CN115700419A

CN115700419A - Robot, automatic recharging method thereof, control device and storage medium

Info

Publication number: CN115700419A
Application number: CN202110873494.4A
Authority: CN
Inventors: 朱俊安; 陈俊伟
Original assignee: Shenzhen Pudu Technology Co Ltd
Current assignee: Shenzhen Pudu Technology Co Ltd
Priority date: 2021-07-30
Filing date: 2021-07-30
Publication date: 2023-02-07
Also published as: WO2023006104A1

Abstract

The invention discloses a robot and an automatic recharging method, a control device and a storage medium thereof, wherein the method comprises the following steps: controlling the robot to run to a preset anchor point position; controlling the robot to rotate in a preset rotating direction so as to rotate the robot to a second side to be aligned with the charging pile; the robot comprises an induction sensor arranged on a first side of the robot and a charging electrode arranged on a second side of the robot; the first side and the second side are arranged oppositely; when the induction sensor detects that the robot rotates to the second side and is aligned with the charging pile, the robot is controlled to stop rotating and move backwards and straightly; and after the charging electrode is detected to be in matching contact with the charging pile, controlling the robot to stop moving and executing charging operation. The robot can realize automatic recharging, and after the robot finishes charging, the robot can directly move forward towards the first side to be separated from the contact with the charging pile, so that collision with a barrier is avoided, the robot is simple in structure, and cost is saved.

Description

Robot, automatic recharging method thereof, control device and storage medium

Technical Field

The invention relates to the technical field of robots, in particular to a robot and an automatic recharging method, a control device and a storage medium thereof.

Background

Along with the development of science and technology, the robot is more and more widely applied to in each field, and at the removal in-process of robot, need use sensor detection barrier etc. in order to keep away the barrier automatically, simultaneously, the robot all has the automatic demand of recharging (get back to automatically and fill electric pile position and accomplish through this electric pile) that promptly, need to be with the accurate laminating butt joint of charging electrode in order to accomplish charging on filling electric pile. Among the prior art, set up the inductor simultaneously with the electrode that charges in the front side of robot usually, so, when the robot accomplished to charge, the robot need retreat in order to break away from with fill the connection of electric pile, and at this moment, the inductor can't be surveyed the process of retreating of robot, and it bumps with barrier or personnel when retreating to be very likely, even the incident can take place. There is also a solution in the prior art to detect the retreating process by additionally installing a sensor, such as a laser radar, at the rear side of the robot, but this solution will increase the cost of the robot, increase the volume of the robot, and make the structure of the robot more complicated.

Disclosure of Invention

The embodiment of the invention provides a robot and an automatic recharging method, a control device and a storage medium thereof, which aim to solve the problem that the backward process of the robot cannot be detected by an inductor only arranged on the front side when the robot backs.

A robot comprising a memory, a processor, and computer readable instructions stored in the memory and executable on the processor, the robot further comprising an inductive sensor and a charging electrode both communicatively connected to the processor; the induction sensor is arranged on a first side of the robot, the charging electrode is arranged on a second side of the robot, and the first side and the second side are arranged oppositely; the processor, when executing the computer readable instructions, performs the steps of:

receiving a charging instruction, and controlling the robot to travel to a preset anchor point position; the preset anchor point position is located at a preset distance in front of the charging pile;

controlling the robot to rotate in a preset rotation direction to rotate the robot to a second side to be aligned with the charging pile;

when the induction sensor detects that the robot rotates to a second side and is aligned with the charging pile, the robot is controlled to stop rotating and move backwards and straightly;

and after the charging electrode is detected to be in matched contact with the charging pile, controlling the robot to stop moving and executing charging operation.

A robotic automatic refill method, comprising:

controlling the robot to rotate in a preset rotation direction to rotate the robot to a second side to be aligned with the charging pile; the robot comprises an induction sensor arranged on a first side of the robot and a charging electrode arranged on a second side of the robot; the first side is arranged opposite to the second side;

A control device, comprising: a memory, a processor, and computer readable instructions stored on the memory and executable on the processor; the computer readable instructions, when executed by the processor, implement the above-described robotic automatic refill method. A computer readable storage medium storing computer readable instructions which, when executed by a processor, implement the robot auto-refill method described above.

The robot and the automatic recharging method, the control device and the storage medium thereof comprise the following steps: receiving a charging instruction, and controlling the robot to travel to a preset anchor point position; the preset anchor point position is located at a preset distance in front of the charging pile; controlling the robot to rotate in a preset rotation direction to rotate the robot to a second side to be aligned with the charging pile; the robot comprises an induction sensor arranged on a first side of the robot and a charging electrode arranged on a second side of the robot; the first side is arranged opposite to the second side; when the induction sensor detects that the robot rotates to a second side and is aligned with the charging pile, the robot is controlled to stop rotating and move backwards and straightly; and after the charging electrode is detected to be in matched contact with the charging pile, controlling the robot to stop moving and executing charging operation.

In the embodiment of the invention, other induction sensors are not additionally arranged on the robot, and the robot can automatically recharge only by the charging electrodes and the induction sensors which are respectively arranged on the first side and the second side which are opposite to each other on the robot; in addition, the embodiment of the invention also solves the problem of crowded installation space caused by arranging the induction sensor and the charging electrode at the same side, and the mutual interference between the charging electrode and the inductor can not occur, thereby improving the detection precision.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the description of the embodiments of the present invention will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to these drawings without inventive labor.

FIG. 1 is a schematic view of a robot in accordance with an embodiment of the present invention;

fig. 2 is a flowchart of an automatic robot recharging method according to an embodiment of the present invention.

Fig. 3 is a flowchart of step S10 of the robot automatic recharging method according to an embodiment of the present invention.

Fig. 4 is a flowchart of step S20 of the robot automatic recharging method according to an embodiment of the present invention.

Fig. 5 is a flowchart of step S30 of the robot automatic recharging method according to an embodiment of the present invention.

Fig. 6 is a schematic structural diagram of a robot according to an embodiment of the present invention.

Fig. 7 is a schematic diagram of a first side and a second side of a robot according to an embodiment of the present invention.

Fig. 8 is a schematic diagram of a first side and a second side of a robot according to another embodiment of the present invention.

Fig. 9 is a schematic diagram of the first side of the robot aligned with the charging post in an embodiment of the invention.

Fig. 10 is a schematic diagram of the robot in the mileage start pose according to one embodiment of the present invention.

The reference numerals in the specification are as follows:

1. a charging electrode; 2. an inductive sensor; 21. a laser radar; 3. a first side; 4. a second side; 5. a chassis; 6. a robot body; 100. a robot; 200. charging piles; 300. detecting the range; F. the place ahead of stake of charging.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, not all, embodiments of the present invention. All other embodiments, which can be obtained by a person skilled in the art without inventive step based on the embodiments of the present invention, are within the scope of protection of the present invention.

In one embodiment, a robot is provided, the structure of which may be as shown in fig. 1 and 6. The robot includes a processor, a memory, a network interface, and a database connected by a system bus. Wherein the processor of the robot is used to provide computational and control capabilities. The robot memory includes a readable storage medium, an internal memory. The readable storage medium stores an operating system, computer readable instructions, and a database. The internal memory provides an environment for the operating system and the execution of computer-readable instructions in the readable storage medium. The database of the robot is used for storing data used by the corresponding robot automatic recharging method. The network interface of the robot is used for communicating with an external terminal through network connection. The computer readable instructions, when executed by a processor, implement a robotic automatic refill method. The readable storage media provided by the present embodiment include nonvolatile readable storage media and volatile readable storage media. In an optional embodiment, the robot may further include an input device for receiving signals, text, etc. transmitted by other devices, and a display screen; the display screen may be used to display movement information of the robot 100, and the like.

In one embodiment, as shown in fig. 1, there is provided a robot comprising a memory, a processor, and computer readable instructions stored in the memory and executable on the processor, as shown in fig. 6, the robot further comprising an inductive sensor 2 and a charging electrode 1, both communicatively connected to the processor; the induction sensor 2 is arranged on a first side 3 of the robot 100, the charging electrode 1 is arranged on a second side 4 of the robot 100, and the first side 3 is arranged opposite to the second side 4; the inductive sensor 2 is disposed on a first side 3 of a chassis 5 of the robot 100 (further, the first side 3 is a front side of the robot 100, and the second side 4 is a rear side of the robot 100), and can be used to detect an obstacle located on the first side 3 of the robot 100, so as to serve a three-dimensional obstacle avoidance function, and further effectively protect the robot 100 from colliding with the obstacle. In an embodiment, the inductive sensor 2 includes a laser radar, and the laser radar can detect pose data of an obstacle and the like, so as to position or guide the robot 100 to avoid the obstacle according to the detected data. In other embodiments, the inductive sensor 2 may further include other devices, such as an RGBD camera (depth image camera), a speedometer, a monocular camera, a binocular camera, or a multi-view camera, etc., that is, the inductive sensor 2 may include at least one of the above listed devices according to actual requirements, so that the robot 100 may locate or determine and avoid an obstacle, etc. according to the information collected by the inductive sensor 2.

In an alternative embodiment, the charging electrode 1 includes two sub-electrodes spaced apart from each other on the chassis 5 of the robot 100, and the sub-electrodes are disposed along the outer surface of the chassis 5 of the robot 100. The arrangement form of the charging electrode 1 can be set to other forms according to the requirement, as long as the robot 100 can be charged after the charging pile 200 is in matching contact with the charging electrode. Understandably, the first side 3 and the second side 4 are two structural position ranges that can be used for arranging the induction sensor 2 and mounting the charging electrode 1, respectively, provided on opposite outer side surfaces of the same robot 100. In a specific embodiment, the robot 100 further includes a chassis 5 and a robot body 6 disposed on the chassis 5, and the inductive sensor 2 and the charging electrode 1 are both mounted on the chassis 5. Wherein, the connection mode of robot body 6 and chassis 5 can be set for according to the demand, for example joint, screw connection or welding etc. all can, as long as can realize stable connection between them can. Specifically, since the inductive sensor 2 and the charging electrode 1 are both mounted on the chassis 5, and the shape of the chassis 5 can be set according to requirements, for example, the chassis 5 can be a quadrangular prism, in this case, the first side 3 and the second side 4 can refer to two opposite side faces on the quadrangular prism chassis 5; when the chassis 5 is a cylinder or an elliptical cylinder, the first side 3 and the second side 4 should be two curved surfaces with a certain area, which are oppositely arranged on the outer surface of the chassis 5 (where the area of the curved surfaces may be set according to requirements, and the areas of the two opposite curved surfaces may be the same or different, but the lower inductive sensor 2 or the charging electrode 1 may be installed in the curved surfaces), and further, the geometric center line points of the two curved surfaces may be symmetrically arranged with the center line of the chassis 5 as a symmetry axis.

In alternative embodiments, where the chassis 5 or robot 100 is a circular cylinder-like shape (i.e., a cross-section consisting of an indefinite number of arcs or a pattern consisting of an indefinite number of arcs and an indefinite number of straight lines), the opposing arrangement of the first side 33 and the second side 4 may mean that there is a line on each of the first side 3 and the second side 4 symmetrically disposed about a center line parallel to the height in the chassis 5, and that the first side 3 and the second side 4 are not connected. As shown in fig. 7, the chassis 5 is an elliptical cylinder, and in this case, the first side 3 includes an arc-shaped line segment shown in fig. 7, the second side 4 includes an arc-shaped line segment shown in fig. 7, and the charging electrode 1 is mounted on the second side 4, and the induction sensor 2 is disposed on the first side 3. As shown in fig. 8, the chassis 5 is a cylinder, and at this time, the first side 3 includes a circular arc segment shown in fig. 8, the second side 4 includes a circular arc segment shown in fig. 8, and the charging electrode 1 is mounted on the second side 4, and the induction sensor 2 is disposed on the first side 3.

As shown in fig. 2, the processor of the robot, when executing the computer readable instructions, implements the steps of:

s10, receiving a charging instruction, and controlling the robot 100 to travel to a preset anchor point position; the preset anchor point position is located at a preset distance F (wherein the preset distance can be set according to requirements, and the detection range 300 of the induction sensor 2 is larger than the preset distance) in front of the charging pile; in the embodiment of the present invention, when the robot 100 moves to the charging electrode 1 to be in matching contact with the charging pile 200, the robot 100 can be charged, and after the charging is finished, the robot 100 needs to move back to separate the charging electrode 1 from the charging pile 200. It should be understood that the charging pile 200 may be disposed at a fixed installation position, and the preset anchor point position may be a position point which is disposed at a preset distance from the installation position and is located right in front of the charging pile 200, but since the sub-electrode of the charging electrode 1 is in a long strip shape and extends along the outer surface of the chassis 5 of the robot 100, the preset anchor point position may not be located right in front of the charging pile 200, and has a certain offset angle with the position point right in front (but it is still necessary to ensure that the preset anchor point position is spaced from the installation position by the preset distance), or the charging electrode 1 may finally be in matching contact with the charging pile 200 by the robot automatic recharging method of the present invention, so as to finally implement the charging operation.

In an optional embodiment, before receiving the charging instruction in step S10, the processor executes the computer readable instruction to further implement the following steps:

detecting the battery level of the robot 100 in real time; in this embodiment, the processor may detect the battery power of the robot 100 in real time, compare the battery power measured in real time with a preset power threshold, and when the battery power is greater than or equal to the preset power threshold, it indicates that there is no necessary charging requirement currently, and at this time, the processor may continue to detect the battery power in real time. The preset electric quantity threshold value can be set by a user according to requirements, and can also be a default value, when the electric quantity of the battery is lower than the preset electric quantity threshold value, the charging requirement currently exists on the robot 100, and at the moment, the battery of the robot 100 needs to be charged.

And when the electric quantity of the battery is lower than a preset electric quantity threshold value, generating the charging instruction. That is, when the battery power of the robot 100 is lower than the preset power threshold, it represents that the robot 100 currently has a charging requirement, and at this time, the battery of the robot 100 needs to be charged, so the processor generates a charging instruction, and then enters step S10 according to the charging instruction, acquires the position coordinates of the preset anchor point position, and controls the robot 100 to travel to the preset anchor point position. In this embodiment, the charging command is automatically generated according to the battery power measured in real time, and manual operation is not required, so that automation and intelligence of the robot 100 are realized.

In another optional embodiment, in the step S10, the receiving a charging instruction includes: and receiving a charging instruction sent by an intelligent terminal in communication connection with the processor, wherein the charging instruction is generated when a preset charging key on the intelligent terminal is triggered. The intelligent terminal can be a mobile terminal such as a smart phone, a PAD, a wearable device, or a fixedly arranged computer device. The preset charging key refers to an entity key or a virtual key on the intelligent terminal, and can be triggered in a pressing mode, a sliding mode and the like. In this embodiment, the charging instruction may be sent by the user at any time by triggering the preset charging button on the smart terminal, and at this time, the robot 100 may be manually controlled to execute automatic recharging at any time.

In an embodiment, as shown in fig. 3, in step S10, before controlling the robot 100 to travel to the preset anchor point position, the processor executes the computer readable instructions to further implement the following steps:

s101, acquiring a position area of the charging pile 200 in a world map where the robot 100 is located; wherein, in a world map where the robot 100 is located, a charging pile 200 adapted to the robot 100 can be determined; in addition, a world map corresponding to the movable environment of the robot 100 is stored in the memory, and the installation position of the charging pile 200 corresponds to one charging pile 200 coordinate point in the world map, and in this step, the charging pile 200 coordinate point can be directly determined from the world map. The location area may be a certain area range that radiates outward on a world map with a coordinate point of the charging pile 200 as a center, for example, the location area may be a circular area with the coordinate point of the charging pile 200 as a center and a preset radius, or may be a rectangular area or an irregular area with the coordinate point of the charging pile 200 as a geometric center.

S102, controlling the robot 100 to drive to the position area, and identifying the charging pile 200 through an induction sensor 2; that is, in the moving process of the robot 100, the real-time moving coordinate of the robot 100 is also mapped to the world map, and when the real-time moving coordinate falls within the range of the position area, the charging pile 200 can be scanned and identified by the induction sensor 2.

S103, when the charging pile 200 is identified, acquiring the pose information of the charging pile 200, and determining a preset anchor point position according to the pose information; that is, when the inductive sensor 2 identifies the charging pile 200, the position and attitude information of the charging pile 200 can be determined according to the inductive data corresponding to the charging pile 200 identified by the inductive sensor 2, and then the position of the preset anchor point can be determined according to the position and attitude information. Understandably, since the coordinate point of the charging pile 200 is already determined, after the pose information of the charging pile 200 is determined, the anchor point coordinate point of the preset anchor point position in the world map may also be determined, and then the robot 100 may be controlled to travel to the preset anchor point position. That is, after the anchor point coordinate point is determined in the world map, the movement path of the robot 100 in the world map may be planned according to the current position point of the robot 100 and the anchor point coordinate point, and the robot 100 may be controlled to move to the preset anchor point position along the movement path.

Further, in step S102, the identifying the charging pile 200 by the inductive sensor 2 includes:

acquiring preset morphological characteristics of the charging pile 200; wherein, predetermine morphological characteristic and characterized such as shape, size that fill electric pile 200, can discern through predetermineeing morphological characteristic and fill electric pile 200. The preset morphological characteristics are pre-stored in the memory and can be called at any time. In this embodiment, the inductive sensor 2 may be a lidar 21 shown in fig. 6.

Controlling the induction sensor 2 to detect in real time in the position area to acquire first characteristic data within a detection range 300 of the induction sensor 2; the first characteristic data refers to sensing data detected by the sensing sensor 2 in real time within the detection range 300. In this step, the robot may continuously move in the location area (may suspend movement until the charging pile 200 is identified, or may prompt that identification fails and suspend movement when the charging pile 200 is not identified all the time within a preset time period), and then the first characteristic data may be obtained by detecting in real time by the sensing sensor 2 during the movement process, and it is understood that the first characteristic data may or may not include the relevant characteristic data of the charging pile 200, and therefore, it is necessary to compare and match the detected first characteristic data with the preset morphological characteristic, and further determine whether the sensing sensor 2 identifies the charging pile 200 according to the comparison and matching result.

Understandably, in an embodiment, when the matching degree between the first feature data and the preset morphological feature is greater than or equal to a first preset threshold, the charging pile 200 is confirmed to be identified; that is, the first preset threshold is set according to the requirement, for example, may be set to any value between 60% and 100%; understandably, when the matching degree between the first feature data and the preset morphological feature is greater than or equal to a first preset threshold, it indicates that the comparison matching result is that the sensing sensor 2 has detected and identified the charging pile 200, and at this time, step S103 may be entered, so as to further obtain the pose information of the charging pile 200, and determine the preset anchor point position according to the pose information.

In another embodiment, when the matching degree between the first characteristic data and the preset morphological feature is smaller than the first preset threshold, the induction sensor 2 is continuously controlled to perform real-time detection in the position area, so as to continuously acquire the first characteristic data within the detection range 300 of the induction sensor 2. Understandably, when the matching degree between the first characteristic data and the preset morphological characteristic is smaller than a first preset threshold, it indicates that the comparison and matching result is that the sensing sensor 2 does not detect and identify the charging pile 200, at this time, the sensing sensor 2 is continuously controlled to perform real-time detection in the position area to continuously acquire different first characteristic data, and the next operation is performed in step S103 after the charging pile 200 is identified.

S20, controlling the robot 100 to rotate in a preset rotating direction so as to rotate the robot 100 to a second side 4 to be aligned with the charging pile 200; the preset rotating direction can be set according to requirements, and the preset rotating direction can be anticlockwise or clockwise. Understandably, in this step, if the first side 3 of the robot 100 is already aligned with the charging pile 200 when the robot 100 travels to the preset anchor point position, the robot 100 may directly start to be controlled to rotate in the preset rotation direction so as to rotate the robot 100 to the second side 4 to be aligned with the charging pile 200.

When the robot 100 travels to the preset anchor point position, the first side 3 of the robot 100 is not aligned with the charging post 200, and then, in step S20, before controlling the robot 100 to rotate in the preset rotation direction to rotate the robot 100 to the second side 4 to be aligned with the charging post 200, the processor executes the computer readable instructions to adjust the first side 3 of the robot 100 to be aligned with the charging post 200; wherein, adjust first side 3 of robot 100 to with fill electric pile 200 aligns, specifically include:

acquiring a first pose when the robot 100 reaches the preset anchor point position; in the embodiment of the present invention, a world map corresponding to the movable environment of the robot 100 is stored in the memory, and during the walking process of the robot 100, the real-time pose of the robot 100 is determined through sensing data acquired by a sensor (which may be the sensing sensor 2 or another sensor) installed on the robot 100 and the world map, so that when the robot 100 reaches the preset anchor point position, the processor may directly acquire the first pose of the robot 100 corresponding to the moment.

Determining a first adjustment angle and a second adjustment angle according to the first position, wherein the first adjustment angle is a rotation angle corresponding to the fact that the robot 100 rotates clockwise to align the first side 3 with the charging pile 200; the second adjustment angle is a rotation angle corresponding to the robot 100 rotating counterclockwise to align the first side 3 with the charging pile 200;

when the first adjustment angle is smaller than or equal to the second adjustment angle, controlling the robot 100 to rotate clockwise until the first side 3 is aligned with the charging pile 200;

when the first adjustment angle is larger than the second adjustment angle, the robot 100 is controlled to rotate counterclockwise to a first side 3 to align with the charging pile 200.

In this embodiment, it may be determined that, when the robot 100 rotates in the clockwise direction and the counterclockwise direction respectively according to the first posture when the robot 100 reaches the preset anchor point position, the first side 3 is rotated to the first adjustment angle and the second adjustment angle respectively corresponding to the alignment of the charging pile 200, and then the rotation direction (clockwise or counterclockwise) corresponding to the smaller value of the first adjustment angle and the second adjustment angle is taken as the rotation direction adopted when the robot 100 rotates to the second side 4 and the charging pile 200, and it is understood that, in the above embodiment, when the first adjustment angle is smaller than or equal to the second adjustment angle, the rotation direction adopted when the robot 100 rotates to the second side 4 and the charging pile 200 may also be aligned is preset to be the clockwise direction, but in other embodiments of the present invention, when the first adjustment angle is smaller than or equal to the second adjustment angle, the rotation direction adopted when the robot 100 rotates to the second side 4 and the charging pile 200 is also aligned is the counterclockwise direction.

S30, when the induction sensor 2 detects that the robot 100 rotates to the second side 4 and is aligned with the charging pile 200, controlling the robot 100 to stop rotating and move backwards and straightly; that is, when the induction sensor 2 detects that the robot 100 rotates to the second side 4 and aligns with the charging pile 200, it indicates that the robot 100 can directly retreat to the charging electrode 1 to be in contact with the charging pile 200 in a matching manner as long as the robot moves straight backwards without deflection, thereby completing charging.

And S40, after the charging electrode 1 is detected to be in matching contact with the charging pile 200, controlling the robot 100 to stop moving and executing charging operation. That is, if the robot 100 detects that the charging electrode 1 is in contact with the charging pile 200 in a matching manner through the processor, at this time, the robot 100 first needs to stop moving, and then completes the charging operation according to the contact signal after generating the contact signal, specifically, the robot 100 can directly send a charging start instruction to the charging pile 200, and at this time, the charging pile 200 and the robot 100 are powered on and start the charging operation; in another optional embodiment, the charging pile 200 may also detect that the charging electrode 1 is in contact with the charging pile 200, and send a contact signal to the robot 100, and the robot 100 may confirm that the charging electrode 1 is in contact with the charging pile 200 according to the received contact signal to stop moving, and then send a charging start instruction to the charging pile 200, at which time the charging pile 200 is powered on with the robot 100 to start the charging operation.

In the embodiment of the invention, other induction sensors 2 do not need to be additionally arranged on the robot 100, the robot 100 can automatically recharge only by the charging electrodes 1 and the induction sensors 2 which are respectively arranged on the first side 3 and the second side 4 which are opposite to each other on the robot 100, and meanwhile, after the robot 100 finishes charging through the charging electrodes 1, the robot 100 can directly advance towards the first side 3 to be separated from the contact with the charging pile 200, so that the beneficial effect of collision with an obstacle is avoided, the structure is simple, and the cost is saved; in addition, the embodiment of the invention also solves the problem of crowded installation space caused by arranging the induction sensor 2 and the charging electrode 1 at the same side, and the mutual interference between the charging electrode 1 and the inductor can not occur, thereby improving the detection precision.

In one embodiment, as shown in fig. 4, the inductive sensor 2 includes a lidar communicatively coupled to the processor; the step S20, namely, the step of controlling the robot 100 to rotate in a preset rotation direction to rotate the robot 100 to the second side 4 to align with the charging pile 200, includes:

s201, detecting the charging pile 200 in real time through the laser radar and acquiring induction data; that is, in this embodiment, the induction sensor 2 includes the lidar 21 shown in fig. 6, and within a detection range 300 of the lidar 21 (i.e., within a range of the laser opening angle, and in an alternative embodiment, the laser opening angle may be preferably 180 degrees to 230 degrees, and further, the laser opening angle is 230 degrees), the lidar 21 will continuously detect the induction data of the charging pile 200, at this time, since the lidar 21 installed on the first side 3 is aligned with the charging pile 200 at the beginning of rotation, as shown in fig. 9, the charging pile 200 is inevitably within the range of the laser opening angle of the lidar 21 (i.e., the detection range 300), and as the robot 100 continuously rotates, the charging pile 200 will start to partially exceed the range of the laser opening angle at a certain moment, at this time, according to the induction data detected in real time by the lidar 21, a critical time point corresponding to a time point between the detection range 300 that will exceed the lidar 21 and the detection range 300 that has not exceeded the lidar 21 as shown in fig. 10 can be determined, and the critical time point is determined as a time point that the detection that the charging pile 200 exceeds the detection range 300 of the lidar 300 of the detection range of the lidar 21. And the current pose of the robot 100 corresponding to the critical time point is recorded as the mileage start pose.

S202, when the fact that the charging pile 200 exceeds the detection range 300 of the laser radar 21 is detected, determining a rotation positioning angle according to the induction data, and recording the current pose of the robot 100 as a mileage initial pose; the rotation positioning angle is a rotation angle corresponding to the robot 100 rotating from the mileage starting pose to the state that the second side 4 is aligned with the charging pile 200; that is, starting at the critical time point when the charging post 200 is detected to be out of the detection range 300 of the laser radar 21, the rotational positioning angle required to continue rotating from the critical time point until the second side 4 is aligned with the charging post 200 is further determined according to the sensing data.

S203, obtaining a mileage rotation angle of the robot 100 from the mileage start pose in real time, and determining that the robot 100 has rotated to the second side 4 and is aligned with the charging pile 200 when the mileage rotation angle reaches the rotation positioning angle. That is, in this step, the mileage rotation angle of the robot 100 from the mileage initial position posture can be recorded by the odometer, and then the robot 100 is guided to rotate within the rotation positioning angle according to the mileage rotation angle, so that the robot 100 finally rotates to the second side 4 to align with the charging pile 200.

Understandably, in the above embodiment, before the critical time point, the sensing data detected by the lidar 21 guides the rotation of the robot 100 (the charging post 200 is completely within the detection range 300 of the lidar 21 of the robot 100), and after the critical time point (at least a portion of the charging post 200 is no longer within the detection range 300 of the lidar 21 of the robot 100), the robot 100 is guided by the odometer to rotate continuously until the second side 4 is aligned with the charging post 200. In the whole rotation process, the pose (x, y, theta) of the charging pile 200 relative to the robot 100 can be continuously acquired through the laser radar 21 or the odometer, and the included angle between the charging pile 200 and the right front of the robot 100 is calculated through the following formula: included _ Angle = atan2 (y, x). When the robot 100 detects the charging pile 200 in the last frame in the rotation process (i.e. at a critical time point), an included angle Theta (last) between the charging pile 200 and the right back of the robot 100 is recorded, and at this time, if the laser open angle of the laser radar 21 of the robot 100 is 230 degrees and the central line of the chassis 5 of the robot 100 is ensured to be a rotating shaft in the rotation process of the robot 100, theta (last) is 65 degrees; understandably, theta (last) can be regarded as about 65 ° when the robot 100 does not use the center line of the chassis 5 of the robot 100 as a rotation axis (the rotation axis has a certain offset during rotation); if the offset of the rotation axis is too large, theta (last) may also be calculated according to the laser opening angle of the laser radar 21, the rotation radius of the laser radar, and the like, which will not be described herein again.

Understandably, in this embodiment, the sensing sensor 2 (for example, the laser radar 21) is one of the necessary components for the robot 100 to detect the obstacle, and it is originally necessary to continuously perform the detection work and detect the sensed data (to determine whether the obstacle exists and perform the processing such as obstacle avoidance), so that the rotation process of the charging pile 200 before the critical time point is detected by using the laser radar 21, and the determination of the rotational positioning angle is performed through the sensed data obtained by the detection, which reduces the use of the odometer as the standard for performing the angular guidance of the robot 100 rotation, and can save resources and reduce cost.

Further, step S201, that is, the real-time detection of the charging pile 200 by the inductive sensor 2 and the acquisition of the inductive data include:

detecting second characteristic data in real time within a detection range 300 of the laser radar 21 during rotation of the robot 100 in a preset rotation direction (which may be one of counterclockwise and clockwise); the second characteristic data is sensing data detected by laser radar 21 in real time within detection range 300. When the robot 100 starts to rotate, the lidar 21 mounted on the first side 3 is aligned with the charging pile 200, so that the charging pile 200 is inevitably within the detection range 300 of the lidar 21 as shown in fig. 9, and at this time, the matching degree between the second feature data and the preset morphological feature is greater than or equal to a second preset threshold; as the robot 100 continuously rotates, a part of the charging pile 200 will start to exceed the detection range 300 at a certain moment, and at this moment, the matching degree between the second feature data and the preset morphological features will gradually change from being greater than or equal to a second preset threshold value to being smaller than the second preset threshold value; the second preset threshold may be set according to a requirement, and it is understood that the first preset threshold mentioned above is a preset value for identifying the charging pile 200, and the second preset threshold is used for identifying whether a part of the charging pile 200 starts to be identified beyond the detection range 300, so that the second preset threshold is necessarily greater than the first preset threshold, and further, the second preset threshold may be set to be one of values in a range of 95% to 100%.

Acquiring preset morphological characteristics of the charging pile; wherein, predetermine morphological characteristic and characterized characteristics such as the shape of filling electric pile 200, size, can discern through predetermineeing morphological characteristic and fill electric pile 200. The preset morphological characteristics are pre-stored in the memory and can be called at any time. In this embodiment, the inductive sensor 2 may be a lidar 21 shown in fig. 6.

When the matching degree between the second characteristic data and the preset morphological characteristics is greater than or equal to a second preset threshold value, confirming that the charging pile 200 does not exceed the detection range 300 of the laser radar 21; understandably, when the matching degree between the second characteristic data and the preset morphological characteristic is greater than or equal to a second preset threshold, it indicates that the charging pile 200 does not start to exceed the detection range 300 of the lidar 21, at this time, the second characteristic data will continue to be detected in real time within the detection range 300 of the lidar 21 until the charging pile 200 starts to exceed the detection range 300 of the lidar 21, and then the step S202 is executed, and the rotational positioning angle is determined according to the sensing data.

And when the matching degree between the second characteristic data and the preset form characteristics is smaller than the second preset threshold value, confirming that the charging pile 200 exceeds the detection range 300 of the laser radar 21. Understandably, when the matching degree between the second characteristic data and the preset morphological characteristic is smaller than a second preset threshold, it indicates that the charging pile 200 starts to exceed the detection range 300 of the laser radar 21, and at this time, step S202 is performed, and a rotational positioning angle is determined according to the sensing data.

In an optional embodiment, in step S202, the determining a rotational positioning angle according to the sensing data includes:

determining a target rotation angle according to the width of the charging pile 200, the preset distance and the horizontal view angle range of the laser radar 21; that is, the target rotation angle refers to that the robot 100 rotates in an ideal state (the central line of the chassis 5 of the robot 100 is kept as a rotation axis in the rotation process), and at this time, the target rotation angle may be determined according to the width of the charging pile 200, the preset distance, and the horizontal viewing angle range of the laser radar 21 (the horizontal viewing angle range of the laser radar 21 is the laser opening angle of the laser radar in the horizontal direction shown in fig. 9 and 10). The target rotation angle is an angle that the robot 100 needs to rotate to the above-described critical time point in an ideal state.

Acquiring the current pose of the robot 100 from the induction data, and determining a first estimated rotation angle according to the current pose; specifically, according to the current pose of the robot 100 and the initial pose thereof (the corresponding pose when the first side 3 of the robot 100 is aligned with the charging pile 200) when the robot starts to rotate at the preset anchor point position, the first estimated rotation angle of the robot 100 can be determined.

And when a first deviation angle between the first pre-estimated rotation angle and the target rotation angle is within a preset deviation range, determining the first pre-estimated rotation angle as a rotation positioning angle. That is, the first deviation angle may refer to a difference between the first predicted rotation angle and the target rotation angle. When a first deviation angle between the first estimated rotation angle and the target rotation angle is within a preset deviation range (preset according to requirements), it is described that the robot 100 rotates in an ideal state or can be considered to rotate in an ideal state, at this time, the first estimated rotation angle may be determined as a rotation positioning angle, and then a rotation process guided by an odometer is performed according to the rotation positioning angle. In this embodiment, the order of determining the target rotation angle and the first predicted rotation angle is not limited, that is, the target rotation angle or the first predicted rotation angle may be determined first, or even both may be obtained at the same time.

Further, in the above embodiment, after determining the target rotation angle and the first predicted rotation angle, the processor executes the computer readable instructions to further implement the following steps:

when a first deviation angle between the first estimated rotation angle and the target rotation angle exceeds a preset deviation range, adjusting the current pose of the robot 100 to a target pose according to the first deviation angle;

and when a second deviation angle between a second pre-estimated rotation angle corresponding to the target pose and the target rotation angle is within a preset deviation range, determining the second pre-estimated rotation angle as a rotation positioning angle.

In this embodiment, when a first deviation angle between the first estimated rotation angle and the target rotation angle exceeds a preset deviation range, which indicates that the robot 100 cannot be regarded as rotating in an ideal state, and at this time, the rotation axis is offset too much, the current pose of the robot 100 may be first adjusted to the target pose according to the first deviation angle, and in this embodiment, the target pose of the robot 100 to be adjusted includes the following features: the central line of the chassis 5 when the robot 100 is in the target pose is located in the direction pointed directly in front of the charging pile 200 (or the offset between the central line and the direction is within the preset axis offset range), and the deviation value between the first estimated rotation angle and the rotation angle when the robot 100 rotates from the initial pose (the pose corresponding to the first side 3 of the robot 100 when the charging pile 200 is aligned) to the target position (i.e., the second estimated rotation angle to be determined as the rotational positioning angle) is within the preset deviation range. The adjustment process may refer to the step S20 and the related process, which are not described herein again.

In an alternative embodiment, the inductive sensor 2 further comprises an odometer communicatively connected to the processor; in step S203, the obtaining, in real time, a mileage rotation angle at which the robot 100 starts to rotate from the mileage start pose includes:

and acquiring first mileage data of the robot 100 rotating from the mileage initial pose in real time through the odometer, and determining the mileage rotation angle of the robot 100 according to the first mileage data. That is, in this embodiment, the first mileage data includes a moving mileage locus or the like, such as a speed, an acceleration, a displacement or the like, during the rotation thereof, which is detected by the odometer; further, the range rotation angle of the robot 100 can be determined based on the first range data.

In one embodiment, the inductive sensor 2 comprises an odometer communicatively connected to the processor; in the step S20, the controlling the robot 100 to rotate in a preset rotation direction to rotate the robot 100 to the second side 4 to align with the charging pile 200 includes:

acquiring second mileage data in the rotation process of the robot 100 in real time through the odometer, and determining the real-time rotation angle of the robot 100 according to the second mileage data; that is, in this embodiment, the second mileage data includes a moving mileage track or the like during its rotation, such as a speed, an acceleration, a displacement or the like, detected by the odometer; further, the real-time rotation angle of the robot 100 can be determined based on the second mileage data.

When the real-time rotation angle is equal to a preset angle threshold value, it is determined that the robot 100 has rotated to the second side 4 to align with the charging pile 200. The preset angle threshold may be set according to a requirement, and may refer to a rotation angle, such as 180 degrees, of the robot 100 from the first side 3 to the second side 4 to the rotation of the charging pile 200 in an ideal state. Understandably, when the real-time rotation angle is smaller than the preset angle threshold, it indicates that the robot 100 does not rotate to the second side 4 to align with the charging pile 200, and at this time, the robot 100 continues to rotate. In the above embodiment, the continuous rotation of the robot 100 is guided only by the odometer during the whole rotation of the robot 100 until the second side 4 of the robot 100 is confirmed to be aligned with the charging post 200.

In an embodiment, as shown in fig. 5, after the controlling the robot 100 to stop rotating and go straight backward in step S30, the processor executes the computer readable instructions to further implement the following steps:

s301, acquiring the backward distance of the robot 100 moving backward and straight in real time; that is, the backward distance of the robot 100 going straight backward may be acquired in real time by the odometer.

S302, when the following distance is less than or equal to a retreat distance threshold, if a contact signal between the charging electrode 1 and the charging pile 200 is detected, determining that the charging electrode 1 is in matching contact with the charging pile 200; the retreat distance threshold is greater than or equal to the preset distance; the retreat distance threshold value can be set to a distance value which is larger than a preset distance (the distance between a preset anchor point position and the charging pile 200) and is within a certain range of a difference value of the preset distance according to requirements, so that when movement deviation within a controllable range occurs in a rotating or backward straight-moving process, the robot 100 can normally move backward straight and finally realize that the charging electrode 1 is in matched contact with the charging pile 200. The contact signal is generated when the charging electrode 1 is in matching contact with the charging post 200, that is, if the robot 100 detects that the charging electrode 1 is in matching contact with the charging post 200 through the processor, the contact signal is generated; in another alternative embodiment, the charging pile 200 may detect that the charging electrode 1 is in contact with the charging pile 200, and send a contact signal to the robot 100, and the robot 100 may confirm that the charging electrode 1 is in contact with the charging pile 200 according to the received contact signal.

S303, when the backward distance is less than or equal to the backward distance threshold, if a contact signal between the charging electrode 1 and the charging pile 200 is not detected, continuing to control the robot 100 to move backward and forward. That is, in this embodiment, when the following distance is less than or equal to the retreat distance threshold and the contact signal is detected, it indicates that the charging electrode 1 is in contact with the charging pile 200 in a matching manner, and at this time, the robot 100 may be directly charged and then a successful charging is prompted. When the backward distance is less than or equal to the backward distance threshold and the contact signal is not detected, it indicates that the charging electrode 1 of the robot 100 is not in matching contact with the charging pile 200, and at this time, since the backward distance is not greater than the backward distance threshold, it indicates that the robot 100 has not moved to the position of the charging pile 200, the robot 100 is continuously controlled to move backward and straight, and at this time, it can also indicate that charging has not started.

Further, after the step S301, that is, after the step of obtaining the backward distance of the robot 100 moving backward and straight in real time, the processor executes the computer readable instructions to further implement the following steps:

when the backward distance is greater than the backward distance threshold, if a contact signal between the charging electrode 1 and the charging pile 200 is not detected, the robot 100 is controlled to stop moving and a charging failure is prompted. That is, when the backward distance is greater than the backward distance threshold, it indicates that the robot 100 has traveled backward and straight by a distance sufficient to reach the charging pile 200 in an ideal state (after the robot 100 rotates, the second side 4 is aligned right in front of the charging pile 200), and therefore, a contact signal between the charging electrode 1 and the charging pile 200 has not been detected yet at this time, and it indicates that the robot 100 has deviated abnormally during the rotation or the backward and straight movement, and therefore, at this time, it is necessary to control the robot 100 to stop the movement and indicate a charging failure. In an alternative embodiment, after the robot 100 may automatically generate a new charging instruction again (or after the user receives the prompt of charging failure, the intelligent terminal sends the charging instruction again), the process proceeds to step S10 again to perform automatic recharging again.

In an embodiment, there is provided a robot automatic recharging method, which is applied to a processor of the robot, as shown in fig. 2, and includes the following steps:

s10, receiving a charging instruction, and controlling the robot 100 to travel to a preset anchor point position; the preset anchor point position is located at a preset distance F in front of the charging pile;

s20, controlling the robot 100 to rotate in a preset rotation direction, so as to rotate the robot 100 to a second side 4 to align with the charging pile 200; the robot 100 comprises an inductive sensor 2 arranged at a first side 3 of the robot 100 and a charging electrode 1 arranged at a second side 4 of the robot 100; the first side 3 is arranged opposite to the second side 4;

s30, when the induction sensor 2 detects that the robot 100 rotates to the second side 4 and is aligned with the charging pile 200, controlling the robot 100 to stop rotating and move backwards and straightly;

and S40, after the charging electrode 1 is detected to be in matching contact with the charging pile 200, controlling the robot 100 to stop moving and executing charging operation.

Further, before the receiving the charging instruction, the method includes:

detecting the battery level of the robot 100 in real time;

and when the electric quantity of the battery is lower than a preset electric quantity threshold value, generating the charging instruction.

Further, the receiving a charging instruction includes:

and receiving a charging instruction sent by an intelligent terminal in communication connection with the processor, wherein the charging instruction is generated when a preset charging key on the intelligent terminal is triggered.

In one embodiment, as shown in fig. 3, before controlling the robot 100 to travel to the preset anchor point position, the method includes:

s101, acquiring a position area of the charging pile 200 in a world map where the robot 100 is located;

s102, controlling the robot 100 to travel to the position area, and identifying the charging pile 200 through the induction sensor 2;

s103, when the charging pile 200 is identified, the position and pose information of the charging pile 200 is obtained, and a preset anchor point position is determined according to the position and pose information.

Further, the identification of the charging pile 200 through the inductive sensor 2 includes:

acquiring preset morphological characteristics of the charging pile 200;

controlling the induction sensor 2 to detect in real time in the position area to acquire first characteristic data within a detection range 300 of the induction sensor 2;

when the matching degree between the first characteristic data and the preset morphological characteristics is greater than or equal to a first preset threshold value, confirming that the charging pile 200 is identified; and/or

And when the matching degree between the first characteristic data and the preset morphological characteristics is smaller than the first preset threshold value, continuously controlling the induction sensor 2 to perform real-time detection in the position area.

In an embodiment, the controlling the robot to rotate in a preset rotation direction to rotate the robot to a second side before aligning with the charging post, the robot automatic recharging method further comprises adjusting the first side of the robot to align with the charging post; wherein, adjust the first side of robot to with fill electric pile alignment specifically includes:

acquiring a first pose when the robot 100 reaches the preset anchor point position;

determining a first adjustment angle and a second adjustment angle according to the first posture, wherein the first adjustment angle is a rotation angle corresponding to the fact that the first side 3 of the robot 100 rotates clockwise to be aligned with the charging pile 200; the second adjustment angle is a rotation angle corresponding to the first side 3 of the robot 100 rotating counterclockwise to align with the charging pile 200;

when the first adjustment angle is larger than the second adjustment angle, the robot 100 is controlled to rotate counterclockwise to a first side 3 to be aligned with the charging pile 200.

In an embodiment, as shown in fig. 4, the inductive sensor 2 comprises a laser radar 21;

said controlling said robot 100 to rotate in a preset rotation direction to rotate said robot 100 to a second side 4 to align with said charging post 200, comprising:

s201, detecting the charging pile 200 in real time through the laser radar 21 and acquiring induction data;

s202, when the fact that the charging pile 200 exceeds the detection range 300 of the laser radar 21 is detected, determining a rotation positioning angle according to the induction data, and recording the current pose of the robot 100 as a mileage initial pose; the rotation positioning angle is a rotation angle corresponding to the robot 100 rotating from the mileage starting pose to the state that the second side 4 is aligned with the charging pile 200;

s203, obtaining a mileage rotation angle of the robot 100 from the mileage start pose in real time, and determining that the robot 100 has rotated to the second side 4 and is aligned with the charging pile 200 when the mileage rotation angle reaches the rotation positioning angle.

Further, survey in real time through laser radar 21 fill electric pile 200 and acquire the response data, include:

detecting second characteristic data in real time within a detection range 300 of the laser radar 21 while the robot 100 rotates in a preset rotation direction;

acquiring preset morphological characteristics of the charging pile;

when the matching degree between the second characteristic data and the preset morphological characteristics is greater than or equal to a second preset threshold value, confirming that the charging pile 200 does not exceed the detection range 300 of the laser radar 21;

and when the matching degree between the second characteristic data and the preset form characteristics is smaller than the second preset threshold value, confirming that the charging pile 200 exceeds the detection range 300 of the laser radar 21.

In one embodiment, the determining a rotational positioning angle from the sensed data includes:

determining a target rotation angle according to the width of the charging pile 200, the preset distance and the horizontal view angle range of the laser radar 21;

acquiring the current pose of the robot 100 from the induction data, and determining a first estimated rotation angle according to the current pose;

and when a first deviation angle between the first pre-estimated rotation angle and the target rotation angle is within a preset deviation range, determining the first pre-estimated rotation angle as a rotation positioning angle.

Further, the robot automatic recharging method further comprises the following steps:

In an embodiment, the inductive sensor 2 further comprises an odometer; the obtaining, in real time, the mileage rotation angle at which the robot 100 starts to rotate from the mileage start pose includes:

and acquiring first mileage data of the robot 100 starting to rotate from the mileage initial pose in real time through an odometer, and determining a mileage rotation angle of the robot 100 according to the first mileage data.

In an embodiment, the inductive sensor 2 comprises an odometer; the controlling the robot 100 to rotate in a preset rotation direction to rotate the robot 100 to the second side 4 to align with the charging pile 200 includes:

acquiring second mileage data in the rotation process of the robot 100 in real time through an odometer, and determining the real-time rotation angle of the robot 100 according to the second mileage data;

when the real-time rotation angle is equal to a preset angle threshold value, it is determined that the robot 100 has rotated to the second side 4 to align with the charging pile 200.

In an embodiment, as shown in fig. 5, after the controlling the robot 100 to stop rotating and move straight backward, the method further includes:

s301, acquiring the backward distance of the robot 100 moving backward and straight in real time;

s302, when the backward distance is less than or equal to a backward distance threshold, if a contact signal between the charging electrode 1 and the charging pile 200 is detected, determining that the charging electrode 1 is in matching contact with the charging pile 200; the retreat distance threshold is greater than or equal to the preset distance;

and S303, when the backward distance is smaller than or equal to the backward distance threshold, if the contact signal between the charging electrode 1 and the charging pile 200 is not detected, continuing to control the robot 100 to move backward and straightly.

Further, after acquiring the backward distance of the robot 100 moving backward and straight in real time, the method further includes:

when the backward distance is greater than the backward distance threshold, if a contact signal between the charging electrode 1 and the charging pile 200 is not detected, the robot 100 is controlled to stop moving and failure of charging is prompted.

It should be understood that, the sequence numbers of the steps in the foregoing embodiments do not imply an execution sequence, and the execution sequence of each process should be determined by its function and inherent logic, and should not constitute any limitation to the implementation process of the embodiments of the present invention.

Understandably, the robot 100 further comprises a housing. The components of the robot, such as a processor, a memory, a odometer, etc., are disposed inside the housing of the robot 100 to protect the same. And inductive transducer 2 can set up on the casing to in time survey information such as to the barrier and fill electric pile 200.

In one embodiment, there is provided a control apparatus including: a memory, a processor, and computer readable instructions stored on the memory and executable on the processor; the computer readable instructions, when executed by the processor, implement the above-described robotic automatic refill method. Wherein the control device may be a server. The control device may include a processor, memory, network interface, and database connected by a system bus. The processor of the control device is used to provide computing and control capabilities. The memory of the control device comprises a readable storage medium and an internal memory. The readable storage medium stores an operating system, computer readable instructions, and a database, and includes volatile storage media and non-volatile storage media. The internal memory provides an environment for the operating system and execution of computer-readable instructions in the readable storage medium. The network interface of the control device is used for connecting and communicating with an external terminal through a network. The computer readable instructions, when executed by a processor, implement the above-described robotic automatic refill method.

In one embodiment, a computer-readable storage medium is provided having computer-readable instructions stored thereon which, when executed by a processor, implement the robot auto-recharging method of the above embodiments.

It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by hardware associated with computer readable instructions, which can be stored in a computer readable storage medium, and when executed, can include processes of the embodiments of the methods described above. Any reference to memory, storage, database, or other medium used in the embodiments provided herein may include non-volatile and/or volatile memory, among others. Non-volatile memory can include read-only memory (ROM), programmable ROM (PROM), electrically Programmable ROM (EPROM), electrically Erasable Programmable ROM (EEPROM), or flash memory. Volatile memory can include Random Access Memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms such as Static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double Data Rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous Link DRAM (SLDRAM), rambus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).

It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-mentioned division of the functional units and modules is illustrated, and in practical applications, the above-mentioned function distribution may be performed by different functional units and modules according to needs, that is, the internal structure of the apparatus is divided into different functional units or modules to perform all or part of the above-mentioned functions.

The above-mentioned embodiments are only used for illustrating the technical solutions of the present invention, and not for limiting the same; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not substantially depart from the spirit and scope of the embodiments of the present invention, and are intended to be included within the scope of the present invention.

Claims

1. A robot comprising a memory, a processor, and computer readable instructions stored in the memory and executable on the processor, wherein the robot further comprises an inductive sensor and a charging electrode both communicatively connected to the processor; the induction sensor is arranged on a first side of the robot, the charging electrode is arranged on a second side of the robot, and the first side and the second side are arranged oppositely; the processor, when executing the computer readable instructions, performs the steps of:

2. The robot of claim 1, wherein said processor, when executing said computer readable instructions, further performs the steps of, prior to said receiving charging instructions:

detecting the battery capacity of the robot in real time;

3. The robot of claim 1, wherein said receiving a charging instruction comprises:

4. The robot of claim 1, wherein the processor when executing the computer readable instructions further performs the steps of, prior to controlling the robot to travel to the preset anchor point location:

acquiring a position area of the charging pile in a world map where the robot is located;

controlling the robot to drive to the position area, and identifying the charging pile through an induction sensor;

when the charging pile is identified, acquiring the pose information of the charging pile, and determining the position of a preset anchor point according to the pose information.

5. The robot of claim 4, wherein said identifying said charging post via an inductive sensor comprises:

acquiring preset morphological characteristics of the charging pile;

controlling the induction sensor to detect in real time in the position area so as to acquire first characteristic data in a detection range of the induction sensor;

when the matching degree between the first characteristic data and the preset morphological characteristics is larger than or equal to a first preset threshold value, confirming that the charging pile is identified; and/or

And when the matching degree between the first characteristic data and the preset morphological characteristics is smaller than the first preset threshold value, continuously controlling the induction sensor to carry out real-time detection in the position area.

6. The robot of claim 1, wherein the processor when executing the computer readable instructions further effects adjusting the first side of the robot to be aligned with the charging post prior to said controlling the robot to rotate in a preset rotational direction to rotate the robot to the second side to be aligned with the charging post;

adjusting the first side of robot to with fill electric pile alignment specifically includes:

acquiring a first pose when the robot reaches the preset anchor point position;

determining a first adjustment angle and a second adjustment angle according to the first position, wherein the first adjustment angle is a rotation angle corresponding to the fact that the robot rotates clockwise to the first side and is aligned with the charging pile; the second adjustment angle is a rotation angle corresponding to the fact that the robot rotates anticlockwise to the first side and is aligned with the charging pile;

when the first adjusting angle is smaller than or equal to the second adjusting angle, controlling the robot to rotate clockwise to a first side to align with the charging pile;

when the first adjusting angle is larger than the second adjusting angle, the robot is controlled to rotate anticlockwise to a first side to be aligned with the charging pile.

7. The robot of claim 1, wherein said inductive sensor comprises a lidar communicatively coupled to said processor;

the controlling the robot to rotate in a preset rotation direction to rotate the robot to a second side to align with the charging pile includes:

detecting the charging pile in real time through the laser radar and acquiring induction data;

when the fact that the charging pile exceeds the detection range of the laser radar is detected, determining a rotary positioning angle according to the induction data, and recording the current pose of the robot as a mileage initial pose; the rotation positioning angle is a rotation angle corresponding to the fact that the robot rotates from the mileage starting pose to the second side to align with the charging pile;

and acquiring a mileage rotation angle of the robot starting to rotate from the mileage initial pose in real time, and determining that the robot rotates to a second side to align with the charging pile when the mileage rotation angle reaches the rotation positioning angle.

8. The robot of claim 7, wherein said detecting said charging post and obtaining sensory data in real time by lidar comprises:

detecting second characteristic data in real time in a detection range of the laser radar in the process that the robot rotates in a preset rotating direction;

acquiring preset morphological characteristics of the charging pile;

when the matching degree between the second characteristic data and the preset morphological characteristics is larger than or equal to a second preset threshold value, determining that the charging pile does not exceed the detection range of the laser radar;

and when the matching degree between the second characteristic data and the preset form characteristics is smaller than a second preset threshold value, confirming that the charging pile exceeds the detection range of the laser radar.

9. The robot of claim 7, wherein said determining a rotational positioning angle from said sensed data comprises:

determining a target rotation angle according to the width of the charging pile, the preset distance and the horizontal visual angle range of the laser radar;

acquiring the current pose of the robot from the induction data, and determining a first estimated rotation angle according to the current pose;

10. The robot of claim 9, wherein the processor when executing the computer readable instructions further performs the steps of:

when a first deviation angle between the first estimated rotation angle and the target rotation angle exceeds a preset deviation range, adjusting the current pose of the robot to a target pose according to the first deviation angle;

11. The robot of claim 7, wherein said inductive sensor further comprises an odometer communicatively connected to said processor;

the obtaining, in real time, a mileage rotation angle at which the robot starts rotating from the mileage start pose includes:

and acquiring first mileage data of the robot starting to rotate from the mileage initial pose in real time through the odometer, and determining the mileage rotation angle of the robot according to the first mileage data.

12. The robot of claim 1, wherein the inductive sensor comprises an odometer communicatively coupled to the processor;

acquiring second mileage data in the rotation process of the robot in real time through the odometer, and determining the real-time rotation angle of the robot according to the second mileage data;

when the real-time rotation angle is equal to a preset angle threshold value, it is determined that the robot rotates to a second side and is aligned with the charging pile.

13. A robot as claimed in any of claims 1 to 12, wherein after said controlling said robot to stop rotating and to go straight backwards, said processor when executing said computer readable instructions further performs the steps of:

acquiring the backward distance of the backward straight line of the robot in real time;

when the backward distance is smaller than or equal to a backward distance threshold value, if a contact signal of the charging electrode and the charging pile is detected, confirming that the charging electrode is in matched contact with the charging pile; the retreat distance threshold is greater than or equal to the preset distance;

and when the backward distance is smaller than or equal to the backward distance threshold, if the contact signal between the charging electrode and the charging pile is not detected, continuously controlling the robot to move backward and straightly.

14. The robot of claim 13, wherein after said real-time acquisition of the back-travel distance for straight-backward travel of the robot, said processor when executing said computer readable instructions further performs the steps of:

and when the backward distance is larger than a backward distance threshold value, if a contact signal between the charging electrode and the charging pile is not detected, controlling the robot to stop moving and prompting that the charging fails.

15. A robotic automatic refill method, comprising:

16. The robot automatic recharging method of claim 15, prior to controlling the robot to travel to the pre-set anchor point location, comprising:

17. The robotic automatic refill method of claim 15, wherein the inductive sensor comprises a lidar;

and acquiring a mileage rotation angle of the robot starting to rotate from the mileage initial pose in real time, and determining that the robot rotates to a second side to be aligned with the charging pile when the mileage rotation angle reaches the rotation positioning angle.

18. The robotic automatic refill method of claim 17 wherein said determining a rotational positioning angle from said sensed data comprises:

19. The robotic automatic refill method of claim 17, wherein the inductive sensor further comprises an odometer;

and acquiring first mileage data of the robot starting to rotate from the mileage initial pose in real time through an odometer, and determining the mileage rotation angle of the robot according to the first mileage data.

20. The robotic automatic refill method of claim 15, wherein the inductive sensor comprises an odometer;

acquiring second mileage data in the rotation process of the robot in real time through an odometer, and determining the real-time rotation angle of the robot according to the second mileage data;

21. A control device, comprising:

a memory, a processor, and computer readable instructions stored on the memory and executable on the processor;

the computer readable instructions when executed by the processor implement the method of robot auto-recharging of any of claims 15 to 20.

22. A computer readable storage medium storing computer readable instructions, wherein the computer readable instructions, when executed by a processor, implement the robotic automatic refill method of any of claims 15-20.