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Mobile robot and return charging method

A mobile robot and charging method technology, applied in the direction of secondary battery charging/discharging, circuit, manipulator, etc., can solve the problem of wrong route navigation, unable to complete charging normally, unable to directly connect with ultrasonic signals, etc., to achieve the effect of improving the success rate

Active Publication Date: 2021-09-24
SOUTH CHINA NORMAL UNIVERSITY +1
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Most of the existing mobile robots return by docking with the infrared induction signal associated with the charging stand, and a small part realize the return by ultrasonic, vision, etc., but these methods have limitations, especially in places with many obstacles. In the environment, the infrared and ultrasonic signals cannot be directly connected, the vision cannot be detected, and even the wrong route navigation makes it impossible to complete the charging normally.

Method used

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Examples

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Effect test

Embodiment 1

[0033] Such as Figure 7 As shown, in order to facilitate the description of specific implementation methods, in this embodiment, the signal emitted by the charging stand is an infrared signal and the infrared emission angle of the charging stand is less than 90°, and the mobile robot traverses the infrared signal coverage area during operation. With the charging stand as the origin 0, the Y axis is perpendicular to the front of the charging stand, and the X axis is parallel to the front of the charging stand to establish a plane Cartesian coordinate system xOy. In this embodiment, Y min →0, at this time Y max -Y min >X max -X min , the reason is that the infrared signal emission angle θ≤90°, at this time the maximum extension width L perpendicular to the front direction of the charging stand will be greater than / equal to the maximum extension width W parallel to the front direction of the charging stand, where W=2*L*sinθ , that is, L≥W when θ≤90°. The calculation method ...

Embodiment 2

[0042] Such as Figure 9 As shown, in order to facilitate the description of specific implementation methods, in this embodiment, the signal emitted by the charging stand is an infrared signal and the infrared emission angle of the charging stand is less than 90°, and the mobile robot traverses the infrared signal coverage area during operation. Taking the charging stand as the origin 0, the Y axis perpendicular to the front of the charging stand, and the X axis parallel to the front of the charging stand to establish a plane Cartesian coordinate system xOy, in this embodiment X min →0, at this time Y max -Y min max -X min The calculation method provided by the present invention can determine the coefficients m and n of the optimal area P as follows: n is 1, and m is between 1 / 3 and 2 / 3.

[0043] When m=1 / 3, P(x)=X min +1 / 3*(X max -X min )≈1 / 3*X max , P(y)=(Y max +Y min ) / 2; at this time, according to the attached Figure 8 A limit suitable point for determining the ...

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Abstract

A method of returning to charging and a mobile robot proposed by the present invention improve the success rate of the mobile robot returning to the charging stand by determining the best area for returning to the charging stand, even if there are many obstacles in the environment or the position of the mobile robot is offset It can still return to the charging stand for charging more accurately.

Description

technical field [0001] The invention relates to a mobile robot and its return charging method, belonging to the field of robot applications. Background technique [0002] A mobile robot is a robot that is composed of a sensor that senses the surrounding environment, a controller that controls system functions, and an actuator that performs motion functions. Most mobile robots carry rechargeable energy storage batteries for power supply. , when the power is low after continuous operation, it needs to automatically return to the charging stand to complete the energy supply. Most of the existing mobile robots return by docking with the infrared induction signal associated with the charging stand, and a small part realize the return by ultrasonic, vision, etc., but these methods have limitations, especially in places with many obstacles. In the environment, the infrared and ultrasonic signals cannot be directly connected, the vision cannot be detected, and even the wrong route ...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/16H01M10/44
CPCB25J9/1664H01M10/446Y02E60/10
Inventor 周娴玮吴俍儒刘德王利鹏郑卓斌王立磊
Owner SOUTH CHINA NORMAL UNIVERSITY
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