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Method for preventing robot from colliding with charging base

A technology to prevent collisions and robots, applied in charging stations, instruments, vacuum cleaners, etc., can solve the problems of avoiding charging bases, unstable infrared recharging guidance signals, affecting the work efficiency of robots, etc., to achieve the effect of avoiding risks.

Active Publication Date: 2019-12-24
AMICRO SEMICON CORP
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

In order to ensure that the robot will not hit the charging stand during the cleaning process, it usually avoids the charging stand by receiving the signal sent by the charging stand. When the robot approaches the charging stand from an oblique direction, due to the distance limitation between the robot and the charging stand and the instability of the infrared recharging guidance signal, sometimes it is far and sometimes close, so that the robot cannot effectively avoid it according to the infrared seat avoidance signal. When the charging stand is turned on, the robot often collides with the charging stand, which affects the working efficiency of the robot

Method used

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  • Method for preventing robot from colliding with charging base
  • Method for preventing robot from colliding with charging base
  • Method for preventing robot from colliding with charging base

Examples

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Effect test

Embodiment 3

[0034] Embodiment 3: In Embodiment 1, the hazard sign position A1 and its adjacent hazard sign positions have been marked at position A0, and then the robot moves to position A3 (x0+2, y0) and crosses the collision avoidance sensitive area 1, then follow figure 1 The bow-shaped path shown moves to position A5, and at this time, the robot detects at position A5 that there is a seat avoidance signal transmitted from the charging base 5 right in front of it. Before the safety zone is established, the robot moves to position A5 along a pre-planned bow-shaped path extending in the negative direction of the X-axis, and has detected that there is a self-charging stand directly in front of it at position A5. 5, at this time, the transmission direction of the seat avoidance signal received by the robot is the same as the working direction of the preset working path of the robot, so the safety zone cannot be established at position A5.

[0035] Such as image 3 As shown, in the curren...

Embodiment 4

[0039] Embodiment 4: On the basis of Embodiment 3, the robot moves to position A5 along a pre-planned bow-shaped path extending in the negative direction of the X-axis, and has detected that there is a robot in front of it at position A5. The seat avoidance signal emitted from the charging base 5 marks the first preset position A6, which is one radius away from the robot’s body radius, from the current position of the robot as the position of the danger mark, and also passes through the first preset position A6. Set position A6 and be perpendicular to the current moving direction of the robot (corresponding to Figure 4 A5 points to the direction of A6), and the second preset position and the third preset position adjacent to the first preset position A6 correspond to the two black square areas adjacent to the position A6, marked as the danger Identify the location. At this time, the transmission direction of the seat avoidance signal received by the robot is the same as the ...

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Abstract

The invention discloses a method for preventing a robot from colliding with a charging base. The method comprises the following steps of 1, in the process of moving the robot in a current working area, detecting a base avoidance signal receiving condition of the robot in a signal receiving coverage range of the robot in real time, wherein a base avoidance signal is from the charging base speciallyused for charging the robot; and 2, establishing a safe area in the current working area according to a position characteristic relationship between the base avoidance signal received by the robot and a preset working path of the robot, wherein a dangerous area is identified and established at the position that meets an anti-collision relationship together with the current position of the robot according to an azimuth relationship between the base avoidance signal received by the robot and the direction of a current movement path of the robot before the safe area is established. According tothe method, the effective working area of the periphery of the charging base is planned by establishing the dangerous area and the safe area, so that the robot is not interfered with the base avoidance signal and effectively avoids the charging base.

Description

technical field [0001] The invention relates to the field of control of a robot anti-collision seat, in particular to a method for a robot to prevent a collision with a charging seat. Background technique [0002] Currently on the market, sweeping robots generally have an automatic recharging function, and most of the charging stations use infrared signals to guide the robot to recharge. In order to ensure that the robot will not hit the charging stand during the cleaning process, it usually avoids the charging stand by receiving the signal sent by the charging stand. When the robot approaches the charging stand from an oblique direction, due to the distance limitation between the robot and the charging stand and the instability of the infrared recharging guidance signal, sometimes it is far and sometimes close, so that the robot cannot effectively avoid it according to the infrared seat avoidance signal. When the charging stand is turned on, the robot often collides with t...

Claims

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Application Information

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IPC IPC(8): G05D1/02
CPCG05D1/0242G05D1/0225G05D1/0214G05D1/0276A47L11/4011A47L9/2852A47L2201/02A47L2201/04A47L11/4061B60L53/36B60L53/37B60L3/0015B60L2260/32B60L53/67H02J7/0029
Inventor 李永勇
Owner AMICRO SEMICON CORP