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Cleaning robot and charging path determining method thereof

A technology for cleaning robots and charging paths, applied in the field of cleaning robots, which can solve the problems of unable to charge, unable to return to the charging base correctly, colliding with the charging base, etc.

Active Publication Date: 2020-03-20
PIXART IMAGING INC
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, the accuracy of such methods is not high
Another problem is that the method of judging the energy intensity of the wireless signal cannot judge the direction of the charging base itself, which may lead to the situation that it may not be possible to return to the charging base correctly.
[0004] In view of this, the technical problem to be solved by the present invention is to return to the charging base more accurately, and to avoid as much as possible when returning to the charging base due to wrong directions or errors that cannot be returned to the charging base correctly or collided The problem of charging the dock but not charging

Method used

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  • Cleaning robot and charging path determining method thereof
  • Cleaning robot and charging path determining method thereof
  • Cleaning robot and charging path determining method thereof

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Embodiment Construction

[0033] The characteristics of each embodiment of the present invention are to use the image sensor to observe the charging base, and calculate the algorithm to obtain the accurate distance and angle through the placement and quantity of the positioning light source of the designed charging base, and then make the cleaning The robot can return to the charging base smoothly and correctly in accordance with the direction of the charging base, and even automatically change the direction of the charging base in accordance with the moving direction of the cleaning robot, thereby avoiding the wrong angle of entering the charging base.

[0034] In short, each embodiment of the present invention mainly observes the charging base through the image sensor, and calculates the relative distance and angle between the charging base and the cleaning robot equipped with the image sensor according to the obtained image information, so that it can To make the cleaning robot accurately return to t...

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Abstract

A cleaning robot system comprises a charging base and a cleaning robot. The charging base comprises a plurality of positioning light sources. The cleaning robot includes an image sensor and a processor. The image sensor is used for acquiring light generated by the plurality of positioning light sources on the charging base and generating image frames. And the processor is electrically connected with the image sensor and is used for calculating the relative position of the processor and the charging base according to the light source images of the plurality of positioning light sources in the image frame and determining a charging path according to the relative position.

Description

technical field [0001] The present invention relates to a cleaning robot, and more particularly to a cleaning robot and its charging path determination method for judging the current position of the cleaning robot based on the arrangement of the light source images in the image frame acquired by the image sensor, and calculating the recharging path accordingly . Background technique [0002] Because the cleaning robot operates in an independent closed system, there is a need to return to the charging base for charging. In order to achieve the function of automatically recharging when the battery is low, most cleaning robots usually return to the charging base first. nearby before making finer location corrections. [0003] Specifically, the commonly used methods in the market are the mode of signal transmission base with photodiode or the mode of signal transmitter with infrared receiver. According to the energy intensity of the detected wireless signal, different direction...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): A47L11/24A47L11/40G05D1/02
CPCG05D1/0242A47L11/24A47L11/4002A47L11/4011G05D1/0225G05D1/0234H02J7/00032H02J7/0042A47L2201/022A47L2201/04B60L53/36B60L53/37B60L2260/32B60L2200/40Y02T10/70Y02T10/7072Y02T90/12A47L9/2873
Inventor 粘竺弘黄昭荐杨恕先魏玮锋
Owner PIXART IMAGING INC