US 12,402,768 B2
Recharge control method, robot and computer-readable storage medium
Gaobo Huang, Shenzhen (CN); Hua Zhang, Shenzhen (CN); and Xiangbin Huang, Shenzhen (CN)
Assigned to UBTECH ROBOTICS CORP LTD, Shenzhen (CN); and BEST EPOCH TECHNOLOGY CO. LTD, Shenzhen (CN)
Filed by UBTECH ROBOTICS CORP LTD, Shenzhen (CN); and Best Epoch Technology Co, LTD, Shenzhen (CN)
Filed on Dec. 13, 2022, as Appl. No. 18/080,702.
Claims priority of application No. 202111682861.9 (CN), filed on Dec. 31, 2021.
Prior Publication US 2023/0210334 A1, Jul. 6, 2023
Int. Cl. A47L 11/40 (2006.01); G05D 1/00 (2024.01)
CPC A47L 11/4011 (2013.01) [G05D 1/0225 (2013.01); G05D 1/0242 (2013.01); A47L 2201/022 (2013.01); A47L 2201/04 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A computer-implemented recharge control method, comprising:
providing a robot comprising a body and four infrared carrier receivers, wherein a second and a third of the four infrared carrier receivers are mounted on a front of the body, and a first and a fourth of four infrared carrier receivers are mounted on left side and on a right side of the body, respectively, wherein receiving angles of the four infrared carrier receivers are non-overlapping, and the receiving angles of the second and the third of the four infrared carrier receivers are smaller than the receiving angles of the first and the fourth of the four infrared carrier receivers:
receiving, by one or more of the four infrared carrier receivers, infrared carrier emitted by a charging dock, wherein a plurality of infrared carrier transmitters are provided on the charging dock, and the infrared carrier transmitters comprise: a first infrared carrier transmitter, a second infrared carrier transmitter, a third infrared carrier transmitter and a fourth infrared carrier transmitter, wherein the second infrared carrier transmitter and the third infrared carrier transmitter are arranged between the first infrared carrier transmitter and the fourth infrared carrier transmitter, wherein carrier regions of the first infrared carrier transmitter and the fourth infrared carrier transmitter are larger than carrier regions of the second infrared carrier transmitter and the third infrared carrier transmitter, and wherein the carrier regions of the second infrared carrier transmitter and the third infrared carrier transmitter are in front of the charging dock near a central axis that is perpendicular to a widthwise direction of the charging dock;
determining an area where the robot is located, wherein the area is one of at least five areas around the charging dock that are determined based on receiving of the infrared carrier by different combinations of the four infrared carriers and based on not receiving of the infrared carrier by the infrared carriers; and
controlling the robot to move to the charging dock according to a movement mode corresponding to the area.