CN112684801A - Robot recharging control method and device, electrical equipment and storage medium - Google Patents
Robot recharging control method and device, electrical equipment and storage medium Download PDFInfo
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Abstract
The invention discloses a robot recharging control method, a robot recharging control device, electrical equipment and a storage medium, wherein the robot recharging control method comprises the following steps: when a first obstacle exists in a recharging path, acquiring obstacle avoidance information of the first obstacle; and adjusting the recharging path based on the obstacle avoidance information, so that the obstacle can be automatically avoided when the obstacle exists in the recharging path, and the recharging success rate of the robot is improved.
Description
Technical Field
The invention relates to the technical field of electrical equipment, in particular to a robot recharging control method and device, electrical equipment and a storage medium.
Background
After current cleaning machines people starts automatic back and fills the function, cleaning machines people can fill according to filling electric pile's signal back, and near place the place ahead of present current filling electric pile and side forbid the barrier to put, after filling electric pile signal and receiving to shelter from the barrier, cleaning machines people can't accomplish automatic back and fill, leads to not having under human intervention, can not accomplish automatic back function of filling.
The existing scheme in the industry usually adopts the method of forbidding charging pile 1.5m in front and forbidding placing articles in the area with 0.5m on the side, but can cause the charging pile to occupy larger space, and when there is a barrier near the charging pile, the cleaning robot usually fails to recharge, and the user experience is not good.
Disclosure of Invention
In view of this, embodiments of the present invention provide a robot recharging control method and apparatus, an electrical device, and a storage medium, so as to solve the problem that the robot recharging fails when an obstacle exists near a charging pile and in a charging recharging path.
According to a first aspect, an embodiment of the present invention provides a robot recharging control method, including:
when a first obstacle exists in a recharging path, acquiring obstacle avoidance information of the first obstacle;
and adjusting the recharging path based on the obstacle avoidance information.
According to the robot recharging control method provided by the embodiment of the invention, when the first obstacle exists in the recharging path, the obstacle avoidance information of the first obstacle is obtained, and the recharging path of the robot is adjusted based on the obstacle avoidance information, so that the obstacle can be automatically avoided when the obstacle exists in the recharging path, and the recharging success rate of the robot is improved.
With reference to the first aspect, in a first implementation manner of the first aspect, before acquiring the obstacle avoidance information of the first obstacle, the method further includes:
obtaining map information, and determining whether the first obstacle exists in the recharge path according to the map information;
or/and acquiring monitoring data of a collision sensor, and determining whether the first obstacle exists in the recharging path according to the monitoring data.
With reference to the first embodiment of the first aspect, in a second embodiment of the first aspect, before the acquiring monitoring data of the collision sensor, the method further includes:
reducing the sensitivity of the collision sensor.
With reference to the first aspect, in a third implementation manner of the first aspect, when the obstacle avoidance information includes position information of the first obstacle, the acquiring obstacle avoidance information of the first obstacle includes:
acquiring a light field guide signal at a preset moment before collision;
determining position information of the first obstacle from the light field guidance signal.
With reference to the first aspect, in a fourth implementation manner of the first aspect, when the obstacle avoidance information includes position information of the first obstacle, the adjusting the recharge path based on the obstacle avoidance information includes:
judging whether the first obstacle is located in a side area or a front area of the charging pile according to the position information of the first obstacle;
when the first obstacles are located in the side area of the charging pile, determining whether second obstacles exist in the remaining area of the charging pile, and when the second obstacles exist in the remaining area and the attribute information of the first obstacles can be acquired, adjusting the recharging path according to the attribute information of the first obstacles;
when the first obstacle is located in the front area of the charging pile and the attribute information of the first obstacle can be acquired, the recharging path is adjusted according to the attribute information of the first obstacle.
With reference to the fourth embodiment of the first aspect, in the fifth embodiment of the first aspect, the method further includes: when the first obstacle is located in a side area of the charging pile and the remaining area includes an area where the second obstacle does not exist, the recharging path is adjusted to any area where the second obstacle does not exist.
With reference to the fourth implementation manner of the first aspect, in the sixth implementation manner of the first aspect, when the attribute information of the first obstacle includes number information of the first obstacle, shape information of the first obstacle, and distribution information of the first obstacle, the adjusting the recharge path according to the attribute information of the first obstacle includes:
determining whether the first obstacle is one or more according to the number information of the first obstacle;
when the first obstacle is one, detouring the first obstacle based on the shape information of the first obstacle;
when the first obstacles are multiple, the first obstacles pass through or detour among the first obstacles based on the shape information of the first obstacles and the distribution information of the first obstacles.
With reference to the sixth embodiment of the first aspect, in the seventh embodiment of the first aspect, the method further includes: and when the map information cannot acquire the attribute information of the first obstacle, bypassing the first obstacle by using a preset first obstacle edge control method.
With reference to the seventh implementation manner of the first aspect, in the eighth implementation manner of the first aspect, after the bypassing the first obstacle by using a preset first obstacle edgewise control method, the method further includes:
and obtaining attribute information of the first obstacle according to the detour data, and supplementing the attribute information of the first obstacle into the map information.
With reference to the sixth implementation manner of the first aspect, in the ninth implementation manner of the first aspect, when the first obstacle is multiple, passing between the first obstacles or bypassing the first obstacles based on the shape information of the first obstacle and the distribution information of the first obstacles includes:
determining the distance between two first sub-obstacles according to the distribution information of the first obstacles;
when the distance between two first sub-obstacles is larger than a first preset distance, the two first sub-obstacles pass through;
when the distance between the two first sub-obstacles is between a first preset distance and a second preset distance and the collision sensor has preset sensitivity, the collision sensor passes through the two first sub-obstacles;
and when the distance between the two first sub-obstacles is not greater than a first preset distance and the distance between the two first sub-obstacles is not between the first preset distance and a second preset distance, the first obstacle is detoured based on the shape information and the distribution information of the first obstacle.
With reference to the ninth implementation manner of the first aspect, in the tenth implementation manner of the first aspect, the method further includes:
acquiring sensitivity information of the collision sensor;
judging whether the collision sensor has preset sensitivity according to the sensitivity information;
and when the sensitivity of the collision sensor is higher than the preset sensitivity, adjusting the collision sensor to the preset sensitivity.
With reference to the seventh implementation manner of the first aspect, in the eleventh implementation manner of the first aspect, when the second obstacle exists in all the remaining areas and the attribute information of the first obstacle can be acquired, after adjusting the recharging path of the robot according to the attribute information of the first obstacle/after bypassing the first obstacle by using a preset first obstacle edgewise control method, the method further includes:
when the robot cannot bypass or pass through the first obstacle, traversing the residual area, and controlling the robot to bypass or pass through the second obstacle;
and when the robot cannot bypass or pass through the second obstacle, sending a prompt message that manual charging is needed.
With reference to the eleventh embodiment of the first aspect, in the twelfth embodiment of the first aspect, the controlling the robot to detour or pass through the second obstacle for any one of the remaining areas includes:
acquiring the map information;
when the attribute information of the second obstacle can be acquired in the map information, adjusting a recharging path of the robot according to the attribute information of the second obstacle;
and when the attribute information of the second obstacle cannot be acquired in the map information, bypassing the second obstacle by using a preset second obstacle edge control method.
With reference to the seventh embodiment of the first aspect, in the thirteenth embodiment of the first aspect, when the first obstacle is located in a front area of the charging pile and the attribute information of the first obstacle is available, after adjusting a recharging path of the robot according to the attribute information of the first obstacle/after bypassing the first obstacle by using a preset first obstacle edgewise control method, the method further includes:
when the robot cannot bypass or pass through the first obstacle, traversing the residual area and controlling the robot to recharge;
and when the robot cannot complete recharging, sending a prompt message that manual charging is required.
With reference to the thirteenth implementation manner of the first aspect, in the fourteenth implementation manner of the first aspect, the traversing the remaining area, and controlling the machine to perform recharging includes:
acquiring the map information, and determining whether the second barrier exists in the remaining area of the charging pile according to the map information;
when the remaining area of the charging pile comprises an area without the second obstacle, adjusting the recharging path to any area without the second obstacle;
when the second obstacle exists in the remaining area of the charging pile and the attribute information of the second obstacle can be acquired in the map information, adjusting a recharging path of the robot according to the attribute information of the second obstacle;
when the second obstacle exists in the remaining area of the charging pile but the attribute information of the second obstacle cannot be acquired in the map information, the second obstacle is bypassed by using a preset second obstacle edgewise control method.
According to a second aspect, an embodiment of the present invention provides a robot recharge control apparatus, including:
the device comprises an acquisition module, a feedback module and a feedback module, wherein the acquisition module is used for acquiring obstacle avoidance information of a first obstacle when the first obstacle exists in a recharging path;
and the adjusting module is used for adjusting the recharging path based on the obstacle avoidance information.
According to a third aspect, an embodiment of the present invention provides an electrical apparatus, including a memory and a processor, where the memory and the processor are communicatively connected to each other, the memory stores computer instructions, and the processor executes the computer instructions to perform the robot recharging control method according to the first aspect or any one of the implementation manners of the first aspect.
According to a fourth aspect, an embodiment of the present invention provides a computer-readable storage medium, where computer instructions are stored, and the computer instructions are configured to cause a computer to execute the robot backfill control method according to the first aspect or any one of the implementation manners of the first aspect.
Drawings
The features and advantages of the present invention will be more clearly understood by reference to the accompanying drawings, which are illustrative and not to be construed as limiting the invention in any way, and in which:
fig. 1 is a schematic flow chart of a robot recharging control method according to embodiment 1 of the present invention;
fig. 2 is a schematic flowchart of an example of a robot recharging control method in embodiment 1 of the present invention;
fig. 3 is a schematic structural diagram of a robot recharging control device in embodiment 2 of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Example 1
Embodiment 1 of the present invention provides a robot recharging control method, and fig. 1 is a schematic flow diagram of the robot recharging control method in embodiment 1 of the present invention. As shown in fig. 1, a robot recharging control method according to embodiment 1 of the present invention includes the following steps:
s101: when a first obstacle exists in the recharging path, obstacle avoidance information of the first obstacle is obtained.
In embodiment 1 of the present invention, the robot may be a cleaning robot, such as a sweeping robot.
As a specific implementation manner, before acquiring the obstacle avoidance information of the first obstacle, the method further includes: obtaining map information, and determining whether the first obstacle exists in the recharge path according to the map information; or/and acquiring monitoring data of a collision sensor, and determining whether the first obstacle exists in the recharging path according to the monitoring data.
As a specific implementation manner, in embodiment 1 of the present invention, the obstacle avoidance information includes position information of the first obstacle, attribute information of the first obstacle, and the like. The attribute information of the first obstacle may include information on the number of the first obstacles and information on the shape of the first obstacle, and when the first obstacle is plural, the attribute information of the first obstacle may further include information on the distribution of the first obstacle.
As a specific embodiment, the position information of the first obstacle includes: the first barrier is located in the front area of the charging pile, the first barrier is located in the left area of the charging pile, and the first barrier is located in the right area of the charging pile.
The position information of the first obstacle may be obtained by: acquiring a light field guide signal at a preset moment before collision; determining position information of the first obstacle from the light field guidance signal. The attribute information of the first obstacle may be acquired in a map.
Fill electric pile every launching tube transmission different light field guide signal, the different sector guide signal in robot place ahead is different, and the robot can confirm which sector that the robot is located and fills electric pile according to the signal type that receives, because the robot has collided with first barrier, so can be located which sector that fills electric pile according to which sector that the robot is located and determine that first barrier is located and fill electric pile.
For example, the area in front of the charging pile can be divided into 6 sectors by 30 degrees per sector in a plane 180 degrees in front of the charging pile, and when an obstacle is located in the middle two sectors, the obstacle is considered to be located in the front area of the charging pile; when the obstacles are located in the two sectors on the left side, the obstacles are considered to be located in the left area of the charging pile; when the obstacle is located in two sectors on the right side, the obstacle is considered to be located in the right area of the charging pile.
Specifically, the pre-collision preset time may be preset in the robot recharge control program, and for example, 1 second before the collision may be set as the pre-collision preset time, or 2 seconds before the collision may be set as the pre-collision preset time. For example, if the collision occurs at 98 th second after the recharge, 1 second before the collision is preset as the preset time before the collision, and when there is an obstacle in the recharge path, it is necessary to obtain the light field guidance signal at 97 th second after the recharge.
To explain the robot recharging control method according to embodiment 1 of the present invention in more detail, a specific example is given as shown in fig. 2. As a further implementation, as shown in fig. 2, in embodiment 1 of the present invention, before the robot collides during recharging, the method further includes: reducing the sensitivity of a collision sensor in the robot. After decreasing the sensitivity of the sensor, the triggering of the collision sensor is delayed or the collision sensor is not triggered when the collision is small, so that the robot may not go back directly when colliding with a light obstacle (e.g. a slipper), but push the light obstacle to go forward.
After the collision sensor is triggered in the cleaning process, corresponding collision logic is executed after the shaking removal filtering is usually carried out for 20-50ms, after the sensitivity of the collision sensor is reduced, the collision sensor is triggered in the recharging process, the collision logic is not executed immediately, and after the filtering is carried out for 1-2s, the corresponding backward avoiding logic is carried out.
For example, the crash sensor may preset the sensitivity of several gears. Acquiring sensitivity information of a collision sensor in or before recharging, and judging whether the collision sensor is in a preset gear (the sensitivity of the preset gear is lower) according to the sensitivity information; and when the collision sensor is not in the preset gear, adjusting the sensitivity of the collision sensor to be the preset gear.
And when the collision sensor is monitored to retreat, judging that the robot collides in the refilling process.
S102: and adjusting a recharging path of the robot based on the obstacle avoidance information.
In embodiment 1 of the present invention, the recharging path refers to a path determined according to the recharging guide signal of the charging pile.
In embodiment 1 of the present invention, a recharging path of the robot may be adjusted according to one or more pieces of information in the obstacle avoidance information, so that the robot may smoothly recharge.
As specific implementation manners, when the obstacle avoidance information includes the position information of the first obstacle, the following two schemes may be adopted for adjusting the recharging path of the robot based on the obstacle avoidance information.
As shown in fig. 2, the first scheme is: when the first obstacle is located in the lateral area of the charging pile, obtaining map information, determining whether second obstacles exist in the remaining area of the charging pile according to the map information, and when the remaining area includes an area where the second obstacles do not exist, adjusting the recharging path to any area where the second obstacles do not exist; and when the second obstacles exist in the remaining areas and the attribute information of the first obstacle can be acquired in the map information, adjusting the recharging path of the robot according to the attribute information of the first obstacle.
As a specific embodiment, in the first aspect, when the attribute information of the first obstacle includes information on the number of the first obstacles, information on the shape of the first obstacle, and information on the distribution of the first obstacles, the adjusting the recharge path of the robot according to the attribute information of the first obstacle may include:
(11) determining whether the first obstacle is one or more according to the number information of the first obstacle;
(12) when the first obstacle is one, detouring the first obstacle based on the shape information of the first obstacle;
(13) when the first obstacles are multiple, the first obstacles pass through or detour among the first obstacles based on the shape information of the first obstacles and the distribution information of the first obstacles.
As a specific implementation manner of step (13), when there are a plurality of first obstacles, based on the shape information of the first obstacles and the distribution information of the first obstacles, the following technical solutions may be adopted for passing between the first obstacles or bypassing the first obstacles:
(131) determining the distance between two first sub-obstacles according to the distribution information of the first obstacles;
(132) when the distance between two first sub-obstacles is larger than a first preset distance, the two first sub-obstacles pass through;
(133) when the distance between two first sub-obstacles is between a first preset distance and a second preset distance, acquiring sensitivity information of the collision sensor, and when the collision sensor is high in sensitivity, passing through the two first sub-obstacles and reducing the sensitivity of the collision sensor; when the collision sensor is low in sensitivity, passing between the two first sub-obstacles;
(134) and when the distance between the two first sub-obstacles is not greater than a first preset distance and the distance between the two first sub-obstacles is not between the first preset distance and a second preset distance, the first obstacle is detoured based on the shape information and the distribution information of the first obstacle.
In embodiment 1 of the present invention, when the number of the first obstacles is plural, the first obstacles may be detoured as a whole.
As a further implementation manner of the first solution, when the map information cannot obtain the attribute information of the first obstacle, the first obstacle may be bypassed by using a preset first obstacle edgewise control method; and obtaining attribute information of the first obstacle according to the detour data, and supplementing the attribute information of the first obstacle to the map information.
In embodiment 1 of the present invention, the edge control method may adopt any technical solutions in the prior art, for example, an edge control method based on an infrared sensor, an edge control method based on an ultrasonic sensor, an edge control method based on a visual sensor, an edge control method based on a laser sensor, and the like.
As a further embodiment of the first aspect, after adjusting the recharge path of the robot according to the attribute information of the first obstacle when the second obstacle is present in all the remaining areas and when the attribute information of the first obstacle can be acquired in the map information, the method further includes: when the robot cannot detour or pass through the first obstacle, adjusting the recharging path to any area of the remaining area, when the attribute information of the second obstacle can be acquired in the map information, adjusting the recharging path of the robot according to the attribute information of the second obstacle, and when the attribute information of the second obstacle cannot be acquired in the map information, detouring the second obstacle by using a preset second obstacle edge control method; and traversing the residual area, and sending a prompt message requiring manual charging when the robot cannot bypass or pass through the second obstacle.
Specifically, the step of adjusting the recharging path of the robot according to the attribute information of the second obstacle is the same as the step of adjusting the recharging path of the robot according to the attribute information of the first obstacle, and is not repeated here.
As a further embodiment of the first solution, after the first obstacle is bypassed by using a preset first obstacle edgewise control method, the method further includes: when the robot cannot detour or pass through the first obstacle, adjusting the recharging path to any area of the remaining area, when the attribute information of the second obstacle can be acquired in the map information, adjusting the recharging path of the robot according to the attribute information of the second obstacle, and when the attribute information of the second obstacle cannot be acquired in the map information, detouring the second obstacle by using a preset second obstacle edge control method; and traversing the residual area, and sending a prompt message requiring manual charging when the robot cannot bypass or pass through the second obstacle.
As shown in fig. 2, the second scheme is: when the first obstacle is located in the area in front of the charging pile, the map information is obtained, and when the attribute information of the first obstacle can be obtained in the map information, the recharging path of the robot is adjusted according to the attribute information of the first obstacle.
As a specific embodiment, in the first aspect, when the attribute information of the first obstacle includes information on the number of the first obstacles, information on the shape of the first obstacle, and information on the distribution of the first obstacles, the adjusting the recharge path of the robot according to the attribute information of the first obstacle may include:
(21) determining whether the first obstacle is one or more according to the number information of the first obstacle;
(22) when the first obstacle is one, detouring the first obstacle based on the shape information of the first obstacle;
(23) when the first obstacles are multiple, the first obstacles pass through or detour among the first obstacles based on the shape information of the first obstacles and the distribution information of the first obstacles.
As a specific implementation manner of step (23), when there are a plurality of first obstacles, based on the shape information of the first obstacles and the distribution information of the first obstacles, the following technical solutions may be adopted for passing between the first obstacles or bypassing the first obstacles:
(231) determining the distance between two first sub-obstacles according to the distribution information of the first obstacles;
(232) when the distance between two first sub-obstacles is larger than a first preset distance, the two first sub-obstacles pass through;
(233) when the distance between two first sub-obstacles is between a first preset distance and a second preset distance, acquiring sensitivity information of the collision sensor, and when the collision sensor is high in sensitivity, passing through the two first sub-obstacles and reducing the sensitivity of the collision sensor; when the collision sensor is low in sensitivity, passing between the two first sub-obstacles;
(234) and when the distance between the two first sub-obstacles is not greater than a first preset distance and the distance between the two first sub-obstacles is not between the first preset distance and a second preset distance, the first obstacle is detoured based on the shape information and the distribution information of the first obstacle.
As a further embodiment of the second aspect, the method further includes, after the acquiring the map information when the first obstacle is located in the area in front of the charging pile, and when the attribute information of the first obstacle can be acquired in the map information, adjusting the recharging path of the robot according to the attribute information of the first obstacle, the method further including:
when the robot cannot detour or pass by the first obstacle, obtaining the map information, determining whether the second obstacle exists in the remaining area of the charging pile according to the map information, and when the area of the remaining area of the charging pile does not include the area without the second obstacle, adjusting the recharging path to any area without the second obstacle; when the second obstacle exists in the remaining area of the charging pile and the attribute information of the second obstacle can be acquired in the map information, adjusting a recharging path of the robot according to the attribute information of the second obstacle; when the second obstacle exists in the remaining area of the charging pile but the attribute information of the second obstacle cannot be acquired in the map information, bypassing the second obstacle by using a preset second obstacle edge control method;
and traversing the remaining area, and sending a prompt message requiring manual charging when the robot cannot bypass or pass through the second obstacle.
As a further embodiment of the second solution, after the first obstacle is bypassed by using a preset first obstacle edgewise control method, the method further includes:
when the robot cannot detour or pass by the first obstacle, obtaining the map information, determining whether the second obstacle exists in the remaining area of the charging pile according to the map information, and when the area of the remaining area of the charging pile does not include the area without the second obstacle, adjusting the recharging path to any area without the second obstacle; when the second obstacle exists in the remaining area of the charging pile and the attribute information of the second obstacle can be acquired in the map information, adjusting a recharging path of the robot according to the attribute information of the second obstacle; when the second obstacle exists in the remaining area of the charging pile but the attribute information of the second obstacle cannot be acquired in the map information, bypassing the second obstacle by using a preset second obstacle edge control method;
and when the robot cannot bypass or pass through the second obstacle, sending a prompt message that manual charging is needed.
According to the robot recharging control method provided by the embodiment 1 of the invention, when an obstacle exists in the recharging path, the position information of the obstacle can be determined according to the light field guide signal at the moment before collision, and the recharging path is adjusted based on the position information of the obstacle, so that the obstacle can be automatically avoided when the obstacle exists in the recharging path, and the recharging success rate of the robot is improved.
Example 2
Corresponding to embodiment 1 of the present invention, embodiment 2 of the present invention provides a robot recharging control device, and fig. 3 is a schematic structural diagram of the robot recharging control device in embodiment 2 of the present invention. As shown in fig. 3, the robot recharging control apparatus according to embodiment 2 of the present invention includes an acquisition module 20 and an adjustment module 22.
Specifically, the acquiring module 20 acquires obstacle avoidance information of a first obstacle colliding with the robot when the robot collides in the recharging process;
and the adjusting module 22 is configured to adjust a recharging path of the robot based on the obstacle avoidance information.
The details of the robot recharging control device can be understood by referring to the corresponding descriptions and effects in the embodiments shown in fig. 1 to fig. 2, and are not described herein again.
Example 3
The embodiment of the invention also provides the electrical equipment which can comprise a processor and a memory, wherein the processor and the memory can be connected through a bus or in other manners.
The processor may be a Central Processing Unit (CPU). The Processor may also be other general purpose processors, Digital Signal Processors (DSPs), Application Specific Integrated Circuits (ASICs), Field Programmable Gate Arrays (FPGAs) or other Programmable logic devices, discrete Gate or transistor logic devices, discrete hardware components, or a combination thereof.
The memory, which is a non-transitory computer readable storage medium, may be used to store non-transitory software programs, non-transitory computer executable programs, and modules, such as program instructions/modules (e.g., the obtaining module 20 and the adjusting module 22 shown in fig. 3) corresponding to the robot recharging control method in the embodiment of the present invention. The processor executes various functional applications and data processing of the processor by running non-transitory software programs, instructions and modules stored in the memory, that is, the robot recharge control method in the above method embodiment is implemented.
The memory may include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required for at least one function; the storage data area may store data created by the processor, and the like. Further, the memory may include high speed random access memory, and may also include non-transitory memory, such as at least one disk storage device, flash memory device, or other non-transitory solid state storage device. In some embodiments, the memory optionally includes memory located remotely from the processor, and such remote memory may be coupled to the processor via a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The one or more modules are stored in the memory and, when executed by the processor, perform a robot recharge control method as in the embodiment of fig. 1-2.
The details of the electrical apparatus may be understood by referring to the corresponding descriptions and effects in the embodiments shown in fig. 1 to fig. 3, and are not described herein again.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by a computer program, which can be stored in a computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. The storage medium may be a magnetic Disk, an optical Disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a Flash Memory (Flash Memory), a Hard Disk (Hard Disk Drive, abbreviated as HDD), a Solid State Drive (SSD), or the like; the storage medium may also comprise a combination of memories of the kind described above.
Although the embodiments of the present invention have been described in conjunction with the accompanying drawings, those skilled in the art may make various modifications and variations without departing from the spirit and scope of the invention, and such modifications and variations fall within the scope defined by the appended claims.
Claims (18)
1. A robot recharge control method is characterized by comprising the following steps:
when a first obstacle exists in a recharging path, acquiring obstacle avoidance information of the first obstacle;
and adjusting the recharging path based on the obstacle avoidance information.
2. The method according to claim 1, further comprising, before acquiring obstacle avoidance information of the first obstacle:
obtaining map information, and determining whether the first obstacle exists in the recharge path according to the map information;
or/and acquiring monitoring data of a collision sensor, and determining whether the first obstacle exists in the recharging path according to the monitoring data.
3. The method of claim 2, further comprising, prior to said acquiring monitoring data of the collision sensor:
adjusting the sensitivity of the impact sensor to a preset sensitivity, wherein the preset sensitivity is lower than a conventional sensitivity of the impact sensor.
4. The recharging control method according to claim 1, wherein when the obstacle avoidance information includes position information of the first obstacle, the acquiring obstacle avoidance information of the first obstacle includes:
acquiring a light field guide signal at a preset moment before collision;
determining position information of the first obstacle from the light field guidance signal.
5. The method of claim 1, wherein when the obstacle avoidance information includes position information of the first obstacle, the adjusting the recharge path based on the obstacle avoidance information comprises:
judging whether the first obstacle is located in a side area or a front area of the charging pile according to the position information of the first obstacle;
when the first obstacles are located in the side area of the charging pile, determining whether second obstacles exist in the remaining area of the charging pile, and when the second obstacles exist in the remaining area and the attribute information of the first obstacles can be acquired, adjusting the recharging path according to the attribute information of the first obstacles;
when the first obstacle is located in the front area of the charging pile and the attribute information of the first obstacle can be acquired, the recharging path is adjusted according to the attribute information of the first obstacle.
6. The method of claim 5, further comprising: when the first obstacle is located in a side area of the charging pile and the remaining area includes an area where the second obstacle does not exist, the recharging path is adjusted to any area where the second obstacle does not exist.
7. The method of claim 5, wherein when the attribute information of the first obstacle includes number information of the first obstacle, shape information of the first obstacle, and distribution information of the first obstacle, the adjusting the recharge path according to the attribute information of the first obstacle comprises:
determining whether the first obstacle is one or more according to the number information of the first obstacle;
when the first obstacle is one, detouring the first obstacle based on the shape information of the first obstacle;
when the first obstacles are multiple, the first obstacles pass through or detour among the first obstacles based on the shape information of the first obstacles and the distribution information of the first obstacles.
8. The method of claim 7, further comprising: and when the map information cannot acquire the attribute information of the first obstacle, bypassing the first obstacle by using a preset first obstacle edge control method.
9. The method according to claim 8, further comprising, after bypassing the first obstacle by a preset first obstacle edgewise control method:
and obtaining attribute information of the first obstacle according to the detour data, and supplementing the attribute information of the first obstacle into the map information.
10. The method according to claim 7, wherein when the first obstacle is plural, passing between or bypassing the first obstacles based on the shape information of the first obstacle and the distribution information of the first obstacle comprises:
determining the distance between two first sub-obstacles according to the distribution information of the first obstacles;
when the distance between two first sub-obstacles is larger than a first preset distance, the two first sub-obstacles pass through;
when the distance between the two first sub-obstacles is between a first preset distance and a second preset distance and the collision sensor has preset sensitivity, the collision sensor passes through the two first sub-obstacles;
and when the distance between the two first sub-obstacles is not greater than a first preset distance and the distance between the two first sub-obstacles is not between the first preset distance and a second preset distance, the first obstacle is detoured based on the shape information and the distribution information of the first obstacle.
11. The method of claim 10, further comprising:
acquiring sensitivity information of the collision sensor;
judging whether the collision sensor is the preset sensitivity or not according to the sensitivity information;
and when the sensitivity of the collision sensor is higher than the preset sensitivity, adjusting the collision sensor to the preset sensitivity.
12. The method according to claim 8, wherein when the second obstacle exists in all the remaining areas and the attribute information of the first obstacle can be acquired, after adjusting the recharging path of the robot according to the attribute information of the first obstacle or after bypassing the first obstacle by using a preset first obstacle edgewise control method, the method further comprises:
when the robot cannot bypass or pass through the first obstacle, traversing the residual area, and controlling the robot to bypass or pass through the second obstacle;
and when the robot cannot bypass or pass through the second obstacle, sending a prompt message that manual charging is needed.
13. The method of claim 12, wherein controlling the robot to bypass or traverse the second obstacle for any of the remaining areas comprises:
acquiring the map information;
when the attribute information of the second obstacle can be acquired in the map information, adjusting a recharging path of the robot according to the attribute information of the second obstacle;
and when the attribute information of the second obstacle cannot be acquired in the map information, bypassing the second obstacle by using a preset second obstacle edge control method.
14. The method according to claim 8, wherein when the first obstacle is located in a front area of the charging post and the attribute information of the first obstacle is available, after adjusting a recharging path of the robot according to the attribute information of the first obstacle or after bypassing the first obstacle using a preset first obstacle edgewise control method, the method further comprises:
when the robot cannot bypass or pass through the first obstacle, traversing the residual area and controlling the robot to recharge;
and when the robot cannot complete recharging, sending a prompt message that manual charging is required.
15. The method of claim 14, wherein said traversing said remaining area, controlling said machine to recharge comprises:
acquiring the map information, and determining whether the second barrier exists in the remaining area of the charging pile according to the map information;
when the remaining area of the charging pile comprises an area without the second obstacle, adjusting the recharging path to any area without the second obstacle;
when the second obstacle exists in the remaining area of the charging pile and the attribute information of the second obstacle can be acquired in the map information, adjusting a recharging path of the robot according to the attribute information of the second obstacle;
when the second obstacle exists in the remaining area of the charging pile but the attribute information of the second obstacle cannot be acquired in the map information, the second obstacle is bypassed by using a preset second obstacle edgewise control method.
16. A robot recharge control device, comprising:
the device comprises an acquisition module, a feedback module and a feedback module, wherein the acquisition module is used for acquiring obstacle avoidance information of a first obstacle when the first obstacle exists in a recharging path;
and the adjusting module is used for adjusting the recharging path based on the obstacle avoidance information.
17. An electrical device, comprising:
a memory and a processor, the memory and the processor being communicatively connected to each other, the memory having stored therein computer instructions, the processor executing the computer instructions to perform the robot recharge control method of any one of claims 1 to 15.
18. A computer-readable storage medium storing computer instructions for causing a computer to perform the robot recharge control method of any one of claims 1 to 15.
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