Method for docking and automatically charging robot, charging station and robot

A robot, comprising:

• a sensing device;
• at least one processor;
• and
• a memory in communication connection with the at least one processor;
• wherein,
• the sensing device is configured to emit or receive a signal under control of the processor;
• and
• the memory is stored with instructions executable by the at least one processor, wherein the instructions, when executed by the at least one processor, enable the at least one processor to perform steps of:
• detecting a distance to a charging station according to a laser ranging signal;
• starting laser feature recognition when the distance is determined less than a preset distance, wherein the laser feature recognition is configured to identify the charging station;
• and
• performing a docking process according to a recognition result of the laser feature recognition, the laser ranging signal and an infrared guiding signal;
• wherein the step, performed by the at least one processor, of performing the docking process according to the recognition result of the laser feature recognition, the laser ranging signal and the infrared guiding signal specifically comprises steps of:
• acquiring the recognition result of performing the laser feature recognition on a collision object when there is a collision;
• outputting an error message, if the collision object is determined to be the charging station according to the recognition result and if a current collision frequency exceeds a preset collision frequency;
• performing the docking process by following the infrared guiding signal, if the collision object is determined to be the charging station according to the recognition result and if the current collision frequency does not exceed the preset collision frequency;
• determining a motion path according to position information of the charging station, reaching the position of the charging station according to the motion path, and performing the docking process by following the infrared guiding signal, if the collision object is determined to be an obstacle according to the recognition result and if it is detected that the robot is stored with the position information of the charging station;
• and
• performing the docking process by following the infrared guiding signal when it is determined that the obstacle has been circumvented or outputting an error message when it is determined that the obstacle has not been circumvented, if the collision object is determined to be an obstacle according to the recognition result and if it is detected that the robot is not stored with the position information of the charging station.