Mobile robot self-positioning method based on double wireless networks

Abstract

The invention discloses a mobile robot self-positioning method based on double wireless networks. A mobile robot comprises a driving wheel, a driving motor connected with the driving wheel, a chargingelectrode male end arranged at the front end of the mobile robot and a master control electronic device, wherein a charging base comprises a charging electrode female end, a supply hub and a chargingcontrol electronic device, the charging control electronic device is provided with a controller and a first WIFI module connected with the controller, and the master control electronic device is provided with a processor and a third WIFI module connected with the processor; an auxiliary network device is also arranged and comprises a second WIFI module and a self-positioning method arranged in the processor. According to the self-positioning method, the mobile robot reads the intensity value R<II>0 of the second WIFI module in the charging base position and calculates the distance d0 of the auxiliary network device; in any position in the environment, intensity values R and R<II> of wireless signals of the first WIFI module and the second WIFI module are read; the distance d<1> from the mobile robot to the charging base is calculated, and the distance d<2> from the polar radium Rho to the auxiliary network device is calculated; the polar angle theta is calculated.

Description

technical field [0001] The invention relates to a mobile robot self-positioning method based on dual wireless networks, 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 very perfect, such as vacuum cleaner robot and lawn mower robot. Due to the lack of positioning means and the establishment of an environmental map, the work efficiency is not high. Use random paths when working, walk freely in the working environment without any path planning. When the work is over or the battery is exhausted, it is necessary to find a charging base for charging. At present, the commonly used method is to search along the boundary of the working area. For example, ...

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.

Images