Control method for mobile robot to determine direction of charging substrate based on wireless signal RSSI

Abstract

The invention discloses a control method for a mobile robot to determine the direction of a charging substrate based on a wireless signal RSSI, and the mobile robot comprises a driving wheel and a driving motor connected with the driving wheel, and also comprises a charging electrode male end disposed at the front end of the mobile robot, and a main control electronic device. The charging substrate comprises a charging electrode female end, a power jack, and a charging control electronic device, wherein the charging control electronic device is provided with a controller and a first WIFI module connected with the controller. The main control electronic device is provided with a processor and a second WIFI module connected with the processor, and also has a directional control method for the charging substrate in the processor. The directional control method comprises the three steps: 1, enabling the second WIFI module to be connected to the network of the first WIFI module; 2, enablingthe mobile robot to rotate clockwise or anticlockwise from a current position, recording the position (xi, yi), theta(i) and a wireless signal intensity value Ri at fixed time intervals of T, returning to a place nearby a start point and stopping, and switching to step 3; 3, calculating the direction alpha of the charging substrate through a data processing algorithm.

Description

technical field [0001] The invention relates to an intelligent control method for positioning a charging base of a mobile robot based on a wireless signal RSSI, belonging to the field of mobile robots. Background technique [0002] Mobile robots have already begun to be used in our lives, such as vacuum cleaners and lawn mowers. The application of robots has reduced the daily labor burden to a certain extent, which is the trend of future technological development. [0003] At present, the development of mobile robot technology is not perfect. For example, vacuum cleaner robots and lawn mower robots need to find a charging base for charging when the work is over or the battery is exhausted. At present, the commonly used method is to search along the boundary of the working area. For example, the vacuum robot can search for the charging base along the wall, and the charging base is set against the wall; the mowing robot works on the lawn, and the surrounding areas of the lawn ...

AI Technical Summary

Problems solved by technology

This method takes a long time to return to the charging base under average conditions in a complex environment or a large area. search in the opposite direction

In addition, there are also random collection methods, such as some vacuum cleaners, which are inefficient and often fail

[0004] With the development of technology, mobile robots are now equipped with two-dimensional or even three-dimensional lidar for environment detection and map building, but this method is very costly, and the price of the sensor itself has far exceeded the cost of the current mobile robot

There are also image sensors for environment detection and map creation, which require high hardware computing power and harsh environmental lighting conditions.

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