Recharging method for cleaning robot and cleaning robot system

A cleaning robot system, comprising:

• a charging base and a cleaning robot,
• wherein the cleaning robot comprises:
• a determination device configured to determine a direction of the charging base;
• a motion device configured to move the cleaning robot;
• a detection device configured to detect, in real time, a distance between the cleaning robot and the charging base;
• and
• a controller configured to:
• control the cleaning robot to move in a first direction toward the direction of the charging base to approach the charging base;
• determine whether the cleaning robot has arrived at a target location based on the distance between the cleaning robot and the charging base, the target location being at a second predetermined distance in front of the charging base;
• control the cleaning robot to rotate for a predetermined angle when the cleaning robot arrives at the target location;
• control the cleaning robot to move backwardly to approach the charging base, and to touch the charging base;
• after the cleaning robot touches the charging base and before the cleaning robot docks with the charging base, control the cleaning robot to move forwardly for a first predetermined distance;
• and
• after the cleaning robot moves forwardly for the first predetermined distance, control the cleaning robot to move backwardly to approach the charging base, and to dock with the charging base to perform battery charging.

A non-transitory computer-readable storage medium storing computer-executable instructions, which when executed by a processor of a cleaning robot, cause the cleaning robot to perform a method comprising:

• determining a direction of a charging base;
• controlling the cleaning robot to move in a first direction toward the direction of the charging base to approach the charging base;
• detecting, in real time, a distance between the cleaning robot and the charging base;
• determining whether the cleaning robot has arrived at a target location based on the distance between the cleaning robot and the charging base, the target location being at a second predetermined distance in front of the charging base;
• controlling the cleaning robot to rotate for a predetermined angle when the cleaning robot arrives at the target location;
• controlling the cleaning robot to move backwardly to approach the charging base, and to touch the charging base;
• after the cleaning robot touches the charging base and before the cleaning robot docks with the charging base, controlling the cleaning robot to move forwardly for a first predetermined distance;
• and
• after the cleaning robot moves forwardly for the first predetermined distance, controlling the cleaning robot to move backwardly to approach the charging base, and dock with the charging base to perform battery charging.