Route planning method and device for enabling robots to return to baskets, equipment and medium

A path planning and robot technology, applied in two-dimensional position/channel control, instruments, motor vehicles, etc., can solve problems such as robot damage, interference, and path planning errors, so as to improve the probability of successful recovery and avoid strong light interference Effect

Active Publication Date: 2019-04-02
深圳科力远数智能源技术有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, this method of guiding by infrared rays is not suitable for outdoor operations. The reason is that outdoor solar energy has a very large interference on infrared photoelectric sensors, which causes certain errors in path planning, and may even cause damage or crash of the robot.

Method used

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  • Route planning method and device for enabling robots to return to baskets, equipment and medium
  • Route planning method and device for enabling robots to return to baskets, equipment and medium
  • Route planning method and device for enabling robots to return to baskets, equipment and medium

Examples

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Embodiment 1

[0039] Embodiment 1 of the present invention discloses a path planning method for a robot returning to a hanging basket, which can be implemented by hardware or / and software, please refer to figure 1 As shown, it includes the following steps:

[0040] 101. Receive the ultrasonic signal sent by the first ultrasonic transmitting sensor or / and the second ultrasonic transmitting sensor through the ultrasonic receiving sensor, judge that the ultrasonic signal is one signal or two signals, if it is one signal, adjust the direction of the robot or / and position until two ultrasonic signals are received.

[0041] Such as figure 2 As shown, the ultrasonic receiving sensor is installed in the front middle of the robot, and the first ultrasonic transmitting sensor and the second ultrasonic transmitting sensor take the center line of the hanging basket door as the axis of symmetry, and are symmetrically installed on both sides of the center line of the hanging basket door. In a preferr...

Embodiment 2

[0055] Embodiment 2 discloses a path planning device for the robot to return to the hanging basket corresponding to the above-mentioned embodiment. An ultrasonic receiving sensor is installed in the middle of the front side of the robot, and a first ultrasonic transmitting sensor and a first ultrasonic transmitting sensor are installed on the hanging basket. The second ultrasonic transmitting sensor, the first ultrasonic transmitting sensor and the second ultrasonic transmitting sensor take the hanging basket door as the central axis, and are symmetrically distributed on both sides of the hanging basket door, please refer to Figure 4 shown, which includes:

[0056] The first judging module 210 is used to receive the ultrasonic signal sent by the first ultrasonic transmitting sensor or / and the second ultrasonic transmitting sensor through the ultrasonic receiving sensor, and judge that the ultrasonic signal is one signal or two signals, if it is one signal, then Adjust the dir...

Embodiment 3

[0060] Figure 5 A schematic structural diagram of an electronic device provided in Embodiment 3 of the present invention, such as Figure 5 As shown, the electronic device is the hardware composition of the monitoring platform, which includes a processor 310, a memory 320, an input device 330 and an output device 340; the number of processors 310 in the computer device can be one or more, Figure 5 Take a processor 310 as an example; the processor 310, memory 320, input device 330 and output device 340 in the electronic device can be connected by bus or other methods, Figure 5 Take connection via bus as an example.

[0061] The memory 320, as a computer-readable storage medium, can be used to store software programs, computer-executable programs and modules, such as the program instructions / modules corresponding to the path planning method for the robot to return to the hanging basket in the embodiment of the present invention (for example, The first judging module 210, th...

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PUM

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Abstract

The invention discloses a route planning method for enabling robots to return to baskets. The method comprises the following steps of: judging wherein an ultrasonic signal is a one-path signal or a two-path signal, and if the ultrasonic signal is a one-path signal, adjusting the direction or/and position of a robot until two paths of ultrasonic signals are received; judging whether the time of thetwo paths of ultrasonic signals for reaching an ultrasonic reception sensor is the same or not, and if the judging result is negative, regulating the direction or/and position of the robot until thetime of the two paths of ultrasonic signals for reaching the ultrasonic reception sensor is the same; and controlling the robot to go straight until the robot returns to a basket. The invention furthermore discloses a route planning device for enabling robots to return to baskets, electronic equipment and a storage medium. Through coordination of an ultrasonic transmission sensor and the ultrasonic reception sensor, the positioning of robots is realized, and the robots are enabled to go straight to return to the baskets, so that the interference of outdoor strong light is avoided and the recovery success probability of the robots is improved.

Description

technical field [0001] The invention relates to the technical field of robot recycling, in particular to a path planning method, device, equipment and medium for a robot returning to a hanging basket. Background technique [0002] After the robot cleans the photovoltaic power station, it needs to recover the robot through the hanging basket, and then carry the hanging basket back to the voyage by the load-bearing drone. Therefore, recycling the robot and returning it to the hanging basket is a key step for automatic cleaning of the photovoltaic power station. . At present, the domestic recharging technology for household sweepers is very mature, and most of them use infrared guidance to plan the path of the sweeper. However, this method of guiding by infrared rays is not suitable for outdoor operations. The reason is that outdoor solar energy has a very large interference on infrared photoelectric sensors, causing certain errors in path planning, and may even cause damage o...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02
CPCG05D1/0255G05D2201/0203
Inventor 李华周树良吴丽倩陈坤豪蓝嘉晖王文彬
Owner 深圳科力远数智能源技术有限公司
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