Laser guiding back charging method and chip for mobile robot

Abstract

The invention discloses a laser guiding back charging method and chip for a mobile robot. The laser guiding back charging method comprises the steps of step 1, controlling the mobile robot to move toa first preset position; step 2, judging that whether an intensity distribution law of an effective laser frame acquired by a laser receiver conforms to an encoding mode of a charging cradle, and thenproceeding to step 3; step 3, determining a preset number of back charging candidate positions within a preset search range based on an acquired laser guiding signal; step 4, controlling the mobile to traverse a preset number of the back charging candidate positions within the preset search range; step 5, controlling the mobile robot to move to a second preset position; step 6, adjusting the posture and orientation of the mobile robot at the second preset position, and controlling a first charging pole of the mobile robot and a second charging pole of the central position of the charging cradle to be docked and charged, thereby improving the guiding precision and efficiency of the laser back charging.

Description

technical field [0001] The invention relates to the field of robot recharging control, in particular to a laser-guided recharging method and chip for a mobile robot. Background technique [0002] A more common approach is to guide the robot to a place where the charging stand can be identified through map navigation, and then use signals to guide the robot to get on the seat. For plane waves, the light intensity is constant, and the laser is close to plane waves. [0003] There are several common ways of signal guidance: adjusting infrared guidance, laser guidance, visual recognition guidance, ultrasonic guidance and so on. Among them, modulated infrared guidance occupies a dominant position in the field of recharge technology due to its low cost and high precision, but it also has some disadvantages, such as: it is difficult to limit the angle of infrared modulated light, and the optical path needs to be limited by designing molds, so the optical path The accuracy depends...

AI Technical Summary

Problems solved by technology

Among them, modulated infrared guidance occupies a dominant position in the field of recharge technology due to its low cost and high precision, but it also has some disadvantages, such as: it is difficult to limit the angle of infrared modulated light, and the optical path needs to be limited by designing molds, so the optical path The accuracy depends on the specification design of the mould; at present, home smart robots can automatically return to the home for charging, and most of the mobile robots use a random pattern to find the infrared beam signal directly in front of the charger. Due to the poor linearity of the infrared light, the docking success rate Low, so it needs to be improved; in addition, during the laser guidance process, due to the small divergence of the laser guidance signal, it is easy to generate pseudoposon signals for mirror reflection imaging

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