Intelligent cleaning robot applying laser sensing charging technology

Abstract

The invention relates to the technical field of sweeping robots, and particularly discloses an intelligent sweeping robot applying a laser sensing charging technology, which comprises a robot body, a laser sensing module, a central controller, a driving chassis, a charging contact assembly and a self-adaptive butt joint adjusting mechanism, a central controller is integrated in the robot body, and the central controller is electrically connected with the laser sensing module, the driving chassis and the charging contact assembly through a data bus. According to the invention, the laser sensing module recognizes a high-reflectivity positioning marking belt on the charging base, the central controller is combined to carry out pose calculation and trajectory planning, and the pitching adjusting assembly, the transverse fine tuning assembly and the contact pressure feedback unit are used to realize micron-scale butt joint adjustment in a three-dimensional space. Therefore, the problems of uneven ground, contact offset, ambient light interference and the like can be effectively overcome, and the precision, reliability and success rate of automatic charging are remarkably improved.

Description

Technical Field

[0001] This invention relates to the field of robotic vacuum cleaner technology, and in particular to an intelligent robotic vacuum cleaner that utilizes laser sensing charging technology. Background Technology

[0002] As an important piece of equipment for home and commercial cleaning automation, intelligent cleaning robots have been widely used in indoor cleaning scenarios thanks to their functions such as path planning, autonomous obstacle avoidance and automatic recharging. Their core functions rely on a stable energy supply and accurate positioning and docking capabilities. In existing automatic charging technologies, infrared or contact sensing solutions are widely used due to their low cost and simple implementation, while laser sensing technology is gradually being applied in high-end models due to its high-precision ranging and environmental modeling capabilities.

[0003] Currently, laser-sensor-based charging docking systems have limited tolerance for the relative pose of the charging dock and the robot in actual operation. When there are uneven ground, offset charging contacts, or ambient light interference, the docking accuracy and charging success rate may be affected. Summary of the Invention

[0004] The purpose of this invention is to provide an intelligent cleaning robot that utilizes laser sensing charging technology to solve the problems mentioned in the background section.

[0005] To achieve the above objectives, the present invention provides the following technical solution: an intelligent cleaning robot employing laser sensing charging technology, comprising a robot body, a laser sensing module, a central controller, a drive chassis, a charging contact assembly, an adaptive docking adjustment mechanism, and a charging base; the central controller is integrated within the robot body, and is electrically connected to the laser sensing module, the drive chassis, and the charging contact assembly via a data bus; the laser sensing module is located on the upper front side of the robot body and is used to collect spatial point cloud data around the charging base in real time; the drive chassis includes two independently driven wheels and a swivel arm. The supporting wheels are driven by servo motors, and the control signals for the servo motors are output by the central controller. The charging contact assembly includes a pair of elastic conductive contacts, which are fixed to the rear bottom of the robot body by conductive brackets and electrically connected to the robot's internal power management unit. The adaptive docking adjustment mechanism includes a pitch adjustment assembly, a lateral fine-tuning assembly, and a contact pressure feedback unit. The pitch adjustment assembly is located between the bottom of the robot body and the charging contact assembly, the lateral fine-tuning assembly is located on both sides of the charging contact assembly, and the contact pressure feedback unit is embedded inside the elastic conductive contacts.

[0006] The pitch adjustment assembly includes a mounting base, a pitch shaft, a pitch drive motor, an angle encoder, and a mounting plate. The mounting base is located at the bottom of the drive chassis, the pitch shaft is located at the bottom of the mounting base, and both ends of the pitch shaft are rotatably connected to the mounting base. The pitch drive motor is fixed to one side of the mounting base, and its output shaft is connected to one end of the pitch shaft via a reduction gear set. The angle encoder is coaxially mounted on the other end of the pitch shaft, and its signal output terminal is connected to the central controller. The conductive bracket of the charging contact assembly is fixedly connected to the pitch shaft in the middle, and the mounting plate is located at the top of the mounting base.

[0007] The lateral fine-tuning component includes a motor mounting plate, a stepper motor, a rotating shaft, and a bearing. The motor mounting plate is located at the bottom of the robot body and is L-shaped. The stepper motor is located on the upper surface of the motor mounting plate, and the output shaft of the stepper motor is fixedly connected to the mounting base. The rotating shaft is located at the top of the mounting base, and a bearing is sleeved on the top of the rotating shaft. The rotating shaft is rotatably connected to the bottom of the robot body through the bearing.

[0008] The contact pressure feedback unit includes a strain gauge sensor, a signal conditioning circuit, and an analog-to-digital converter module. The strain gauge sensor is attached to the root bending area of ​​the elastic conductive contact. The signal conditioning circuit is electrically connected to the strain gauge sensor and is used to amplify and filter the original strain signal. The analog-to-digital converter module converts the analog signal into a digital signal and transmits it to the central controller.

[0009] The laser sensing module includes a laser emitter, a rotating mirror, a photoelectric receiving array, and a synchronization control unit. The laser emitter emits a continuous laser beam, which is periodically deflected by the rotating mirror to form a fan-shaped scanning plane. The photoelectric receiving array receives the laser signal reflected back from the surface of the charging base. The synchronization control unit controls the angular velocity of the rotating mirror and synchronizes it with the sampling timing of the photoelectric receiving array, thereby constructing a two-dimensional contour map of the charging base and its surrounding obstacles.

[0010] The charging base is equipped with a high-reflectivity positioning mark strip, which is symmetrically distributed around the front of the charging base. Its surface is coated with a material that has high reflectivity to the operating wavelength of the laser sensing module, which is used to enhance the intensity of the laser echo signal and improve the robustness of feature recognition.

[0011] The central controller is equipped with a laser point cloud preprocessing module, a feature matching module, a pose calculation module, and a docking trajectory planning module. The laser point cloud preprocessing module filters, denoises, and segments the ground in the raw point cloud data. The feature matching module extracts the contour of the high-reflectivity positioning marker band from the preprocessed point cloud and performs geometric matching with the pre-stored charging dock standard model. The pose calculation module calculates the six-degree-of-freedom relative pose of the robot body relative to the charging dock based on the matching results. The docking trajectory planning module generates a phased docking path based on the relative pose, including a coarse alignment stage, a fine adjustment stage, and a final contact stage.

[0012] During the coarse alignment stage, the central controller controls the drive chassis to move along a straight path to a predetermined distance in front of the charging base. During the fine adjustment stage, the central controller drives the pitch drive motor and the stepper motor respectively based on the pitch angle deviation and lateral offset output by the pose calculation module, so that the charging contact assembly can be adjusted at the micrometer level in the vertical and horizontal directions. During the final contact stage, the central controller continuously reads the output signal of the contact pressure feedback unit. When it detects that the pressure values ​​of the elastic conductive contact pieces all reach the preset threshold and the difference is less than the allowable tolerance, it determines that the docking is complete and starts the charging process.

[0013] Preferably, the elastic conductive contact is made of beryllium copper alloy, and its free end is bent outward to form a pre-tightening arc. The conductive bracket is provided with an insulating bushing to isolate the electrical connection between the elastic conductive contact and the metal structure of the robot body.

[0014] Preferably, the universal support wheel includes a rubber wheel body, a spherical universal joint, and a damping spring; the rubber wheel body is connected to the spherical universal joint via a pin; the upper end of the spherical universal joint is connected to the bottom of the robot body and is rotatably connected to the robot body; the damping spring is sleeved between the rubber wheel body and the bottom of the spherical universal joint, and the spring stiffness is 8N / mm; the damping spring is used to absorb vertical impacts caused by uneven ground and maintain the stability of the robot body's posture.

[0015] Preferably, the high reflectivity positioning marker strip is composed of multiple discrete circular reflective stickers, each reflective sticker is arranged according to a specific geometric pattern, and the feature matching module achieves robust matching that is resistant to rotation and occlusion by recognizing the topological relationship of the geometric pattern.

[0016] Preferably, the docking trajectory planning module adopts a closed-loop feedback control strategy during the fine-tuning stage, using the real-time deviation output by the pose calculation module as input.

[0017] Preferably, when the central controller detects that the ambient light intensity exceeds a preset threshold, it automatically increases the output power of the laser transmitter and simultaneously adjusts the gain parameters of the photoelectric receiving array to maintain the signal-to-noise ratio within the effective operating range.

[0018] Preferably, the pitch adjustment component and the lateral fine-tuning component of the adaptive docking adjustment mechanism are mechanically decoupled from each other, so that vertical attitude adjustment will not cause horizontal position shift, and vice versa.

[0019] Compared with the prior art, the beneficial effects of the present invention are: This invention constructs a highly robust environmental perception system by integrating a laser sensing module and a high-reflectivity positioning marker strip, effectively suppressing the impact of ambient light interference on feature recognition. By setting up an adaptive docking adjustment mechanism including a pitch adjustment component, a lateral fine-tuning component, and a contact pressure feedback unit, it achieves proactive compensation for multi-dimensional disturbances such as ground unevenness, charging base installation errors, and contact offset. The central controller drives each actuator to perform closed-loop fine-tuning based on real-time pose calculation results, enabling the charging contact components to have precise pose adjustment capabilities in three-dimensional space. The elastic conductive contact piece combined with the pressure feedback mechanism ensures the reliability of physical contact and the stability of electrical connection. The overall solution significantly improves the automatic charging success rate and long-term operational reliability of intelligent cleaning robots in complex indoor environments. Attached Figure Description

[0020] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0021] Figure 1 The main structure of the present invention Figure 1 ; Figure 2 The main structure of the present invention Figure 2 ; Figure 3 This is a bottom view of the main structure of the present invention; Figure 4 This is a schematic diagram of the universal support wheel in this invention; Figure 5 This is a schematic diagram of the adaptive docking adjustment mechanism in this invention; Figure 6 This is an exploded view of the adaptive docking adjustment mechanism in this invention. Figure 7 This is a schematic diagram of the contact pressure feedback unit in this invention; Figure 8 This is a schematic diagram of the structure of the laser sensing unit in this invention; Figure 9This is a schematic diagram of the central controller in this invention; Figure 10 This is a schematic diagram of the charging dock in this invention.

[0022] Explanation of reference numerals in the attached figures: 1. Robot body; 2. Laser sensing module; 21. Laser emitter; 22. Rotating reflector; 23. Optoelectronic receiver array; 24. Synchronization control unit; 3. Central controller; 31. Laser point cloud preprocessing module; 32. Feature matching module; 33. Pose calculation module; 34. Docking trajectory planning module; 4. Drive chassis; 41. Left wheel; 42. Right wheel; 43. Universal support wheel; 431. Rubber wheel body; 432. Spherical universal joint; 433. Damping spring; 5. Charging contact assembly; 51. Elastic conductive contact piece. 52. Conductive support; 6. Adaptive docking adjustment mechanism; 61. Pitch adjustment assembly; 611. Mounting base; 612. Pitch pivot; 613. Pitch drive motor; 614. Angle encoder; 615. Mounting base plate; 62. Lateral fine-tuning assembly; 621. Motor mounting plate; 622. Stepper motor; 623. Rotating shaft; 624. Bearing; 63. Contact pressure feedback unit; 631. Strain gauge sensor; 632. Signal conditioning circuit; 633. Analog-to-digital converter module; 7. Charging base; 71. High reflectivity positioning mark strip. Detailed Implementation

[0023] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0024] Please see Figures 1 to 10 The present invention provides a technical solution: A smart cleaning robot employing laser sensing charging technology includes a robot body 1, a laser sensing module 2, a central controller 3, a drive chassis 4, a charging contact assembly 5, an adaptive docking adjustment mechanism 6, and a charging base 7. The central controller 3 is integrated inside the robot body 1 and establishes electrical connections with the laser sensing module 2, the drive chassis 4, and the charging contact assembly 5 via a CAN bus. The laser sensing module 2 is fixedly installed inside the upper front housing of the robot body 1 and is used to collect spatial point cloud data around the charging base 7 in real time. The drive chassis 4 includes a left-hand drive wheel. 41. The right walking wheel 42 and the universal support wheel 43, the left walking wheel 41 and the right walking wheel 42 are driven by independent servo motors, and the control signals of the servo motors are output by the central controller 3; the charging contact assembly 5 includes an elastic conductive contact 51, which is fixed to the bottom rear side of the robot body 1 by a conductive bracket 52 and is electrically connected to the internal power management unit; the adaptive docking adjustment mechanism 6 is set between the bottom of the robot body 1 and the charging contact assembly 5, and includes a pitch adjustment assembly 61, a lateral fine adjustment assembly 62 and a contact pressure feedback unit 63.

[0025] like Figure 3 , Figure 4 , Figure 5 and Figure 6 As shown, the pitch adjustment assembly 61 includes a mounting base 611, a pitch shaft 612, a pitch drive motor 613, an angle encoder 614, and a mounting base plate 615. The mounting base 611 is located at the bottom of the drive chassis 4, the pitch shaft 612 is located at the bottom of the mounting base 611, and both ends of the pitch shaft 612 are rotatably connected to the mounting base 611. The pitch drive motor 613 is fixed to one side of the mounting base 611, and its output shaft is connected to one end of the pitch shaft 612 through a reduction gear set. The angle encoder 614 is coaxially mounted on the other end of the pitch shaft 612, and its signal output end is connected to the central controller 3. The middle part of the conductive bracket 52 of the charging contact assembly 5 is fixedly connected to the pitch shaft 612, and the mounting base plate 615 is located at the top of the mounting base 611. The lateral fine-tuning component 62 includes a motor mounting plate 621, a stepper motor 622, a rotating shaft 623, and a bearing 624. The motor mounting plate 621 is located at the bottom of the robot body 1 and is L-shaped. The stepper motor 622 is located on the upper surface of the motor mounting plate 621, and the output shaft of the stepper motor 622 is fixedly connected to the mounting base 611. The rotating shaft 623 is located at the top of the mounting base 611, and the top of the rotating shaft 623 is fitted with a bearing 624. The rotating shaft 623 is rotatably connected to the bottom of the robot body 1 through the bearing 624.

[0026] like Figure 7As shown, the contact pressure feedback unit 63 includes a strain gauge sensor 631, a signal conditioning circuit 632, and an analog-to-digital converter module 633. The strain gauge sensor 631 adopts a foil structure and is attached to the outer surface of the bent area at the root of the elastic conductive contact 51. The signal conditioning circuit 632 is encapsulated in the cavity inside the conductive support 52, and its input end is electrically connected to the strain gauge sensor 631 through a flexible lead. The analog-to-digital converter module 633 is integrated into the output end of the signal conditioning circuit 632, and its digital signal output end is connected to the ADC interface of the central controller 3 through a ribbon cable.

[0027] like Figure 8 As shown, the laser sensing module 2 includes a laser emitter 21, a rotating reflector 22, a photoelectric receiving array 23, and a synchronization control unit 24. The laser emitter 21 emits a continuous laser beam with a wavelength of 905nm, which is periodically deflected by the rotating reflector 22 to form a fan-shaped scanning plane. The photoelectric receiving array 23 is composed of 64 PIN photodiodes arranged linearly to receive the laser signal reflected from the surface of the charging base 7. The synchronization control unit 24 is integrated on the main control board of the laser sensing module 2, and its output is connected to the drive motor of the rotating reflector 22 and the sampling clock port of the photoelectric receiving array 23, respectively, to ensure that the scanning angular velocity and the sampling timing are strictly synchronized, thereby constructing a two-dimensional contour point cloud map of the charging base 7 and its surrounding obstacles.

[0028] like Figure 10 As shown, the charging base 7 has a high reflectivity positioning mark band 71 on the front. The high reflectivity positioning mark band 71 is composed of six circular reflective stickers distributed at the vertices of a regular hexagon. The surface of the reflective stickers is coated with a titanium dioxide composite coating that has high reflectivity to 905nm wavelength laser, and its reflectivity is ≥85%.

[0029] like Figure 9 As shown, the central controller 3 is equipped with a laser point cloud preprocessing module 31, a feature matching module 32, a pose calculation module 33, and a docking trajectory planning module 34. The laser point cloud preprocessing module 31 performs median filtering, statistical outlier removal, and RANSAC ground segmentation algorithm. The feature matching module 32 extracts the contour point set of the high reflectivity positioning marker band 71 from the preprocessed point cloud and performs ICP geometric matching with the standard model of the charging base 7 pre-stored in ROM. The pose calculation module 33 calculates the six-degree-of-freedom relative pose of the robot body 1 relative to the charging base 7 based on the matching result, including the three-dimensional translation. With three-dimensional rotation angle The docking trajectory planning module 34 generates a three-stage docking path based on relative pose.

[0030] During the coarse alignment stage, the central controller 3 controls the drive chassis 4 to move along a straight path to a position 0.3m in front of the charging base 7; during the fine alignment stage, the central controller 3 adjusts the pitch angle deviation output by the pose calculation module 33. and lateral offset The central controller 3 sends PWM control signals to the pitch drive motor 613 and the stepper motor 622 respectively, so that the charging contact assembly 5 can be adjusted at the micrometer level in the vertical and horizontal directions. In the final contact stage, the central controller 3 continuously reads the digital output signal of the contact pressure feedback unit 63. When it detects that the pressure values ​​of the elastic conductive contact pieces 51 on both sides have reached the preset threshold of 1.2N and the difference is less than 0.15N, it determines that the physical connection is completed and sends a charging enable signal to the power management unit.

[0031] In this embodiment, it should be further explained that the elastic conductive contact 51 is formed by stamping a beryllium copper alloy strip with a thickness of 0.3mm, and its free end is bent outward to form a pre-tightening arc with a radius of curvature of 25mm; the conductive bracket 52 is embedded with a polyimide insulating bushing to isolate the electrical path between the elastic conductive contact 51 and the metal chassis of the robot body 1.

[0032] In this embodiment, it should be further explained that the universal support wheel 43 includes a rubber wheel body 431, a spherical universal joint 432, and a damping spring 433; the rubber wheel body 431 is connected to the spherical universal joint 432 through a pin; the upper end of the spherical universal joint 432 is connected to the bottom of the robot body 1 and is rotatably connected to the robot body 1; the damping spring 433 is sleeved between the rubber wheel body 431 and the bottom of the spherical universal joint 432, and the spring stiffness is 8N / mm.

[0033] It should be further explained in this embodiment that the scanning plane of the laser sensing module 2 forms a fixed angle of 15° with the horizontal plane. This angle ensures that when the robot is 0.5m away from the charging base 7, the scanning beam just covers the entire front area of ​​the charging base 7 and the 0.2m ground transition section in front of it.

[0034] In this embodiment, it should be further explained that the diameter of the six circular reflective stickers of the high reflectivity positioning mark strip 71 is 10mm, and the center distance between adjacent reflective stickers is 40mm. The feature matching module 32 achieves robust feature matching by recognizing the rotational invariance and connectivity under partial occlusion of the regular hexagonal topology.

[0035] In this embodiment, it should be further explained that the docking trajectory planning module 34 adopts a closed-loop feedback control strategy during the fine-tuning stage. It uses the real-time deviation output by the pose calculation module 33 as input and dynamically adjusts the operating parameters of the pitch drive motor 613 and the micro stepper motor 622 through a discrete PID controller. The control law is as follows: ; in The deviation is for the current time. .

[0036] In this embodiment, it should be further explained that the central controller 3 has a built-in ambient light intensity detection unit. When the ambient illuminance exceeds 5000 lux, it automatically increases the drive current of the laser emitter 21 from 80mA to 120mA, and simultaneously increases the gain of the transimpedance amplifier of the photoelectric receiver array 23 from 50... Adjusted to 80 To maintain a signal-to-noise ratio of no less than 20dB.

[0037] It should be further explained in this embodiment that the pitch adjustment component 61 and the lateral fine adjustment component 62 are mechanically decoupled: the rotation axis of the pitch shaft 612 is perpendicular to the axis of the rotation shaft 623.

[0038] In actual automatic recharging operations, the robot body 1 first navigates to the vicinity of the charging base 7 using the SLAM system; then, the laser sensing module 2 is activated to collect point cloud data in front of the charging base 7; the central controller 3 performs point cloud preprocessing, feature matching, and pose calculation to obtain the relative pose; the drive chassis 4 performs coarse alignment motion to the preset stopping point; then, the pitch drive motor 613 and the stepper motor 622 move synchronously according to the pose deviation, driving the charging contact assembly 5 to perform spatial fine adjustment; during this process, the contact pressure feedback unit 63 monitors the contact force in real time; when the pressure on both sides meets the preset conditions, the charging relay closes and constant current charging begins.

[0039] To enable those skilled in the art to fully understand and implement this invention, the specific implementation principles of this invention are further supplemented below with a specific application scenario.

[0040] In an indoor environment, there is a seam on the ground with a local height difference of about 3mm, and the charging base 7 has a 2.5° deviation from the ideal position due to installation error.

[0041] When the intelligent cleaning robot performs the automatic recharging task, the SLAM navigation system first guides the robot body 1 to move to the vicinity of the charging base 7. At this time, the laser sensing module 2 starts working. The laser emitter 21 emits a continuous laser beam with a wavelength of 905nm. After being deflected by the rotating reflector 22, it forms a fan-shaped scanning plane with an angle of 15° to the horizontal plane. This angle design ensures that at a distance of about 0.5m from the charging base 7, the scanning beam completely covers the front of the charging base 7 and the ground transition area of ​​0.2m in front of it. The photoelectric receiving array 23 synchronously receives the reflected signal, and the synchronous control unit 24 coordinates the angular velocity and sampling timing of the rotating reflector 22 to generate two-dimensional point cloud data containing the high reflectivity positioning mark band 71.

[0042] like Figure 9As shown, the laser point cloud preprocessing module 31 in the central controller 3 first performs median filtering on the original point cloud to suppress random noise, and uses a statistical outlier removal algorithm to remove flying points. Then, it segments the ground point cloud through RANSAC plane fitting, retaining the front feature area of ​​the charging seat 7. The feature matching module 32 extracts a set of regular hexagonal contour points composed of six circular reflective stickers from the preprocessed point cloud. Utilizing its rotation invariance and topological connectivity, it performs ICP matching with the standard model of the charging seat 7 pre-stored in the ROM. Even if some reflective stickers are blocked or ambient light interference causes local signal attenuation, robust recognition can still be achieved. The pose calculation module 33 calculates the six-degree-of-freedom pose of the robot body 1 relative to the charging seat 7 based on the matching results, including the lateral offset. pitch angle deviation This provides crucial input for subsequent fine-tuning.

[0043] After entering the fine-tuning stage, the central controller 3 calculates... and The micro stepper motor 622 and the pitch drive motor 613 are respectively output with control commands. The stepper motor 622 drives the mounting base 611 to rotate, which in turn drives the rotating shaft 623 to rotate. Since the stepper motor 622 drives the mounting base 611 to rotate as a whole, the elastic conductive contact 51 is moved 8.3mm to the right as a whole. At the same time, as Figure 7 As shown, the pitch drive motor 613 drives the pitch shaft 612 to rotate through the reduction gear set, causing the conductive bracket 52 to tilt upward by 1.82° around the horizontal axis to compensate for the pitch deviation caused by the installation tilt of the charging base 7. During this process, the angle encoder 614 provides real-time feedback on the actual angle of the pitch shaft 612, and the number of steps of the micro stepper motor 622 is dynamically corrected by the closed-loop PID controller to ensure that the adjustment accuracy reaches the micron level.

[0044] As the charging contact assembly 5 approaches the metal contacts of the charging base 7, the elastic conductive contact 51 undergoes elastic deformation due to the pre-tightening arc. The strain gauge sensor 631, which is attached to the outer side of its root, also experiences strain and outputs a weak analog voltage signal. This signal is amplified and filtered by the signal conditioning circuit 632 encapsulated in the cavity inside the conductive bracket 52, and then converted into a digital quantity by the analog-to-digital converter module 633 and transmitted to the ADC interface of the central controller 3. The central controller 3 continuously compares the pressure values ​​on the left and right sides. When it detects that the pressure on the left side is 1.23N and the pressure on the right side is 1.18N, both of which exceed the 1.2N threshold and the difference of 0.05N is less than the allowable tolerance of 0.15N, it is determined that the contacts on both sides have achieved balanced and reliable contact.

[0045] It is worth noting that the pitch adjustment assembly 61 and the lateral fine-tuning assembly 62 are structurally strictly decoupled: the rotation axis of the pitch axis 612 is perpendicular to the axis of the rotation axis 623; furthermore, as Figure 4As shown, the damping spring 433 in the omnidirectional support wheel 43 has a stiffness of 8 N / mm, which effectively buffers vertical impacts when there is a 3 mm height difference seam on the ground, maintaining the stability of the bottom posture of the robot body 1 and avoiding pose calculation distortion due to chassis tilt; at the same time, the ambient light intensity detection unit built into the central controller 3 automatically increases the drive current of the laser emitter 21 to 120 mA and increases the transimpedance gain of the photoelectric receiving array 23 to 80 when the illuminance exceeds 5000 lux. This ensures that the signal-to-noise ratio of the point cloud is not less than 20dB, and that the high-reflectivity positioning marker 71 can still be accurately identified under strong light.

[0046] The synergistic effect of the above-mentioned links enables the robot to achieve high-precision and high-reliability automatic charging docking even under complex disturbances such as uneven ground, tilted installation of charging base 7, and ambient light interference. This is achieved through a closed-loop process of laser perception, pose calculation, mechanical fine-tuning, and pressure verification.

[0047] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; unless otherwise specified, the circuit elements used are all common models available on the market. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. An intelligent cleaning robot using laser sensing charging technology, characterized in that: The system includes a robot body (1), a laser sensing module (2), a central controller (3), a drive chassis (4), a charging contact assembly (5), an adaptive docking adjustment mechanism (6), and a charging base (7). The central controller (3) is integrated inside the robot body (1) and is electrically connected to the laser sensing module (2), the drive chassis (4), and the charging contact assembly (5) via a CAN bus. The laser sensing module (2) is fixedly installed inside the upper front shell of the robot body (1). The drive chassis (4) includes a left wheel (41) and a right wheel (42). The robot body (1) is equipped with a universal support wheel (43), and the left walking wheel (41) and the right walking wheel (42) are driven by independent servo motors. The charging contact assembly (5) includes an elastic conductive contact (51), which is fixed to the bottom rear side of the robot body (1) by a conductive bracket (52) and electrically connected to the internal power management unit. The adaptive docking adjustment mechanism (6) is located between the bottom of the robot body (1) and the charging contact assembly (5), and includes a pitch adjustment assembly (61), a lateral fine adjustment assembly (62) and a contact pressure feedback unit (63).

2. The intelligent cleaning robot using laser sensing charging technology according to claim 1, characterized in that: The pitch adjustment assembly (61) includes a mounting base (611), a pitch pivot (612), a pitch drive motor (613), an angle encoder (614), and a mounting base (615). The mounting base (611) is located at the lower part of the drive chassis (4). The pitch pivot (612) is located at the bottom of the mounting base (611), and both ends of the pitch pivot (612) are rotatably connected to the mounting base (611). The pitch drive motor (613) is fixed to one side of the mounting base (611), and its output shaft is connected to one end of the pitch pivot (612) through a reduction gear set. The angle encoder (614) is coaxially mounted on the other end of the pitch pivot (612), and its signal output end is connected to the central controller (3). The middle part of the conductive bracket (52) of the charging contact assembly (5) is fixedly connected to the pitch pivot (612). The mounting base (615) is located at the top of the mounting base (611).

3. The intelligent cleaning robot using laser sensing charging technology according to claim 1, characterized in that: The lateral fine-tuning component (62) includes a motor mounting plate (621), a stepper motor (622), a rotating shaft (623), and a bearing (624). The motor mounting plate (621) is located at the bottom of the robot body (1) and is L-shaped. The stepper motor (622) is located on the upper surface of the motor mounting plate (621), and the output shaft of the stepper motor (622) is fixedly connected to the mounting base (611). The rotating shaft (623) is located at the top of the mounting base (611), and the top of the rotating shaft (623) is fitted with a bearing (624). The rotating shaft (623) is rotatably connected to the bottom of the robot body (1) through the bearing (624).

4. The intelligent cleaning robot using laser sensing charging technology according to claim 1, characterized in that: The contact pressure feedback unit (63) includes a strain gauge sensor (631), a signal conditioning circuit (632), and an analog-to-digital converter (633). The strain gauge sensor (631) is attached to the outer surface of the bent area at the root of the elastic conductive contact (51). The signal conditioning circuit (632) is encapsulated in the cavity inside the conductive support (52), and its input end is electrically connected to the strain gauge sensor (631) through a flexible lead. The analog-to-digital converter (633) is integrated into the output end of the signal conditioning circuit (632), and its digital signal output end is connected to the ADC interface of the central controller (3).

5. The intelligent cleaning robot using laser sensing charging technology according to claim 1, characterized in that: The laser sensing module (2) includes a laser emitter (21), a rotating mirror (22), a photoelectric receiving array (23), and a synchronization control unit (24). The laser emitter (21) emits a continuous laser beam with a wavelength of 905nm, which is periodically deflected by the rotating mirror (22) to form a fan-shaped scanning plane. The photoelectric receiving array (23) is composed of 64 PIN photodiodes arranged linearly. The synchronization control unit (24) controls the angular velocity of the rotating mirror (22) and synchronizes it with the sampling timing of the photoelectric receiving array (23).

6. The intelligent cleaning robot applying laser sensing charging technology according to claim 1, characterized in that: The charging base (7) is located inside the charging chamber, which corresponds to the robot body (1). The front of the charging base (7) is provided with a high reflectivity positioning mark strip (71). The high reflectivity positioning mark strip (71) is composed of six circular reflective stickers with a diameter of 10mm distributed at the vertices of a regular hexagon. The surface of the reflective stickers is coated with a titanium dioxide composite coating that has high reflectivity to 905nm wavelength laser.

7. The intelligent cleaning robot using laser sensing charging technology according to claim 1, characterized in that: The central controller (3) is equipped with a laser point cloud preprocessing module (31), a feature matching module (32), a pose calculation module (33), and a docking trajectory planning module (34); the laser point cloud preprocessing module (31) performs median filtering, statistical outlier removal, and RANSAC ground segmentation algorithm; the feature matching module (32) extracts the contour point set of the high reflectivity positioning marker band (71) in the preprocessed point cloud and performs ICP geometric matching with the standard model of the charging seat (7) pre-stored in ROM; the pose calculation module (33) calculates the six-degree-of-freedom relative pose of the robot body (1) relative to the charging seat (7) based on the matching result; The docking trajectory planning module (34) generates a three-stage docking path based on the relative pose, consisting of a coarse alignment stage, a fine adjustment stage, and a final contact stage.

8. The intelligent cleaning robot applying laser sensing charging technology according to claim 1, characterized in that: The universal support wheel (43) includes a rubber wheel body (431), a spherical universal joint (432), and a damping spring (433); the rubber wheel body (431) is connected to the spherical universal joint (432) through a pin; the upper end of the spherical universal joint (432) is connected to the bottom of the robot body (1) and is rotatably connected to the robot body (1); the damping spring (433) is sleeved between the rubber wheel body and the bottom of the spherical universal joint (432), and the spring stiffness is 8N / mm.

9. The intelligent cleaning robot using laser sensing charging technology according to claim 1, characterized in that: The elastic conductive contact (51) is formed by stamping a beryllium copper alloy strip with a thickness of 0.3mm, and its free end is bent outward to form a pre-tightening arc with a radius of curvature of 25mm; the conductive bracket (52) is embedded with a polyimide insulating bushing.

10. The intelligent cleaning robot using laser sensing charging technology according to claim 1, characterized in that: The scanning plane of the laser sensing module (2) is at a fixed angle of 15° to the horizontal plane.

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