CN112147994A - Robot and recharging control method and device thereof - Google Patents

Abstract

A method for controlling recharging of a robot includes: acquiring the position of the robot in the coordinate system of the charging pile; determining two or more between the position of the robot and the position of the charging pile according to the position of the robot in the coordinate system of the charging pile and one or more of the intermediate points are located in the opposite direction of the charging port of the charging pile; according to the position of the intermediate point, the position of the robot and the position of the charging pile, a plurality of moving sections are determined; The target position of the road section and the current position of the robot determine the movement parameters of the moving road section, and control the movement of the robot according to the movement parameters. When the robot moves to each intermediate point, the movement parameters are determined, and the alignment and correction can be performed according to the movement parameters for many times, so that when the robot moves to the position of the charging pile, it can be more accurately and reliably aligned with the charging pile for charging.

Description

A robot and its recharging control method and device

technical field

The present application belongs to the field of robots, and in particular, relates to a robot and a method and device for controlling its recharging.

Background technique

Mobile robots, including service robots, inspection robots, etc., all need to use automatic recharging technology. When the robot completes the task or the power is lower than a certain value, the robot logs into the charging pile for charging through the automatic recharging technology. When the robot uses the automatic recharging technology, it first finds the surrounding charging piles through the positioning technology, then navigates to the front of the charging pile, logs in the charging pile and connects to the power supply.

When the robot navigates to the front of the charging pile, due to the influence of the motion error and the feedback error of the odometer, there is a certain deviation when the robot moves to the charging pile, which is not conducive to accurate and reliable charging with the charging pile.

SUMMARY OF THE INVENTION

In view of this, the embodiments of the present application provide various robots and their recharging control methods and devices, so as to solve the problem that there is a certain deviation when the robot moves to the charging pile in the prior art, which is not conducive to accurate and reliable alignment with the charging pile charging problem.

A first aspect of the embodiments of the present application provides a method for controlling recharging of a robot, and the method for controlling recharging of a robot includes:

Get the position of the robot in the coordinate system of the charging pile;

According to the position of the robot in the charging pile coordinate system, two or more intermediate points are determined between the robot position and the charging pile position, and one or more of the intermediate points are located in the charging pile. The charging port of the pile is facing the direction;

According to the position of the intermediate point, the position of the robot and the position of the charging pile, determine a plurality of moving sections;

According to the target position of the moving section and the current position of the robot, the moving parameters of the moving section are determined, and the robot is controlled to move according to the moving parameters.

With reference to the first aspect, in a first possible implementation manner of the first aspect, according to the position of the robot in the charging pile coordinate system, two or more are determined between the robot position and the charging pile position The steps for the intermediate point include:

Determine the distance between the robot and the charging pile according to the position of the robot in the coordinate system with the charging pile;

According to the correspondence between the preset distance and the number of intermediate points, the number of intermediate points corresponding to the distance between the robot and the charging pile is searched.

With reference to the first aspect, in a second possible implementation manner of the first aspect, according to the position of the robot in the charging pile coordinate system, two or more are determined between the robot position and the charging pile position The steps for the intermediate point include:

Set the determined number of intermediate points in the direction opposite to the charging port of the charging pile;

The position of the intermediate point is determined according to the distance between adjacent intermediate points, the distance between the robot and its nearest intermediate point, and the balance of the distance between the charging pile and its nearest intermediate point.

With reference to the first aspect, in a third possible implementation manner of the first aspect, the step of determining the movement parameters of the moving section according to the target position of the moving section and the current position of the robot includes:

Determine the first turning angle of the robot according to the current pointing of the robot, as well as the pointing of the current position of the robot and the target position;

The first distance of the robot is determined according to the current position of the robot and the target position.

With reference to the first aspect, in a fourth possible implementation manner of the first aspect, according to the position of the robot in the charging pile coordinate system, two or more are determined between the robot position and the charging pile position The steps for the intermediate point include:

Obtain the number of intermediate points when the robot completes charging, the corresponding relationship between the distance between the robot and the charging pile and the alignment rate;

According to the corresponding relationship, the number of intermediate points corresponding to the alignment ratio greater than the predetermined threshold is selected.

A second aspect of the embodiments of the present application provides a recharging control device for a robot, and the recharging control device for the robot includes:

The position acquisition unit is used to acquire the position of the robot in the coordinate system of the charging pile;

an intermediate point determination unit, configured to determine two or more intermediate points between the robot position and the charging pile position according to the position of the robot in the charging pile coordinate system, and one of the intermediate points is Or a plurality of charging ports located in the opposite direction of the charging pile;

a moving road segment determining unit, configured to determine a plurality of moving road segments according to the position of the intermediate point, the robot location and the charging pile location;

The movement parameter determination unit is configured to determine the movement parameters of the movement section according to the target position of the movement section and the current position of the robot, and control the movement of the robot according to the movement parameters.

With reference to the second aspect, in a first possible implementation manner of the second aspect, the intermediate point determining unit includes:

a distance determination sub-unit for determining the distance between the robot and the charging pile according to the position of the robot in the coordinate system with the charging pile;

The intermediate point determination sub-unit is used for finding the number of intermediate points corresponding to the distance between the robot and the charging pile according to the corresponding relationship between the preset distance and the number of intermediate points.

With reference to the second aspect, in a second possible implementation manner of the second aspect, the intermediate point determining unit includes:

an intermediate point setting subunit, used for setting the determined number of intermediate points in the direction opposite to the charging port of the charging pile;

The intermediate point position determination subunit is used to determine the position of the intermediate point according to the distance between adjacent intermediate points, the distance between the robot and its closest intermediate point, and the balance of the distance between the charging pile and its closest intermediate point.

A third aspect of the embodiments of the present application provides a robot, including a memory, a processor, and a computer program stored in the memory and executable on the processor, which is implemented when the processor executes the computer program The steps of the recharging control method for a robot according to any one of the first aspects.

A fourth aspect of the embodiments of the present application provides a computer-readable storage medium, where the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, implements the robot according to any one of the first aspects The steps of the recharge control method.

Compared with the prior art, the embodiment of the present application has the beneficial effect of obtaining the position of the robot in the coordinate system of the charging pile, and determining two or more according to the position, which are located in the direction opposite to the charging port of the charging pile When the robot moves to each intermediate point, the movement parameters are determined, and the alignment and correction can be performed according to the movement parameters for many times, so that when moving to the position of the charging pile, the charging pile can be more accurately and reliably aligned for charging.

Description of drawings

In order to illustrate the technical solutions in the embodiments of the present application more clearly, the following briefly introduces the accompanying drawings that need to be used in the description of the embodiments or the prior art. Obviously, the drawings in the following description are only for the present application. In some embodiments, for those of ordinary skill in the art, other drawings can also be obtained according to these drawings without any creative effort.

FIG. 1 is a schematic flowchart of the implementation of recharging control of a robot provided by an embodiment of the present application;

2 is a schematic diagram of a charging pile coordinate system provided by an embodiment of the present application;

FIG. 3 is a schematic diagram of the implementation flow of a method for determining the number of intermediate points provided by an embodiment of the present application;

FIG. 4 is a schematic diagram of an implementation flow of a method for determining a position of an intermediate point provided by an embodiment of the present application;

5 is a schematic diagram of the position distribution of an intermediate point provided by an embodiment of the present application;

FIG. 6 is a schematic diagram of a movement parameter provided by an embodiment of the present application;

FIG. 7 is a schematic diagram of a recharging control device for a robot according to an embodiment of the present application;

FIG. 8 is a schematic diagram of a robot provided by an embodiment of the present application.

Detailed ways

In the following description, for the purpose of illustration rather than limitation, specific details such as a specific system structure and technology are set forth in order to provide a thorough understanding of the embodiments of the present application. However, it will be apparent to those skilled in the art that the present application may be practiced in other embodiments without these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present application with unnecessary detail.

In order to illustrate the technical solutions described in the present application, the following specific embodiments are used for description.

FIG. 1 is a schematic diagram of the implementation flow of a method for controlling recharging of a robot according to an embodiment of the present application, which is described in detail as follows:

In step S101, the position of the robot in the charging pile coordinate system is obtained;

Specifically, the robot described in the present application can search for the charging pile in the current scene of the robot by means of wireless communication, and after selecting the charging pile to be charged, determine the position of the charging pile relative to the robot.

A charging pile coordinate system can be established according to the position of the charging pile as a dot, as shown in Figure 2, the charging pile coordinate system is X'O'Y', and the robot coordinate system is XOY. The direction of one of the axes of the charging pile coordinate system may be set as the charging in and out direction of the charging pile. After establishing the charging pile coordinate system, it is convenient to calculate the moving distance and rotation direction of the robot more efficiently and accurately according to the coordinate position and orientation of the robot, thereby improving the control efficiency of the robot's rotation and movement.

In step S102, according to the position of the robot in the charging pile coordinate system, two or more intermediate points are determined between the robot position and the charging pile position, and one or more intermediate points are One is located in the opposite direction of the charging port of the charging pile;

When two or more intermediate points are determined between the robot position and the charging pile position, two steps of determining the number of intermediate points and determining the positions of the intermediate points may be included. Wherein, when determining the number of the intermediate points, as shown in Figure 3, including:

In step S301, the distance between the robot and the charging pile is determined according to the position of the robot in the coordinate system with the charging pile;

When the robot completes the task or detects that the battery needs to be recharged, the distance between the robot's location and the charging pile location will be different. The distance between the robot and the charging pile can be determined according to the position of the charging pile and the position of the robot, and the number of intermediate points can be determined according to the determination.

In step S302, the number of intermediate points corresponding to the distance between the robot and the charging pile is searched according to the preset correspondence between the distance and the number of intermediate points.

The number of the intermediate points can be divided according to the effective distances at which the robot generates small errors during the moving process, so that the robot can generate effective distances with small errors according to a plurality of effective distances. After the effective distance is determined, the distance between the robot and the charging pile is divided to obtain the required number of intermediate points.

Alternatively, the corresponding relationship between the distance range and the number of intermediate points can also be established according to the preset distance threshold, so that the distance range between the robot and the charging pile can be quickly found according to the corresponding relationship, so as to determine the required distance. the number of intermediate points.

Figure 3 is only a method for determining the number of intermediate points. According to the number of intermediate points obtained by statistics, the corresponding relationship between the distance between the robot and the charging pile and the alignment rate, the middle point when the alignment rate is greater than a predetermined threshold can be selected. Therefore, according to the selected number of intermediate points, the charging alignment accuracy can be further improved, and the charging efficiency can be improved.

After the number of intermediate points is determined, the position of the intermediate point can be determined according to the intermediate point setting method shown in FIG. 4 , including:

In step S401, the determined number of intermediate points are set in the direction opposite to the charging port of the charging pile;

When the distance from the robot to the straight line in the direction of the charging port of the charging pile is small, for example, less than a predetermined distance, all the intermediate points may be set on the straight line in the direction of the charging port. In this application, the charging port is facing the direction, that is, the direction in which the robot can move according to this direction and complete effective alignment charging. When the intermediate point is set in the direction facing the charging port of the charging pile, the robot can be adjusted through a plurality of intermediate points located in the facing direction of the charging port, thereby helping to improve the alignment accuracy of the robot.

In step S402, the position of the intermediate point is determined according to the distance between adjacent intermediate points, the distance between the robot and its closest intermediate point, and the balance of the distance between the charging pile and its closest intermediate point.

As shown in Figure 5, the distance between the intermediate points can be adjusted according to the intermediate points point2, point3 and point4 that are all located in the opposite direction of the charging port, so that the adjusted distance between the two adjacent intermediate points is the same as the distance charging The distance from the nearest middle point of the pile to the charging pile, and the distance from the nearest middle point to the robot to the point1 of the robot are balanced, so that the robot can adjust the robot within multiple effective distances and reduce the alignment error of the robot. chance. Of course, in an optional embodiment, the distance between the charging pile and its closest intermediate point can be selected as a smaller value.

Of course, in an optional embodiment, if the distance between the robot and the straight line where the charging port of the charging pile is facing is relatively far, the distance of each moving road section may not be limited to be completely equal, and the robot may be moved to the charging port. The vertical line segment of the straight line where the facing direction is located, or other line segments with a specified angle, is used as the route for the machine to move to the first intermediate point. For the road sections between the remaining intermediate points and between the intermediate points and the charging piles, the position of the intermediate points can be determined by dividing them equally.

In step S103, according to the position of the intermediate point, the position of the robot and the position of the charging pile, a plurality of moving road sections are determined;

After determining the positions of multiple intermediate points in the process of the robot moving to the charging pile, a moving section can be determined according to the robot and its nearest intermediate point, and, according to the two adjacent intermediate points, or the center closest to the charging pile Points and charging piles to determine multiple moving segments.

It is worth noting that the moving sections determined in this application and the moving sections actually operated by the robot will reproduce small errors, including trajectory errors or errors in the rotation angle of the robot. Therefore, in the direction facing the charging port of the charging pile, the robot is subjected to multiple error corrections, thereby helping to improve the accuracy of charging alignment.

In step S104, according to the target position of the moving section and the current position of the robot, the moving parameters of the moving section are determined, and the robot is controlled to move according to the moving parameters.

When the robot moves from the initial position to the first intermediate point, or moves from the first intermediate point to the second intermediate point, or moves from the Nth intermediate point to the charging pile, the movement parameters shown in Figure 6 can be determined. Corner, first distance, and second corner, where:

Determine the first turning angle of the robot according to the current pointing of the robot, as well as the pointing of the current position of the robot and the target position;

The first distance of the robot is determined according to the current position of the robot and the target position.

As shown in Figure 6, when the robot moves from point A to point B, the first angle theta1 that the robot needs to rotate is determined according to the direction determined by the connection line between point A and point B, and according to the distance between point A and point B Make sure that the robot moves the first distance after adjusting the first angle,

Then, after moving the first distance, according to the current orientation of the robot and the next target position of the robot, re-adjust the robot's orientation theta2, and continue to complete the movement of the next moving section until the robot reaches the charging pile position, and can According to the position of the charging pile, the orientation of the robot is further adjusted to improve the alignment accuracy of the robot.

It should be understood that the size of the sequence numbers of the steps in the above embodiments does not mean the sequence of execution, and the execution sequence of each process should be determined by its function and internal logic, and should not constitute any limitation to the implementation process of the embodiments of the present application.

FIG. 7 is a schematic structural diagram of a recharging control device for a robot provided by an embodiment of the present application, which is described in detail as follows:

The recharging control device of the robot includes:

a position obtaining unit 701, used for obtaining the position of the robot in the coordinate system of the charging pile;

An intermediate point determining unit 702 is configured to determine two or more intermediate points between the robot position and the charging pile position according to the position of the robot in the charging pile coordinate system, and the intermediate point among the intermediate points is One or more charging ports located in the opposite direction of the charging pile;

a moving road segment determining unit 703, configured to determine a plurality of moving road segments according to the position of the intermediate point, the robot location and the charging pile location;

The movement parameter determination unit 704 is configured to determine the movement parameters of the movement section according to the target position of the movement section and the current position of the robot, and control the movement of the robot according to the movement parameters.

Preferably, the intermediate point determining unit includes:

a distance determination sub-unit for determining the distance between the robot and the charging pile according to the position of the robot in the coordinate system with the charging pile;

The intermediate point determination sub-unit is used for finding the number of intermediate points corresponding to the distance between the robot and the charging pile according to the corresponding relationship between the preset distance and the number of intermediate points.

Preferably, the intermediate point determining unit includes:

an intermediate point setting subunit, used for setting the determined number of intermediate points in the direction opposite to the charging port of the charging pile;

The intermediate point position determination subunit is used to determine the position of the intermediate point according to the distance between adjacent intermediate points, the distance between the robot and its closest intermediate point, and the balance of the distance between the charging pile and its closest intermediate point.

The recharging control device of the robot shown in FIG. 7 corresponds to the recharging control method of the robot shown in FIG. 1 .

FIG. 8 is a schematic diagram of a robot provided by an embodiment of the present application. As shown in FIG. 8 , the robot 8 of this embodiment includes: a processor 80 , a memory 81 , and a computer program 82 stored in the memory 81 and executable on the processor 80 , such as a recharging control program of the robot . When the processor 80 executes the computer program 82, the steps in the above-mentioned embodiments of the recharging control method for each robot are implemented. Alternatively, when the processor 80 executes the computer program 82, the functions of the modules/units in the above-mentioned device embodiments are implemented.

Exemplarily, the computer program 82 may be divided into one or more modules/units, and the one or more modules/units are stored in the memory 81 and executed by the processor 80 to complete the this application. The one or more modules/units may be a series of computer program instruction segments capable of performing specific functions, and the instruction segments are used to describe the execution process of the computer program 82 in the robot 8 . For example, the computer program 82 can be divided into:

The position acquisition unit is used to acquire the position of the robot in the coordinate system of the charging pile;

an intermediate point determination unit, configured to determine two or more intermediate points between the robot position and the charging pile position according to the position of the robot in the charging pile coordinate system, and one of the intermediate points is Or a plurality of charging ports located in the opposite direction of the charging pile;

a moving road segment determining unit, configured to determine a plurality of moving road segments according to the position of the intermediate point, the robot location and the charging pile location;

The movement parameter determination unit is configured to determine the movement parameters of the movement section according to the target position of the movement section and the current position of the robot, and control the movement of the robot according to the movement parameters.

The robot may include, but is not limited to, a processor 80 and a memory 81 . Those skilled in the art can understand that FIG. 8 is only an example of the robot 8, and does not constitute a limitation to the robot 8. It may include more or less components than the one shown in the figure, or combine some components, or different components, such as The robot may also include input and output devices, network access devices, buses, and the like.

The so-called processor 80 may be a central processing unit (Central Processing Unit, CPU), and may also be other general-purpose processors, digital signal processors (Digital Signal Processors, DSP), application specific integrated circuits (Application Specific Integrated Circuit, ASIC), Off-the-shelf programmable gate array (Field-Programmable Gate Array, FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, and the like. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.

The memory 81 may be an internal storage unit of the robot 8 , such as a hard disk or a memory of the robot 8 . The memory 81 may also be an external storage device of the robot 8, such as a plug-in hard disk, a smart memory card (Smart Media Card, SMC), a secure digital (Secure Digital, SD) card equipped on the robot 8, Flash card (Flash Card) and so on. Further, the memory 81 may also include both an internal storage unit of the robot 8 and an external storage device. The memory 81 is used to store the computer program and other programs and data required by the robot. The memory 81 can also be used to temporarily store data that has been output or will be output.

Those skilled in the art can clearly understand that, for the convenience and simplicity of description, only the division of the above-mentioned functional units and modules is used as an example for illustration. In practical applications, the above-mentioned functions can be allocated to different functional units, Module completion, that is, dividing the internal structure of the device into different functional units or modules to complete all or part of the functions described above. Each functional unit and module in the embodiment may be integrated in one processing unit, or each unit may exist physically alone, or two or more units may be integrated into one unit, and the above-mentioned integrated units may adopt hardware. It can also be realized in the form of software functional units. In addition, the specific names of the functional units and modules are only for the convenience of distinguishing from each other, and are not used to limit the protection scope of the present application. For the specific working processes of the units and modules in the above-mentioned system, reference may be made to the corresponding processes in the foregoing method embodiments, which will not be repeated here.

In the foregoing embodiments, the description of each embodiment has its own emphasis. For parts that are not described or described in detail in a certain embodiment, reference may be made to the relevant descriptions of other embodiments.

Those of ordinary skill in the art can realize that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Skilled artisans may implement the described functionality using different methods for each particular application, but such implementations should not be considered beyond the scope of this application.

In the embodiments provided in this application, it should be understood that the disclosed apparatus/terminal device and method may be implemented in other manners. For example, the apparatus/terminal device embodiments described above are only illustrative. For example, the division of the modules or units is only a logical function division. In actual implementation, there may be other division methods, such as multiple units. Or components may be combined or may be integrated into another system, or some features may be omitted, or not implemented. On the other hand, the shown or discussed mutual coupling or direct coupling or communication connection may be through some interfaces, indirect coupling or communication connection of devices or units, and may be in electrical, mechanical or other forms.

The units described as separate components may or may not be physically separated, and components displayed as units may or may not be physical units, that is, may be located in one place, or may be distributed to multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution in this embodiment.

In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically alone, or two or more units may be integrated into one unit. The above-mentioned integrated units may be implemented in the form of hardware, or may be implemented in the form of software functional units.

The integrated modules/units, if implemented in the form of software functional units and sold or used as independent products, may be stored in a computer-readable storage medium. Based on this understanding, the present application can implement all or part of the processes in the methods of the above embodiments, and can also be completed by instructing the relevant hardware through a computer program. The computer program can be stored in a computer-readable storage medium, and the computer When the program is executed by the processor, the steps of the foregoing method embodiments can be implemented. Wherein, the computer program includes computer program code, and the computer program code may be in the form of source code, object code, executable file or some intermediate form, and the like. The computer-readable medium may include: any entity or device capable of carrying the computer program code, a recording medium, a U disk, a removable hard disk, a magnetic disk, an optical disk, a computer memory, a read-only memory (ROM, Read-Only Memory) , Random Access Memory (RAM, Random Access Memory), electric carrier signal, telecommunication signal and software distribution medium, etc. It should be noted that the content contained in the computer-readable media may be appropriately increased or decreased according to the requirements of legislation and patent practice in the jurisdiction, for example, in some jurisdictions, according to legislation and patent practice, the computer-readable media Excluded are electrical carrier signals and telecommunication signals.

The above-mentioned embodiments are only used to illustrate the technical solutions of the present application, but not to limit them; although the present application has been described in detail with reference to the above-mentioned embodiments, those of ordinary skill in the art should understand that: it can still be used for the above-mentioned implementations. The technical solutions described in the examples are modified, or some technical features thereof are equivalently replaced; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions in the embodiments of the application, and should be included in the within the scope of protection of this application.

Claims (10)

1. a recharge control method of a robot is characterized in that, the recharge control method of the robot comprises: Get the position of the robot in the coordinate system of the charging pile; According to the position of the robot in the charging pile coordinate system, two or more intermediate points are determined between the robot position and the charging pile position, and one or more of the intermediate points are located in the charging pile. The charging port of the pile is facing the direction; According to the position of the intermediate point, the position of the robot and the position of the charging pile, determine a plurality of moving sections; According to the target position of the moving section and the current position of the robot, the moving parameters of the moving section are determined, and the robot is controlled to move according to the moving parameters. 2 . The recharging control method for a robot according to claim 1 , wherein, according to the position of the robot in the charging pile coordinate system, two or two are determined between the robot position and the charging pile position. 3 . The steps for more than one intermediate point include: Determine the distance between the robot and the charging pile according to the position of the robot in the coordinate system with the charging pile; According to the correspondence between the preset distance and the number of intermediate points, the number of intermediate points corresponding to the distance between the robot and the charging pile is searched. 3 . The recharging control method for a robot according to claim 1 , wherein, according to the position of the robot in the charging pile coordinate system, two or two are determined between the robot position and the charging pile position. 4 . The steps for more than one intermediate point include: Set the determined number of intermediate points in the direction opposite to the charging port of the charging pile; The position of the intermediate point is determined according to the distance between adjacent intermediate points, the distance between the robot and its nearest intermediate point, and the balance of the distance between the charging pile and its nearest intermediate point. 4. The recharging control method of a robot according to claim 1, wherein the step of determining the movement parameters of the moving road section according to the target position of the moving road section and the current position of the robot comprises: Determine the first turning angle of the robot according to the current pointing of the robot, as well as the pointing of the current position of the robot and the target position; The first distance of the robot is determined according to the current position of the robot and the target position. 5 . The recharging control method for a robot according to claim 1 , wherein, according to the position of the robot in the charging pile coordinate system, two or two are determined between the robot position and the charging pile position. 6 . The steps for more than one intermediate point include: Obtain the number of intermediate points when the robot completes charging, the corresponding relationship between the distance between the robot and the charging pile and the alignment rate; According to the corresponding relationship, the number of intermediate points corresponding to the alignment ratio greater than the predetermined threshold is selected. 6. A recharging control device for a robot, wherein the recharging control device for the robot comprises: The position acquisition unit is used to acquire the position of the robot in the coordinate system of the charging pile; an intermediate point determination unit, configured to determine two or more intermediate points between the robot position and the charging pile position according to the position of the robot in the charging pile coordinate system, and one of the intermediate points is Or a plurality of charging ports located in the opposite direction of the charging pile; a moving road segment determination unit, configured to determine a plurality of moving road segments according to the position of the intermediate point, the robot location and the charging pile location; The movement parameter determination unit is configured to determine the movement parameters of the movement section according to the target position of the movement section and the current position of the robot, and control the movement of the robot according to the movement parameters. 7. The recharging control device for a robot according to claim 6, wherein the intermediate point determining unit comprises: a distance determination sub-unit for determining the distance between the robot and the charging pile according to the position of the robot in the coordinate system with the charging pile; The intermediate point determination sub-unit is used for finding the number of intermediate points corresponding to the distance between the robot and the charging pile according to the corresponding relationship between the preset distance and the number of intermediate points. 8. The recharging control device for a robot according to claim 6, wherein the intermediate point determining unit comprises: an intermediate point setting subunit, used for setting the determined number of intermediate points in the direction opposite to the charging port of the charging pile; The intermediate point position determination subunit is used to determine the position of the intermediate point according to the distance between adjacent intermediate points, the distance between the robot and its closest intermediate point, and the balance of the distance between the charging pile and its closest intermediate point. 9. A robot comprising a memory, a processor and a computer program stored in the memory and running on the processor, wherein the processor implements the computer program as claimed in claim 1 when the processor executes the computer program Steps of any one of the steps of the recharging control method of the robot described in to 5. 10. A computer-readable storage medium storing a computer program, characterized in that, when the computer program is executed by a processor, the robot according to any one of claims 1 to 5 is implemented to perform a return operation. The steps of the charging control method.

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