CN113848886B

CN113848886B - Mobile robot

Info

Publication number: CN113848886B
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: 2024-05-07
Anticipated expiration: 2041-09-08
Also published as: CN113848886A

Abstract

A mobile robot comprising a signal receiving element, a memory, a processor, a moving element, and a charging element, wherein: stored on the memory are computer readable instructions that, when executed by the processor, cause the processor to: controlling the moving 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 an alignment 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 recharging signal, the orientation including a front, a left side, or a right side; based on the orientation of the mobile robot relative to the charging device, the motion component is controlled to move the mobile robot until the charging component and the charging device complete the charging connection. The mobile robot can quickly realize recharging of the mobile robot, has simple logic, fewer steps for executing the logic and short recharging time.

Description

Mobile robot

Technical Field

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

Background

Existing household cleaning robots and other mobile robots such as automatic navigation robots are largely applied to automatic recharging technology. At present, the realization of the automatic recharging technology mainly comprises the following methods: 1) The infrared recharging method comprises the following steps: and the mobile robot receives the infrared signal emitted by the charging seat, performs trial and analysis, and finally completes recharging. 2) North Star (Northstart) technology: the charging seat beats two infrared light beams to the roof, and the mobile robot receives signals through roof reflection, so that positioning and recharging are realized. 3) The laser radar scans out the charging seat characteristic, and the mobile robot carries out the location of charging seat and recharging.

In the automatic recharging technology, the infrared recharging method is relatively more commonly used. At present, the infrared recharging method has some problems, such as low recharging efficiency caused by complex logic and more steps; in addition, the recharging signal received by the mobile robot may be a signal reflected by space, which is easy to misjudge; in addition, some recharging algorithms are not intelligent enough for some application scenarios.

Disclosure of Invention

The present application has been made in order to solve at least one of the above problems. The application provides a recharging scheme of a mobile robot, which has simple logic, fewer execution steps and high recharging efficiency. The application is briefly summarized below, with more details described later in connection with the detailed description.

According to an aspect of the present application, there is provided a recharging method of a mobile robot, the method comprising: 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 an alignment signal, a left guiding signal and a right guiding signal; determining a position of the mobile robot relative to the charging device based on the recharging signal, the position including a front, left side, or 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 are connected in a charging way.

In one embodiment of the present application, the controlling the mobile robot to rotate, receiving a recharging 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 controlling the mobile robot to stop rotating when the alignment signal is not received after rotating by a preset angle.

In one embodiment of the application, the determining the position of the mobile robot relative to the charging device based on the recharging signal comprises: determining whether the mobile robot receives the alignment signal based on the recharging signal; when the mobile robot is determined to receive the alignment signal, determining that the mobile robot is positioned 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 at 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 or right side of the charging device includes: determining that the mobile robot is located on the left or right side of the charging device based on a magnitude relation of both the number of times the mobile robot receives the left guide signal and the number of times the right guide signal; when the number of times that the mobile robot receives the left guide signal is larger than the number of times that the mobile robot receives the right guide signal, determining that the mobile robot is positioned at the left side of the charging device; and 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, determining that the mobile robot is positioned on the right side of the charging device.

In one embodiment of the present application, the alignment signals include a left alignment signal and a right alignment signal, and when the signal receiving part provided at the 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 based on the position of the mobile robot relative to the charging device until the mobile robot completes the charging connection with 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 are connected in a charging manner; 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 mobile robot to move rightwards according to the left side angle until the mobile robot and the charging device are connected in a charging manner; when the mobile robot is determined to be positioned 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 guiding signal, and controlling the mobile robot to move leftwards according to the right side angle until the mobile robot and the charging device are connected in a charging mode.

In one embodiment of the present application, the controlling the mobile robot to move rightward according to the left angle until the mobile robot completes the charging connection with the charging device includes: controlling the mobile robot to move rightwards by a preset distance according to the left angle, and returning to the step of receiving the recharging signal until the mobile robot and the charging device are in charging connection; or controlling the mobile robot to move rightwards according to the left 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 are in charging connection; or controlling the mobile robot to move rightwards according to the left angle, stopping when the mobile robot receives the alignment signal, and controlling the mobile robot to move forwards after rotating leftwards until the mobile robot and the charging device are connected in a charging way.

In one embodiment of the present application, the controlling the mobile robot to move leftwards according to the right angle until the mobile robot completes the charging connection with the charging device includes: controlling the mobile robot to move leftwards by a preset distance according to the right angle, and returning to the step of receiving the recharging signal until the mobile robot and the charging device are connected in a charging manner; 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 are in 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 then move forwards until the mobile robot and the charging device are connected in a charging way.

In one embodiment of the application, the recharging signal further comprises a near-guard signal, and the method further comprises: when the position of the mobile robot relative to the charging device is determined based on the recharging signal, filtering a left guiding signal or a right guiding signal without a near-to-sanitation signal from the recharging signal, wherein the filtered recharging signal is used for determining the position of the mobile robot relative to the charging device.

In one embodiment of the present application, the recharging 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 moving 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 rotation, wherein the recharging signal comprises at least one of an alignment signal, a left guiding signal and a right guiding signal; determining a position of the mobile robot relative to the charging device based on the recharging signal, the position including a front, left side, or right side; and controlling the moving part to move the mobile robot based on the position of the mobile robot relative to the charging device until the charging part and the charging device are connected in a charging mode.

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

In one embodiment of the application, the processor is further configured to: when the signal receiving component is determined to receive the alignment signal, determining that the mobile robot is positioned 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 at the left or right side of the charging device.

In one embodiment of the application, the processor is further configured to: determining that the mobile robot is located on the left or right side of the charging device based on a magnitude relation of both the number of times the signal receiving section receives the left guide signal and the number of times 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 right guide signal is received, it is determined that the mobile robot is located at 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 left guide signal is received, 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 part includes a front signal receiving part disposed at a front end of the mobile robot and a side signal receiving part disposed 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 the mobile robot is determined to receive the alignment signal when the front signal receiving part receives the left alignment signal and the right alignment signal.

In one embodiment of the application, the processor is further configured to: when the mobile robot is determined to be positioned in front of the charging device, controlling the moving part to enable the mobile robot to move forwards until the charging part and the charging device are connected in a charging mode; 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 moving part according to the left side angle so that the mobile robot moves rightwards until the charging part and the charging device complete charging connection; when the mobile robot is determined to be positioned on the right side of the charging device, a right-side angle of the mobile robot relative to the charging device is determined based on the right guide signal, and the moving part is controlled according to the right-side angle so that the mobile robot moves leftwards until the charging part and the charging device are connected in a charging mode.

In one embodiment of the application, the signal receiving means comprises a front signal receiving means provided at the front end of the mobile robot and a side signal receiving means provided at the left and/or right side of the mobile robot, the processor being further configured to: controlling the moving part according to the left angle to enable the mobile robot to move rightwards by a preset distance, and then re-receiving the recharging signal by the signal receiving part until the charging part and the charging device are in charging connection, wherein the side signal receiving part is arranged on the right side of the mobile robot; or controlling the moving part according to the left angle to enable the mobile robot to move rightwards, stopping when the lateral signal receiving part receives the alignment signal, and re-receiving the recharging signal by the signal receiving part after stopping until the charging part and the charging device are connected in a charging way, wherein the lateral signal receiving part is arranged at 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 angle, stopping when the lateral signal receiving part receives the alignment signal, and controlling the moving part to enable the mobile robot to move forwards after rotating leftwards until the charging part and the charging device are connected in a charging way, wherein the lateral signal receiving part is arranged on the left side or the left side and the right side of the mobile robot.

In one embodiment of the application, the signal receiving means comprises a front signal receiving means provided at the front end of the mobile robot and a side signal receiving means provided at the left and/or right side of the mobile robot, the processor being further configured to: controlling the moving part according to the right angle to enable the mobile robot to move leftwards by a preset distance, and then re-receiving the recharging signal by the signal receiving part until the charging part and the charging device are in charging connection, wherein the side signal receiving part is arranged at the left side of the mobile robot; or controlling the moving part according to the right angle to enable the mobile robot to move leftwards, stopping when the lateral signal receiving part receives the alignment signal, and re-receiving the recharging signal by the signal receiving part after stopping until the charging part and the charging device are connected in a charging way, wherein the lateral signal receiving part 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 lateral signal receiving part receives the alignment signal, and controlling the moving part to enable the mobile robot to move forwards after rotating rightwards until the charging part and the charging device are connected in a charging way, wherein the lateral signal receiving part is arranged on the right side or the left side and the right side of the mobile robot.

In one embodiment of the application, the recharging 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 signal, filtering a left guiding signal or a right guiding signal without a near-to-sanitation signal from the recharging signal, wherein the filtered recharging signal is used for determining the position of the mobile robot relative to the charging device.

In one embodiment of the application, the mobile robot further comprises a cleaning component for cleaning the area to be cleaned after the mobile robot moves to the area to be cleaned, and/or for cleaning the position of the mobile robot during the movement of the mobile robot.

According to the recharging method of the mobile robot and the mobile robot, the mobile robot can rapidly judge whether the mobile robot is 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, and the mobile robot is controlled to move according to the direction until the mobile robot is in charging connection with the charging device, so that recharging of the mobile robot can be rapidly realized, logic is simple, steps for executing logic are fewer, recharging consumption 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 from the following more particular description of embodiments of the present application, as illustrated in the accompanying drawings. The accompanying drawings are included to provide a further understanding of embodiments of the application and are incorporated in and constitute a part of this specification, illustrate the application and together with the embodiments of the application, and not constitute a limitation to the application. In the drawings, like reference numerals generally refer to like parts or steps.

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

Fig. 2 is 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 present application.

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

Fig. 4 is a schematic diagram illustrating a mobile robot completing charging connection after receiving different recharging signals in a recharging method of the mobile robot according to an embodiment of the present 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 with reference to the accompanying drawings. It should be apparent that the described embodiments are only some embodiments of the present application and not all embodiments of the present application, and it should be understood that the present application is not limited by the example embodiments described herein. Based on the embodiments of the application described in the present application, all other embodiments that a person skilled in the art would have without inventive effort shall fall within the scope of the application.

The scheme of the application is applied to a mobile robot, and the mobile robot can be a mobile robot in the field of intelligent home, such as a cleaning robot (a floor sweeping machine, a floor 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 chart of a recharging method 100 of a mobile robot 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 a recharging signal from a charging device of the mobile robot is received during the rotation, wherein the recharging signal includes at least one of an alignment signal, a left guiding signal and a right guiding signal.

In step S120, the position of the mobile robot with respect to the charging device is determined based on the recharging signal, the position including the front, left side or right side.

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

In an 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 (a charging device such as a charging cradle), if not in an area capable of receiving a recharging signal transmitted by its charging device, there is a corresponding logic algorithm to move it to the area, which may be any available algorithm, without limitation in the present application), and thus the mobile robot is capable of receiving the recharging signal of the charging device. In an embodiment of the application, the mobile robot may receive at least one of the following signals from the charging device, depending on where the mobile robot is located: a bit signal, a left pilot signal, and a right pilot signal. The alignment signal is a signal emitted by the charging device in a small angle range in front of the charging device, and the signal can be used for aligning the mobile robot with the front of the charging device. The left guidance signal is a signal emitted by the charging device to the right of itself within a certain angular range, which can be used to determine whether the mobile robot is on the left side of the charging device. Similarly, the right guidance signal is a signal emitted by the charging device to the left of itself within a certain angular 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 rapidly judge the azimuth (front, left or right) of the mobile robot relative to the charging device according to the recharging signal received by the mobile robot, and control the mobile robot to move according to the azimuth 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, 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, whether the mobile robot is in front of, on the left side or on the right side of the charging device is judged quickly, and the mobile robot is controlled to move according to the direction until the mobile robot is connected with the charging device in a charging manner, so that recharging of the mobile robot can be realized quickly.

The recharging method 100 of the mobile robot 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 recharging 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 an alignment signal is received in the rotating process; and controlling the mobile robot to stop rotating when the alignment signal is not received after rotating by a preset angle. In this embodiment, if the mobile robot receives the alignment signal, it is generally indicated that the mobile robot is in front of the charging device, at which point the mobile robot may be directly controlled to move forward to complete the charging connection with the charging device without rotating any more. If the alignment signal is not received after the mobile robot rotates by a preset angle, it generally indicates that the mobile robot is not in front of the charging device, possibly on the left side or the right side of the charging device, and at this time, it is also possible to determine which side of the charging device the mobile robot is on according to the left guiding signal and/or the right guiding signal received by the mobile robot. Illustratively, the aforementioned preset angle is 360 degrees, and in this embodiment, the mobile robot is controlled to rotate one revolution (when the mobile robot is on the left side or the right side of the charging device), which may enable the mobile robot to uniformly receive various recharging signals, and may not leak recharging signals that may be received in an originally-received manner due to a relationship of a position of a signal receiving part (such as an infrared receiving head) on the mobile robot, so that misjudgment of the orientation of the mobile robot with respect to the charging device may be effectively avoided.

In an embodiment of the present application, in step S120, determining the position of the mobile robot with respect to the charging device based on the recharging signal may include: when the mobile robot is determined to receive the alignment signal, the mobile robot is determined to be positioned in front of the charging device; when the mobile robot is determined not to receive the alignment signal, the mobile robot is determined to be positioned at 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 immediately in front of the charging device. Since the alignment signal is a signal for aligning the mobile robot with the charging device directly in front of the charging device, it can be determined that the mobile robot is directly in front of the charging device regardless of which signal receiving means (signal receiving means provided in front or on the side) of the mobile robot receives the alignment signal. Alternatively, in order to make the result more accurate, it may be determined that the mobile robot is in front of the charging device when the signal receiving means provided at the front end of the mobile robot receives the alignment signal.

In a further embodiment, the alignment signals may further comprise a left alignment signal and a right alignment signal, which may be suitable for use in a scenario where the mobile robot front end is provided with two signal receiving parts. In this scenario, when the left and right signal receiving units provided at the front end of the mobile robot receive the left alignment signal and the right alignment signal, respectively (i.e., the signal receiving unit at the left side of the front end of the mobile robot receives the left alignment signal and the signal receiving unit at the right side of the front end of the mobile robot receives the right alignment signal), it may be calculated that the mobile robot receives the alignment signal, thereby determining that the mobile robot is directly in front of the charging device. In this embodiment, the alignment signals are further classified, and the condition that the mobile robot is located in front of the charging device is determined to be more strict, which can further improve the accuracy of the mobile robot positioning, thereby improving 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 units may not be limited, and when the signal receiving units provided at the front end of the mobile robot receive the left alignment signal and the right alignment signal, the mobile robot may be determined to be directly in front of the charging device.

Continuing with the above embodiment, when it is determined that the mobile robot does not receive the alignment signal, it is determined which side (left side or right side) of the charging device the mobile robot is located 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 guidance signal, it may be determined that the mobile robot is located on the right side of the charging device. For another example, the mobile robot may receive both left and right guidance signals due to the relationship of the locations and the reflection of objects such as walls. At this time, it may be determined whether the mobile robot is located at the left or right side of the charging device according to the number of times the mobile robot receives the left guide signal and the number of times the right guide signal within a certain time (such as during one rotation). For example, when the number of times the mobile robot receives the left guide signal is greater than the number of times the right guide signal is received, it may be determined that the mobile robot is located at the left side of the charging device; similarly, when the mobile robot receives the right guidance signal more times than the left guidance signal, it may be determined that the mobile robot is located on the right side of the charging device. Generally, in embodiments of the present application, the orientation of the mobile robot relative to the charging device may be determined based on the type and/or number (frequency) of recharging signals received by the mobile robot.

In an embodiment of the present application, in step S130, 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 the charging connection 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 are connected in a charging manner; when the mobile robot is determined to be positioned at 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 are connected in a charging manner; when the mobile robot is determined to be positioned on the right side of the charging device, the right-side angle of the mobile robot relative to the charging device is determined based on the right guiding signal, and the mobile robot is controlled to move leftwards according to the right-side angle until the mobile robot and the charging device are connected in a charging mode.

In an embodiment of the present 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 (e.g., the charging contact of the mobile robot contacts the charging contact of the charging dock to complete the docking). If the charging connection is not completed, the contact position of the mobile robot and the charging device is not too close or the contact is bad, and the mobile robot can be controlled to move backwards and forwards again to complete the charging connection. 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 according to the received alignment signal and the position of the signal receiving part that receives the alignment signal (for example, the signal receiving part that is disposed on the right side of the mobile robot may rotate rightward and then advance), so as to more accurately complete the charging connection.

In an embodiment of the present application, when it is determined that the mobile robot is located at the left side of the charging device, a specific angle of the mobile robot with respect to the charging device (referred to herein as a left side angle for distinguishing from the right side) may be determined according to the left guide signal received by the mobile robot, and the mobile robot may be controlled to move rightward (i.e., the mobile robot is first rotated rightward and then moved forward) according to the left side angle until the mobile robot completes the charging connection with the charging device. Similarly, when it is determined that the mobile robot is located on the right side of the charging device, a specific angle of the mobile robot with respect to the charging device (referred to herein as a right side angle for distinction from the left side) may be determined based on the right guide signal received by the mobile robot, and the mobile robot may be controlled to move leftward (i.e., the mobile robot is first rotated leftward and then moved forward) based on the right side angle until the mobile robot completes the charging connection with the charging device.

The following describes a process of completing charging connection with the charging device when the mobile robot is on the left and right sides of the charging device, respectively, in conjunction with the difference in the positions of the signal receiving parts provided on the mobile robot.

In one example, it is assumed that three signal receiving parts including left and right two signal receiving parts provided at the front end and one signal receiving part provided at the right side are mounted on the mobile robot. Then, when the mobile robot is controlled to move rightward according to the aforementioned left angle, the mobile robot may be controlled to move rightward by a preset distance (since there is no signal receiving part on the left side, it cannot be determined when to stop the movement). Then, the process may return to the aforementioned step S110, the recharging signal may be received again, and the position of the mobile robot with respect to the charging device may be determined again according to the recharging signal. Assuming that the mobile robot is positioned in front of the charging device, indicating 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 the mobile robot is still located at the left side of the charging device, indicating that the previous movement distance is smaller, continuing to control the mobile robot to move rightward by a preset distance, and returning to the step S110 again, and repeating the above-described actions; assuming that the mobile robot is determined to be 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 logic at the right side, as will be described below.

It is still assumed that the mobile robot is mounted with three signal receiving members including left and right two signal receiving members provided at the front end and one signal receiving member provided at the right side. Then, when the mobile robot is controlled to move leftward according to the aforementioned 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 side is provided with the signal receiving part, when the right signal receiving part receives the alignment signal, the mobile robot may be considered to have moved to the front end of the charging device. Therefore, the mobile robot can be controlled to rotate rightward (so that the front end moves forward toward the charging device) until the mobile robot and the charging device are connected to each other for charging.

Or in order to make the result more accurate, when the mobile robot controls the mobile robot to move leftwards according to the right angle, the mobile robot can be controlled to move leftwards, when the right signal receiving part receives the alignment signal and stops, after stopping, the mobile robot can return to the step S110, the recharging signal is received again, the position of the mobile robot relative to the charging device is determined again according to the recharging signal, and if the mobile robot is determined to be exactly at the front end of the charging device, the mobile robot is controlled to move towards the charging device to realize 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 several embodiments are exemplary processes for completing charging connection with a charging device while the mobile robot is on the left and right sides of the charging device, respectively, described taking "assuming that three 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 the right side" as an example. When the signal receiving parts mounted on the mobile robot are other cases, for example, it is assumed that three signal receiving parts including two signal receiving parts on the left and right provided at the front end and one signal receiving part provided on the left side are mounted on the mobile robot, the process of completing the charging connection with the charging device when the mobile robot is on the left and right sides of the charging device is slightly different, but substantially similar, respectively.

Specifically, when the mobile robot is controlled 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 signal receiving part is provided, when the left signal receiving part receives the alignment signal, the mobile robot may be considered to have moved to the front end of the charging device. Therefore, the mobile robot can be controlled to rotate leftward (so that the front end faces the charging device) and then move forward until the mobile robot and the charging device are connected in a charging manner.

Or in order to make the result more accurate, when the mobile robot controls the mobile robot to move rightwards according to the left angle, the mobile robot can be controlled to move rightwards, when the left signal receiving part receives the alignment signal and stops, after stopping, the mobile robot can return to the step S110, the recharging signal is received again, the position of the mobile robot relative to the charging device is determined again according to the recharging signal, and if the mobile robot is determined to be exactly at the front end of the charging device, the mobile robot is controlled to move towards the charging device to realize 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 has no signal receiving part, it cannot be determined when to stop the movement). Then, the process may return to the aforementioned step S110, the recharging signal may be received again, and the position of the mobile robot with respect to the charging device may be determined again according to the recharging signal. Assuming that the mobile robot is positioned in front of the charging device, indicating 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 the mobile robot is still located on the right side of the charging device, indicating that the previous movement distance is smaller, continuing to control the mobile robot to move leftwards by a preset distance, returning to the step S110 again, and repeating the actions described above; assuming that the mobile robot is determined to be located on the left side of the charging device, indicating that the previous movement distance is too large, the mobile robot is controlled according to the logic at the time of the left side, as has been described previously.

The above several embodiments are exemplary processes described taking an example of "assuming that 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 left side are mounted on the mobile robot", the mobile robot completes charging connection with the charging device while being on the left and right sides of the charging device, respectively. When the signal receiving parts mounted on the mobile robot are other cases, for example, assuming 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 on each of the left and right sides, the process of the mobile robot completing the charging connection with the charging device while the charging device is on the left and right sides, respectively, is also substantially similar, except that the scheme of moving a preset distance is required in the above embodiment, since there are signal receiving parts on both the left and right sides, it is possible to determine when to stop whether to move left or right. For brevity, no further description is provided herein.

In addition, in the above-described embodiments, it is assumed that the front end of the mobile robot is mounted with the left and right signal receiving parts, but this is merely exemplary, and in other embodiments, the front end of the mobile robot may be mounted with only one signal receiving part, which has been described in the description of the alignment signals, and will not be repeated here. In general, a mobile robot performing the recharging method of the present application may include at least two signal receiving parts, one provided at a front end and one provided at a side end.

In a further embodiment of the present application, the recharging signal received by the mobile robot from the charging device may further include a near-guard signal, where the near-guard signal is a signal with a wide angle and a smaller radiation distance 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 out some interference signals. For example, the mobile robot is originally located on the left side of the charging device, but the mobile robot may be erroneously determined to be on the right side of the charging device due to the mobile robot receiving many right guide signals reflected from an object such as a wall. At this time, the near-guard signal can be combined to determine, and since the near-guard signal is a signal with a wide angle and a small radiation distance emitted from the charging device, the mobile robot located at the left side of the charging device can only receive the near-guard signal with a left angle and not receive the near-guard signal with a right angle, so that the influence of the right guide signal can be eliminated by combining the received near-guard signal with a left guide signal with a left angle, and a correct azimuth determination can be made—the mobile robot is located at the left side of the charging device. 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 near-to-sanitation signal can be filtered 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 recharging method of the mobile robot according to the embodiment of the present application is described in detail above. The following describes, with reference to fig. 2 to 4, the area corresponding to the recharging signal and the flowchart related to the recharging method of the mobile robot according to the embodiment of the present application, so as to further summarize the foregoing details for understanding.

Fig. 2 is 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 present application. As shown in fig. 2, the upper black rectangle in the figure is a charging device, and according to a near-guard signal, a left guiding signal, a right guiding signal and a near-guard signal that can be sent by the charging device, an area near the charging device may include a near Wei Ou, a left guiding area, a right guiding area and an alignment area. Note that fig. 2 is merely schematic, and in practical applications, the areas may or may not overlap. The process of implementing a charging connection with a charging device when the mobile robot is located in different areas (different positions) will now be described with reference to fig. 3 and 4. Wherein fig. 3 shows a more detailed schematic flow chart of a recharging method of a mobile robot according to an embodiment of the application. Fig. 4 is a schematic diagram illustrating a mobile robot completing charging connection after receiving different recharging signals in a recharging method of the mobile robot according to an embodiment of the present application.

As shown in fig. 3, after the mobile robot rotates for one circle and receives the recharging signal, it can be determined whether the recharging signal includes an alignment signal, if yes (including the alignment signal), it is determined that the mobile robot is located in front of the charging device, and the mobile robot can be directly controlled to move forward until the charging connection with the charging device is completed, as shown in fig. 4. With continued reference to fig. 3, if the alignment signal is not included, it is determined whether the left pilot signal is received more times or the right pilot signal is received more times. If the left guidance signal is received more times, it is determined that the mobile robot is located at the left side of the charging device, at this time, the left side angle may be determined according to the left guidance signal, and the mobile robot is controlled to move rightward by a preset distance (described by taking the mobile robot having no signal receiving part at the left side and a signal receiving part at the right side as an example), and the direction is again determined by returning to the step of receiving the recharging signal for the first rotation after the movement (after the movement by a certain distance is shown in fig. 4, the mobile robot is located at the right side of the charging device, and thus logic at the right side may be executed). If the number of times of receiving the right guiding signal is large, the mobile robot is determined to be positioned on the right side of the charging device, at this time, the right side angle can be determined according to the right guiding signal, the mobile robot is controlled to move leftwards, the mobile robot stops when the right side signal receiving part receives the alignment signal (taking the mobile robot with no signal receiving part on the left side and the right side as an example for description), and the mobile robot returns to the step of receiving the recharging signal after stopping and returns to the step of receiving the recharging signal for the first rotation to judge the azimuth again. In this way, until it is determined that the mobile robot is in front of the charging device, its forward movement can be controlled to achieve a charging connection with the charging device (straight sitting).

Based on the above description, the recharging method of the mobile robot according to the embodiment of the application rapidly judges whether the mobile robot is 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, and controls the mobile robot to move according to the direction until the charging connection with the charging device is completed, so that recharging of the mobile robot can be rapidly realized, the logic is simple, the steps for executing the logic are fewer, the recharging consumption time is short, the recharging efficiency is high, and compatibility to various recharging scenes is high.

A mobile robot provided according to another aspect of the present application is described below with reference to 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 unit 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 an alignment signal, a left guiding signal, and a right guiding signal; stored on memory 520 are computer readable instructions that, when executed by processor 530, cause processor 530 to: controlling the moving part 540 to rotate the mobile robot 500, receiving a recharging signal from a charging device of the mobile robot 500 by the signal receiving part 510 during the rotation, the recharging signal including at least one of an alignment signal, a left guide signal, and a right guide signal; determining an orientation of the mobile robot 500 relative to the charging device based on the recharging signal, the orientation including front, left side, or right side; based on the orientation of the mobile robot 500 relative to the charging device, the motion 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 the embodiment of the present application may perform the recharging method 100 of the mobile robot according to the embodiment of the present application described above. Those skilled in the art can understand the structure of the mobile robot 500 and the specific operations thereof with reference to the foregoing descriptions, and for brevity, only some of the main operations will be described without further details.

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

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

In one embodiment of the application, the processor 530 is further configured to: determining that the mobile robot 500 is located on the left or right side of the charging device based on the magnitude relation of both the number of times the signal receiving part 510 receives the left guide signal and the number of times the right guide signal; 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) provided at the front end of the mobile robot 500 and a side signal receiving part (not shown) provided at the left and/or right side of the mobile robot 500, and 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 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, the moving part 540 is controlled 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 side 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 side angle such that the mobile robot 500 moves rightward until the charging part 550 completes the charging connection with the charging device; when it is determined that the mobile robot 500 is located on the right side of the charging device, a right-side 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-side angle such that the mobile robot 500 moves leftward until the charging part 550 completes the charging connection with 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 the front end of the mobile robot 500 and a side signal receiving part (not shown) disposed at the left and/or right side of the mobile robot, and the processor 530 is further configured to: controlling the moving part 540 according to the left angle so that the mobile robot 500 moves rightward by a preset distance, and then re-receiving the charge signal 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 rightward, stopping when the lateral signal receiving part receives the alignment signal, and re-receiving the charge signal by the signal receiving part 510 after stopping until the charging part 550 completes the charging connection with the charging device, wherein the lateral signal receiving part is arranged at the left side or the left and right sides of the mobile robot 500; or the mobile robot 500 is controlled to move rightward according to the left angle, and stops when the lateral signal receiving part receives the alignment signal, and the moving part 540 is controlled to move forward after the mobile robot 500 rotates leftward until the charging part 550 is connected with the charging device in a charging manner, wherein the lateral signal receiving part is arranged at the left side or the left and right sides of the mobile robot 500.

In one embodiment of the present application, the signal receiving part 510 includes a front signal receiving part (not shown) disposed at the front end of the mobile robot 500 and a side signal receiving part (not shown) disposed at the left and/or right side of the mobile robot 500, and the processor 530 is further configured to: controlling the moving part 540 according to the right angle so that the mobile robot 500 moves a preset distance to the left, and then re-receiving the charge signal 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 leftwards, stopping when the lateral signal receiving part receives the alignment signal, and re-receiving the charge signal by the signal receiving part 510 after stopping until the charging part 550 completes charging connection with the charging device, wherein the lateral signal receiving part is arranged at the right side or the left side and the right side of the mobile robot 500; or the mobile robot 500 is controlled to move leftwards according to the right angle, stops when the lateral signal receiving part receives the alignment signal, and controls the moving part 540 to move forwards after the mobile robot 500 rotates rightwards until the charging part 550 is connected with the charging device in a charging manner, wherein the lateral signal receiving part is arranged on the right side or the left side and the right side of the mobile robot 500.

In one embodiment of the application, the recharge signal further comprises a near-sanitary signal, and the processor 530 is further configured to: when determining the position of the mobile robot 500 relative to the charging device based on the recharging signal, the left guiding signal or the right guiding signal without the near-to-sanitation signal is filtered out of the recharging signal, and the filtered recharging signal is used for determining the position of the mobile robot 500 relative to the charging device.

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

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 top, 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 top, a carpet, etc.) where the mobile robot 500 is located during the 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 program instructions, when being executed by a computer or a processor, are adapted to carry out the respective steps of the recharging method of the mobile robot of the embodiment of the present application. The storage medium may include, for example, a memory card of a smart phone, a memory component of a tablet computer, a hard disk of a personal computer, read-only memory (ROM), erasable programmable read-only memory (EPROM), portable compact disc read-only memory (CD-ROM), USB memory, or any combination of the foregoing storage media.

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

Based on the above description, the recharging method of the mobile robot and the mobile robot according to the embodiments of the present application quickly determine whether the mobile robot is 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, and control the mobile robot to move according to the direction until the charging connection with the charging device is completed.

Although the illustrative embodiments have been described herein with reference to the accompanying drawings, it is to be understood that the above illustrative embodiments are merely illustrative and are not intended to limit the scope of the present application thereto. Various changes and modifications may be made therein by one of ordinary skill in the art without departing from the scope and spirit of the application. All such changes and modifications are intended to be included within the scope of the present application as set forth 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 solution. 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 by 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, e.g., the division of the elements is merely a logical functional division, and there may be additional divisions when actually implemented, e.g., multiple elements or components may be combined or integrated into another device, or some features may be omitted or not performed.

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 order to streamline the application and aid in understanding one or more of the various inventive aspects, various features of the application are sometimes grouped together in a single embodiment, figure, or description thereof in the description of exemplary embodiments of the application. However, the method of the present application should not be construed as reflecting the following intent: i.e., the claimed application requires more features than are expressly recited in each claim. Rather, as the following claims reflect, inventive aspects lie in less than all features of a single disclosed embodiment. Thus, the claims following the detailed description are hereby expressly incorporated into this detailed description, with each claim standing on its own as a separate embodiment of this 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 units of any method or apparatus so disclosed, may be combined in any combination, except combinations where the 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 but not others included in other embodiments, 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.

Various component embodiments of the 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 some or all of the functions of some of the modules according to embodiments of the present application may be implemented in practice using a microprocessor or Digital Signal Processor (DSP). The present application can also be implemented as an apparatus program (e.g., a computer program and a computer program product) for performing a portion or all of the methods described herein. Such a program embodying the present application may be stored on a computer readable medium, or may have the form of one or more signals. Such signals may be downloaded from an internet website, provided on a carrier signal, or provided 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 use of the words first, second, third, etc. do not denote any order. These words may be interpreted as names.

The foregoing description is merely illustrative of specific embodiments of the present application and the scope of the present application is not limited thereto, and any person skilled in the art can easily think about variations or substitutions within the scope of the present application. The protection scope of the application is subject to the protection scope of the claims.

Claims

1. A mobile robot comprising a signal receiving element, a memory, a processor, a moving element, and a charging element, 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 moving 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 an alignment signal, a near-guard signal, a left guiding signal and a right guiding signal;

Filtering a left guide signal or a right guide signal without a near-guard signal from the recharging signal, and determining the position of the mobile robot relative to the charging device based on the filtered recharging signal, wherein the position comprises the front, the left side or the right side;

And controlling the moving part to move the mobile robot based on the position of the mobile robot relative to the charging device until the charging part and the charging device are connected in a charging mode.

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

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

When the signal receiving component is determined to receive the alignment signal, determining that the mobile robot is positioned 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 at the left or right side of the charging device.

4. A mobile robot as claimed in claim 3, wherein the processor is further configured to:

determining that the mobile robot is located on the left or right side of the charging device based on a magnitude relation of both the number of times the signal receiving section receives the left guide signal and the number of times 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 right guide signal is received, it is determined that the mobile robot is located at 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 left guide signal is received, it is determined that the mobile robot is located on the right side of the charging device.

5. A mobile robot according to claim 3, wherein the signal receiving means comprises a front signal receiving means provided at a front end of the mobile robot and a side signal receiving means provided at a left and/or right side of the mobile robot, the alignment signal comprising a left alignment signal and a right alignment signal, and the mobile robot is determined to receive the alignment signal when the front signal receiving means receives the left alignment signal and the right alignment signal.

6. The mobile robot of claim 1 or 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 moving part to enable the mobile robot to move forwards until the charging part and the charging device are connected in a charging mode;

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 moving part according to the left side angle so that the mobile robot moves rightwards until the charging part and the charging device complete charging connection;

When the mobile robot is determined to be positioned on the right side of the charging device, a right-side angle of the mobile robot relative to the charging device is determined based on the right guide signal, and the moving part is controlled according to the right-side angle so that the mobile robot moves leftwards until the charging part and the charging device are connected in a charging mode.

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

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

Controlling the moving part according to the left angle to enable the mobile robot to move rightwards, stopping when the side signal receiving part receives the alignment signal, and re-receiving the recharging signal by the signal receiving part after stopping until the charging part and the charging device are connected in a charging way, wherein the side signal receiving part is arranged at the left side or the left side and the right side of the mobile robot; or alternatively

And controlling the mobile robot to move rightwards according to the left angle, stopping when the lateral signal receiving part receives the alignment signal, and controlling the moving part to enable the mobile robot to move forwards after rotating leftwards until the charging part and the charging device are connected in a charging way, wherein the lateral 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 element comprises a front signal receiving element disposed at a front end of the mobile robot and a side signal receiving element disposed at a left and/or right side of the mobile robot, the processor further configured to:

Controlling the moving part according to the right angle to enable the mobile robot to move leftwards by a preset distance, and then re-receiving the recharging signal by the signal receiving part until the charging part and the charging device are in charging connection, wherein the side signal receiving part is arranged at the left side of the mobile robot; or alternatively

Controlling the moving part according to the right angle to enable the mobile robot to move leftwards, stopping when the lateral signal receiving part receives the alignment signal, and re-receiving the recharging signal by the signal receiving part after stopping until the charging part and the charging device are connected in a charging way, wherein the lateral signal receiving part is arranged on the right side or the left side and the right side of the mobile robot; or alternatively

And controlling the mobile robot to move leftwards according to the right angle, stopping when the lateral signal receiving part receives the alignment signal, and controlling the moving part to enable the mobile robot to move forwards after rotating rightwards until the charging part and the charging device are connected in a charging way, wherein the lateral signal receiving part 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 recharging signal is an infrared signal.

10. The mobile robot according to claim 1, further comprising a cleaning means for cleaning an 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 movement of the mobile robot.