Autonomous robot

Abstract

An autonomous robot (110) is disclosed, including a propulsion system (115, 116, 117), a charging connector (114), a processing unit (111), and a light detection and ranging LIDAR sensor (113). The propulsion system includes: a plurality of wheels (117); one or more motors (116); a plurality of wheels (117); and one or more batteries (115) configured to supply current to the one or more motors (116) to drive at least one of the plurality of wheels (117). The charging connector (114) is connected to the one or more batteries (115) for providing charging current when the autonomous robot (110) docks at a charging station (120). The processing unit (111) is configured to: scan a mark (123) set on the charging station (120) to detect the charging station; determine the relative position of the charging station (120); and control the propulsion system (115, 116, 117) to drive the autonomous robot (110) to the charging station (120).

Description

Technical Field

[0001] This disclosure relates to the field of robotics. Specifically, this disclosure relates to an autonomous robot. Furthermore, this disclosure relates to an autonomous robot system. Additionally, this disclosure relates to a method for controlling an autonomous robot. Background Technology

[0002] In recent years, autonomous robots (or devices) have become increasingly common and are used worldwide to perform a variety of tasks that might otherwise be considered monotonous, time-consuming, or dangerous. With the exponential growth of technology, the demand for robots requiring minimal human interaction—such as those used for charging or refueling, testing, and maintenance—has also increased. Therefore, a primary goal for any robot is to operate autonomously after initial configuration without any human intervention. As the complexity of such robots increases, the energy required to perform their tasks also increases, making energy management crucial for any autonomous robot carrying a mobile energy source.

[0003] Typically, autonomous robots include an onboard power unit (e.g., a battery) that is charged at a docking station (also known as a charging station or base station), where the autonomous robot is configured to autonomously locate and thus navigate to the associated charging station. Traditionally, various robotic devices, along with associated control, navigation systems, and other related systems exhibiting autonomous behavior, are being developed. However, the types and methods of charging stations (including, but not limited to, radio signals, dead reckoning, ultrasonic beams, infrared beams coupled to radio signals, etc.) used by such robotic devices for locating or docking with associated charging stations vary considerably in effectiveness and application.

[0004] One traditional application involves laying wires beneath the surface where the robot operates, but these applications are clearly limited because installing guide wires within surfaces (such as within building floors or under pavements) is costly. If installed on a surface, the guide wires can be damaged by the robot itself or other moving objects. Furthermore, in other implementations, charging stations utilizing transmitted signals require additional safeguards to ensure proper pairing between the robot and the base station for safe and efficient charging. While some implementations require mechanical locking devices to prevent the robot from misaligning during charging, or other components such as raised guide surfaces to guide the robot into contact with the charging station, these additional components increase the size of the charging station and reduce its aesthetics—a significant consideration for autonomous robots targeting the consumer market. The increased size of the charging station also often necessitates concealed indoor installations and reduces available floor space (e.g., cleaning space). Additionally, existing charging stations often lack the ability to protect themselves from contact with autonomous robots during operation, increasing the likelihood of damage to the charging station or robot, and even causing the charging station to shift. Such unintentional collisions may require manual intervention to reposition the charging station and sometimes repair damaged components.

[0005] However, such traditional autonomous robots face various problems when attempting to recharge via docking stations (or charging stations). For example, autonomous robots often fail to dock correctly on the first attempt. This inaccuracy during docking at charging stations is attributed to a variety of factors, including but not limited to geometric (or physical) inaccuracies in the charging station affecting autonomous navigation algorithms, insufficient reference signals and / or markers between the autonomous robot and the charging station at the optimal distance, fluctuations in the strength of reference signals and markers during the docking operation, and even low power levels in the portable power unit (or battery) on the autonomous robot.

[0006] Therefore, given the foregoing discussion, it is necessary to overcome the aforementioned shortcomings and develop truly independent autonomous robots. Consequently, there is a need for an autonomous robot and a method for controlling it that ensures correct docking regardless of the location of the charging station. Summary of the Invention

[0007] The object of this disclosure is to provide an autonomous robot and a method for controlling the autonomous robot, to develop a truly independent autonomous robot that can ensure proper docking regardless of the location of the charging station. Another object of this disclosure is achieved by providing an autonomous robot system as defined in the appended independent claims. Yet another object of this disclosure is achieved by providing a method for controlling an autonomous robot as defined in the appended independent claims, wherein reference is made to the appended independent claims. Advantageous features are set forth in the appended dependent claims.

[0008] Throughout the description and claims of this specification, the words “comprising,” “including,” “having,” and “containing,” as well as variations of these words (e.g., “comprising” and “comprises”), mean “including, but not limited to,” and do not exclude other parts, items, integers, or steps not expressly disclosed. Furthermore, unless the context requires otherwise, the singular form includes the plural form. Specifically, where the indefinite article is used, unless the context requires otherwise, this specification will be understood to encompass both the plural and singular forms. Attached Figure Description

[0009] Figure 1 This is an illustration of a block diagram of an autonomous robot system according to an embodiment of the present disclosure; Figure 2 It is based on the embodiments of this disclosure. Figure 1 A schematic diagram of an autonomous robot system; Figure 3A and Figure 3B This is an illustration of exemplary markers scanned by a processing unit of an autonomous robot through an applied sliding window, according to one or more embodiments of this disclosure; Figures 4A to 4C It is described according to one or more embodiments of this disclosure. Figure 1 An illustration of an exemplary schematic diagram of an autonomous robot system; Figure 5 This is a graphic illustration depicting the positioning tolerance of the charging connector of an autonomous robot relative to a charging station, according to one or more embodiments of this disclosure. Figure 6 This is a flowchart illustrating the steps involved in a method for controlling an autonomous robot according to embodiments of the present disclosure. Detailed Implementation

[0010] The following detailed description illustrates embodiments of the present disclosure and how they can be implemented. Although some modes of carrying out the present disclosure have been disclosed, those skilled in the art will recognize that other embodiments for carrying out or practicing the present disclosure are also possible.

[0011] In a first aspect, this disclosure provides an autonomous robot, including a propulsion system, a charging connector, a processing unit, and a light detection and ranging LIDAR sensor, wherein, The propulsion system includes: multiple wheels; one or more motors configured to drive at least one of the multiple wheels; and one or more batteries configured to supply current to the one or more motors. The charging connector connects to one or more batteries to provide charging current to the one or more batteries when the autonomous robot docks at a charging station. The processing unit is configured as follows: It scans the markers set on the charging station to detect the charging station and responds accordingly. Determine the relative position of the charging station to the autonomous robot, and The control propulsion system drives the autonomous robot to the charging station.

[0012] The autonomous robot disclosed herein improves the accuracy of docking with charging stations during charging operations and enables perfect alignment of the autonomous robot with respect to the charging station, thereby achieving efficient and high-quality (or high-speed) charging operations. Furthermore, this docking operation, which enables perfect alignment of the autonomous robot, eliminates the possibility of accidents, thus preventing damage to both the autonomous robot and the charging station. In addition, the markings on the charging station improve readability and enable the autonomous robot to accurately and efficiently determine the docking point on the charging station, while also allowing the autonomous robot to distinguish between different charging stations (and different robots).

[0013] In a second aspect, this disclosure provides an autonomous robot system comprising an autonomous robot according to any one of the preceding claims and a charging station, wherein the marking is made of an antireflective strip covered with a nonreflective strip.

[0014] By incorporating retroreflective strips—which insert non-reflective material to form machine-readable patterns—the autonomous robot system offers increased docking accuracy. Furthermore, this implementation improves the readability of the markings and prevents glare, enabling reading even in dark or low-light environments.

[0015] In a third aspect, this disclosure provides a method for controlling an autonomous robot, the autonomous robot including a propulsion system, a charging connector, and a LIDAR sensor, wherein, The propulsion system includes: multiple wheels; one or more motors configured to drive at least one of the multiple wheels; and one or more batteries configured to supply current to the one or more motors. The charging connector connects to one or more batteries to provide charging current to the one or more batteries when the autonomous robot docks at a charging station. The method includes: The system scans the markers set on the charging station to detect the charging station and responds accordingly. Determine the location of the charging station relative to the autonomous robot, and The control propulsion system drives the autonomous robot to the charging station.

[0016] The method for controlling the autonomous robot works in conjunction with the robot to achieve accurate positioning at the charging station by using a LiDAR sensor to detect markers placed on the associated charging station. Specifically, implementing a LiDAR sensor in the autonomous robot enables accurate detection of markers placed on the charging station even in low-light or dark conditions. This accurate detection of the markers allows the autonomous robot to efficiently and accurately determine the position of the charging station relative to itself, thereby enabling the robot to move safely and accurately toward the charging station for precise docking, achieving efficient and faster charging while preventing any accidents during operation.

[0017] In a first aspect, this disclosure provides an autonomous robot including a propulsion system, a charging connector, a processing unit, and a light detection and ranging LIDAR sensor. The term "autonomous robot" refers to an artificial intelligence machine configured to perform one or more tasks and operate autonomously in a given environment, i.e., without external control or supervision. For example, an autonomous robot can be a stock transport robot, an automated guided vehicle (AGV), an autonomous cleaning robot, etc. It is worth noting that, for simplicity and clarity, the autonomous robot of this disclosure is described herein as a home autonomous robot with indoor navigation in exemplary embodiments. However, it should be understood that this autonomous robot can be interchanged with other types of autonomous robots with outdoor navigation, such as autonomous vehicles, aerial robots, other home robots, etc., without any limitation. In other words, indoor and outdoor autonomous robots can be implemented interchangeably with all embodiments of this disclosure and combinations of embodiments. The specific structure, size, materials used, etc., of the autonomous robot vary based on the operational and cost constraints of the implementation and do not constitute a limitation of the invention unless expressly defined in the claims.

[0018] The autonomous robot disclosed herein includes: a propulsion system operable to drive the autonomous robot by cooperating with other propulsion components such as motors, regulators, wheels, power supplies, etc.; a LiDAR sensor; and a processing unit. As used herein, the term "propulsion system" refers to a combination of at least one of the hardware, software, and firmware components configured to drive or move the autonomous robot. Specifically, the propulsion system includes: a plurality of wheels; one or more motors configured to drive at least one of the plurality of wheels; and one or more batteries configured to supply current to the one or more motors. The propulsion system includes various components that may include any combination of motors, controllers, regulators, wheels, drive shafts, or gear assemblies, as required based on cost constraints or the intended application of the autonomous robot, and other propulsion components, all of which are well known in the art.

[0019] In this document, the propulsion system is configured to utilize electricity supplied from one or more batteries to drive at least one of a plurality of wheels via one or more motors. Specifically, the one or more motors are mechanically coupled to at least one of the plurality of wheels, and at least one of the plurality of wheels rotates via the motors when current is supplied from the one or more batteries; that is, at any given moment, at least one of the plurality of wheels is in an active state, such as during turning, by rotating only a single wheel of the plurality of wheels via one of the one or more motors to change the orientation of the autonomous robot, and during translation, by simultaneously rotating at least two wheels via one or more motors to move the autonomous robot in the desired direction. It should be understood that although the propulsion system for the indoor autonomous robot explained herein includes a power supply device, i.e., one or more batteries, the electric propulsion system may be replaced by a hydraulic propulsion system or a pneumatic propulsion system without constituting any limitation to this disclosure.

[0020] In one embodiment, the autonomous robot's wheels comprise two sets of two wheels each, located on opposite sides of the robot's chassis. The chassis is formed using conventional materials such as metal, alloy, or plastic, and will not be described further for simplicity. Optionally, the wheels may be tracked wheels, and in one specific embodiment, the wheels have a radius ranging from 6 cm to 24 cm. Those skilled in the art will understand that the number and size of the wheels in the autonomous robot can vary depending on the implementation and does not constitute any limitation on this disclosure. Furthermore, in some embodiments, the wheels may be circular or elliptical. Alternatively, the wheels may be multiple small spherical protrusions extending from the bottom of the autonomous robot. Additionally, alternatively, the wheels may be robotic legs configured to propel the autonomous robot. Therefore, the wheels can take any desired structure depending on the implementation to enable the autonomous robot to move in a desired / indicated direction. Furthermore, although two sets of wheels are shown in the example embodiment, more than two sets of wheels can be used in other embodiments, such as three wheels, four wheels, five wheels, six wheels, seven wheels, eight wheels, etc. The propulsion system of the autonomous robot also includes one or more motors configured to drive at least one of the multiple wheels. The type of motor used herein may be selected from, but is not limited to, at least one of servo motors, DC motors, linear motors, stepper motors, and spindle motors, wherein each of the one or more motors may be used to drive at least one of the multiple wheels of the autonomous robot. Optionally, the propulsion system includes one or more left wheel motor controllers, one or more right wheel motor controllers, one or more left wheel motors, and one or more right wheel motors. These controllers and motors, along with the multiple wheels, enable the movement of the autonomous robot when current is supplied from a power source, as will be described in detail later. As described above, the propulsion system is operatively coupled to a processing unit and controls the movement of the autonomous robot, etc.

[0021] The autonomous robot disclosed herein also includes one or more batteries, i.e., rechargeable power sources, such as 9-volt (V) or 12-V onboard batteries, configured to supply current to one or more motors. In other words, one or more batteries are used to power the autonomous robot and its components, specifically to power one or more motors of the propulsion system. Optionally, the autonomous robot may include a power board connected to the one or more batteries and configured to provide the required current to individual components within the autonomous robot. Those skilled in the art will understand that the autonomous robot may include various other components not described herein, as these components are not related to this disclosure and are well known in the art. In one embodiment, the one or more batteries include 24-volt batteries. In another embodiment, the one or more batteries include 48-V batteries. Specifically, the one or more batteries are configured to provide power to the motor controller of the propulsion system, the processing unit, and any other components of the autonomous robot described herein to enable charging of the autonomous robot as described in this disclosure.

[0022] However, the invention is not limited to this in all embodiments, and the battery (or power source) can be any other type of battery, or it can be solar-powered, AC-powered, or similar.

[0023] The autonomous robot disclosed herein also includes a light-detection and ranging LIDAR sensor configured to remotely sense nearby environmental conditions by applying a laser to a intended target (or location). These conditions include detecting nearby objects, calculating distances to these objects, their orientations, available paths for movement, and the surface condition of the operating area—conditions necessary for the safe maneuvering of the autonomous robot to the intended or desired location. For example, the LIDAR sensor may be a 2D LIDAR scanner or a 3D LIDAR scanner. Specifically, the LIDAR sensor is operable to scan markers (such as QR codes or AprilTag tags) to retrieve information encoded within the scanned markers, thereby transmitting the sensed information to a processing unit for processing. Upon receiving the sensed information from the LIDAR sensor, the processing unit is configured to further process the received information using conventional navigation algorithms and / or software to generate command signals for the propulsion system, in response to which the autonomous robot safely moves or propels towards a target location (such as a charging station or docking station). Each of one or more LiDAR sensors mounted on the autonomous robot is configured to emit a corresponding docking signal to the surrounding environment when activated. This enables the processing unit to calculate the distance and orientation of the autonomous robot relative to the charging station, allowing the processing unit to generate command signals for the propulsion system to drive the autonomous robot toward and dock with the charging station. It should be understood that other types of sensors can be used besides LiDAR sensors, such as, but not limited to, optical sensors (e.g., laser scanners), infrared proximity sensors (e.g., passive infrared (PIR) sensors), ultrasonic sensors, video cameras, etc. Advantageously, the implementation of LiDAR sensors eliminates the need to adjust lighting conditions (e.g., by adding external illumination) and other similar problems faced with traditional camera-based systems, enabling the autonomous robot to navigate effectively.

[0024] In one embodiment, the LIDAR sensor has a field of view (FOV) exceeding 180 degrees. Advantageously, this implementation of the LIDAR sensor enables the autonomous robot to detect markers and / or charging stations not located in front of the autonomous robot, i.e., on either side of the autonomous robot. Furthermore, this implementation reduces the amount of data processed in a given time (compared to a 360-degree FOV), thereby increasing the computational speed of the processing unit. In another embodiment, the LIDAR sensor has a 360-degree field of view (FOV). This implementation of the LIDAR sensor enables complete detection and scanning of the environment, ensuring that the autonomous robot can scan every available marker while monitoring nearby environmental conditions.

[0025] The autonomous robot disclosed herein also includes a charging connector connected to one or more batteries for providing charging current to the one or more batteries when the autonomous robot docks at a charging station. As used herein, the term "charging connector" refers to an electrical contact or component configured to connect to an energy source, such as a charging station, to enable charging operations from the energy source. For example, charging connectors include electrical contacts such as circular connectors, push-pull connectors, flange connectors, and electrical components such as induction coils and transformers. Typically, the use of an autonomous robot results in power consumption, thereby reducing the power level associated with one or more batteries, which can be determined by one or more battery charge sensors operable to determine the state of charge (SOC) of one or more batteries. Due to the reduced battery charge of one or more batteries, the autonomous robot needs to charge from an energy source, and the charging connector provides the necessary interface for charging. However, conventional charging systems suffer from inaccuracies during autonomous robot docking, resulting in significant inefficiencies during charging operations. Typically, to overcome the above problems, the autonomous robot of this disclosure is configured with a customized charging connector (or electrical contact) that provides electrical connection to a corresponding electrical contact on the charging station when the autonomous robot docks at the charging station.

[0026] The placement of connectors on autonomous robots or charging stations can be extended to any suitable location for mating connectors (or coils). For example, charging connectors can be mounted on a vertical surface of the charging station and / or on the autonomous robot. Advantageously, the aforementioned charging connectors are capable of accommodating various lateral and angular deviations between the autonomous robot and the charging station when mated. Typically, the charging connector on the autonomous robot corresponds to the charging connector on the charging station, regardless of their position or orientation. In some embodiments, the charging connector on the charging station or autonomous robot can be larger to allow for wider compliance upon contact and to enable efficient charging of the autonomous robot.

[0027] In one embodiment, a charging connector is configured for wireless charging, wherein the autonomous robot's charging connector is an induction coil similar to that of a charging station. Wireless charging operation is initiated when the autonomous robot's charging connector comes into contact with or is in close proximity to the charging connector of the charging station. In this document, the distance between the charging connectors (i.e., the induction coils) can vary within a predefined range of 15 mm to 40 mm depending on the implementation to achieve optimal charging operation, where an offset of up to 40 mm (from the midpoint of the respective coil) is permitted. Charging operation can also be enabled at other distances; however, a given predefined range is utilized to achieve optimal charging operation for the autonomous robot (i.e., with the maximum charging current). Advantageously, this implementation allows for optimal charging operation without requiring the autonomous robot and the charging station to achieve the perfect alignment required by conventional systems and devices.

[0028] In one embodiment, the charging connector is located at the lower edge of the autonomous robot. Specifically, the charging connector is positioned along the lower edge of the autonomous robot, or within 10 cm of the lower edge. In another embodiment, the charging connector is located at the bottom of the autonomous robot. Positioning the charging connector at the bottom of the autonomous robot or along its lower edge allows for advantageous use of the robot's weight to ensure proper mating with the charging connector at the charging station during docking. Advantageously, positioning the charging connector at the bottom of the autonomous robot utilizes the space beneath it (i.e., typically unused space), while preventing electric shocks that users might experience with conventional charging systems and autonomous robots.

[0029] A "charging station" refers to a site configured to draw power from a connected power distribution network to provide charging current to an autonomous robot when it docks thereon. A charging station includes circuitry configured to provide a supply voltage (or current) for charging the autonomous robot when it docks at the charging station, wherein the charging current is drawn from the power distribution network or any other external power source. Charging stations can come in various shapes and sizes, providing sufficient space for the desired components and systems described in this disclosure. It should be understood that any reference to a charging station in this disclosure includes dedicated charging points, charging connectors, conventional power outlets, and any other suitable means for charging the autonomous robot.

[0030] In one embodiment, the charging station includes a base plate on which a charging connector is disposed. The base plate is configured parallel to the ground on which the charging station is located and is positioned at a low height based on the available space below the autonomous robot. Advantageously, the placement of the charging connector on the base plate allows the weight of the autonomous robot to ensure correct and reliable mating of the charging connector, thereby improving charging operations. Optionally, the base plate may not be parallel to the ground and may have a slightly upward or downward angle to comfortably accommodate the charging connector of the autonomous robot and the charging connector of the charging station disposed on the base plate in the available space below the autonomous robot. Traditionally, the charging connector of the autonomous robot is disposed on at least one side of the autonomous robot (i.e., perpendicular to the ground), and the corresponding charging connector of the charging station is also disposed on a vertical surface. However, this configuration of the charging connectors on the charging station often leads to poor mating and also increases the physical footprint or area occupied by the charging station. Therefore, to overcome the above problems, the charging connector is disposed on the base plate of the charging station, and the corresponding charging connector of the autonomous robot is disposed at the bottom of the autonomous robot. In some embodiments, the angle of the base plate relative to the ground can be varied, for example, minimizing the upward angle of the base plate, so that the autonomous robot can easily and accurately dock with the charging station. It is worth noting that the charging connector is located on the upper surface of the base plate, allowing it to contact the corresponding charging connector on the bottom of the autonomous robot, and advantageously providing the reliable and secure connection required for optimal charging. Optionally, the charging connector of the charging station or the charging connector of the autonomous robot can be fixed or removable.

[0031] In one implementation, the processing unit is also configured to determine the location of the charging station based on a map application, and in response, determine the location of the autonomous robot. Typically, to visualize the work environment and the autonomous robot and associated charging station, a (custom or conventional) map application is used. The processing unit is configured to determine the location of the autonomous robot, where the location of the charging station can be determined relative to the autonomous robot, or as the absolute location of the charging station relative to GPS Earth coordinates, or based on custom coordinates of the work environment. Optionally, the location of the charging station can be obtained by scanning markers set on the charging station, where the associated charging location can be pre-coded on the markers. This implementation allows for easier human supervision and ensures that no problems or errors occur within the work environment.

[0032] In an exemplary embodiment, two charging connectors (i.e., a positive contact and a negative contact) are used to correctly detect the circuitry completed when the autonomous robot docks with the charging station (i.e., on the base plate of the charging station). However, in other embodiments, a single contact or more than two contacts may be used without constituting any limitation to this disclosure. It is worth noting that additional charging connectors may be provided to offer redundancy should one of the charging connectors become damaged, dirty, or clogged. Advantageously, this configuration enables the autonomous robot to dock and charge itself efficiently and effectively, despite such occurrences. Other embodiments utilize two contacts to charge one or more batteries and additional contacts to transfer data and information between the autonomous robot and the charging station or other nearby autonomous robots.

[0033] The processing unit is configured to scan a marker placed on a charging station to detect the charging station and, in response, determine the relative position of the charging station with respect to the autonomous robot. In operation, the processing unit is configured to transmit a command signal to the LIDAR sensor to scan the marker placed on the charging station, thereby detecting the associated charging station as described above (i.e., a charging station specifically configured for a given autonomous robot). Specifically, upon receiving the command signal, the autonomous robot illuminates the intended target (i.e., the marker or charging station) with a laser or any auxiliary lighting device (such as a light-emitting diode) to scan the intended target via the LIDAR sensor. Preferably, to optimize detection and accuracy, the autonomous robot is configured to scan the marker from a distance of 3 meters (m) or less. However, it should be understood that the autonomous robot is capable of scanning the marker from longer distances (such as 5 m, 10 m, 20 m, etc.) without any limitation. In an exemplary operational scenario utilizing a manufacturing complex with multiple charging stations and autonomous robots, each charging station is marked with a corresponding marker. When a given autonomous robot generates a charging demand, a processing unit is configured via a LiDAR sensor to scan the markers at the charging stations to identify whether the scanned marker corresponds to the correct charging station for the given autonomous robot. Furthermore, in response to detecting an associated charging station, the processing unit is also configured to determine the relative position of the detected charging station with respect to the autonomous robot. This allows the processing unit to transmit a command signal to the propulsion system based on the determined relative position to maneuver the autonomous robot to the charging station, thereby enabling the charging operation. Optionally, the processing unit is also configured to normalize the intensity of the LiDAR scan data to a range of 0 to 1 for further processing, wherein the scanned LiDAR data is processed to identify each marker in the nearby environment, thereby extracting all scan data points of the markers.

[0034] As used herein, the term "marker" refers to a LiDAR-based reference marker formed using a bit sequence, where each bit may contain multiple high-intensity or low-intensity laser beams. Markers serve as identifiers for charging stations, and machine-readable code can be encoded on the markers for scanning by an autonomous robot. Such markers, with known geometric dimensions and orientations, provide a means of estimating LiDAR pose data and enabling accurate and efficient mapping of the work environment. Markers are used to identify charging stations and simultaneously enable the autonomous robot to determine the location of the charging station and the location of the charging connectors located on it through encoded machine-readable data. Optionally, the encoded data includes the location of the charging station, its identification, the location and alignment of the charging connectors located on it, etc. Markers can be formed using reflective or non-reflective strips or a combination of both, on which information can be encoded as machine-readable code, such as Quick Response (QR) codes, AprilTag tags, etc. This implementation of marking on charging stations enables the autonomous robot to accurately identify and locate associated charging stations, while simultaneously determining the location and alignment of the charging connectors, thereby achieving accurate docking of the autonomous robot. Those skilled in the art will understand that, due to the versatility of LIDAR and sensors, the location of the markers on the charging station will not affect the accuracy of the detection, and therefore can be varied as needed without any limitations.

[0035] In one embodiment, the marking is formed by inserting a non-reflective strip onto a reflective strip to generate a machine-readable pattern or code that can be read by the LiDAR sensor of an autonomous robot. For example, the reflective strip may be a retroreflective strip (such as a retroreflective strip made of materials such as glass or plastic) covered with a non-reflective strip (such as, but not limited to, clear glossy vinyl, fabric strip, etc.) to encode information about the associated charging station into machine-readable code. The non-reflective strip can be formed using at least one of the following: rubber, non-reflective glass, fabric, plastic, non-metallic, or painted or coated surfaces, matte materials, etc. Advantageously, covering the reflective strip with a non-reflective material improves the readability of the marking through the LiDAR sensor and allows for accurate determination of the marking's precise location, thereby determining the location of the associated charging connector (or mating point). In another embodiment, the marking is formed using a retroreflective strip. In yet another embodiment, the marking is formed using one or more retroreflective strips, and one or more non-reflective strips may be inserted onto the retroreflective strip to generate a machine-readable pattern or code that can be read by the LiDAR sensor of an autonomous robot.

[0036] In one embodiment, the marker comprises a plurality of frames, each having either high or low intensity, and wherein the frames thereby constitute a visual pattern indicating an identification of a charging station. As previously described, the marker is formed using a reflective strip, on which a non-reflective material is placed to form (i.e., on the reflective strip) a high-intensity frame and (i.e., on the non-reflective material) a low-intensity frame, thereby constituting a visual pattern (LIDAR intensity pattern) that can be read by the LiDAR sensor of an autonomous robot. Herein, a high-intensity frame indicates high retroreflectivity of the frame, while a low-intensity frame indicates low retroreflectivity, which will affect the formation of the visual pattern recorded as a return intensity parameter. The width of each frame may be similar or different depending on the intended application of the marker, and is typically between 0.01 m and 0.05 m. Advantageously, the visual pattern formed on the marker enables the identification and positioning of the marker, thereby enabling the detection and positioning of the associated charging station, allowing the autonomous robot to accurately dock at a charging station where the detected marker is located.

[0037] In another embodiment, each frame has a fixed width, and the LIDAR sensor has a scan period and an angular scan speed, wherein the frame width is equal to or greater than the scan distance, wherein the scan distance is equal to the angular scan speed × scan period × 2π × D × N, wherein D is greater than or equal to 3 meters, and wherein N is 1, 2, 3, 4, 5, or greater. Typically, the LIDAR sensor is configured to measure spectral information associated with the tag, such as laser echo intensity (LRI), which is due to the interaction between the pulse wavelength emitted by the LIDAR sensor and the target tag or frame. Furthermore, in addition to spatial and spectral information, the LIDAR sensor requires temporal information to accurately determine the location and identification of the tag and / or charging station. In this document, the LIDAR can be reused to collect temporal data associated with the tag. This implementation advantageously enables the LIDAR to read machine-readable codes (such as barcodes or AprilTag tags) with absolute accuracy at a distance of at least 3 meters. Furthermore, to improve the accuracy of marker detection and localization via the autonomous robot, the width of each frame of the marker is fixed based on the implementation method, wherein the width of each frame is equal to or greater than the scanning distance, and ranges from 0.5 mm to 1 mm, 1 mm to 2 mm, 2 mm to 5 mm, 5 mm to 10 mm, 10 mm to 20 mm, 20 mm to 50 mm, and 50 mm to 100 mm, to optimize marker recognition at a distance of at least 3 m. This configuration of the markers provides sufficient LiDAR readings required for accurate and reliable detection of markers or charging stations. The term "scanning distance" refers to the total distance scanned by the LiDAR while rotating at an angular scan speed within a scan cycle. In this paper, the scan cycle and angular scan speed can be varied to change the scanning distance, thereby improving detection accuracy. Specifically, the scanning distance is determined as follows: Scanning distance (SD) = angular scanning speed (s) × scanning cycle (t) × 2π × D × N, where "D" refers to the distance between the LIDAR sensor and the marker and is greater than or equal to 3 m, and where "N" represents the number of scans performed within the scanning cycle and is proportional to the detection accuracy of each frame or marker.

[0038] In another embodiment, the processing unit is also configured to determine the distance to the charging station based on the width of the frame by calculating the number of scans within a frame. Typically, since the angular scan speed and scan cycle are known, the processing unit can determine the distance from the autonomous robot to the charging station based on the number of scans performed within each frame. Alternatively, the processing unit can determine the distance from the autonomous robot to the charging station based on the time elapsed between laser pulse emission and reflected pulse reception. This calculation of the charging station distance based on the width of the marked frame provides improved detection accuracy for the autonomous robot while minimizing inaccuracies during calculation.

[0039] In one embodiment, the processing unit is configured to scan a marker by receiving optical scanning data from a LIDAR sensor, wherein the optical scanning data includes a plurality of scan data points, each scan data point indicating a high-intensity reading or a low-intensity reading of the marker. The processing unit is also configured to detect a first scan data point indicating a first high-intensity reading, and in response, to group subsequent scan data points into bit groups based on the distance between the scan data points, each bit group including one or more scan data points corresponding to a box in the marker. Typically, upon detecting the first scan data point indicating the first high-intensity reading, the processing unit is configured to group subsequent scan data points (i.e., after the first data point) based on the distance between the data points. For example, one or more scan data points located within a distance of 0.05 m can be grouped into bit groups, where each bit group corresponds to a given box in the marker. Optionally, the processing unit is also configured to detect a second scan data point indicating a first low-intensity reading, and in response, to group subsequent scan data points into bit groups based on the distance between the scan data points, each bit group including one or more scan data points corresponding to a box in the marker. In operation, marker detection is performed by processing the intensity of laser scan data received from a LIDAR sensor. Typically, the processing unit detects the first high-intensity point of the marker, thereby calculating the distance between each consecutive point in the LIDAR scan data to track the cumulative distance relative to the high-intensity points and the total cumulative distance. Optionally, the length of each bit in the marker is in the range of 0.01 m to 0.2 m, and in a preferred embodiment, the length of each bit is equal to 0.05 m. Correspondingly, if the current length of the marker exceeds the expected length of the current bit, the processing unit is configured to calculate the ratio of the cumulative distance relative to the high-intensity points to the total distance, thereby determining whether a given bit is a high-intensity bit or a low-intensity bit. Optionally, the number of bits in a given bit group is 2 to 10, and in a preferred embodiment, it is equal to 6. In this document, when grouping scan data points into bit groups, the processing unit is also configured to determine the ratio of scan data points indicating high-intensity readings to scan data points indicating low-intensity readings in each bit group, and determine that the box corresponding to that bit group is a high-intensity box when this ratio exceeds a threshold ratio level that can be predefined based on the implementation. Furthermore, the processing unit is configured to determine the ratio of scan data points indicating high-intensity readings to scan data points indicating low-intensity readings in each bit group, thereby comparing the calculated ratio with a predefined threshold ratio level. Optionally, the threshold ratio level associated with high-intensity data points ranges from 0.3 to 0.7 (i.e., based on normalized intensity data), and in a preferred embodiment, the threshold ratio level is 0.4. Upon comparison, if the calculated ratio of the associated bit group is determined to be higher than the threshold ratio level, the corresponding bit group is classified as a high-intensity bit group, and vice versa.

[0040] As used herein, "relative position" refers to at least one of the orientation (or direction) and / or distance of the charging station relative to the autonomous robot. Optionally, the relative position can be the absolute position of the charging station, such as Global Positioning System (GPS) coordinates or custom coordinates based on the working environment using a dedicated mapping application. Determining the relative position of the charging station enables the autonomous robot to move toward it when needed. For example, the relative position can be the direction in which the autonomous robot is required to move, while considering the front of the autonomous robot as north or 0 degrees. In another example, the relative position can be the distance between the charging station and the autonomous robot, measured in meters or centimeters. In yet another example, the relative position can indicate the absolute position of the charging station, for example, providing GPS coordinates of its location on the Earth's surface or custom coordinates based on the operating area. Advantageously, marking the determined relative position of the charging station enables the processing unit to determine the command signals (or traction commands) to be sent to the propulsion system to safely maneuver the autonomous robot toward the charging station while achieving accurate docking of the autonomous robot at the charging station.

[0041] The processing unit is also configured to control the propulsion system to drive the autonomous robot to the charging station. Utilizing a combination of the autonomous robot's components (i.e., LIDAR, sensors, processing unit, and propulsion system) and markings on the charging station, the processing unit is configured to control the propulsion system after determining the position and orientation of the charging station relative to the autonomous robot or relative to a boundary (i.e., the perimeter or predefined boundary as described above). This propulsion system automatically drives the autonomous robot to the charging station for docking, thereby achieving efficient charging operations.

[0042] In one embodiment, the processing unit is configured to iteratively calculate the relative position of the charging station to the autonomous robot; that is, to calculate the distance and orientation between the charging station and the autonomous robot as it approaches the charging station, as will be described in more detail below. Furthermore, the processing unit is configured to generate, based on the distance and orientation of the autonomous robot relative to the charging station, a traction command required for the propulsion system to drive the autonomous robot toward the charging station until the autonomous robot docks at the charging station. It should be understood that the iteration frequency can be interchanged based on the energy and cost constraints of the autonomous robot.

[0043] In one embodiment, the processing unit is further configured to apply a sliding time window to the scanning of the marker, wherein the length of the sliding time window corresponds to the length of the marker. When applying the sliding time window to the scanning of the marker, the processing unit is also configured to set the starting point of the sliding time window at a first scan data point. Typically, marker detection is performed by processing the intensity of the laser scan data received from the LIDAR sensor through a dynamic sliding window, wherein the size of the sliding window can be set to be equal to or less than the total length of the marker. In operation, the processing unit detects a first high-density point of the marker, thereby iteratively initiating a dynamic window search, wherein each iteration can be performed based on a specified time interval. Notably, the time interval can be determined based on the operating conditions of the LIDAR sensor, such as, but not limited to, scan speed, scan time, etc. In each iteration of the sliding time window, the processing unit is configured to calculate the distance between each consecutive point in the LIDAR scan data, thereby tracking the cumulative distance (or time) relative to the high-intensity points and the total cumulative distance (or time). Correspondingly, if the current length (or time) of the marker exceeds the expected length (or time) of the current bit, the processing unit is configured to calculate the ratio of the cumulative distance relative to the high-intensity point to the total cumulative distance, thereby determining whether the given bit is a high-intensity bit or a low-intensity bit based on a comparison with a threshold ratio level. Typically, if the determined ratio of the cumulative distance relative to the high-intensity point to the total cumulative distance is greater than the threshold ratio level, the given bit is determined to be a high-intensity bit, and if the determined ratio is less than the threshold ratio level, the given bit is determined to be a low-intensity bit. This sliding window implementation improves the accuracy of marker detection by autonomous robots, thereby enabling accurate docking at charging stations. Furthermore, if a complete marker is detected within the sliding time window, the processing unit is configured to store the original point of the marker and the corresponding bit data to generate a detected marker vector for further use.

[0044] In another embodiment, the processing unit is further configured to: determine the optimal fit of a line indicating the alignment of data scan points within a sliding window, and determine the alignment of the autonomous robot relative to a marker based on the line indicating the alignment of the data scan points (A). Typically, the processing unit uses a predefined library to fit a line from multiple scan data points detected in the laser scan data, wherein the optimal fitted line indicates the orientation of the charging station, i.e., the absolute orientation or the relative orientation with respect to the autonomous robot. Furthermore, the optimal fitted line enables the processing unit to determine the alignment of the scan data points within the sliding time window. Correspondingly, the processing unit is also configured to determine the alignment of the autonomous robot based on the previously determined optimal fitted line, such that perfect alignment of the autonomous robot relative to the charging station is achieved during docking operations to ensure proper mating of the charging connectors during charging operations. Optionally, the determined alignment is perpendicular to the determined optimal fitted line; however, it should be understood that while the autonomous robot is configured to achieve perfect alignment to improve charging operations, the autonomous robot is configured with a tolerance of approximately 0 to 10 degrees so that charging operations are not hindered even under non-ideal conditions.

[0045] In one embodiment, the processing unit is further configured to determine the identifier of a charging station. Typically, based on a scanned tag including machine-readable code encoding information associated with the charging station, the processing unit is also configured to determine whether the charging station is an approved charging station based on the determined charging station identifier, and if so, to control the propulsion system such that the charging connector connects to the charging connector of the charging station. In an exemplary work scenario utilizing multiple charging stations and autonomous robots in a manufacturing plant, each charging station is marked accordingly, and when a given autonomous robot generates a charging demand, the processing unit is configured via a LIDAR sensor to scan the tags on the charging stations to identify whether the scanned tag corresponds to an approved (or associated) charging station for the given autonomous robot. Furthermore, in response to successfully detecting an associated charging station, the processing unit is also configured to control the propulsion system by transmitting command signals for manipulating the autonomous robot to the approved charging station, such that the charging connector connects to the charging connector of the associated charging station. Advantageously, this implementation prevents autonomous robots from docking at unauthorized or unrelated charging stations that may not be configured to accommodate a given autonomous robot, thus preventing any accidents due to compatibility issues.

[0046] In one embodiment, the processing unit is further configured to: determine the position of the marker, wherein the position of the marker is predetermined relative to the charging connector of the charging station; and control the propulsion system such that the charging connector engages with the charging connector of the charging station. Typically, the processing unit is also configured to determine the position of the marker relative to the charging connector of the charging station (i.e., a second relative position), enabling the autonomous robot to identify the position of the charging connector solely by detecting the marker, thereby adapting to docking or charging operations safely and accurately, while preventing any damage to the autonomous robot or the charging station, or to components of the autonomous robot or the charging station, due to compatibility issues that may arise during contact.

[0047] In another embodiment, the processing unit is further configured to: determine the midpoint of the marker; determine the alignment (A) of the autonomous robot relative to the marker based on a comparison between the midpoint of the LIDAR sensor and the midpoint of the marker; and control the propulsion system such that the charging connector connects to the charging connector of the charging station based on the alignment (A). Typically, upon detecting a marker placed on the charging station, the processing unit is configured to determine the midpoint of the marker and determine the alignment of the autonomous robot relative to the marker by comparing the midpoint of the LIDAR sensor with the midpoint of the marker. Typically, the midpoint of the marker can be aligned relative to the midpoint of the autonomous robot. Optionally, the processing unit is also configured to determine the alignment of the autonomous robot relative to the marker by comparing the midpoint of the autonomous robot with the midpoint of the marker. This comparison ensures that the autonomous robot is perfectly aligned relative to the charging station and achieves proper mating of the charging connector for efficient charging of the autonomous robot.

[0048] This disclosure also relates to the autonomous robot system described above. The various embodiments and variations disclosed above regarding the aforementioned autonomous robots are applicable to the autonomous robot system with necessary modifications to the details. A second aspect of this disclosure provides an autonomous robot system comprising the autonomous robot of the first aspect and a charging station configured to efficiently charge the autonomous robot, wherein a marker disposed on the charging station is made of an antireflective strip covered with a non-reflective strip and is configured to detect and locate the position of the charging station relative to the autonomous robot to ensure safe and accurate docking of the autonomous robot with the charging station. Advantageously, the use of an antireflective strip for marking and the covering of the marking with a non-reflective material (such as a transparent glossy vinyl) reduces glare effects caused by incident light (or laser) and improves the readability of the marking through the autonomous robot's LIDAR sensor.

[0049] This disclosure also relates to a method for controlling an autonomous robot as described above. The various embodiments and variations disclosed above regarding autonomous robots, with necessary modifications to details, are applicable to methods for controlling autonomous robots.

[0050] Detailed description of the attached figures

[0051] refer to Figure 1 Figure 100 shows a block diagram of an autonomous robot system 100 according to an embodiment of the present disclosure. As shown, the autonomous robot system 100 includes an autonomous robot 110 and a charging station 120 configured to efficiently charge the autonomous robot 110. A marker 123 disposed on the charging station 120 is made of a retroreflective strip covered with a transparent glossy vinyl and is configured to enable detection and positioning of the charging station 120 relative to the autonomous robot 110 to ensure safe and accurate docking with the charging station 120.

[0052] refer to Figure 2 This illustrates one or more embodiments according to the present disclosure. Figure 1 A schematic diagram of an autonomous robot system 100 is shown. As shown, the autonomous robot system 100 includes an autonomous robot 110 and a charging station 120. Furthermore, as shown, the autonomous robot 110 includes propulsion systems 115, 116, and 117, wherein the propulsion systems 115, 116, and 117 include: a plurality of wheels 117; one or more motors 116 configured to drive at least one of the plurality of wheels 117; and one or more batteries 115 configured to supply current to the one or more motors 116. Additionally, the autonomous robot 110 includes a processing unit 111, a charging connector 114, and a light detection and ranging LIDAR sensor 113. Furthermore, the charging station 120 includes a marking 123 disposed on the charging station 120, wherein optionally, the marking 123 includes a plurality of frames 123A, 123B, wherein each frame 123A, 123B has a high intensity or a low intensity, and wherein the frames 123A, 123B thereby constitute a visual pattern indicating the charging station 120.

[0053] refer to Figure 3A and Figure 3B An exemplary marker 123 is shown, scanned by a processing unit 111 of an autonomous robot 110 via an applied sliding window 118 according to one or more embodiments of the present disclosure. Herein, the processing unit 111 is configured to receive optical scanning data from a LIDAR sensor 113, wherein the optical scanning data includes a plurality of scan data points 125, each scan data point 125 indicating a high-intensity reading or a low-intensity reading of the marker 123. Furthermore, the processing unit 111 is configured to detect a first scan data point 125A indicating a first high-intensity reading, and in response, to group the scan data points 125A into bit groups 127 based on the distance between them, each bit group 127 including one or more scan data points 125A, 125B corresponding to boxes 123A, 123B in the marker 123. Reference Figure 3AAn exemplary marker 123 is shown, scanned by the processing unit 111 of the autonomous robot 110 using a sliding window 118, wherein the length of the sliding window is less than the length of the marker 123. Advantageously, this implementation of the sliding window 118 improves the processing granularity, thereby improving the computational accuracy of the processing unit 111 of the autonomous robot 110. (Reference) Figure 3B The diagram illustrates an exemplary marker 123 scanned by the processing unit 111 of the autonomous robot 110 using an applied sliding window 118, wherein the length of the sliding window is equal to the length of the marker 123. Advantageously, this implementation of the sliding window 118 increases the amount of data processed in the instance, thereby improving the computational speed of the processing unit 111 of the autonomous robot 110.

[0054] refer to Figures 4A to 4C The illustration depicts one or more embodiments according to the present disclosure. Figure 1 An exemplary schematic diagram of an autonomous robot system is provided. This document illustrates the scanning, alignment, and docking operations of the autonomous robot 110 within the autonomous robot system. For example... Figures 4A to 4C As shown, an autonomous robot system 100 including an autonomous robot 110 and a charging station 120 is illustrated, wherein a marker 123 set on the charging station 120 is made of 3M reflective tape covered with a transparent glossy vinyl.

[0055] refer to Figure 4A An exemplary schematic diagram of an autonomous robot system 100 according to an embodiment of the present disclosure is shown, depicting a scanning operation of a marker 123 by a LIDAR sensor 113 of the autonomous robot 110. As shown, the autonomous robot 110 is located at an arbitrary position, and the processing unit 111 is configured to initiate a scanning operation by the LIDAR sensor 113. Specifically, as shown, when within the field of view of the autonomous robot 110, the processing unit 111 is configured to scan the marker 123 set on the charging station 120 by the LIDAR sensor 113, thereby detecting the charging station 120, and in response, the processing unit 111 is also configured to determine the relative position of the charging station 120 with respect to the autonomous robot 110, and control the propulsion systems 115, 116, and 117 to drive the autonomous robot 110 to the charging station 120. Optionally, the processing unit 111 is configured to determine the position of the mark 123, wherein the position of the mark 123 is predetermined relative to the charging connector (124) of the charging station (120), and after determining the position of the mark 123, the processing unit 111 is further configured to control the propulsion systems 115, 116, 117 via command signals, such that the charging connector 114 is connected to the charging connector 124 of the charging station 120.

[0056] refer to Figure 4BThis diagram illustrates an exemplary schematic of an autonomous robot system 100 according to another embodiment of the present disclosure, depicting an alignment operation performed by an autonomous robot 110 relative to a charging station 120 via a LIDAR sensor 113. The processing unit is further configured to: determine an optimal fit for a line indicating the alignment of data scan points within a sliding window 118, and determine an alignment A of the autonomous robot 110 relative to a marker 123 based on the line indicating the alignment of the data scan points. Typically, the processing unit 111 uses a predefined library to fit a line from multiple scan data points detected in laser scan data, wherein the optimal fitted line indicates the orientation of the charging station 120, i.e., absolute orientation or relative orientation with respect to the autonomous robot 110. As shown, the processing unit 111 is also configured to determine the alignment A of the autonomous robot 110 based on the previously determined optimal fitted line, such that perfect alignment of the autonomous robot 110 relative to the charging station 120 is achieved during docking operations to ensure proper mating of charging connectors 114, 124 during charging operations. Optionally, the determined alignment is perpendicular to the determined optimal fit line. However, it should be understood that while the autonomous robot is configured to achieve perfect alignment to improve charging operations, the autonomous robot is configured with a tolerance of about 0 to 10 degrees so that charging operations are not hindered even under non-ideal conditions such as in low-light environments.

[0057] refer to Figure 4C This diagram illustrates an exemplary schematic of an autonomous robot system 100 according to another embodiment of the present disclosure, depicting a docking operation of the autonomous robot 110 relative to a charging station 120 via a LIDAR sensor 113. As shown, a processing unit 111 is configured to scan a marker 123 disposed on the charging station 120 to detect the charging station 120, and in response, the processing unit is also configured to determine the relative position of the charging station 120 relative to the autonomous robot 110. Utilizing a combination of components of the autonomous robot 110, namely the LIDAR sensor 113, the processing unit 111, the propulsion systems 115, 116, 117, and the marker 123 disposed on the charging station 120, the processing unit 111 is configured to initiate the docking operation after determining the position and orientation of the charging station 120 relative to the autonomous robot 110 or relative to a boundary (i.e., the perimeter or predefined boundary as described above). Once determined, the processing unit 111 is configured to control the propulsion systems 115, 116, and 117 to automatically drive the autonomous robot to the charging station for docking. Specifically, as shown in the figure, the bottom of the autonomous robot 110 is configured to accommodate a base plate B of the charging station 120. A charging connector 124 is disposed on this base plate, and upon reaching the desired position, the autonomous robot's charging connector 114 engages with the charging connector 124 of the charging station disposed on the base plate B to initiate a charging operation after docking. Charging can be wired or wireless.

[0058] refer to Figure 5 This diagram illustrates a graphical representation of the positioning tolerances of a charging connector for an autonomous robot relative to a charging station, according to one or more embodiments of the present disclosure. Two different rated voltages, 24V DC and 48V DC, are used to identify the positioning tolerances. The x-axis represents the permissible offset at the midpoint of the charging connector. The y-axis represents the distance between the charging connectors. The diagram is divided into four regions: A, B, C, and D. As shown, in region A, an optimal current (or maximum output current) of 60A is achieved for both 24V and 48V DC voltages, where the permissible distance between the charging connectors for optimal charging is 15 mm to 40 mm, and the permissible offset varies accordingly between 20 mm and 40 mm. Region A (depicted as a dashed square grid) represents the maximum tolerance allowed for optimal charging operations of the autonomous robot via the charging station. Notably, this high positioning tolerance of the autonomous robot relative to the charging station eliminates traditional problems associated with the mating of the charging connectors while allowing optimal charging, thus making the entire charging operation faster and more efficient. It is further shown that a reduced output current of less than 60A was achieved in region B (depicted as a diamond grid of lines), while charging operations were not permitted in region C (depicted as a dotted area). Furthermore, in region D (depicted as a blank area), optimal current was achieved with 24V DC, but not with 48V DC.

[0059] refer to Figure 6 The present disclosure illustrates a list of methods for controlling... Figure 1 The flowchart illustrates the steps involved in the method for an autonomous robot. At step 602, method 600 includes scanning a marker 123 set on charging station 120 to detect charging station 120, and in response thereto, at step 604, method 600 further includes determining the position of charging station 120 relative to autonomous robot 110, and at step 606, method 600 further includes controlling propulsion systems 115, 116, 117 to drive autonomous robot 110 to charging station 120.

Claims

1. An autonomous robot (110) comprising a propulsion system (115, 116, 117), a charging connector (114), a processing unit (111), and a light detection and ranging LIDAR sensor (113), wherein, The propulsion system includes: a plurality of wheels (117); one or more motors (116) configured to drive at least one of the plurality of wheels (117); and one or more batteries (115) configured to supply current to the one or more motors (116). The charging connector (114) is connected to the one or more batteries (115) and is used to provide charging current to the one or more batteries (115) when the autonomous robot (110) docks at the charging station (120). The processing unit (111) is configured as follows: The charging station (120) is detected by scanning the mark (123) set on the charging station (120), and in response to this: Determine the relative position of the charging station (120) with respect to the autonomous robot (110), and Control the propulsion system (115, 116, 117) to drive the autonomous robot (110) to the charging station (120).

2. The autonomous robot (110) according to claim 1, wherein, The LIDAR sensor (113) has a field of view (FOV) of more than 180 degrees.

3. The autonomous robot (110) according to claim 2, wherein, The LIDAR sensor (113) has a 360-degree field of view (FOV).

4. The autonomous robot (110) according to any one of the preceding claims, wherein, The mark (123) includes a plurality of boxes (123A, 123B), wherein each box (123A, 123B) has a high intensity or a low intensity, and wherein the boxes (123A, 123B) thereby constitute a visual pattern indicating the identification of the charging station (120).

5. The autonomous robot (110) according to claim 4, wherein, Each frame has a fixed width, and wherein the LIDAR sensor (113) has a scanning period and an angular scanning speed, wherein the width of the frame is equal to or greater than the scanning distance, wherein the scanning distance is equal to the angular scanning speed × scanning period × 2π × D × N, wherein D is greater than or equal to 3 meters, and wherein N is 1, 2, 3, 4, 5 or greater.

6. The autonomous robot (110) according to claim 4 or 5, wherein, The processing unit (111) is also configured to determine the distance to the charging station based on the width of the frame by calculating the number of scans within a frame.

7. The autonomous robot (110) according to any one of the preceding claims, wherein, The processing unit (111) is configured to scan the marker (123) in the following manner: Light scan data is received from the LIDAR sensor (113), wherein the light scan data includes a plurality of scan data points (125), each scan data point (125A, 125B) indicating a high-intensity reading or a low-intensity reading of the marker (123). The detection indicates the first scan data point (125A) of the first high-intensity reading, and in response to this: Based on the distance between the scan data points (125A), the following scan data points (125A, 125B) are grouped into bit groups (127A, 127B), each bit group (127A, 127B) including one or more scan data points corresponding to boxes (123A, 123B) in the marker (123). Determine the ratio of scan data points (125A) indicating high-intensity readings to scan data points (125B) indicating low-intensity readings in each bit group (127), and When the ratio is higher than the threshold ratio level, the box (123A) corresponding to the bit group (127A) is determined to have high strength.

8. The autonomous robot (110) according to claim 7, wherein, The processing unit (111) is further configured to: A sliding time window is applied to the scanning of the marker (123), wherein the length of the sliding time window corresponds to the length of the marker (123), and the starting point of the sliding time window is set at the first scan data point.

9. The autonomous robot (110) according to claim 8, wherein, The processing unit (111) is further configured to: Determine the optimal fit of the line used to indicate the alignment of the data scan points within the sliding window (118), and determine the alignment (A) of the autonomous robot (110) relative to the marker (123) based on the line indicating the alignment of the data scan points (125).

10. The autonomous robot (110) according to any one of the preceding claims, wherein, The processing unit (111) is further configured to: Identify the charging station (120). Based on the identified identifier of the charging station (120), it is determined whether the charging station (120) is an approved charging station (120), and if so, The propulsion system is then controlled so that the charging connector (114) is connected to the charging connector (124) of the charging station (120).

11. The autonomous robot (110) according to any one of the preceding claims, wherein, The processing unit (111) is further configured to: The position of the mark (123) is determined, wherein the position of the mark (123) relative to the charging connector (124) of the charging station (120) is predetermined, and Control the propulsion system (115, 116, 117) so that the charging connector (114) is connected to the charging connector (124) of the charging station (120).

12. The autonomous robot (110) according to any one of the preceding claims, wherein, The processing unit (111) is further configured to: Determine the midpoint of the mark (123). The alignment (A) of the autonomous robot (110) relative to the mark (123) is determined based on a comparison between the midpoint of the LIDAR sensor 113 and the midpoint of the mark (123), and Control the propulsion system such that the charging connector (114) is connected to the charging connector (124) of the charging station (120) based on the alignment (A).

13. The autonomous robot (110) according to any one of the preceding claims, wherein, The charging connector (114) is located at the lower edge of the autonomous robot (110).

14. The autonomous robot (110) according to any one of the preceding claims, wherein, The charging connector (114) is located at the bottom of the autonomous robot (110).

15. The autonomous robot (110) according to any one of the preceding claims, wherein, The charging connector is configured for wireless charging.

16. The autonomous robot (110) according to any one of the preceding claims, wherein, The processing unit (111) is also configured to determine the location of the charging station based on a map application, and in response to this, determine the location of the autonomous robot (110).

17. An autonomous robot system (100) comprising an autonomous robot (110) according to any one of the preceding claims and a charging station (120), wherein, The mark (123) is made of a retroreflective strip covered with a transparent glossy vinyl.

18. A method (500) for controlling an autonomous robot (110), said autonomous robot comprising a propulsion system (115, 116, 117), a charging connector (114), and a LIDAR sensor (113), wherein, The propulsion system includes: a plurality of wheels (117); one or more motors (116) configured to drive at least one of the plurality of wheels (117); and one or more batteries (115) configured to supply current to the one or more motors (116). The charging connector (114) is connected to the one or more batteries (115) and is used to provide charging current to the one or more batteries (115) when the autonomous robot (110) docks at the charging station (120), and The method (500) includes: The charging station (120) is detected by scanning the mark (123) set on the charging station (120), and in response to this: Determine the position of the charging station (120) relative to the autonomous robot (110), and Control the propulsion system (115, 116, 117) to drive the autonomous robot (110) to the charging station (120).

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