Robot Charging Docking Using Overlap and Blank Signal Zones
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Solution Overview
Problem
Existing cleaning robots are limited in their ability to accurately move to a charging station, as they must align with a specific overlapping zone of signals emitted by the charging station's transmitters, restricting their path and flexibility in reaching the charging station.
Innovation Solution
The implementation of a method where a charging station outputs two transmitting signals with overlapping and non-overlapping zones, allowing the robot to detect these zones and alternate between them to determine multiple paths to the charging station, enabling direct or rotated approaches for docking.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If the robot moves to the overlapping zone of right signal and left signal to align with the charging station, then the robot can accurately dock with the charging station, but the robot's movement path is limited and the transmitter must be installed in a specific position
Solution Approach 1:
Instead of requiring the robot to move to the overlapping zone to align with the charging station, the patent inverts the approach by allowing the robot to enter the blank zone first and then rotate to dock. This reverses the traditional alignment sequence and enables multiple movement paths including direct approach and rotated approach through the blank zone.
Solution Approach 2:
The patent introduces rotational movement as an additional dimension to the robot's docking process. By allowing the robot to rotate within the blank zone before docking, the system adds a rotational degree of freedom to the traditionally linear approach, enabling docking from multiple angular positions and paths.
2Measurement precision
If the charging station specifies the transmitter installation position to enable robot alignment, then the robot can accurately approach the charging station, but the device complexity increases due to specific installation requirements
Solution Approach 1:
The patent makes the charging station's transmitter system more universal by allowing it to work with robots approaching from multiple paths and positions. The blank zone approach enables the transmitter to serve multiple docking scenarios (direct approach, rotated approach) without requiring specific installation positions, increasing system versatility.
Solution Approach 2:
The patent changes the operational parameters of the transmitter system by utilizing the blank zone where signal coverage is limited. By designing the docking process to work within this signal limitation rather than requiring full signal overlap, the system simplifies transmitter installation requirements while maintaining docking accuracy through alternative positioning methods.
3Measurement precision
If the robot follows a limited path through the overlapping zone, then the robot can align with the charging station, but the time to reach the charging station increases due to path constraints
Solution Approach 1:
The patent inverts the traditional docking sequence by allowing the robot to enter the blank zone first (where signal is limited) and then perform alignment through rotation rather than requiring pre-alignment through the overlapping zone. This reverses the sequence of signal detection and physical alignment, enabling faster approach paths.
Solution Approach 2:
The robot performs preliminary navigation to the blank zone boundary using signal detection, then executes a rapid rotation maneuver to achieve final alignment. This preliminary positioning followed by quick orientation reduces total docking time compared to following a constrained path through the overlapping zone.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
This solution provides the robot with multiple paths to the charging station, increasing flexibility and reducing the limitations on transmitter specifications and locations, allowing for more efficient and varied movement to the charging station.
Implementation Method 1
the charging station outputs two transmitting signals, the transmitting range of the two transmitting signals is at a predetermined distance in front of the charging station to form an overlapping zone and two non-overlapping zones
Data Source
AI summary
A method for docking a robot at a charging station includes the following steps: the charging station outputs a first transmitting signal and a second transmitting signal, wherein an overlapping zone and two non-overlapping zones are formed within the signal transmission range of the first and second transmitting signals, and a blank zone forms within a predetermined distance. When the robot needs to move to the charging station, the robot detects its entry into the overlapping zone or one of the two non-overlapping zones, and the robot moves in the direction of the charging station by alternately moving in and out between the overlapping zone and one of the two non-overlapping zones until the robot moves to the blank zone, then the robot either moves directly towards the charging station, or rotates and then moves backwardly towards the charging station, thereby allowing the robot to dock at the charging station.