Autonomous Charging Robot Path Control With Fewer Heading Adjustments

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Solution Overview

Problem

Conventional autonomous driving charging robots require multiple adjustments of their heading direction to reach a charging vehicle, prolonging the time from the charging request to completion.

Innovation Solution

A method and device for controlling an autonomous driving charging robot that calculates a displacement vector and determines driving modes based on the angle between the robot's current heading direction and the vector, allowing efficient navigation to the charging vehicle while maintaining a fixed heading direction, and adjusts the heading direction only when necessary.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Loss of time

If the robot adjusts heading direction multiple times to follow the calculated path and align with the vehicle's parked direction, then the robot can accurately reach the charging position, but the total time from charging request to completion increases

Engineering Contradiction:

Improvetotal time from charging request to completionVSAvoidcomplexity of heading adjustment control

Core Design Contradiction:

Loss of timeVSEase of manufacture

Solution Approach 1:

The robot pre-calculates the optimal path and determines all necessary heading adjustments before execution. By planning the entire trajectory in advance including all orientation changes needed to match the vehicle's parked direction, the system minimizes real-time decision-making and reduces overall charging time while maintaining accuracy in reaching the charging position

Inventive Principle:

Principle #10Preliminary action

2Speed

If the robot maintains current heading direction and moves along displacement vector components, then the robot can quickly approach the charging vehicle, but the robot may not accurately align with the vehicle's charging position

Engineering Contradiction:

Improveapproach speed to charging vehicleVSAvoidalignment precision with charging position

Core Design Contradiction:

SpeedVSManufacturing precision

Solution Approach 1:

The displacement vector is segmented into two perpendicular components: one parallel to the current heading direction and another perpendicular to it. This segmentation allows the robot to execute movements in a structured sequence - first advancing along the primary direction for speed, then making a controlled lateral adjustment for precise alignment with the charging position, thus balancing both speed and accuracy requirements

Inventive Principle:

Principle #1Segmentation

Data Source

PatentUS12570326B2Autonomous driving charging robot control method, autonomous driving charging robot control device, recording medium storing instructions to perform autonomous driving charging robot control method

Publication Date: 2026.03.10 HL ROBOTICS CO LTD

AI summary

There is provided a method of controlling driving of an autonomous driving charging robot obtains a first position which is a position within a predetermined distance from a charging vehicle with which a charging power is to be supplied, and a second position which is a position of the autonomous driving charging robot that is to supply the charging power; calculates a displacement vector from the second position to the first position, and calculates an angle between a first direction which is a current heading direction of the autonomous driving charging robot, and a direction of the displacement vector; and determines a driving mode of the autonomous driving charging robot based on the angle, wherein, the heading direction, the first position and the second position are defined on a same plane.