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Path planning method, device, equipment and medium for robot returning to hanging basket

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

Active Publication Date: 2021-11-26
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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  • Path planning method, device, equipment and medium for robot returning to hanging basket
  • Path planning method, device, equipment and medium for robot returning to hanging basket
  • Path planning method, device, equipment and medium for robot returning to hanging basket

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Experimental program
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Effect test

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 shown, which 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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Abstract

The invention discloses a path planning method for a robot to return to a hanging basket, comprising the following steps: judging that the ultrasonic signal is one signal or two signals, and if it is one signal, adjusting the direction or / and position of the robot until Receive two ultrasonic signals; judge whether the time when the two ultrasonic signals arrive at the ultrasonic receiving sensor is the same, if not, adjust the direction or / and position of the robot until the time when the two ultrasonic signals arrive at the ultrasonic receiving sensor is the same; Control the robot to go straight until it returns to the gondola. The invention also discloses a path planning device, electronic equipment and a storage medium for the robot to return to the hanging basket. The invention realizes the positioning of the robot through the cooperation of the ultrasonic transmitting sensor and the ultrasonic receiving sensor, and then allows the robot to go straight to return to the hanging basket, avoiding the interference of outdoor strong light, and providing the probability of successful recovery of the robot.

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 Patents(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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