Automatic recharging method, device, storage medium and system

An automatic recharging device, wherein the automatic recharging device is provided with an image acquisition component, and the device comprises a processor and a memory;

• programs are stored in the memory, and the programs are loaded by the processor and configured to perform the following operations:
• acquiring, an automatic recharging image during an automatic recharging process;
• determining, a first direction distance in a traveling direction of the automatic recharging device between the image acquisition component and the feature identification, based on a first vertical direction distance, a second vertical direction distance and a focal length of the image acquisition component, wherein the first vertical direction distance is a difference between H1 and H2, H1 is a height of the image acquisition component relative to a ground, and H2 is a height of a feature identification relative to the ground, and the second vertical direction distance is a distance between an image position of the feature identification and an image center point of the automatic recharging image in a direction perpendicular to the ground, when the automatic recharging image contains a feature identification, wherein the feature identification is disposed on the charging base and displayed by the charging surface of the charging base, and the charging base is configured to charge the automatic recharging device;
• determining, by the processor, a second direction distance in a direction parallel to ground and perpendicular to the traveling direction between the image acquisition component and the feature identification, based on the first direction distance, a second direction image distance and the focal length of the image acquisition component, wherein the second direction image distance is a distance between the image position of the feature identification and the image center point of the automatic recharging image in a direction parallel to the ground;
• determining a relative positional relationship between the charging surface of the charging base and the automatic recharging device based on the first direction distance and the second direction distance;
• and
• controlling the automatic recharging device toward the charging surface of the charging base along a movement direction determined based on the relative positional relationship.

A non-transitory computer readable storage medium, wherein programs are stored in the storage medium, and the programs are executed by a processor to perform the following operations:

• acquiring, an automatic recharging image during an automatic recharging process;
• determining, a first direction distance in a traveling direction of the automatic recharging device between the image acquisition component and the feature identification, based on a first vertical direction distance, a second vertical direction distance and a focal length of the image acquisition component, wherein the first vertical direction distance is a difference between H1 and H2, H1 is a height of the image acquisition component relative to a ground, and H2 is a height of a feature identification relative to the ground, and the second vertical direction distance is a distance between an image position of the feature identification and an image center point of the automatic recharging image in a direction perpendicular to the ground, when the automatic recharging image contains a feature identification, wherein the feature identification is disposed on the charging base and displayed by the charging surface of the charging base, and the charging base is configured to charge the automatic recharging device;
• determining, by the processor, a second direction distance in a direction parallel to ground and perpendicular to the traveling direction between the image acquisition component and the feature identification, based on the first direction distance, a second direction image distance and the focal length of the image acquisition component, wherein the second direction image distance is a distance between the image position of the feature identification and the image center point of the automatic recharging image in a direction parallel to the ground;
• determining a relative positional relationship between the charging surface of the charging base and the automatic recharging device based on the first direction distance and the second direction distance;
• and
• controlling the automatic recharging device toward the charging surface of the charging base along a movement direction determined based on the relative positional relationship.