Mobile Robot Docking Using LiDAR Clustering for Fast Charging Alignment
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Solution Overview
Problem
Existing docking systems for mobile robots face challenges in quickly and accurately docking due to motion noise in camera images, which requires minimizing robot speed and can result in lengthy docking times, especially with position errors.
Innovation Solution
A method using LiDAR to acquire distance and angle information, cluster consecutive points, determine the location of the charging station, and calculate a route to the station, allowing for quick and accurate docking without relying on camera images or additional sensors.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If camera-based docking is used, then docking can be performed using vision information, but motion noise occurs in captured images when robot rotates or moves, requiring minimized speed which increases docking time
Solution Approach 1:
The patent replaces camera-based vision docking with LiDAR-based laser scanning docking. The LiDAR emits laser beams to scan the environment and acquire distance information, substituting the optical camera system with a laser ranging system that is immune to motion noise during robot movement.
Solution Approach 2:
The patent changes the measurement parameter from 2D image coordinates (prone to motion noise) to 3D distance information via laser ranging. By using time-of-flight or phase-shift measurements of laser beams, the system obtains accurate distance data even during robot motion, eliminating the need to minimize movement speed.
2Ease of operation
If camera-based docking is used, then docking can be performed, but narrow angle of view requires docking attempts from close locations, increasing docking complexity
Solution Approach 1:
The patent transitions from 2D camera imaging to 3D laser scanning. The LiDAR emits laser beams in multiple directions to construct three-dimensional spatial information and distance maps, providing comprehensive environmental perception that eliminates narrow field-of-view limitations and enables docking from various positions.
3Measurement precision
If robot speed is minimized to reduce motion noise, then image quality improves, but docking time increases significantly
Solution Approach 1:
The patent replaces the camera-based system with LiDAR-based laser scanning. The LiDAR actively emits laser beams and measures return signals to obtain distance information, providing high-precision measurements independent of robot movement speed, thus eliminating the trade-off between speed and measurement quality.
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
The method enables rapid and precise docking of mobile robots with charging stations by utilizing LiDAR information, enhancing docking performance and reducing the time required for accurate positioning.
Implementation Method 1
acquiring, by a LiDAR provided in the mobile robot, terrain information around the mobile robot
Data Source
AI summary
A method for docking a mobile robot with a charging station is disclosed. The method for docking a mobile robot with a charging station according to an embodiment may comprise the steps of: acquiring, by a LiDAR provided in the mobile robot, terrain information around the mobile robot; clustering consecutive points from distance and angle information to form a cluster; determining a location of the charging station from the cluster; and calculating a route to the charging station.