An intelligent robot recharging guide system, method and electromagnetic signal emitting wire group

Abstract

The application discloses a kind of intelligent robot back charging guide system, method and electromagnetic signal emission line group, including infrared emitter, infrared receiver, electromagnetic signal transmitter and electromagnetic signal detector, electromagnetic signal transmitter is equipped with transmitting lead wire, transmitting lead wire includes two groups of signal coils, first signal coil is formed into mouth character by wire, for generating long-distance electromagnetic guide signal, second signal coil is formed into 8 by wire, for generating near-distance electromagnetic guide signal;Communication module is used to transmit processed electromagnetic guide signal to robot control module;Robot control module is used to adjust the pose of robot.The application is arranged by specific electromagnetic field, and back charging guidance is carried out by the combination of infrared signal and electromagnetic signal, which has strong environmental adaptability, stable signal and output rate of 100Hz.

Description

Technical Field

[0001] This invention relates to intelligent robots, and particularly to an intelligent robot recharge guidance system, method, and electromagnetic signal transmission line assembly. Background Technology

[0002] Currently, most intelligent robots on the market can achieve automatic recharging, and the autonomous recharging technologies are diverse. For example, intelligent robotic vacuum cleaners utilize infrared modulation technology. By modulating infrared light in different ways, they divide the infrared scattering surface into regions, and the robot returns to the charging station based on this infrared signal. However, the precision of infrared modulation is coarse, generally requiring a large charging stage, and even with a large charging stage, it is difficult to ensure the robot accurately recharges. Some robots use electromagnetic signals to guide them to the charging station, achieving active recharging. However, single electromagnetic signals have poor precision and are easily interfered with by other signals, affecting the accuracy of the robot's recharging. Summary of the Invention

[0003] To address the aforementioned issues, this invention provides an intelligent robot recharging guidance system, method, and electromagnetic signal transmission line group that integrates infrared and electromagnetic signals, enabling the robot to accurately recharge via the fused signals.

[0004] Therefore, the technical solution of the present invention is: an electromagnetic signal transmitting line group, comprising two sets of signal coils superimposed on each other, the two sets of signal coils being a square-shaped coil and an eight-shaped coil, respectively.

[0005] Preferably, the square-shaped coil is made of copper wire wound with more than or equal to one turn.

[0006] Preferably, the figure-eight coil is made of copper wire wound with one or more turns.

[0007] Based on the aforementioned electromagnetic signal transmitting line group, another technical solution of the present invention is: an intelligent robot recharging guidance system, comprising:

[0008] An electromagnetic signal transmitter is installed inside the charging pile. The electromagnetic signal transmitter contains a transmitting wire group, which includes two signal coils. The first signal coil is formed by wires in a square shape and is used to generate long-distance electromagnetic guidance signals. The second signal coil is formed by wires in a figure-eight shape and is used to generate short-distance electromagnetic guidance signals.

[0009] An electromagnetic signal detector, installed inside the robot, is used to detect the electromagnetic guidance signal emitted by the electromagnetic signal transmitter, and to capture, analyze and process the electromagnetic guidance signal.

[0010] The communication module is used to transmit the processed electromagnetic guidance signal to the robot control module;

[0011] The robot control module is used to adjust the robot's pose.

[0012] Preferably, the two sets of signal coils are arranged in a stacked manner, and the number of turns of the first signal coil and the second signal coil is greater than or equal to 1 turn.

[0013] Preferably, the electromagnetic guidance signal includes position information, distance information, direction information, and a special sequence code.

[0014] Preferably, it also includes an infrared transmitter and an infrared receiver. The infrared transmitter is mounted on the charging pile to generate infrared signals. The infrared receiver is mounted on the robot to detect the signals emitted by the infrared transmitter. The infrared transmitter includes at least three transmitting ends, which are mounted on the upper part of the charging pile. Each transmitting end generates its own fan-shaped infrared signal area, and the infrared signal areas of each transmitting end do not interfere with each other.

[0015] Another technical solution of the present invention is: a method for guiding the recharging of an intelligent robot, comprising the following steps:

[0016] 1) When the charging station is powered on, the electromagnetic signal transmitter generates two kinds of electromagnetic guidance signals;

[0017] 2) When the robot enters the coverage area of ​​the first electromagnetic signal of the U-shaped coil, the relative position and relative direction of the robot and the charging pile are calculated based on the first electromagnetic guidance signal;

[0018] 3) The robot adjusts its direction and moves towards the charging station. During the movement, it adjusts its direction in real time to move towards the charging station.

[0019] 4) When the robot enters the coverage area of ​​the second electromagnetic signal of the figure-eight coil, according to the second electromagnetic guidance signal, the charging socket on the robot is aligned with the charging port on the charging pile, the charging port successfully releases the charging current, and the robot begins to charge.

[0020] Preferably, in step 2), the robot obtains the status of the charging pile and identifies the charging pile's identity code based on the special sequence in the electromagnetic guidance signal; the robot finds the signal of the charging pile corresponding to the identity number based on its body posture, and adjusts its direction to move towards the charging pile.

[0021] Preferably, between steps 3) and 4), the infrared transmitter generates infrared signals in three directions. The robot enters the coverage area of ​​the infrared signals. Based on the directional and strength information of the infrared signals, the robot continues to be accurately guided to move towards the charging pile. When the infrared signals become usable, the distribution of the infrared signals in the three directions is combined to distinguish whether the robot is in the left, center, or right direction of the charging pile, thus obtaining the directional information of the infrared signals.

[0022] This invention employs two electromagnetic coil designs: a square-shaped coil and a figure-eight-shaped coil. With the same current, the figure-eight-shaped transmitting coil produces a higher peak magnetic flux density in the longitudinal direction compared to the square-shaped coil, resulting in a more concentrated energy distribution and stronger focusing capability. The figure-eight-shaped coil exhibits a deeper detection range and more accurate detection results, effectively reducing the impact of interference signals. Conversely, the square-shaped coil has a larger energy distribution and a wider operating range, enabling long-distance signal guidance.

[0023] This invention utilizes a specific electromagnetic field arrangement to distinguish the robot's location within a charging station. By measuring the intensity of the electromagnetic field, it accurately aligns itself with the charging station. Infrared sensing technology is integrated into the process, combining the electromagnetic field signal strength information to determine distance and direction. Finally, the carrier wave encoding inherent in the specific electromagnetic field is used for signal identification, ultimately helping the robot return to its designated charging station for recharging.

[0024] Compared with the prior art, the beneficial effects of the present invention are:

[0025] 1. It uses a combination of infrared and electromagnetic signals for recharge guidance, which has strong environmental adaptability, stable signal, and an output rate of up to 100Hz.

[0026] 2. By combining a square-shaped coil and a figure-eight-shaped coil, electromagnetic signal distribution can be achieved for different ranges. The electromagnetic signal from the square-shaped coil serves as a recharge guide signal for longer distances, while the electromagnetic signal from the figure-eight-shaped coil serves as a recharge guide signal for shorter distances. The signal distance is long, with an effective distance of up to 3 meters.

[0027] 3. By using infrared signals to emit different signals in different areas to distinguish different areas, it is easier to quickly determine location information. Attached Figure Description

[0028] The following detailed description, in conjunction with the accompanying drawings and embodiments of the present invention, will provide further information.

[0029] Figure 1 This is a flowchart illustrating the robot recharging guidance process of the present invention.

[0030] Figure 2 This is a schematic diagram of the transmitting coil of the present invention;

[0031] Figure 3 This is a layout diagram of the infrared and electromagnetic signals of the present invention;

[0032] Figure 4 This is a top view of the robot returning to its original position according to the present invention;

[0033] Figure 5 This is a schematic diagram of the robot's pile-returning mechanism adjusting to the left according to the present invention;

[0034] Figure 6 This is a schematic diagram of the robot backfilling machine of the present invention adjusting to the right;

[0035] Figure 7 This is a front view of the charging pile structure of the present invention;

[0036] Figure 8 This is a top view of the charging pile structure of the present invention;

[0037] Figure 9 This is a schematic diagram of the robot of the present invention.

[0038] The components in the diagram are labeled as follows: Robot 1, Infrared Receiver 11, Electromagnetic Signal Detector 12, Charging Pile 2, Transmitter 21, Square Coil 3, and Figure-8 Coil 4. Detailed Implementation

[0039] In the description of this invention, it should be noted that the directional terms such as "center", "horizontal (X)", "longitudinal (Y)", "vertical (Z)", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", and "counterclockwise" indicate the orientation and positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. They should not be construed as limiting the specific protection scope of this invention.

[0040] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features. Thus, the use of "first" and "second" to define a feature may explicitly or implicitly include one or more of that feature. In the description of this invention, "several" or "a number" means two or more, unless otherwise explicitly specified.

[0041] See the attached diagram. The intelligent robot recharging guidance system described in this embodiment includes: a robot 1 and a matching charging station 2;

[0042] The charging pile 2 is equipped with an infrared transmitter for generating infrared signals. The infrared transmitter includes 3 and a transmitting end 21, which are set at the left, center and right positions at the top of the charging pile. Each transmitting end generates its own infrared signal area, and the infrared signal areas of each transmitting end do not interfere with each other. The robot can determine its position on the charging pile based on the received infrared signal.

[0043] The robot 1 is equipped with an infrared receiver 11, which is used to detect the signal emitted by the infrared transmitter; it can continue to accurately guide the robot to move towards the charging station based on the location and strength information of the infrared signal.

[0044] Depending on the required operating environment, after the charging pile is powered on, the infrared transmitter outputs a set of modulation codes through an infrared modulation processor based on preset signal processing logic. The modulation codes are then sent to the infrared LED (transmitter) via an infrared drive circuit, thus scattering infrared light of a specific frequency. The infrared receiver captures the weak, specially modulated infrared signal through an infrared sensitive element, amplifies it to a identifiable level through a signal amplifier, and inputs it to the decoding processing unit. The decoding processing unit processes the signal to obtain the infrared signal codes RC1-RCn and the signal strength RS.

[0045] The charging pile 2 is equipped with an electromagnetic signal transmitter, which contains an electromagnetic signal control board and a transmission lead. The electromagnetic signal control board includes a microcontroller, auxiliary circuitry, and a transmission drive circuit. The transmission drive circuit is used to drive the transmission of a recharge guidance signal. The transmission lead includes two sets of signal coils: a U-shaped coil 3 made of copper wire, used to generate a long-distance electromagnetic guidance signal; and a figure-eight coil 4 made of copper wire, used to generate a short-distance electromagnetic guidance signal. The two sets of signal coils are arranged in a superimposed manner, with the U-shaped coil 3 having one turn and the figure-eight coil 4 having two turns. The driving frequency of the transmission lead is 112Hz, and the carrier frequency is 10kHz. The driving frequency and carrier frequency can be square wave signals or sine wave signals. The carrier signal contains a 16-bit digital signal, which is a special sequence containing an ID number and a guidance signal.

[0046] Robot 1 is equipped with an electromagnetic signal detector 12, which detects the electromagnetic guidance signal emitted by the electromagnetic signal transmitter and captures, analyzes, and processes the electromagnetic guidance signal. The electromagnetic guidance signal contains position information, distance information, direction information, and a special sequence code. A communication module is used to transmit the processed electromagnetic guidance signal to the robot control module; the robot control module is used to adjust the robot's pose.

[0047] The electromagnetic signal transmitter diffuses the electromagnetic signal around the charging pile (with a radius of about 3m centered on the charging pile). The electromagnetic signal detector is within the signal receiving range and performs processing such as capturing, identifying, amplifying, and filtering of the electromagnetic signal to obtain the signal code FC1-RCn and the electromagnetic signal strength FS.

[0048] The intelligent robot recharging guidance method includes the following steps:

[0049] 1) When the charging pile is powered on, the infrared transmitter generates infrared signals in three directions, from left to right, with infrared signal areas of S3, S4, and S5 respectively. The electromagnetic signal transmitter generates two electromagnetic guidance signals: the U-shaped coil generates the first electromagnetic signal, covering the area of ​​S1, and the figure-eight coil generates the second electromagnetic signal, covering the area of ​​S2.

[0050] 2) When the robot enters the coverage area S1 of the first electromagnetic signal of the U-shaped coil, the relative position and direction of the robot and the charging pile are calculated based on the far first electromagnetic guidance signal, and the status of the charging pile and the identification code of the charging pile are obtained through a special sequence.

[0051] 3) Then, based on its body posture, the robot finds the signal of the charging station to which it belongs, adjusts its direction to point towards the charging station, and moves towards the charging station. During the movement, it continuously adjusts its direction and controls the stability of the signal in real time, eventually guiding itself to the vicinity of the charging station.

[0052] 4) When approaching the charging station, the infrared device begins to analyze the signal. That is, when the robot enters the coverage area of ​​the infrared signal S3, S4 or S5, and the infrared signal becomes usable, the robot can be clearly distinguished as being to the left, center or right of the charging station by combining the distribution of the infrared signal. For example, if the signal is received at S5, it means that the robot is on the right side of the charging station. Based on the orientation and strength information of the infrared signal, the robot continues to be accurately guided to move towards the charging station.

[0053] 5) When the robot approaches the charging station again, the figure-eight electromagnetic guidance signal begins to intervene. That is, the robot enters the coverage area S2 of the second electromagnetic signal of the figure-eight coil. According to the second electromagnetic guidance signal, when the robot deviates to the left when returning to the station, the robot's posture is guided to the right; when the robot deviates to the right when returning to the station, the robot's posture is guided to the left. This makes the charging socket on the robot align with the charging port on the charging station, and the charging port successfully releases the charging current, and the robot begins to charge.

[0054] The above description is merely a preferred embodiment of the present invention. The scope of protection of the present invention is not limited to the above embodiments. All technical solutions falling within the scope of the present invention's concept are within the scope of protection of the present invention. It should be noted that for those skilled in the art, any improvements and modifications made without departing from the principles of the present invention should also be considered within the scope of protection of the present invention.

Claims

1. A smart robot recharging guidance system, characterized in that: include: An electromagnetic signal transmitter is installed inside the charging pile. The electromagnetic signal transmitter contains a transmitting wire group, which includes two signal coils. The first signal coil is formed by wires in a square shape and is used to generate long-distance electromagnetic guidance signals. The second signal coil is formed by wires in a figure-eight shape and is used to generate short-distance electromagnetic guidance signals. An electromagnetic signal detector, installed inside the robot, is used to detect the electromagnetic guidance signal emitted by the electromagnetic signal transmitter, and to capture, analyze and process the electromagnetic guidance signal. The communication module is used to transmit the processed electromagnetic guidance signal to the robot control module; The robot control module is used to adjust the robot's pose; An infrared transmitter, installed on the charging station, is used to generate infrared signals; An infrared receiver, mounted on the robot, is used to detect signals emitted by the infrared transmitter; The control steps are as follows: 1) When the charging station is powered on, the electromagnetic signal transmitter generates two kinds of electromagnetic guidance signals; 2) When the robot enters the coverage area of ​​the first electromagnetic signal of the U-shaped coil, the relative position and relative direction of the robot and the charging pile are calculated based on the first electromagnetic guidance signal; 3) The robot adjusts its direction and moves towards the charging station. During the movement, it adjusts its direction in real time to move towards the charging station. The infrared transmitter generates infrared signals in three directions. When the robot enters the coverage area of ​​the infrared signals, it continues to move accurately toward the charging pile based on the directional and strength information of the infrared signals. When the infrared signals become usable, the distribution of the infrared signals in the three directions is combined to distinguish whether the robot is on the left, center or right of the charging pile, thus obtaining the directional information of the infrared signals. 4) When the robot enters the coverage area of ​​the second electromagnetic signal of the figure-eight coil, according to the second electromagnetic guidance signal, the charging socket on the robot is aligned with the charging port on the charging pile, the charging port successfully releases the charging current, and the robot begins to charge.

2. The intelligent robot recharging and guidance system as described in claim 1, characterized in that: The two sets of signal coils are arranged in a stacked manner, and the number of turns of the first signal coil and the second signal coil is greater than or equal to 1 turn.

3. The intelligent robot recharging and guidance system as described in claim 1, characterized in that: The electromagnetic guidance signal includes position information, distance information, direction information, and a special sequence code.

4. The intelligent robot recharging and guidance system as described in claim 1, characterized in that: The infrared transmitter includes at least three transmitters, which are located on the top of the charging pile. Each transmitter generates a fan-shaped infrared signal area, and the infrared signal areas of each transmitter do not interfere with each other.

5. The intelligent robot recharging and guidance system as described in claim 1, characterized in that: The robot obtains the status of the charging pile and identifies its identity code based on a special sequence in the electromagnetic guidance signal. Based on its body posture, the robot finds the signal of the charging pile corresponding to the identity number, adjusts its direction, and moves towards the charging pile.

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