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B25J 9/16 (2006.01); B25J 13/06 (2006.01); G06F 3/14 (2006.01); G06K 9/00 (2022.01); G06T 7/73 (2017.01); G06T 11/00 (2006.01); G06V 10/75 (2022.01); G06V 20/50 (2022.01); H02J 7/00 (2006.01); H04B 17/318 (2015.01);

U.S. Cl.

CPC ...

B25J 9/1664 (2013.01); G06T 7/73 (2017.01); G06V 10/751 (2022.01); G06V 20/50 (2022.01); H02J 7/00032 (2020.01); H04B 17/318 (2015.01);

Abstract

A recharging control method of a desktop robot is provided. The desktop robot includes a robot body provided with a camera and a base. The recharging control method includes the following steps. When the robot body of the desktop robot receives a charging instruction, images of the desktop environment are collected, the collected two continuous frames of images are controlled to be subjected to feature matching, the position variation of the robot body is calculated, and then a corresponding grid map is constructed (step A); a wireless beacon modulated and transmitted by the base is received, and initial orientation of the base is analyzed according to strength information of the wireless beacon (step B); a recharging path is planned in combination with the change of the position of the robot body and the initial orientation obtained through analysis (step C); the robot body of the desktop robot is controlled to move along the recharging path (step D); when the strength of the wireless beacon is within a preset threshold range, the collected two continuous frames of images are controlled to be subjected to feature matching, then a vector value of the current position of the robot body is calculated, and further, the base is further searched for completing docking and charging (step E).

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