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An autonomous mobile robot and its control method and device for automatic docking

A technology of automatic docking and autonomous movement, applied in the field of robotics, can solve problems such as poor accuracy, and achieve the effect of accurate docking, high precision and strong adaptability

Active Publication Date: 2019-12-20
SMART DYNAMICS CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0007] The purpose of the present invention is to provide an autonomous mobile robot and its automatic docking control method, device and computer-readable storage medium, aiming to solve the problem of poor accuracy when using infrared sensors and image recognition technology for docking

Method used

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  • An autonomous mobile robot and its control method and device for automatic docking
  • An autonomous mobile robot and its control method and device for automatic docking
  • An autonomous mobile robot and its control method and device for automatic docking

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Embodiment 1

[0042] see figure 1 , the control method for the automatic docking of the autonomous mobile robot provided in Embodiment 1 of the present invention includes the following steps: It should be noted that if there are substantially the same results, the control method for the automatic docking of the autonomous mobile robot of the present invention does not use figure 1 The flow sequence shown is limited.

[0043] S101. When automatic docking is required, autonomously navigate to a preset distance (for example, 2 meters) in front of the robot service desk, and when stopped, control the surface 2011 on which the laser scanning sensor is installed in the autonomous mobile robot 201 to face the robot service desk 202 (such as figure 2 shown).

[0044] In Embodiment 1 of the present invention, before S101, the method further includes the following steps:

[0045] Determine whether the autonomous mobile robot needs to be automatically docked to the robot service desk, and if so, e...

Embodiment 2

[0084] see Figure 11 , the control device for automatic docking of an autonomous mobile robot provided in Embodiment 2 of the present invention includes:

[0085] The control module 11 is used for autonomously navigating to the preset distance in front of the robot service desk when automatic docking is required, and when stopping, controls the autonomous mobile robot where the laser scanning sensor is installed to face the robot service desk;

[0086] The identification module 12 is used to control the laser scanning sensor to scan the robot service station, and indirectly identify the robot service station through the reflected laser to identify the preset structure of the robot service station. The robot service station with the preset structure faces the laser scanning sensor;

[0087] The route calculation module 13 is used to calculate the automatic docking guide route from the autonomous mobile robot to the robot service station according to the position of the preset ...

Embodiment 3

[0091] Embodiment 3 of the present invention also provides a computer-readable storage medium, the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the autonomous mobile robot provided in Embodiment 1 of the present invention automatically Steps of the control method for docking.

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Abstract

An autonomous mobile robot and a control method and device for automatic docking thereof. The method comprises: when it is required to perform automatic docking, autonomously navigating a preset distance in front of a robot service desk, and when the navigation is stopped, controlling the surface of an autonomous mobile robot on which a laser scanning sensor is mounted to face the robot service desk (S101); controlling the laser scanning sensor to scan the robot service desk and recognizing a preset structure of the robot service desk by means of reflected laser to indirectly recognize the robot service desk, the surface of the robot service desk having the preset structure faces the laser scanning sensor (S102); calculating an automatic docking guidance route from the autonomous mobile robot to the robot service desk according to the position of the preset structure (S103); and guiding the autonomous mobile robot to the robot service desk according to the automatic docking guidance route (S104). The control method and device can implement accurate docking between the autonomous mobile robot and the robot service desk.

Description

technical field [0001] The invention belongs to the field of robots, and in particular relates to an autonomous mobile robot and a control method and device for automatic docking thereof. Background technique [0002] With the development of mobile robot technology, mobile robots have begun to slowly enter the application. At present, almost all mobile robots are powered by electric power, so charging is a necessary operation for mobile robots. For autonomous mobile robots, the automatic charging function is a very important and necessary function. Only when the automatic charging function is realized can the autonomous movement in the true sense be realized, that is, continuous normal work can be achieved without human intervention. At present, the most common ones are the small sweepers on the market, which basically have the function of automatic charging. [0003] In fact, the final mapping of the automatic charging technology is the automatic docking function between ...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05D1/02
CPCG05D1/02
Inventor 王加加刘园园王可可
Owner SMART DYNAMICS CO LTD
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