any contact with the charging stand and is closest to the charging stand (the projections of the self-moving robot and the charging stand to the ground do not overlap just), R1 can receive the guidance signals of T1 and T2, and R2 can receive the guidance signals of T1 and T2.

Let the angle of the range in which R1 can receive a signal be θ. Due to symmetry, the angle of the range in which R2 can receive the signal is also assumed to be θ. And the two ranges are intersected, for example, the right boundary of the range where R1 can receive the signal and the symmetry axis S1 form an angle θ 1. As an example, θ may be assumed to be 60 °, θ 1 may be 15 °, or θ may be assumed to be 55 °, θ 1 may be 10 °. It is understood that the angle values are merely examples and should not be construed as limiting the embodiments of the present application. For example, θ 1 may range from 0 to 90 °, θ - θ 1 may range from 0 to 90 °; and the smaller the theta 1, the more accurate the control, the larger the theta-theta 1, the larger the received signal range.

In another implementation, the number of the signal receivers may be at least three, at least two of which are used for receiving the pilot signals transmitted by at least two pilot signal transmitters, and at least one of which is used for receiving the identification signal transmitted by the identification signal transmitter. It will be appreciated that the receiver for receiving the pilot signal may have a different arrangement, for example a different signal transmission protocol, than the receiver for receiving the identification signal, such that the receiver for receiving the pilot signal cannot receive the identification signal and the receiver for receiving the identification signal cannot receive the pilot signal. Then in this case the cradle may optionally transmit the identification signal and the boot signal simultaneously.

In this implementation, the at least two signal receivers for receiving the pilot signal may refer to the arrangement of the at least two signal receivers in the above described implementation, e.g. arranged at the front end, e.g. the angle of the range of the received signal, etc.

In this implementation, the at least one signal receiver for receiving the identification signal may comprise a fourth signal receiver (not shown in fig. 3). For example, the fourth signal receiver may be disposed at a front center position from the top of the mobile robot. For example, the range of the identification signal that can be received by the fourth signal receiver may be 360 degrees, or the range of the identification signal that can be received may be 120 degrees or 180 degrees from the front of the mobile robot, or the like.

In the embodiment of the invention, when the self-moving robot finishes work or the electric quantity of the self-moving robot is lower than the set threshold value, the self-moving robot needs to automatically return to the charging seat for charging. The method for automatic recharging from the mobile robot in the embodiment of the invention will be described with reference to fig. 6 to 7.

With reference to fig. 6, the self-moving robot initiates a recharge state when it is determined that recharge is required.

First, a signal search is performed from the mobile robot, and whether or not a signal can be received is determined. For example, a self-moving robot may be rotated in place one revolution (360 degrees) to perform a search.

And if no signal is received, controlling the self-moving robot to move.

(1) If the map information includes the stored position information of the charging stand, the self-moving robot can be navigated to the vicinity of the charging stand according to the map information. Specifically, in the navigation process, if the power of the self-moving robot is detected to be lower than the stop threshold, the self-moving robot is controlled to stop at the current position and enter a dormant state. In this navigation process, if a signal is searched, the process proceeds further downward according to the branch of S11 yes in fig. 6.

(2) And if the stored position information of the charging seat does not exist in the map information, traversing the map to search until a signal is searched, or until the electric quantity of the self-moving robot is lower than a stop threshold value, or until no signal is searched by traversing all maps (if the charging seat is not powered on, the signal emitter does not emit a signal). And if the electric quantity of the self-moving robot is detected to be lower than a stop threshold value in the traversing process or no signal is searched in traversing all the maps, controlling the self-moving robot to stop at the current position and enter a dormant state. If the signal is searched in the traversal process, the process goes down according to the branch of S11 yes in fig. 6.

Alternatively, the self-moving robot may alarm before entering the sleep state. For example, an audible and visual alarm may be performed, or an alarm message may be sent to the mobile terminal of the user through the network and then enter the sleep state. Therefore, the user can manually move the mobile robot to the charging seat to charge in time according to the alarm, and the adverse effect on the next use of the mobile robot is avoided.

Then, after searching for the signal from the mobile robot, it is determined whether the received signal includes an identification signal.

(a) If it is determined that the received signal does not include an identification signal, the received signal is only a pilot signal. At this time, the distance between the self-moving robot and the charging seat is greater than the first distance, and the self-moving robot can be guided to move towards the direction of the charging seat until the identification signal can be received. It will be appreciated that the movement may be in accordance with the received pilot signal, for example towards a direction in which the strength of the pilot signal increases, for example towards a direction in which the pilot signals emitted by the first and second pilot signal emitters close to the centre can be received. It can be understood that during the moving process, an obstacle may be encountered, and at this time, the self-moving robot needs to perform an obstacle avoidance measure, for example, needs to temporarily move toward a direction away from the charging stand. It can be understood that, in the process of moving toward the charging seat, if the mobile robot cannot approach the charging seat due to an obstacle or the like, the mobile robot may mark that the charging seat is not reachable in the current area, and may exit the current area, and control the mobile robot to move to another area to retry recharging.

(b) If the received signal is determined to comprise the identification signal, the distance between the self-moving robot and the charging seat is smaller than or equal to the first distance. Further, it may be determined whether the self-moving robot is located right in front of the charging stand, for example, it may be determined whether the self-moving robot can receive the guiding signals transmitted by the first guiding signal transmitter and the second guiding signal transmitter close to the center, so as to determine the relative position between the self-moving robot and the charging stand.

If the self-moving robot is not in front of the charging stand, the self-moving robot can be moved to the front by the approach phase.

If the self-moving robot is right in front of the charging seat, the second charging electrode of the self-moving robot can be further butted with the first charging electrode of the charging seat through a butting stage and a contact stage, and the self-moving robot is switched to a charging state, namely the self-moving robot is charged by the charging seat.

It can be understood that, during recharging, various obstacles may exist on the moving path, and the self-moving robot may sense the obstacles by means of a distance sensor or the like and perform corresponding obstacle avoidance measures to prevent collision with the obstacles. The self-moving robot may select various feasible obstacle avoidance measures, which is not specifically limited in the present application.

In addition, it is understood that the self-moving robot continuously receives the identification/guidance signal transmitted from the charging dock by at least two signal receivers during the recharging process, and continuously guides the self-moving robot to the charging dock based on the received signal.

Fig. 7 is a schematic flow chart of a method for recharging from a mobile robot in an embodiment of the present invention. The method shown in fig. 7 is performed by a self-moving robot including a first signal receiver and a second signal receiver symmetrically disposed along a central axis, the method including:

s110, acquiring a receiving signal from the mobile robot, wherein the receiving signal includes a guiding signal transmitted by at least two guiding signal transmitters of the charging dock and an identification signal transmitted by an identification signal transmitter of the charging dock;

s120, determining the relative position between the self-moving robot and the charging seat according to the received signal;

s130, determining the moving speed of the self-moving robot according to the relative position;

and S140, moving at the moving speed to approach the charging seat.

According to the method and the device, recharging control can be achieved according to the detected transmitting signals (identification signals and/or guide signals), a grid map does not need to be built and analyzed in real time to analyze the position of the charging seat, a moving track does not need to be set in advance, the recharging operation process can be simplified, and the mode of guiding according to the signals is more accurate and the real-time performance is higher.

For example, after S110, S120 to S140 may be repeatedly performed until the second charging electrode of the self-moving robot is docked with the first charging electrode of the charging dock, so that the self-moving robot is charged by the charging dock.

For example, the self-moving robot may acquire a reception signal by detecting a transmission signal of the charging cradle before S110. The transmitted signal of the charging dock can be detected, for example, by rotating in place one revolution (360 degrees).

It will be appreciated that if the pilot signal and the identification signal can be detected by the detection, the received signal comprises the pilot signal and the identification signal accordingly. However, if only the pilot signal is detected by the detection and the identification signal is not detected, the received signal includes only the pilot signal and does not include the identification signal. Alternatively, if any transmitted signal cannot be detected by the detection, the received signal cannot be acquired.

Illustratively, if the self-moving robot completes the cleaning task or the power level of the self-moving robot is below a power level threshold, a recharge process is initiated. Before S110, the method may further include: and determining a first moving speed based on the first speed reference, and moving towards the charging seat at the first moving speed until the guide signal and the identification signal are detected, so that the received signal comprises both the guide signal and the identification signal.

Specifically, if the self-moving robot cannot detect the identification signal (cannot detect any transmitted signal at all; or can detect the transmitted signal but the detected transmitted signal is only the guiding signal without the identification signal), the received signal does not include the identification information, and then it can be determined that the recharge stage in which the self-moving robot is currently located is the "close to identification signal zone" stage. At this time, the self-moving robot may be set to move using the first moving speed with reference to the first speed reference, and for example, it may be assumed that the first speed reference includes a first linear speed reference (denoted as V01) and a first turning radius reference (denoted as R01), and accordingly it can be understood that the first angular speed reference is V01/R01.

Specifically, when the self-moving robot is in the stage of "approaching the identification signal zone", the first moving speed of the self-moving robot is less than the first speed reference, namely the linear speed of the first moving speed is less than or equal to V01, and the angular speed of the first moving speed is less than or equal to V01/R01. In this application, can adjust the translation rate through adjusting linear velocity and turning radius, such regulation mode is more directly perceived.

In this way, in the present application, if the received signal does not include the identification signal, the received signal gradually approaches the charging dock at the first moving speed until the identification signal can be detected, that is, until the received signal includes both the guidance signal and the identification signal. Finally, S120 may be performed in case that the "received signal includes the pilot signal and the identification signal". The first moving speed can be set relatively large, so that the self-moving robot can be close to the charging seat as soon as possible on one hand, and on the other hand, because the received signal does not include the identification signal, the self-moving robot is far away from the charging seat, and accidents such as collision and the like can not occur when the self-moving robot moves at the first large moving speed, and the safety of the moving process can be ensured.

For example, in S120, the relative position may be determined in consideration of the doppler effect or the like according to a change in the acquired reception signal with the movement of the self-moving robot. Optionally, the relative position may be further determined in combination with the real-time distance detected by the distance sensor.

Illustratively, the received signal may be stored in a signal queue; and determining the relative position between the self-moving robot and the charging seat according to the change of the received signals of a plurality of continuous cycles (such as 3 cycles or 5 cycles) in the signal queue. The relative position can be used to indicate the orientation of the self-moving robot relative to the charging stand, and can be represented by an angle between a central line and an axis, specifically, the central line is a line between the center of the self-moving robot and the center of the charging stand, and the axis is an axis of the charging stand (e.g., S in fig. 2).

In S120, the relative position may be determined based on the guiding signal and/or the identification signal. As an example, the relative position may be determined from a change in the identification signal. As another example, the relative position may be determined based on a change in the pilot signal transmitted by one of the at least two signal transmitters (e.g., any one of T1 through T4 in fig. 2). As yet another example, a weighted sum or an average of the plurality of relative positions determined in the above example may be used as the finally determined relative position.

It is understood that the process of determining the relative position may be implemented based on the doppler effect, and the specific implementation manner may refer to the prior art and will not be described in detail herein.

Illustratively, S130 may include: determining a normalized control deviation and a speed reference according to the relative position; and determining the moving speed of the self-moving robot according to the control deviation and the speed reference.

Therefore, the moving speed of the self-moving robot can be adjusted according to the control deviation without presetting a moving track, the occupation of a storage space is reduced, the adjusting mode is simple, a complex algorithm is not needed, and the method is easy to realize.

Illustratively, the speed reference may include a linear speed reference and a turning radius reference, and the moving speed may include a moving linear speed and a moving turning radius. Then determining the moving speed in S130 may include: and determining the moving linear speed according to the linear speed reference, and determining the moving turning radius according to the turning radius reference and the control deviation, wherein the moving linear speed is less than or equal to the linear speed reference.

The normalized control deviation may have a value range of-1 to 1, i.e., an interval [ -1,1 ]. That is, the absolute value of the control deviation ranges from 0 to 1. S130 determining the normalized control deviation may include: if the included angle between the relative position indication center connecting line and the first direction is an acute angle, the control deviation is a positive value. And if the relative position indicates that the included angle between the central connecting line and the first direction is a right angle, the control deviation is zero. If the relative position indicates that the included angle between the central connecting line and the first direction is an obtuse angle, the control deviation is a negative value. Wherein, the central connecting line is the connecting line between the center of the self-moving robot and the center of the charging seat.

To describe the relationship between the relative position and the control deviation, it is assumed that a cartesian coordinate system is constructed at the charging stand, the Y-axis of which is along the axis of the charging stand and the Y-axis is directed toward the self-moving robot, as shown in the Y-axis direction in fig. 1. The X-axis forward direction can be determined according to the right-handed principle, and assuming that the Z-direction is the out-of-plane direction, the X-axis forward direction is in the left direction as shown in fig. 1. Thus, when the X-axis is rotated 90 counterclockwise, the X-axis normal direction coincides with the Y-axis normal direction. Additionally, illustratively, it may also be assumed that the center of the cradle is located at the identification signal transmitter, i.e., the origin of coordinates may be assumed at 20 in FIG. 1.

In combination with the two-dimensional coordinate system, the first direction is the X-axis forward direction, and if the included angle between the relative position indication center line and the X-axis forward direction is an acute angle, that is, the included angle is smaller than 90 degrees, and the self-moving robot is located in the first quadrant of the coordinate system, it may be determined that the control deviation is a positive value, specifically, the control deviation is a value greater than 0 and less than or equal to 1. And the smaller the acute angle, the larger the control deviation.

In conjunction with the two-dimensional coordinate system, if the angle between the relative position indication center line and the positive direction of the X-axis is an obtuse angle, i.e., the angle is greater than 90 degrees, and the self-moving robot is located in the second quadrant of the coordinate system, it may be determined that the control deviation is a negative value, specifically, the control deviation is a value greater than or equal to-1 and less than 0. And the larger the obtuse angle (or the smaller the angle between the connecting line of the centers and the negative direction of the X axis) the smaller the control deviation (i.e., the larger the absolute value of the control deviation).

In conjunction with the two-dimensional coordinate system, if the angle between the relative position indication center line and the positive direction of the X axis is a right angle, i.e., the angle is equal to 90 degrees, and the self-moving robot is located on the Y axis, it can be determined that the control deviation is zero.

Wherein the determining the speed reference in S130 may include: and if the relative position indicates that the included angle between the central connecting line and the second direction is greater than the included angle threshold value, the speed reference is a second speed reference. And if the relative position indicates that the included angle between the central connecting line and the second direction is less than or equal to the included angle threshold value, the speed reference is a third speed reference.

In combination with the two-dimensional coordinate system, the second direction, i.e. the Y-axis forward direction, and the included angle threshold may be preset according to the requirements of a specific scene and precision, for example, the included angle threshold is equal to 20 degrees or 25 degrees or other values. It can be understood that the second direction is set in the present application such that the included angle between the center line and the second direction is in the range of 0 to 90 degrees; or the second direction is: when the self-moving robot is in butt joint with the charging seat for charging (the second charging electrode is in butt joint with the first charging electrode), the direction from the center of the charging seat to the center of the self-moving robot is pointed.

It can be understood that if the angle between the center line and the second direction is less than or equal to the angle threshold, the self-moving robot can be considered to be located right in front of the charging stand at this time, and then the "docking stage" can be performed on the third speed reference; otherwise, the self-moving robot is not considered to be located right in front of the charging stand, and the "approach front stage" needs to be performed with the second speed reference.

As another example, the process of determining the speed reference in S130 may be equivalent to: a speed reference is determined from the received pilot signal. Specifically, while the self-moving robot can receive the identification signal of the charging dock, if the first signal receiver of the self-moving robot can receive the guidance signals transmitted by the first guidance signal transmitter and the second guidance signal transmitter, and the second signal receiver can also receive the guidance signals transmitted by the first guidance signal transmitter and the second guidance signal transmitter, the third speed reference is used; otherwise, the second speed reference is used.

It is to be understood that, while the self-moving robot is capable of receiving the identification signal of the charging stand, if the first signal receiver of the self-moving robot is capable of receiving the guidance signals transmitted by the first guidance signal transmitter and the second guidance signal transmitter, and the second signal receiver is also capable of receiving the guidance signals transmitted by the first guidance signal transmitter and the second guidance signal transmitter, it is determined that the self-moving robot is currently in the "docking stage", and otherwise, it is determined that the self-moving robot is currently in the "near-front stage". And corresponding to "approach to front stage" is a second speed reference; corresponding to the "docking phase" is a third speed reference.

Wherein the second speed reference comprises a second linear speed reference (denoted as V02) and a second turning radius reference (denoted as R02). The third speed reference includes a third linear speed reference (denoted as V03) and a third turning radius reference (denoted as R03). Accordingly, it can be appreciated that the second angular velocity reference corresponding to the second velocity reference is V02/R02 and the third angular velocity reference corresponding to the third velocity reference is V03/R03. And, in general, V01> V02> V03.

Therefore, when the included angle between the central connecting line and the second direction is larger than the included angle threshold, the self-moving robot is not positioned right in front of the charging seat, and the moving linear velocity can be determined based on a larger second linear velocity reference, so that the recharging efficiency can be improved; and because it is not right ahead, even if moving with this large second linear velocity reference, no accident such as collision will occur. On the contrary, when the included angle between the central connecting line and the second direction is smaller than or equal to the included angle threshold, it indicates that the self-moving robot is located right in front of the charging seat, and at the moment, the moving linear velocity needs to be determined based on a smaller third linear velocity reference, so that accidents such as collision are avoided.

Further, in S130, if the determined speed reference is a second speed reference, and the second speed reference includes a second linear speed reference (denoted as V02) and a second turning radius reference (denoted as R02); that is, at this time, it may be considered that the self-moving robot is currently in the "near front stage", it may be determined that the moving linear velocity is less than or equal to the second linear velocity reference (V02), and the moving turning radius is determined according to the second turning radius reference (R02) and the control deviation. If the control deviation is expressed as theta, then the shift turn radius may be-alpha R02/theta, where alpha is a predetermined adjustment factor greater than zero.

Further, in S130, if the determined speed reference is a third speed reference, and the third speed reference includes a third linear speed reference (denoted as V03) and a third turning radius reference (denoted as R03); that is, at this time, it may be considered that the self-moving robot is currently in the "docking stage", it may be determined that the moving linear velocity is less than or equal to the third linear velocity reference (V03), and the moving turning radius is determined according to the third turning radius reference (R03) and the control deviation. If the control deviation is expressed as theta, then the shift turn radius may be-alpha R03/theta, where alpha is a predetermined adjustment factor greater than zero.

It is understood that the moving turning radius when the mobile robot turns to the right is defined as a negative value, and the moving turning radius when the mobile robot turns to the left is defined as a positive value in the present application. Alternatively, it is understood that the moving turning radius when the self-moving robot turns clockwise is defined as a negative value, and the moving turning radius when the self-moving robot turns counterclockwise is defined as a positive value. The definitions are for convenience of description only and should not be construed as limitations of the present invention.

Illustratively, S140 may include controlling the self-moving robot to move at the moving speed determined in S130. Optionally, the method further comprises: the moving angular velocity is determined from the moving linear velocity and the moving turning radius, and a first integration target corresponding to the moving linear velocity and a second integration target corresponding to the moving angular velocity may be set to represent the total distance moved and the total angle moved, respectively.

It is understood that S120 to S140 may be repeatedly performed in the present application, and assuming that it can be determined from S120 that the self-moving robot is currently in the "near front stage", the moving speed is determined based on the second reference speed in S130 and the movement is performed in S140. In this moving process, S120 is continuously performed, and if it can be determined that the self-moving robot is already in the "docking stage" along with the movement of the self-moving robot, a new moving speed is determined based on the third reference speed in S130 and the movement is performed in S140.

It can be understood that when the control deviation is determined to be zero, it indicates that the center lines of the self-moving robot and the charging seat are coincident, and the self-moving robot is in the "contact stage", and gradually approaches the charging seat through linear movement until the second charging electrode is electrically connected with the first charging electrode, and after that, the self-moving robot can enter the "charging state".

Therefore, the self-moving robot in the embodiment of the invention can control the self-moving robot to complete the butt joint with the charging seat according to the received identification signal and/or the guiding signal of the charging seat, and the charging seat is determined to safely and effectively charge the self-moving robot. Particularly, the accurate determination of the moving speed can be realized through speed reference and control deviation, excessive sensors are not needed in the recharging process, the structure is simple, and the appearance of the self-moving robot is not influenced. And no complex algorithm is needed, and the method is simple and easy to implement.

Fig. 8 is a schematic block diagram of a self-moving robot according to an embodiment of the present invention. The self-moving robot includes a processor and a computer storage medium having a computer program stored thereon.

The processor may be a robot controller, and the processor may execute a computer program stored on a computer storage medium, so as to implement the method for recharging a self-moving robot described in the above embodiments.

Illustratively, the processor may be a Central Processing Unit (CPU), a Graphics Processing Unit (GPU), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA), or other form of processing unit having data processing capabilities and/or instruction execution capabilities, and may control other components in the system to perform desired functions. For example, a processor may include one or more embedded processors, processor cores, microprocessors, logic circuits, hardware Finite State Machines (FSMs), Digital Signal Processors (DSPs), or a combination thereof.

In addition, the self-moving robot may further include at least two signal receivers, a second charging electrode, a sensor, etc., as described in conjunction with fig. 3, which will not be described in detail herein.

In addition, the self-moving robot may further optionally include an input device, an output device, and the like. For example, the output device comprises an audible and visual alarm for prompting that the self-moving robot fails to recharge. In addition, the self-moving robot may optionally further include other output devices that may output various information to the outside (e.g., a user), such as a microphone, a display screen, and the like.

Furthermore, according to an embodiment of the present invention, a computer storage medium is also provided, on which a computer program is stored, which, when being executed by a computer or a processor, is used for executing the corresponding steps of the above-mentioned method shown in fig. 6 or fig. 7 of the embodiment of the present invention. The computer storage medium may be a computer-readable storage medium, which may include, for example, a memory card of a smart phone, a storage component of a tablet computer, a hard disk of a personal computer, a Read Only Memory (ROM), an Erasable Programmable Read Only Memory (EPROM), a portable compact disc read only memory (CD-ROM), a USB memory, or any combination of the above.

In one embodiment, the computer program, when executed by the computer or processor, enables the computer or processor to: acquiring a receiving signal from a mobile robot, wherein the receiving signal comprises a guiding signal transmitted by at least two guiding signal transmitters of a charging seat and an identification signal transmitted by an identification signal transmitter of the charging seat; determining the relative position between the self-moving robot and the charging seat according to the received signal; determining the moving speed of the self-moving robot according to the relative position; moving at the moving speed to approach the charging dock.

Specifically, according to the relative position, determining a normalized control deviation and a speed reference; and determining the moving speed of the self-moving robot according to the control deviation and the speed reference.

In addition, the embodiment of the present invention also provides a computer program code, which can be executed by a processor, and when being executed by the processor, can implement the corresponding steps of the method shown in fig. 6 or fig. 7.

In addition, the embodiment of the invention also provides a self-moving system which comprises a charging seat and a self-moving robot. The self-moving robot may be a self-moving robot as shown in fig. 8, and may be used to implement the corresponding steps of the method as shown in fig. 6 or fig. 7.

Illustratively, the charging dock in the system may include at least one identification signal transmitter and at least two guidance signal transmitters. As an example, the at least two guidance signal emitters are symmetrically disposed with respect to an axis of symmetry of the charging dock, the at least one identification signal emitter being disposed on the axis of symmetry.

Illustratively, the self-moving robot in the system may comprise at least two signal receivers. As an example, two of the signal receivers are symmetrically disposed with respect to a central axis of the self-moving robot.

Illustratively, the charging dock includes a first charging electrode, the self-moving robot includes a second charging electrode, and the charging dock is capable of charging the self-moving robot when the second charging electrode is docked with the first charging electrode.

It is understood that, with respect to the self-moving system, reference may be made to the embodiments described above with reference to fig. 1 to 5, and details are not repeated here to avoid repetition.

Although the illustrative embodiments have been described herein with reference to the accompanying drawings, it is to be understood that the foregoing illustrative embodiments are merely exemplary and are not intended to limit the scope of the invention thereto. Various changes and modifications may be effected therein by one of ordinary skill in the pertinent art without departing from the scope or spirit of the present invention. All such changes and modifications are intended to be included within the scope of the present invention as set forth in the appended claims.

In the description provided herein, numerous specific details are set forth. It is understood, however, that embodiments of the invention may be practiced without these specific details. In some instances, well-known methods, structures and techniques have not been shown in detail in order not to obscure an understanding of this description.

Similarly, it should be appreciated that in the description of exemplary embodiments of the invention, various features of the invention are sometimes grouped together in a single embodiment, figure, or description thereof for the purpose of streamlining the invention and aiding in the understanding of one or more of the various inventive aspects. However, the method of the present invention should not be construed to reflect the intent: that the invention as claimed requires more features than are expressly recited in each claim. Rather, as the following claims reflect, inventive aspects lie in less than all features of a single disclosed embodiment. Thus, the claims following the detailed description are hereby expressly incorporated into this detailed description, with each claim standing on its own as a separate embodiment of this invention.

It will be understood by those skilled in the art that all of the features disclosed in this specification (including any accompanying claims, abstract and drawings), and all of the processes or elements of any method or apparatus so disclosed, may be combined in any combination, except combinations where such features are mutually exclusive. Each feature disclosed in this specification (including any accompanying claims, abstract and drawings) may be replaced by alternative features serving the same, equivalent or similar purpose, unless expressly stated otherwise.

Furthermore, those skilled in the art will appreciate that while some embodiments described herein include some features included in other embodiments, rather than other features, combinations of features of different embodiments are meant to be within the scope of the invention and form different embodiments. For example, in the claims, any of the claimed embodiments may be used in any combination.

The various component embodiments of the invention may be implemented in hardware, or in software modules running on one or more processors, or in a combination thereof. Those skilled in the art will appreciate that a microprocessor or Digital Signal Processor (DSP) may be used in practice to implement some or all of the functions of some of the modules in an item analysis apparatus according to embodiments of the present invention. The present invention may also be embodied as apparatus programs (e.g., computer programs and computer program products) for performing a portion or all of the methods described herein. Such programs implementing the present invention may be stored on computer-readable media or may be in the form of one or more signals. Such a signal may be downloaded from an internet website or provided on a carrier signal or in any other form.

It should be noted that the above-mentioned embodiments illustrate rather than limit the invention, and that those skilled in the art will be able to design alternative embodiments without departing from the scope of the appended claims. In the claims, any reference signs placed between parentheses shall not be construed as limiting the claim. The word "comprising" does not exclude the presence of elements or steps not listed in a claim. The word "a" or "an" preceding an element does not exclude the presence of a plurality of such elements. The invention may be implemented by means of hardware comprising several distinct elements, and by means of a suitably programmed computer. In the unit claims enumerating several means, several of these means may be embodied by one and the same item of hardware. The usage of the words first, second and third, etcetera do not indicate any ordering. These words may be interpreted as names.

The above description is only for the specific embodiment of the present invention or the description thereof, and the protection scope of the present invention is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present invention, and the changes or substitutions should be covered within the protection scope of the present invention. The protection scope of the present invention shall be subject to the protection scope of the claims.

Claims

1. A method of recharging from a mobile robot, comprising:

moving at the moving speed to approach the charging dock.

2. The method of claim 1, prior to acquiring the received signal, further comprising:

the self-moving robot determines a first moving speed based on a first speed reference and moves towards the charging seat at the first moving speed until the guide signal and the identification signal are detected.

3. The method of claim 2, wherein the first speed reference comprises a first linear speed reference and a first turn radius reference,

wherein the linear velocity of the first moving speed is less than or equal to the first linear velocity reference, and the angular velocity of the first moving speed is less than or equal to the ratio of the first linear velocity reference to the first turning radius reference.

4. The method of claim 1, wherein determining the relative position between the self-moving robot and the charging dock comprises:

storing the received signal in a signal queue;

and determining the relative position between the self-moving robot and the charging seat according to the change of the received signals of a plurality of continuous periods in the signal queue.

5. The method according to any one of claims 1 to 4, wherein determining the moving speed of the self-moving robot from the relative position comprises:

determining a normalized control deviation and a speed reference according to the relative position;

and determining the moving speed of the self-moving robot according to the control deviation and the speed reference.

6. The method of claim 5, wherein the speed reference comprises a linear speed reference and a turn radius reference, the travel speed comprises a travel linear speed and a travel turn radius,

determining the moving speed of the self-moving robot according to the control deviation and the speed reference, and the determining comprises the following steps:

and determining the moving linear speed according to the linear speed reference, and determining the moving turning radius according to the turning radius reference and the control deviation, wherein the moving linear speed is less than or equal to the linear speed reference.

7. The method of claim 5, wherein determining a normalized control deviation and velocity reference from the relative position comprises:

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

9. A self-moving robot comprising a processor and a computer storage medium, wherein the computer storage medium is the computer storage medium of claim 8, and wherein the processor is configured to execute a computer program stored on the computer storage medium.

10. An autonomous mobile system, comprising:

charging stand, and

the self-moving robot of claim 9.