CN113848886A

CN113848886A - Mobile robot

Info

Publication number: CN113848886A
Application number: CN202111049984.9A
Authority: CN
Inventors: 余曹恺
Original assignee: Anker Innovations Co Ltd
Current assignee: Anker Innovations Co Ltd
Priority date: 2021-09-08
Filing date: 2021-09-08
Publication date: 2021-12-28
Anticipated expiration: 2041-09-08
Also published as: CN113848886B

Abstract

A mobile robot comprising a signal receiving part, a memory, a processor, a moving part, and a charging part, wherein: the memory has stored thereon computer-readable instructions executed by the processor, which when executed by the processor, cause the processor to: controlling the motion part to enable the mobile robot to rotate, and receiving a recharging signal from a charging device of the mobile robot by the signal receiving part in the rotating process, wherein the recharging signal comprises at least one of a positioning signal, a left guiding signal and a right guiding signal; determining the position of the mobile robot relative to the charging device based on the recharging signal, wherein the position comprises the front, the left side or the right side; and controlling the motion component to enable the mobile robot to move based on the position of the mobile robot relative to the charging device until the charging component and the charging device are in charging connection. The mobile robot can realize recharging of the mobile robot quickly, the logic is simple, the steps for executing the logic are fewer, and recharging time is short.

Description

Mobile robot

Technical Field

The application relates to the technical field of mobile robots, in particular to a mobile robot.

Background

The existing household cleaning robot and other mobile robots such as automatic navigation robot are applied to the automatic recharging technology in a large quantity. At present, the implementation of the automatic recharging technology mainly includes the following methods: 1) the infrared recharging method comprises the following steps: and the mobile robot receives the infrared signal transmitted by the charging seat, performs probing and analysis and finally completes recharging. 2) North Star (Northstart) technology: the charging seat shoots out two bundles of infrared light to the roof, and the mobile robot reflects the received signal through the roof, realizes location and recharges. 3) The laser radar scans the characteristics of the charging seat, and the mobile robot carries out the positioning and recharging of the charging seat.

Among the above automatic recharging techniques, the infrared recharging method is relatively more common. At present, the infrared recharging method has some problems, such as complicated logic and more steps, which cause low recharging efficiency; in addition, the recharging signal received by the mobile robot may be a signal reflected by a space, which is easy to misjudge; furthermore, there are some backfill algorithms that are not intelligent enough for some application scenarios.

Disclosure of Invention

The present application has been made to solve at least one of the above problems. The application provides mobile robot's recharging scheme, and its logic is simple, and the executive step is few, and recharging efficiency is high. The following presents a simplified summary of the subject application and further details are described later in connection with specific embodiments.

According to an aspect of the present application, there is provided a method of recharging a mobile robot, the method including: controlling the mobile robot to rotate, and receiving a recharging signal from a charging device of the mobile robot in the rotating process, wherein the recharging signal comprises at least one of a counterpoint signal, a left guide signal and a right guide signal; determining an orientation of the mobile robot relative to the charging device based on the recharge signal, the orientation including a front, a left, or a right side; and controlling the mobile robot to move based on the position of the mobile robot relative to the charging device until the mobile robot and the charging device complete charging connection.

In one embodiment of the present application, the controlling the mobile robot to rotate, and receiving a back-charging signal from a charging device of the mobile robot during the rotation, includes: controlling the mobile robot to rotate, and controlling the mobile robot to stop rotating when the alignment signal is received in the rotating process; and when the alignment signal is not received after the mobile robot rotates by a preset angle, controlling the mobile robot to stop rotating.

In one embodiment of the present application, the determining the orientation of the mobile robot relative to the charging device based on the recharge signal includes: determining whether the mobile robot receives the alignment signal based on the recharge signal; when the mobile robot is determined to receive the alignment signal, determining that the mobile robot is located in front of the charging device; when it is determined that the mobile robot does not receive the alignment signal, it is determined that the mobile robot is located on the left side or the right side of the charging device.

In one embodiment of the present application, when it is determined that the mobile robot does not receive the alignment signal, determining that the mobile robot is located on the left side or the right side of the charging device includes: determining that the mobile robot is located on the left side or the right side of the charging device based on the magnitude relation between the number of times that the mobile robot receives the left guide signal and the number of times that the mobile robot receives the right guide signal; wherein when the number of times the mobile robot receives the left guidance signal is greater than the number of times the mobile robot receives the right guidance signal, it is determined that the mobile robot is located on the left side of the charging device; when the number of times that the mobile robot receives the right guide signal is greater than the number of times that the mobile robot receives the left guide signal, it is determined that the mobile robot is located on the right side of the charging device.

In an embodiment of the present application, the alignment signals include a left alignment signal and a right alignment signal, and when a signal receiving component disposed at a front end of the mobile robot receives the left alignment signal and the right alignment signal, it is determined that the mobile robot receives the alignment signals.

In one embodiment of the present application, the controlling the mobile robot to move until the mobile robot and the charging device complete a charging connection based on the orientation of the mobile robot relative to the charging device includes: when the mobile robot is determined to be positioned in front of the charging device, controlling the mobile robot to move forwards until the mobile robot and the charging device complete charging connection; when the mobile robot is determined to be positioned on the left side of the charging device, determining a left side angle of the mobile robot relative to the charging device based on the left guide signal, and controlling the mobile robot to move rightwards according to the left side angle until the mobile robot and the charging device complete charging connection; when the mobile robot is located on the right side of the charging device, determining a right side angle of the mobile robot relative to the charging device based on the right guide signal, and controlling the mobile robot to move leftwards according to the right side angle until the mobile robot and the charging device complete charging connection.

In one embodiment of the present application, the controlling the mobile robot to move to the right according to the left angle until the mobile robot and the charging device complete a charging connection includes: controlling the mobile robot to move rightwards for a preset distance according to the left side angle, and then returning to the step of receiving the recharging signal until the mobile robot and the charging device complete charging connection; or controlling the mobile robot to move rightwards according to the left side angle, stopping when the mobile robot receives the alignment signal, and returning to the step of receiving the recharging signal after stopping until the mobile robot and the charging device complete charging connection; or controlling the mobile robot to move rightwards according to the left side angle, stopping when the mobile robot receives the alignment signal, and controlling the mobile robot to rotate leftwards and move forwards until the mobile robot and the charging device complete charging connection.

In an embodiment of the application, the controlling the mobile robot to move to the left according to the right angle until the mobile robot and the charging device complete a charging connection includes: controlling the mobile robot to move leftwards for a preset distance according to the right angle, and then returning to the step of receiving the recharging signal until the mobile robot and the charging device complete charging connection; or controlling the mobile robot to move leftwards according to the right angle, stopping when the mobile robot receives the alignment signal, and returning to the step of receiving the recharging signal after stopping until the mobile robot and the charging device complete charging connection; or controlling the mobile robot to move leftwards according to the right angle, stopping when the mobile robot receives the alignment signal, and controlling the mobile robot to rotate rightwards and move forwards until the mobile robot and the charging device complete charging connection.

In one embodiment of the present application, the recharge signal further comprises a near guard signal, the method further comprising: when the position of the mobile robot relative to the charging device is determined based on the recharging signals, left guide signals or right guide signals without proximity signals are filtered out of the recharging signals, and the filtered recharging signals are used for determining the position of the mobile robot relative to the charging device.

In one embodiment of the present application, the recharge signal is an infrared signal.

According to another aspect of the present application, there is provided a mobile robot including a signal receiving part, a memory, a processor, a moving part, and a charging part, wherein: the memory has stored thereon computer-readable instructions executed by the processor, which when executed by the processor, cause the processor to: controlling the motion part to enable the mobile robot to rotate, and receiving a recharging signal from a charging device of the mobile robot by the signal receiving part during the rotation, wherein the recharging signal comprises at least one of a positioning signal, a left guiding signal and a right guiding signal; determining an orientation of the mobile robot relative to the charging device based on the recharge signal, the orientation including a front, a left, or a right side; controlling the moving component to move the mobile robot based on the orientation of the mobile robot relative to the charging device until the charging component completes a charging connection with the charging device.

In one embodiment of the present application, the processor is further configured to: controlling the moving part to rotate the mobile robot, and controlling the moving part to stop rotating the mobile robot when the signal receiving part receives the alignment signal during rotation; and when the signal receiving part does not receive the alignment signal after rotating for a preset angle, controlling the moving part to enable the mobile robot to stop rotating.

In one embodiment of the present application, the processor is further configured to: when the signal receiving part is determined to receive the alignment signal, determining that the mobile robot is located in front of the charging device; when it is determined that the signal receiving part does not receive the alignment signal, it is determined that the mobile robot is located on the left side or the right side of the charging device.

In one embodiment of the present application, the processor is further configured to: determining that the mobile robot is located on the left side or the right side of the charging device based on a magnitude relationship between the number of times the signal receiving part receives the left guide signal and the number of times the signal receiving part receives the right guide signal; wherein when the number of times the signal receiving part receives the left guide signal is greater than the number of times the signal receiving part receives the right guide signal, it is determined that the mobile robot is located on the left side of the charging device; when the number of times the signal receiving part receives the right guide signal is greater than the number of times the signal receiving part receives the left guide signal, it is determined that the mobile robot is located on the right side of the charging device.

In one embodiment of the present application, the signal receiving unit includes a front signal receiving unit disposed at a front end of the mobile robot and a side signal receiving unit disposed at a left side and/or a right side of the mobile robot, and the alignment signal includes a left alignment signal and a right alignment signal, and when the front signal receiving unit receives the left alignment signal and the right alignment signal, it is determined that the mobile robot receives the alignment signal.

In one embodiment of the present application, the processor is further configured to: when the mobile robot is determined to be positioned in front of the charging device, controlling the motion part to enable the mobile robot to move forwards until the charging part is in charging connection with the charging device; when the mobile robot is determined to be positioned at the left side of the charging device, determining a left side angle of the mobile robot relative to the charging device based on the left guide signal, and controlling the motion part according to the left side angle to enable the mobile robot to move rightwards until the charging part is in charging connection with the charging device; when the mobile robot is determined to be located on the right side of the charging device, determining a right side angle of the mobile robot relative to the charging device based on the right guide signal, and controlling the motion part according to the right side angle to enable the mobile robot to move leftwards until the charging part is in charging connection with the charging device.

In an embodiment of the application, the signal receiving component includes a front signal receiving component disposed at a front end of the mobile robot and a side signal receiving component disposed at a left side and/or a right side of the mobile robot, and the processor is further configured to: controlling the motion part according to the left side angle to enable the mobile robot to move rightwards for a preset distance, and then receiving the recharging signal again by the signal receiving part until the charging part is in charging connection with the charging device, wherein the side signal receiving part is arranged on the right side of the mobile robot; or controlling the motion component according to the left angle to enable the mobile robot to move rightwards, stopping when the side signal receiving component receives the alignment signal, and receiving the recharging signal again by the signal receiving component after stopping until the charging component and the charging device complete charging connection, wherein the side signal receiving component is arranged on the left side or the left side and the right side of the mobile robot; or controlling the mobile robot to move rightwards according to the left side angle, stopping when the side signal receiving part receives the alignment signal, and controlling the motion part to enable the mobile robot to rotate leftwards and move forwards until the charging part and the charging device complete charging connection, wherein the side signal receiving part is arranged on the left side or the left side and the right side of the mobile robot.

In an embodiment of the application, the signal receiving component includes a front signal receiving component disposed at a front end of the mobile robot and a side signal receiving component disposed at a left side and/or a right side of the mobile robot, and the processor is further configured to: controlling the motion part according to the right side angle to enable the mobile robot to move leftwards for a preset distance, and then receiving the recharging signal again by the signal receiving part until the charging part is in charging connection with the charging device, wherein the side signal receiving part is arranged on the left side of the mobile robot; or controlling the motion component according to the right angle to enable the mobile robot to move leftwards, stopping when the side signal receiving component receives the alignment signal, and receiving the recharging signal again by the signal receiving component after stopping until the charging component and the charging device complete charging connection, wherein the side signal receiving component is arranged on the right side or the left side and the right side of the mobile robot; or controlling the mobile robot to move leftwards according to the right angle, stopping when the side signal receiving component receives the alignment signal, and controlling the motion component to enable the mobile robot to rotate rightwards and move forwards until the charging component and the charging device complete charging connection, wherein the side signal receiving component is arranged on the right side or the left side and the right side of the mobile robot.

In one embodiment of the present application, the recharge signal further comprises a near guard signal, and the processor is further configured to: when the position of the mobile robot relative to the charging device is determined based on the recharging signals, left guide signals or right guide signals without proximity signals are filtered out of the recharging signals, and the filtered recharging signals are used for determining the position of the mobile robot relative to the charging device.

In an embodiment of the application, the mobile robot further includes a cleaning component, and the cleaning component is used for cleaning the area to be cleaned after the mobile robot moves to the area to be cleaned, and/or is used for cleaning the position of the mobile robot in the moving process of the mobile robot.

According to the recharging method of the mobile robot and the mobile robot, the mobile robot is quickly judged to be in front of, on the left side of or on the right side of the charging device according to at least one of the alignment signal, the left guide signal and the right guide signal received by the mobile robot from the charging device, the mobile robot is controlled to move according to the direction until the mobile robot is connected with the charging device in a charging mode, recharging of the mobile robot can be quickly achieved, the logic is simple, the number of logic executing steps is small, recharging time is short, recharging efficiency is high, and compatibility to various recharging scenes is high.

Drawings

The above and other objects, features and advantages of the present application will become more apparent by describing in more detail embodiments of the present application with reference to the attached drawings. The accompanying drawings are included to provide a further understanding of the embodiments of the application and are incorporated in and constitute a part of this specification, illustrate embodiments of the application and together with the description serve to explain the principles of the application. In the drawings, like reference numbers generally represent like parts or steps.

Fig. 1 shows a schematic flow diagram of a method for recharging a mobile robot according to an embodiment of the application.

Fig. 2 shows an exemplary schematic diagram of different areas corresponding to different recharging signals in a recharging method of a mobile robot according to an embodiment of the application.

Fig. 3 shows a more detailed schematic flow chart of a method for refilling a mobile robot according to an embodiment of the application.

Fig. 4 is a schematic diagram illustrating that a mobile robot completes charging connection after receiving different recharging signals in a recharging method of the mobile robot according to an embodiment of the application.

Fig. 5 shows a schematic block diagram of a mobile robot according to an embodiment of the present application.

Detailed Description

In order to make the objects, technical solutions and advantages of the present application more apparent, exemplary embodiments according to the present application will be described in detail below with reference to the accompanying drawings. It should be understood that the described embodiments are only some embodiments of the present application and not all embodiments of the present application, and that the present application is not limited by the example embodiments described herein. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the application described in the application without inventive step, shall fall within the scope of protection of the application.

The scheme of the application is applied to the mobile robot, and the mobile robot can be a mobile robot in the field of smart homes, such as a cleaning robot (a sweeper, a mopping machine) and the like, and can also be a mobile robot in other fields, such as a customer service robot and the like.

Fig. 1 shows a schematic flow diagram of a mobile robot recharging method 100 according to an embodiment of the application. As shown in fig. 1, the recharging method 100 of the mobile robot may include the steps of:

in step S110, the mobile robot is controlled to rotate, and during the rotation, a recharging signal from a charging device of the mobile robot is received, where the recharging signal includes at least one of a positioning signal, a left guiding signal, and a right guiding signal.

In step S120, an orientation of the mobile robot relative to the charging device is determined based on the recharge signal, the orientation including a front, a left, or a right side.

In step S130, the mobile robot is controlled to move based on the orientation of the mobile robot relative to the charging device until the mobile robot and the charging device complete the charging connection.

In the embodiment of the present application, it is assumed that the mobile robot is in an area capable of receiving a recharging signal (a wireless communication signal such as an infrared signal) transmitted by its charging device (such as a charging dock) (if not in an area capable of receiving a recharging signal transmitted by its charging device, there is a corresponding logical algorithm, which may be any available algorithm, and is not limited in this application), so that the mobile robot can receive the recharging signal of the charging device. In an embodiment of the present application, depending on the location of the mobile robot, the mobile robot may receive at least one of the following signals from the charging device: a pair bit signal, a left pilot signal, and a right pilot signal. The alignment signal is a signal emitted by the charging device to the front of the charging device within a small angle range, and the signal can be used for aligning the mobile robot with the front of the charging device. The left guiding signal is a signal emitted by the charging device to the right of the charging device within a certain angle range, and the signal can be used for judging whether the mobile robot is on the left side of the charging device. Similarly, the right guidance signal is a signal that the charging device transmits to its left within a certain angle range, which can be used to determine whether the mobile robot is on the right side of the charging device. Therefore, the mobile robot can quickly judge the position (front, left or right) of the mobile robot relative to the charging device according to the recharging signal received by the mobile robot, and controls the mobile robot to move according to the position until the mobile robot is in charging connection with the charging device, so that recharging is realized. Therefore, according to the recharging method of the mobile robot in the embodiment of the application, whether the mobile robot is in front of, on the left side of or on the right side of the charging device is quickly judged according to at least one of the alignment signal, the left guide signal and the right guide signal received by the mobile robot from the charging device, the mobile robot is controlled to move according to the direction until the mobile robot is connected with the charging device in a charging mode, recharging of the mobile robot can be quickly achieved, the logic is simple, the number of logic executing steps is small, recharging time consumption is short, recharging efficiency is high, and compatibility to various recharging scenes is high.

The mobile robot recharging method 100 according to an embodiment of the present application is described in more detail below.

In an embodiment of the present application, in step S110, controlling the mobile robot to rotate, and receiving a back charging signal from a charging device of the mobile robot during the rotation may include: controlling the mobile robot to rotate, and controlling the mobile robot to stop rotating when receiving the alignment signal in the rotating process; and when the alignment signal is not received after the mobile robot rotates by a preset angle, controlling the mobile robot to stop rotating. In this embodiment, if the mobile robot receives the alignment signal, which generally indicates that the mobile robot is in front of the charging device, the mobile robot may be directly controlled to move forward without rotating again to complete the charging connection with the charging device. If the mobile robot does not receive the alignment signal after rotating a preset angle, which generally indicates that the mobile robot is not in front of the charging device, and may be on the left side or the right side of the charging device, it may be determined which side of the charging device the mobile robot is on according to the left guidance signal and/or the right guidance signal it receives without rotating again. In this embodiment, the mobile robot is controlled to rotate for one circle (when the mobile robot is on the left side or the right side of the charging device), which may enable the mobile robot to receive various recharging signals uniformly, and may not miss the recharging signals that may be received due to the relationship of the setting positions of the signal receiving components (such as the infrared receiving heads) on the mobile robot, so as to effectively avoid misjudgment of the orientation of the mobile robot with respect to the charging device.

In an embodiment of the present application, determining the orientation of the mobile robot relative to the charging device based on the back charging signal in step S120 may include: when the mobile robot is determined to receive the alignment signal, determining that the mobile robot is located in front of the charging device; and when the mobile robot is determined not to receive the alignment signal, determining that the mobile robot is positioned on the left side or the right side of the charging device.

In this embodiment, the recharging signal received by the mobile robot may be analyzed, and when the mobile robot receives the alignment signal, the mobile robot is considered to be in front of the charging device. Since the alignment signal is a signal for aligning the mobile robot directly in front of the charging device, it can be determined that the mobile robot is in front of the charging device regardless of which signal receiving member (a signal receiving member provided in front or on the side) of the mobile robot receives the alignment signal. Alternatively, in order to make the result more accurate, the mobile robot may be determined to be in front of the charging device only when the signal receiving unit provided at the front end of the mobile robot receives the alignment signal.

In a further embodiment, the alignment signals may further include a left alignment signal and a right alignment signal, which may be suitable for a scenario in which the mobile robot front end is provided with two signal receiving components. In this scenario, when the left and right signal receiving parts disposed at the front end of the mobile robot receive the left alignment signal and the right alignment signal, respectively (that is, the signal receiving part on the left side of the front end of the mobile robot receives the left alignment signal, and the signal receiving part on the right side of the front end of the mobile robot receives the right alignment signal), it is determined that the mobile robot receives the alignment signals, and thus it is determined that the mobile robot is right in front of the charging device. In this embodiment, the registration signals are further classified, and the condition that the mobile robot is in front of the charging device is determined to be stricter, which can further improve the accuracy of positioning the mobile robot, and thus the accuracy of the whole recharging algorithm. In other embodiments, it may be determined that the mobile robot is directly in front of the charging device when at least one of the left and right signal receiving parts provided at the front end of the mobile robot receives the left alignment signal and the right alignment signal. Alternatively, the number of the front end signal receiving means is not limited, and the mobile robot may be determined to be directly in front of the charging device when the signal receiving means provided at the front end of the mobile robot receives the left alignment signal and the right alignment signal.

Continuing with the above embodiment, when it is determined that the mobile robot has not received the registration signal, it is determined which side (left side or right side) of the charging device the mobile robot is located on based on the left guide signal and/or the right guide signal received by the mobile robot. For example, when the mobile robot receives only the left guide signal, it may be determined that the mobile robot is located at the left side of the charging device; similarly, when the mobile robot receives only the right guide signal, it may be determined that the mobile robot is located at the right side of the charging device. For another example, the mobile robot may receive both the left guidance signal and the right guidance signal due to the position relationship and reflection of an object such as a wall. At this time, it may be determined whether the mobile robot is located on the left or right side of the charging device according to the number of left and right guide signals received by the mobile robot within a certain time (such as during one rotation). For example, when the mobile robot receives the left guidance signal more times than the right guidance signal, it may be determined that the mobile robot is located on the left side of the charging device; similarly, when the mobile robot receives the right guide signal more times than the left guide signal, it may be determined that the mobile robot is located at the right side of the charging device. In general, in embodiments of the present application, the orientation of the mobile robot relative to the charging device may be determined according to the kind and/or number (frequency) of the recharge signals received by the mobile robot.

In an embodiment of the present application, in step S130, controlling the mobile robot to move until the mobile robot and the charging device complete the charging connection based on the orientation of the mobile robot relative to the charging device may include: when the mobile robot is determined to be positioned in front of the charging device, controlling the mobile robot to move forwards until the mobile robot and the charging device complete charging connection; when the mobile robot is determined to be positioned on the left side of the charging device, determining the left side angle of the mobile robot relative to the charging device based on the left guide signal, and controlling the mobile robot to move rightwards according to the left side angle until the mobile robot and the charging device complete charging connection; and when the mobile robot is determined to be positioned on the right side of the charging device, determining the right side angle of the mobile robot relative to the charging device based on the right guide signal, and controlling the mobile robot to move leftwards according to the right side angle until the mobile robot and the charging device complete charging connection.

In the embodiment of the application, when it is determined that the mobile robot is located in front of the charging device, the mobile robot may be directly controlled to move forward until the mobile robot and the charging device complete the charging connection (for example, the charging contact of the mobile robot and the charging contact of the charging stand are contacted together to complete the seating). If the charging connection is not completed, the contact position of the mobile robot and the charging device is not proper or not good, and the mobile robot can be controlled to move forwards again after backing, so that the charging connection is completed. In addition, the distance between the mobile robot and the charging device and the angle at which the mobile robot needs to rotate may be accurately calculated based on the received alignment signal and the position of the signal receiving unit that receives the alignment signal (for example, if the signal receiving unit disposed on the right side of the mobile robot receives the alignment signal, the mobile robot may rotate to the right and then move forward), so that the charging connection may be more accurately completed.

In the embodiment of the present application, when it is determined that the mobile robot is located on the left side of the charging device, a specific angle of the mobile robot relative to the charging device (referred to as a left angle herein for distinguishing from the right side) may be determined according to a left guiding signal received by the mobile robot, and the mobile robot may be controlled to move rightward (i.e., the mobile robot rotates rightward and then moves forward) according to the left angle until the mobile robot and the charging device complete a charging connection. Similarly, when it is determined that the mobile robot is located at the right side of the charging device, the specific angle of the mobile robot relative to the charging device (referred to as the right angle herein for distinction from the left side) may be determined according to the right guiding signal received by the mobile robot, and the mobile robot is controlled to move to the left according to the right angle (i.e., the mobile robot first rotates to the left and then moves to the front) until the mobile robot and the charging device complete the charging connection.

The following describes a process in which the mobile robot completes charging connection with the charging device when the mobile robot is on the left side and the right side of the charging device, respectively, in conjunction with a difference in the position of the signal receiving part provided on the mobile robot.

In one example, it is assumed that a mobile robot has three signal receiving sections mounted thereon, including two signal receiving sections on the left and right sides provided at the front end and one signal receiving section provided on the right side. Then, when the mobile robot controls the mobile robot to move rightward according to the aforementioned left angle, the mobile robot may be controlled to move rightward by a preset distance (since the left side does not have a signal receiving part, it is not possible to determine when to stop moving). Then, the process returns to step S110, where the recharging signal is received again, and the position of the mobile robot relative to the charging device is determined again according to the recharging signal. If the mobile robot is determined to be located in front of the charging device, which indicates that the previous moving distance is just right, the mobile robot can be directly controlled to move forward to complete charging connection with the charging device; assuming that it is determined that the mobile robot is still located at the left side of the charging device, indicating that the previous moving distance is small, the mobile robot is continuously controlled to move rightward by a preset distance, and then the mobile robot returns to the step S110 again, and the above-described actions are repeated; assuming that it is determined that the mobile robot is located on the right side of the charging device, indicating that the previous moving distance is too large, the mobile robot is controlled according to the logic at the right side, as will be described below.

It is still assumed that the mobile robot is mounted with three signal receiving sections including two signal receiving sections on the left and right sides provided at the front end and one signal receiving section provided on the right side. Then, when the mobile robot controls the mobile robot to move leftward according to the right angle, the mobile robot may be controlled to move leftward and stop when the right signal receiving part receives the alignment signal, because the right signal receiving part is provided, the mobile robot may be considered to have moved to the front end of the charging device when the right signal receiving part receives the alignment signal. Therefore, the mobile robot can be controlled to rotate to the right at this time and then move forward (so that the front end faces the charging device) until the mobile robot and the charging device complete charging connection.

Or, in order to make the result more accurate, when the mobile robot controls the mobile robot to move leftward according to the right angle, the mobile robot may be controlled to move leftward, and when the right signal receiving part receives the alignment signal, the mobile robot stops, and after the stop, the operation returns to the step S110, the mobile robot receives the recharging signal again, the orientation of the mobile robot relative to the charging device is determined again according to the recharging signal, and if it is determined that the mobile robot is exactly at the front end of the charging device, the mobile robot is controlled to move to the charging device again to realize the charging connection. Compared with the previous embodiment, the positioning result of the embodiment is more accurate, so that the recharging control according to the positioning result is more accurate finally.

The above embodiments are exemplary processes of the mobile robot completing charging connection with the charging device respectively on the left side and the right side of the charging device, described by taking "assuming that the mobile robot is mounted with three signal receiving parts, including two signal receiving parts on the left and right sides provided at the front end and one signal receiving part provided on the right side" as an example. When the signal receiving section mounted on the mobile robot is other cases, for example, it is assumed that three signal receiving sections are mounted on the mobile robot, including two signal receiving sections on the left and right sides provided at the front end and one signal receiving section provided on the left side, the process of the mobile robot completing the charging connection with the charging device on the left and right sides of the charging device, respectively, is slightly different, but substantially similar.

Specifically, when the mobile robot controls the mobile robot to move rightward according to the aforementioned left angle, the mobile robot may be controlled to move rightward, and stop when the left signal receiving part receives the alignment signal, because the left side is provided with the signal receiving part, it may be considered that the mobile robot has moved to the front end of the charging device when the left signal receiving part receives the alignment signal. Therefore, the mobile robot can be controlled to rotate left and then move forward (such that the front end faces the charging device) until the mobile robot and the charging device complete charging connection.

Alternatively, in order to make the result more accurate, when the mobile robot controls the mobile robot to move rightward according to the left angle, the mobile robot may be controlled to move rightward, when the left signal receiving part receives the alignment signal, the mobile robot stops, after the mobile robot stops, the operation may return to step S110, the mobile robot receives the recharge signal again, the orientation of the mobile robot with respect to the charging device is determined again according to the recharge signal, and if it is determined that the mobile robot is exactly at the front end of the charging device, the mobile robot is controlled to move to the charging device again to realize the charging connection. Compared with the previous embodiment, the positioning result of the embodiment is more accurate, so that the recharging control according to the positioning result is more accurate finally.

When the mobile robot controls the mobile robot to move leftward according to the aforementioned right angle, the mobile robot may be controlled to move leftward by a preset distance (since the right side does not have the signal receiving part, it cannot be determined when to stop moving). Then, the process returns to step S110, where the recharging signal is received again, and the position of the mobile robot relative to the charging device is determined again according to the recharging signal. If the mobile robot is determined to be located in front of the charging device, which indicates that the previous moving distance is just right, the mobile robot can be directly controlled to move forward to complete charging connection with the charging device; assuming that it is determined that the mobile robot is still located at the right side of the charging device, indicating that the previous moving distance is small, continuing to control the mobile robot to move to the left by the preset distance, and then returning to the step S110 again, and repeating the above-described actions; assuming that it is determined that the mobile robot is located on the left side of the charging device, indicating that the previous moving distance is too large, the mobile robot is controlled according to the logic at the left side, as has been described previously.

The above several embodiments are exemplary processes of the mobile robot completing charging connection with the charging device respectively at the left and right sides of the charging device, described by taking "assuming that the mobile robot is mounted with three signal receiving parts, including two signal receiving parts on the left and right sides provided at the front end and one signal receiving part provided at the left side" as an example. When the signal receiving parts mounted on the mobile robot are other cases, for example, it is assumed that four signal receiving parts are mounted on the mobile robot, including two signal receiving parts on the left and right sides provided at the front end and one signal receiving part provided on each of the left and right sides, the process of the mobile robot performing charging connection with the charging device on the left and right sides of the charging device, respectively, is also substantially similar, except that the scheme of moving by the preset distance in the above embodiment is required because there are signal receiving parts on both the left and right sides, and it is possible to determine when to stop the mobile robot regardless of whether it moves left or right. For brevity, no further description is provided herein.

In addition, in the above embodiments, it is assumed that the front end of the mobile robot is provided with the left and right signal receiving components, but this is only an example, and in other embodiments, the front end of the mobile robot may also be provided with only one signal receiving component, which has been described in the foregoing description for the alignment signal, and is not described again here. In general, a mobile robot performing the refilling method of the present application may include at least two signal receiving parts, one disposed at a front end and one disposed at a side end.

In a further embodiment of the present application, the mobile robot may further include a near guard signal in the recharging signal received from the charging device, where the near guard signal is a wide-angle, small-radiation-distance signal emitted from the charging device, and may be used to determine whether the mobile robot is close to the charging device, and may also be used to filter some interference signals. For example, although the mobile robot is originally located on the left side of the charging device, the mobile robot may receive a large number of right guidance signals reflected from an object such as a wall, and thus the orientation of the mobile robot may be erroneously determined to be on the right side of the charging device. At this time, the judgment can be made by combining the close guard signal, and since the close guard signal is a wide-angle and small-radiation-distance signal emitted from the charging device, the mobile robot located on the left side of the charging device can receive only the close guard signal with the angle close to the left, but cannot receive the close guard signal with the angle close to the right, so that the influence of the right guide signal can be eliminated by combining the received close guard signal with the left guide signal with the angle close to the left, and the correct direction judgment that the mobile robot is located on the left side of the charging device is made. Therefore, in the embodiment of the application, when the position of the mobile robot relative to the charging device is determined based on the recharging signal, the left guiding signal or the right guiding signal without the proximity signal can be filtered out from the recharging signal, and the filtered recharging signal is used for determining the position of the mobile robot relative to the charging device, so that the accuracy of the position determination result can be improved.

The method for refilling a mobile robot according to an embodiment of the present application is described above in detail. The areas corresponding to the recharging signals involved in the recharging method of the mobile robot according to the embodiment of the present application and the flow chart are described below with reference to fig. 2 to 4, so as to further generalize and comb the foregoing details for understanding.

Fig. 2 shows an exemplary schematic diagram of different areas corresponding to different recharging signals in a recharging method of a mobile robot according to an embodiment of the application. As shown in fig. 2, the black rectangle at the upper part of the figure is a charging device, and the area near the charging device may include a near guard area, a left guide area, a right guide area and a counterpoint area according to the near guard signal, the left guide signal, the right guide signal and the near guard signal emitted by the charging device. Note that fig. 2 is only schematic, and in practical applications, the regions may or may not overlap with each other. A process of implementing a charging connection with a charging device when the mobile robot is located in different areas (different locations) will now be described with reference to fig. 3 and 4. Therein, fig. 3 shows a more detailed schematic flow chart of a method for refilling a mobile robot according to an embodiment of the application. Fig. 4 is a schematic diagram illustrating that a mobile robot completes charging connection after receiving different recharging signals in a recharging method of the mobile robot according to an embodiment of the application.

As shown in fig. 3, after the mobile robot rotates once and receives the recharging signal, it may be determined whether the recharging signal includes the alignment signal, and if so (including the alignment signal), it is determined that the mobile robot is located in front of the charging device, and the mobile robot may be directly controlled to move forward until the mobile robot completes the charging connection with the charging device, as shown in fig. 4. With continued reference to fig. 3, if (not including the alignment signal), it is determined whether the left pilot signal is received a greater number of times or the right pilot signal is received a greater number of times. If the number of times of receiving the left guiding signal is large, the mobile robot is determined to be located on the left side of the charging device, at this time, a left angle can be determined according to the left guiding signal, the mobile robot is controlled to move rightward by a preset distance (described by taking the mobile robot without a signal receiving part on the left side and with a signal receiving part on the right side as an example), and the direction is determined again after the mobile robot returns to the step of receiving the recharging signal by rotating for one circle initially after moving (the mobile robot is located on the right side of the charging device after moving for a certain distance shown in fig. 4, so the logic on the right side can be executed). If the number of times of receiving the right guiding signal is large, the mobile robot is determined to be located on the right side of the charging device, at this time, the right angle can be determined according to the right guiding signal, the mobile robot is controlled to move leftwards until the right signal receiving part receives the alignment signal, the mobile robot stops (the mobile robot is described by taking the mobile robot without the signal receiving part on the left side and with the signal receiving part on the right side as an example), and the mobile robot returns to the step of receiving the recharging signal after rotating for one circle initially after stopping to judge the azimuth again. In this way, until the mobile robot is determined to be in front of the charging device, it can be controlled to move forward to make charging connection with the charging device (straight upper seat).

Based on the above description, the recharging method for the mobile robot according to the embodiment of the present application rapidly determines whether the mobile robot is located in front of, on the left of, or on the right of the charging device according to at least one of the alignment signal, the left guidance signal, and the right guidance signal received by the mobile robot from the charging device, and controls the mobile robot to move according to the orientation until the mobile robot completes the charging connection with the charging device.

A mobile robot provided according to another aspect of the present application is described below in conjunction with fig. 5. Fig. 5 shows a schematic block diagram of a mobile robot 500 according to an embodiment of the present application. As shown in fig. 5, the mobile robot 500 includes a signal receiving part 510, a memory 520, a processor 530, a moving part 540, and a charging part 550. The signal receiving component 510 is configured to receive a recharging signal from a charging device of the mobile robot 500, where the recharging signal includes at least one of a position alignment signal, a left guidance signal, and a right guidance signal; the memory 520 has stored thereon computer-readable instructions executed by the processor 530, which when executed by the processor 530, cause the processor 530 to: controlling the moving part 540 to rotate the mobile robot 500, and receiving a recharging signal from a charging device of the mobile robot 500 by the signal receiving part 510 during the rotation, wherein the recharging signal includes at least one of a position alignment signal, a left guidance signal, and a right guidance signal; determining the orientation of the mobile robot 500 relative to the charging device based on the recharging signal, wherein the orientation comprises the front, the left side or the right side; based on the orientation of the mobile robot 500 relative to the charging device, the movement component 540 is controlled to move the mobile robot until the charging component 550 completes the charging connection with the charging device. The mobile robot 500 according to an embodiment of the present application may perform the above-described refilling method 100 of the mobile robot according to an embodiment of the present application. The structure and specific operations of the mobile robot 500 can be understood by those skilled in the art with reference to the foregoing descriptions, and for the sake of brevity, specific details are not repeated here, and only some major operations are described.

In one embodiment of the present application, the processor 530 is further configured to: controlling the moving part 540 to rotate the mobile robot 500, and controlling the moving part 540 to stop the rotation of the mobile robot 500 when the signal receiving part 510 receives the alignment signal during the rotation; when the signal receiving part 510 does not receive the alignment signal after rotating by the preset angle, the moving part 540 is controlled such that the mobile robot 500 stops rotating. .

In one embodiment of the present application, the processor 530 is further configured to: when it is determined that the signal receiving part 510 receives the alignment signal, it is determined that the mobile robot 500 is located in front of the charging device; when it is determined that the signal receiving part 510 does not receive the alignment signal, it is determined that the mobile robot 500 is located on the left or right side of the charging device.

In one embodiment of the present application, the processor 530 is further configured to: determining that mobile robot 500 is located on the left or right side of the charging device based on the magnitude relationship between the number of times signal receiving section 510 receives the left guidance signal and the number of times the right guidance signal is received; wherein when the number of times the signal receiving part 510 receives the left guide signal is greater than the number of times the right guide signal is received, it is determined that the mobile robot 500 is located at the left side of the charging device; when the number of times the signal receiving part 510 receives the right guide signal is greater than the number of times the left guide signal is received, it is determined that the mobile robot 500 is located at the right side of the charging device.

In one embodiment of the present application, the signal receiving part 510 includes a front signal receiving part (not shown) disposed at a front end of the mobile robot 500 and a side signal receiving part (not shown) disposed at a left side and/or a right side of the mobile robot 500, the alignment signal includes a left alignment signal and a right alignment signal, and when the front signal receiving part receives the left alignment signal and the right alignment signal, it is determined that the mobile robot 500 receives the alignment signal.

In one embodiment of the present application, the processor 530 is further configured to: when it is determined that the mobile robot 500 is located in front of the charging device, controlling the moving part 540 such that the mobile robot 500 moves forward until the charging part 550 completes the charging connection with the charging device; when it is determined that the mobile robot 500 is located at the left side of the charging device, determining a left angle of the mobile robot 500 with respect to the charging device based on the left guide signal, and controlling the moving part 540 according to the left angle such that the mobile robot 500 moves rightward until the charging part 550 completes a charging connection with the charging device; when it is determined that the mobile robot 500 is located at the right side of the charging device, a right angle of the mobile robot 500 with respect to the charging device is determined based on the right guide signal, and the moving part 540 is controlled according to the right angle such that the mobile robot 500 moves to the left until the charging part 550 completes the charging connection with the charging device.

In an embodiment of the present application, the signal receiving component 510 includes a front signal receiving component (not shown) disposed at a front end of the mobile robot 500 and a side signal receiving component (not shown) disposed at a left side and/or a right side of the mobile robot, and the processor 530 is further configured to: controlling the moving part 540 according to the left angle to move the mobile robot 500 to the right by a preset distance, and then receiving the charging signal again by the signal receiving part 510 until the charging part 550 completes the charging connection with the charging device, wherein the side signal receiving part is disposed at the right side of the mobile robot 500; or controlling the moving part 540 according to the left angle to move the mobile robot 500 to the right, stopping when the side signal receiving part receives the alignment signal, and receiving the charging signal again by the signal receiving part 510 after stopping until the charging part 550 and the charging device complete the charging connection, wherein the side signal receiving part is arranged on the left side or the left and right sides of the mobile robot 500; or controls the mobile robot 500 to move rightward according to the left angle, stops when the side signal receiving part disposed at the left side or both sides of the mobile robot 500 receives the alignment signal, and controls the moving part 540 to make the mobile robot 500 rotate leftward and move forward until the charging part 550 and the charging device complete the charging connection.

In an embodiment of the present application, signal receiving component 510 includes a front signal receiving component (not shown) disposed at a front end of mobile robot 500 and a side signal receiving component (not shown) disposed at a left side and/or a right side of mobile robot 500, and processor 530 is further configured to: controlling the moving part 540 according to the right angle such that the mobile robot 500 moves to the left by a preset distance, and then receiving the charging signal again by the signal receiving part 510 until the charging part 550 completes the charging connection with the charging device, wherein the side signal receiving part is disposed at the left side of the mobile robot 500; or controlling the moving part 540 according to the right angle to move the mobile robot 500 to the left, stopping when the side signal receiving part receives the alignment signal, and receiving the charging signal again by the signal receiving part 510 after stopping until the charging part 550 and the charging device complete the charging connection, wherein the side signal receiving part is arranged on the right side or the left and right sides of the mobile robot 500; or controlling the mobile robot 500 to move leftward according to the right angle, stopping when the side signal receiving part disposed at the right side or both sides of the mobile robot 500 receives the alignment signal, and controlling the moving part 540 to rotate the mobile robot 500 rightward and move forward until the charging part 550 and the charging device complete the charging connection.

In one embodiment of the present application, the backfill signal further comprises a near guard signal, and the processor 530 is further configured to: when the orientation of the mobile robot 500 relative to the charging device is determined based on the recharging signal, the left guide signal or the right guide signal without the proximity signal is filtered from the recharging signal, and the filtered recharging signal is used for determining the orientation of the mobile robot 500 relative to the charging device.

In one embodiment of the present application, the mobile robot 500 further includes a cleaning part (not shown) for cleaning an area to be cleaned (such as a floor, a table, a carpet, etc.) after the mobile robot 500 moves to the area to be cleaned, and/or for cleaning a location (such as a floor, a table, a carpet, etc.) where the mobile robot 500 is located during movement of the mobile robot 500.

Furthermore, according to an embodiment of the present application, there is also provided a storage medium on which program instructions are stored, which when executed by a computer or a processor are used for executing the corresponding steps of the mobile robot recharging method of the embodiment of the present application. The storage medium 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 storage media.

Furthermore, according to an embodiment of the present application, there is also provided a computer program for performing the respective steps of the recharging method of the mobile robot of the embodiment of the present application when the computer program is executed by a computer or a processor.

Based on the above description, according to the recharging method of the mobile robot and the mobile robot in the embodiments of the present application, the mobile robot is quickly determined to be in front of, on the left of, or on the right of the charging device according to at least one of the alignment signal, the left guide signal, and the right guide signal received by the mobile robot from the charging device, and the mobile robot is controlled to move according to the position until the charging connection with the charging device is completed.

Although the example embodiments have been described herein with reference to the accompanying drawings, it is to be understood that the above-described example embodiments are merely illustrative and are not intended to limit the scope of the present application 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 application. All such changes and modifications are intended to be included within the scope of the present application as claimed in the appended claims.

Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.

In the several embodiments provided in the present application, it should be understood that the disclosed apparatus and method may be implemented in other ways. For example, the above-described device embodiments are merely illustrative, and for example, the division of the units is only one logical functional division, and other divisions may be realized in practice, for example, a plurality of units or components may be combined or integrated into another device, or some features may be omitted, or not executed.

In the description provided herein, numerous specific details are set forth. However, it is understood that embodiments of the application 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 present application, various features of the present application are sometimes grouped together in a single embodiment, figure, or description thereof for the purpose of streamlining the application and aiding in the understanding of one or more of the various inventive aspects. However, the method of the present application should not be construed to reflect the intent: this application is intended to cover such departures from the present disclosure as come within known or customary practice in the art to which this invention pertains. 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 application.

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 application 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 present application 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 functionality of some of the modules according to embodiments of the present application. The present application 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 application may be stored on a computer readable medium 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 application, 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 application 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 embodiments of the present application or the description thereof, and the protection scope of the present application is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope disclosed in the present application, and shall be covered by the protection scope of the present application. The protection scope of the present application shall be subject to the protection scope of the claims.

Claims

1. A mobile robot comprising a signal receiving part, a memory, a processor, a moving part, and a charging part, wherein:

the memory has stored thereon computer-readable instructions executed by the processor, which when executed by the processor, cause the processor to:

controlling the motion part to enable the mobile robot to rotate, and receiving a recharging signal from a charging device of the mobile robot by the signal receiving part during the rotation, wherein the recharging signal comprises at least one of a positioning signal, a left guiding signal and a right guiding signal;

determining an orientation of the mobile robot relative to the charging device based on the recharge signal, the orientation including a front, a left, or a right side;

controlling the moving component to move the mobile robot based on the orientation of the mobile robot relative to the charging device until the charging component completes a charging connection with the charging device.

2. The mobile robot of claim 1, wherein the processor is further configured to:

controlling the moving part to rotate the mobile robot, and controlling the moving part to stop rotating the mobile robot when the signal receiving part receives the alignment signal during rotation; and when the signal receiving part does not receive the alignment signal after rotating for a preset angle, controlling the moving part to enable the mobile robot to stop rotating.

3. The mobile robot of claim 1 or 2, wherein the processor is further configured to:

when the signal receiving part is determined to receive the alignment signal, determining that the mobile robot is located in front of the charging device;

when it is determined that the signal receiving part does not receive the alignment signal, it is determined that the mobile robot is located on the left side or the right side of the charging device.

4. The mobile robot of claim 3, wherein the processor is further configured to:

determining that the mobile robot is located on the left side or the right side of the charging device based on a magnitude relationship between the number of times the signal receiving part receives the left guide signal and the number of times the signal receiving part receives the right guide signal;

wherein when the number of times the signal receiving part receives the left guide signal is greater than the number of times the signal receiving part receives the right guide signal, it is determined that the mobile robot is located on the left side of the charging device; when the number of times the signal receiving part receives the right guide signal is greater than the number of times the signal receiving part receives the left guide signal, it is determined that the mobile robot is located on the right side of the charging device.

5. The mobile robot according to claim 3, wherein the signal receiving means includes a front signal receiving means provided at a front end of the mobile robot and a side signal receiving means provided at a left side and/or a right side of the mobile robot, the alignment signal includes a left alignment signal and a right alignment signal, and when the front signal receiving means receives the left alignment signal and the right alignment signal, it is determined that the mobile robot receives the alignment signal.

6. The mobile robot of claim 1, 2 or 4, wherein the processor is further configured to:

when the mobile robot is determined to be positioned in front of the charging device, controlling the motion part to enable the mobile robot to move forwards until the charging part is in charging connection with the charging device;

when the mobile robot is determined to be positioned at the left side of the charging device, determining a left side angle of the mobile robot relative to the charging device based on the left guide signal, and controlling the motion part according to the left side angle to enable the mobile robot to move rightwards until the charging part is in charging connection with the charging device;

when the mobile robot is determined to be located on the right side of the charging device, determining a right side angle of the mobile robot relative to the charging device based on the right guide signal, and controlling the motion part according to the right side angle to enable the mobile robot to move leftwards until the charging part is in charging connection with the charging device.

7. The mobile robot of claim 6, wherein the signal receiving component comprises a front signal receiving component disposed at a front end of the mobile robot and a side signal receiving component disposed at a left side and/or a right side of the mobile robot, and wherein the processor is further configured to:

controlling the motion part according to the left side angle to enable the mobile robot to move rightwards for a preset distance, and then receiving the recharging signal again by the signal receiving part until the charging part is in charging connection with the charging device, wherein the side signal receiving part is arranged on the right side of the mobile robot; or

Controlling the motion part according to the left side angle to enable the mobile robot to move rightwards, stopping when the side signal receiving part receives the alignment signal, and receiving the recharging signal again by the signal receiving part after stopping until the charging part and the charging device complete charging connection, wherein the side signal receiving part is arranged on the left side or the left side and the right side of the mobile robot; or

And controlling the mobile robot to move rightwards according to the left side angle, stopping when the side signal receiving part receives the alignment signal, and controlling the motion part to enable the mobile robot to rotate leftwards and move forwards until the charging part and the charging device finish charging connection, wherein the side signal receiving part is arranged on the left side or the left side and the right side of the mobile robot.

8. The mobile robot of claim 6, wherein the signal receiving component comprises a front signal receiving component disposed at a front end of the mobile robot and a side signal receiving component disposed at a left side and/or a right side of the mobile robot, and wherein the processor is further configured to:

controlling the motion part according to the right side angle to enable the mobile robot to move leftwards for a preset distance, and then receiving the recharging signal again by the signal receiving part until the charging part is in charging connection with the charging device, wherein the side signal receiving part is arranged on the left side of the mobile robot; or

Controlling the motion part according to the right angle to enable the mobile robot to move leftwards, stopping when the side signal receiving part receives the alignment signal, and receiving the recharging signal again by the signal receiving part after stopping until the charging part and the charging device complete charging connection, wherein the side signal receiving part is arranged on the right side or the left side and the right side of the mobile robot; or

And controlling the mobile robot to move leftwards according to the right side angle, stopping when the side signal receiving component receives the alignment signal, and controlling the motion component to enable the mobile robot to rotate rightwards and move forwards until the charging component and the charging device finish charging connection, wherein the side signal receiving component is arranged on the right side or the left side and the right side of the mobile robot.

9. The mobile robot of claim 1, wherein the recharge signal further comprises a near guard signal, the processor further configured to:

when the position of the mobile robot relative to the charging device is determined based on the recharging signals, left guide signals or right guide signals without proximity signals are filtered out of the recharging signals, and the filtered recharging signals are used for determining the position of the mobile robot relative to the charging device.

10. The mobile robot of claim 1, wherein the recharge signal is an infrared signal.

11. The mobile robot of claim 1, further comprising a cleaning member for cleaning the area to be cleaned after the mobile robot moves to the area to be cleaned and/or for cleaning a position where the mobile robot is located during the movement of the mobile robot.