Autonomous mobile robot, method for docking an autonomous mobile robot, control device and smart cleaning system
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Solution Overview
Problem
Autonomous mobile robots often fail to dock smoothly due to distance and signal reception issues, leading to manual operation and decreased user experience.
Innovation Solution
A method involving determining a first effective area and an optimal point within that area to move the robot closer to the charging station, using sensors and algorithms to navigate around obstacles, ensuring successful docking without manual intervention.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Device complexity
If the autonomous mobile robot uses conventional homing signal reception for docking, then the docking process is simple, but the docking reliability deteriorates when the distance between the robot and charging station is large
Solution Approach 1:
The robot performs preliminary actions by determining the effective area and optimal point before attempting docking. The control system calculates the first effective area based on robot position and charging station location, then determines an optimal point within this area where homing signals can be reliably received. This preliminary positioning ensures the robot moves to a favorable location before docking attempts, improving reliability without significantly increasing overall system complexity.
Solution Approach 2:
The patent replaces the direct mechanical approach of moving straight toward the charging station with a computational geometry-based system. The control system uses algorithms to calculate effective areas, boundaries, and optimal points based on signal coverage maps and obstacle information. This substitution of mechanical navigation with computational planning resolves the contradiction by enabling reliable docking through intelligent positioning rather than simple signal-following.
2Ease of operation
If the autonomous mobile robot moves directly toward the charging station, then the navigation is simple, but the docking fails when obstacles block the signal path
Solution Approach 1:
The patent segments the navigation process into distinct phases: determining the first effective area, identifying the optimal point within that area, and then moving to that point. This segmentation allows the system to handle obstacles systematically by recalculating the effective area and optimal point based on current robot position and detected obstacles, maintaining reliability while keeping each individual navigation step simple.
Solution Approach 2:
The concept of the 'first effective area' serves as an intermediary between the robot and the charging station. Rather than moving directly toward the station, the robot first determines this effective area (which accounts for signal coverage and obstacles), then selects an optimal point within it. This intermediary calculation layer enables the robot to navigate around obstacles while maintaining a clear path to docking, improving success rate without significantly complicating the overall navigation task.
3Reliability
If the autonomous mobile robot performs multiple calculations to determine optimal docking position, then the docking reliability improves, but the computational complexity increases
Solution Approach 1:
The patent applies partial action by determining only the necessary elements (first effective area and optimal point) required for successful docking, rather than performing exhaustive calculations of all possible paths and positions. The control system calculates the effective area based on signal coverage and robot position, then identifies an optimal point within this area. This partial calculation approach achieves sufficient docking reliability without requiring overly complex computational systems.
Data Source
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AI summary
The present disclosure provides an autonomous mobile robot, a method for docking an autonomous mobile robot, a control device and a smart cleaning system. The method includes the following steps. In step S1, a first effective area is determined. In step S2, a first effective boundary of the first effective area is determined. In step S3, an optimal point is determined on the first effective boundary. In step S4, the autonomous mobile robot is controlled to move to the optimal point. And step S1 to step S4 are repeated to make the autonomous mobile robot reach the vicinity of the charging station. Wherein the autonomous mobile robot is located in the first effective area. The first effective boundary is in a coverage area of a homing signal of a charging station.