CN215772572U - Charging seat - Google Patents

Abstract

The utility model discloses a charging seat, which arranges positive and negative two-ring electrodes (namely two electrode metal rings) on the upper surface of a charging chassis at intervals, and does not arrange the electrode metal rings and a signal transmitter on the same column body, thereby not influencing the stability of the effective coverage range of the signal transmitted by the signal transmitter; when the charging chassis is placed to be parallel to the advancing plane of the robot, the mobile robot is guided to move until the positive and negative two-ring electrodes are in butt joint on the premise of not deviating from the charging seat according to the strength change of the signal emitted by the signal emitter, so that the mobile robot starts to be recharged at any pose in a stable signal coverage range emitted by the signal emitter, and the butt joint charging can be quickly and stably realized.

Description

Charging seat

Technical Field

The utility model relates to the technical field of robot recharging, in particular to a charging seat.

Background

In the charging seats matched with sweeping robots in the prior art, the sweeping robots are required to complete butt-joint charging operation at a specific angle, specifically, in the recharging process of the sweeping robots, the sweeping robots must first reach a guide straight line right in front of the charging seats, and the front ends of the sweeping robots are adjusted to face the charging seats, so that the sweeping robots can slowly contact with butt-joint electrodes of the charging seats, once the advancing direction of the sweeping robots deviates, the problem that the sweeping robots are prone to find the charging seats unsuccessfully occurs, and normal use of users is affected; moreover, in order to match the sweeping robot to find the guiding straight line in front of the charging seat, 3 or more than 3 guiding signal transmitters are often configured on the charging seat, which increases the production and design cost.

The granted patent CN103066645B of chinese utility model provides a robot, an automatic charging system and a method thereof, so as to make the robot able to navigate from any angle and contact with the charging seat for charging.

However, there are two problems: problem one, chinese utility model grant patent CN103066645B discloses a charging seat establishes the electrode cover at the charging seat side surface, and signal transmitter sets up on the axis of charging seat, no matter whether the robot docks to charge, and the electrode of establishing at the charging seat side surface can influence the stability of the effective coverage of the signal of signal transmitter transmission, influences the stability and the homogeneity of the scalar field that signal transmitter formed.

Problem two, china utility model granted patent CN103066645B requires that the left receiver of robot and the right receiver of robot all receive the signal of charging seat transmission, just can control the robot rectilinear movement forward, and the electrode of accomplishing the robot docks and charges with the electrode of charging seat, but is close the in-process of charging seat at the robot, and the robot is difficult to speed regulation and docks with the electrode of nimble electrode of accomplishing the robot and the electrode of charging seat, leads to the robot to walk partially or strike the charging seat easily.

SUMMERY OF THE UTILITY MODEL

In order to solve the problems, the utility model provides a charging seat which supports a mobile robot to navigate from multiple angles and contact the bottom of the charging seat to complete butt joint charging, so that the seat returning step is effectively simplified, and the seat returning difficulty is reduced. The specific technical scheme is as follows:

a charging seat is used for guiding a mobile robot to be in butt joint charging, and comprises a charging chassis, two electrode metal rings and a signal transmitter; the signal emitter is arranged above the charging chassis and used for guiding the mobile robot to move to contact the two electrode metal rings; the two electrode metal rings are arranged on the surface of the charging chassis, which allows the mobile robot to contact, at a preset installation distance and are used for butting two power receiving electrodes arranged at the bottom of the body of the mobile robot; the signal emitter and the two electrode metal rings are not arranged on the same column structure; wherein, the two electrode metal rings are arranged on the surface of the charging chassis to form a ring shape, and the ring shape is a symmetrical pattern.

Compared with the prior art, the technical scheme has the advantages that the positive and negative two-ring electrodes (namely two electrode metal rings) are arranged on the upper surface of the charging chassis at intervals, the electrode metal rings and the signal transmitter are not arranged on the same column, and the stability of the effective coverage range of the signal transmitted by the signal transmitter is not influenced; when the charging chassis is placed to be parallel to the advancing plane of the robot, the mobile robot is guided to move until the positive and negative ring electrodes are in butt joint according to the strength change of the signals transmitted by the signal transmitter, so that the mobile robot starts to recharge at any pose in a stable signal coverage range formed by the transmission of the signal transmitter, and the butt joint charging can be quickly and stably realized.

Furthermore, the two electrode metal rings are convexly arranged on the surface of the charging chassis and distributed along the contour of the charging chassis; when two power receiving electrodes arranged at the bottom of the body of the mobile robot are respectively butted with the two electrode metal rings, a preset installation distance between the two electrode metal rings is equal to the distance between the two power receiving electrodes arranged at the bottom of the body of the mobile robot, and the protruding height positions of the two electrode metal rings on the surface of the charging chassis are matched with the height positions of the two power receiving electrodes arranged at the bottom of the body of the mobile robot; wherein, the two electrode metal rings are respectively a positive electrode metal ring and a negative electrode metal ring. The structural characteristics of the two electrode metal rings on the surface of the charging chassis can cover a certain angle of the bottom of the mobile robot, reduce the docking failure rate caused by navigation errors, facilitate the mobile robot to smoothly complete a docking and charging task from any angle to the center of the charging chassis, and complete charging without adjusting to a specific angle position for back charging and docking or searching for a fixed docking straight line.

Further, the number of the signal emitters is one, and the emission angle of the signal emitters is smaller than or equal to 360 degrees; wherein, the emission angle is adjusted according to the allowed movement area of the mobile robot and the placing position of the charging seat, so that the coverage area of the signal emitted by the signal emitter is the same as the allowed movement area of the mobile robot. Thereby reducing system cost and design difficulty.

Further, the charging chassis is a base structure allowing the mobile robot to cross, and the plane figure of the cross section of the charging chassis is a geometric figure with a central position for being placed in parallel with the traveling plane of the mobile robot. When the cross section of the charging chassis is circular, the sweeping robot is allowed to move towards the center of the cross section of the charging chassis from any angle except for moving towards the direction departing from the signal transmitter, and a certain butt joint straight line does not need to be specially found by adjusting the angle, so that the recharging speed of the sweeping robot is accelerated; when the cross section of the charging chassis is fan-shaped, the charging seat is placed at a corner position or a gallery area adaptively, so that the sweeping robot can complete the recharging task in a flexible angle posture in various indoor environments. Thereby simplifying the recharging steps of the robot.

Further, when the cross section of the charging chassis is circular, the signal transmitter is arranged on the axis of the cross section of the charging chassis; wherein, the axis of the cross section is the center position passing through the cross section; the two electrode metals are annularly arranged on the surface of the charging chassis around the axis and are parallel to the profile of the cross section of the charging chassis. The mobile robot can detect the signal transmitted by the signal transmitter conveniently, and the mobile robot is guided to be butted to the two electrode metal rings in an accelerating way.

Further, the arrangement position of one of the two electrode metal rings closest to the signal transmitter is defined as: when two power receiving electrodes arranged at the bottom of the mobile robot body are respectively in butt joint with the two electrode metal rings, the strength of a signal transmitted by the signal transmitter received by the signal receiving sensor arranged at one side of the mobile robot body is equal to the strength of a signal transmitted by the signal transmitter received by the signal receiving sensor symmetrically arranged at the other side of the mobile robot body. Therefore, specific positions of the two electrode metal rings on the surface of the charging chassis are clearly defined, a corresponding relation between the arrangement positions of the two electrode metal rings and the received signal strength is established, and a signal strength confirmation basis is laid for judging that the mobile robot is in butt joint and recharging.

Drawings

Fig. 1 is a schematic structural diagram of a charging dock according to an embodiment of the present invention.

Fig. 2 is a schematic diagram illustrating that the mobile robot moves to the center of the charging stand towards the right side (rotating towards the direction of decreasing the signal strength difference) according to an embodiment of the present invention.

Fig. 3 is a schematic diagram of the mobile robot moving to the left (rotating in the direction of decreasing the signal strength difference) according to another embodiment of the present invention.

Fig. 4 is a flowchart of a robot recharging control method based on the charging stand according to another embodiment of the present invention, in which the mobile robot adjusts the speed and then adjusts the direction by taking the center position of the cross section of the charging chassis as a target position.

Fig. 5 is a flowchart of a robot recharging control method based on the charging stand according to another embodiment of the present invention, in which a mobile robot adjusts a direction and then adjusts a speed first by taking a center position of a cross section of the charging chassis as a target position.

Detailed Description

The drawings described below are merely examples or embodiments of the present application, and it will be apparent to those skilled in the art that the present application can be applied to other similar scenarios without inventive effort. Moreover, it should be appreciated that such a development effort might be complex and tedious, but would nevertheless be a routine undertaking of design, fabrication, and manufacture for those of ordinary skill having the benefit of this disclosure, and thus should not be construed as a limitation of the present disclosure.

Reference in the specification to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the application, and the appearances of the phrase in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. One of ordinary skill in the art will explicitly or implicitly appreciate that the embodiments described herein can be combined with other embodiments without conflict.

The embodiment of the utility model discloses a charging seat which is used for guiding a mobile robot to be connected and charged, wherein the mobile robot is shown as 105 in figure 1. Preferably, the left and right sides of the body of the mobile robot 105 are respectively provided with a signal receiving sensor, the left side of the body of the mobile robot 105 can be provided with one or more signal receiving sensors, and the right side of the body of the mobile robot 105 can be provided with one or more signal receiving sensors; preferably, signal receiving sensors are respectively installed on the front side and the rear side of the body of the mobile robot 105, one or more signal receiving sensors may be installed on the front side of the body of the mobile robot 105, and one or more signal receiving sensors may be installed on the rear side of the body of the mobile robot 105; the bottom of the body of the mobile robot is provided with positive and negative powered electrodes, and belongs to the intelligent floor sweeping robot disclosed in the prior art. When the signal receiving sensors are installed on the left and right sides of the body of the mobile robot 105, the axis directions of the signal receiving sensors installed on the left and right sides of the body may be crossed at an angle or may be parallel to each other; when the signal receiving sensors are installed on the front and rear sides of the body of the mobile robot 105, the axis directions of the signal receiving sensors installed on the front and rear sides of the body may be at an angle in a cross manner or may be parallel to each other. As shown in fig. 1, the charging stand includes a charging chassis 102, a power supply device (not shown), two electrode metal rings, and a signal transmitter 101; in this embodiment, the signal transmitter 101 and both electrode metal rings are not mounted on the same cylindrical structure. The signal emitter 101 may be the column itself shown in fig. 1 or mounted above the column shown in fig. 1; the two electrode metal rings are respectively an electrode metal ring 103 and an electrode metal ring 104 shown in fig. 1, the electrode metal ring 103 and the electrode metal ring 104 are arranged on the surface of the charging chassis 102, which allows the mobile robot 105 to contact, at a preset mounting distance and are not mounted on the side surface of the column shown in fig. 1, and serve as charging interfaces of the mobile robot 105, and the electrode metal ring 103 and the electrode metal ring 104 do not directly contact with the mounting column where the signal transmitter is located.

The two electrode metals are annularly arranged on the surface of the charging chassis around the signal transmitter, the two electrode metal rings are arranged on the surface of the charging chassis to form a symmetrical structure, and a symmetry axis of the symmetrical structure can pass through the center of the charging chassis, so that the distance between a position point occupied by the same electrode metal ring on the surface of the charging chassis and the center of the assembly position of the signal transmitter is equal, and the strength of a signal transmitted from the signal transmitter received at the corresponding position is also equal. After the mobile robot 105 strides into the charging chassis 102, the electrode metal ring 103 and the electrode metal ring 104 are respectively butted with two power receiving electrodes arranged at the bottom of the body of the mobile robot 105 for charging; wherein the electrode metal ring 103 is disposed inside the electrode metal ring 104 and surrounded by the electrode metal ring 104; when the electrode metal ring 103 is a positive electrode, the electrode metal ring 104 is a negative electrode; when the electrode metal ring 103 is a negative electrode, the electrode metal ring 104 is a positive electrode. The power supply may be a power supply or a transformer. The power supply device is a transformer and is used for connecting and inputting an external power supply, transforming the external power supply and outputting the transformed external power supply to the electrode metal ring 103 and the electrode metal ring 104; the power supply device is a power supply and directly outputs electric quantity to the electrode metal ring 103 and the electrode metal ring 104. The signal transmitter 101 is installed above the charging chassis 102, the signal transmitter 101 transmits signals to the surroundings, and guides the mobile robot 105 to move to contact two electrode metal rings to complete butt charging, when the mobile robot 105 is farther from the charging stand, the signal is weaker, and vice versa. The signal emitted by the signal emitter 101 may be a scalar field of different types such as infrared signals, ultrasonic waves, etc., and a stable scalar field (signal strength) is created around the signal emitter 101. The signal transmitter 101 can also use radio signals to ensure that the position of the signal transmitter 101 can still be known by detecting the radio signals transmitted by the signal transmitter 101 when the mobile robot is shielded by infrared signals and ultrasonic waves, so that the mobile robot can still automatically find and butt the electrode metal ring 103 and the electrode metal ring 104 when the mobile robot falls into a signal dead angle and cannot receive the infrared signals. In addition, the receivable range of the radio signal is greater than that of the infrared signal, so that the charging chassis 102 can be retrieved by detecting the radio signal when the mobile robot is far from the signal transmitter 101 and cannot receive the infrared signal. The mobile robot 105 can receive and recognize the type and strength of the signal transmitted by the signal transmitter 101 based on the signal receiving sensor.

Compared with the prior art, in the embodiment, the positive and negative two-ring electrodes (i.e., the two electrode metal rings) are arranged on the upper surface of the charging chassis at intervals, but the electrode metal rings are not directly sleeved on the mounting column where the signal transmitter is arranged, the signal coupling between the electric signal transmitted inside the electrode metal rings and the electric signal transmitted inside the signal transmitter is weak, and the electrode sleeved on the side surface of the charging seat does not affect the stability of the effective coverage range of the signal transmitted by the signal transmitter; when the charging chassis is placed to be parallel to the traveling plane of the robot, the mobile robot is allowed to move from a scalar field range formed by signals transmitted by the signal transmitter until the positive and negative ring electrodes are butted according to the guiding effect of the signals transmitted by the signal transmitter, so that the butt charging can be quickly and stably realized by starting recharging at any pose in a stable signal coverage range formed by the transmission of the signal transmitter, and the mobile robot is not required to be adjusted to search a specific position point or a specific recharging direction.

Specifically, the two electrode metal rings are both convexly arranged on the surface of the charging chassis to form a raised metal ring structure, and are distributed along the contour of the charging chassis to form a ring electrode at the bottom of the charging seat; the two power receiving electrodes arranged at the bottom of the mobile robot body are of a metal electrode structure which is arranged in a protruding mode, and when the two power receiving electrodes are respectively in butt joint with the two electrode metal rings, a preset installation distance between the two electrode metal rings is matched with a distance between the two power receiving electrodes arranged at the bottom of the mobile robot body, namely the preset installation distance of the two electrode metal rings arranged on the surface of the charging chassis is equal to the distance between the two power receiving electrodes arranged at the bottom of the mobile robot body; the height positions of the protrusions of the two electrode metal rings on the surface of the charging chassis are matched with the height positions of two power receiving electrodes arranged at the bottom of the mobile robot body, so that the two electrode metal rings are respectively in point-to-point contact charging with the two power receiving electrodes, the two electrode metal rings are respectively a negative electrode metal ring and a positive electrode metal ring, the butt joint is realized by butting the negative electrode metal ring against a positive power receiving electrode arranged at the bottom of the mobile robot body and butting the positive electrode metal ring against a negative power receiving electrode arranged at the bottom of the mobile robot body.

Preferably, the mechanical structure of the aforementioned electrodes is elastic, so that the docking is more smooth. Compared with the prior art, the structural distribution characteristics of the two electrode metal rings on the surface of the charging chassis can cover a certain angle range of the bottom of the mobile robot, reduce the docking failure rate caused by navigation errors, help the mobile robot to smoothly complete the docking and charging tasks from any angle to the center of the charging chassis, and complete charging without adjusting to a specific angle position and then performing back charging and docking or searching for a fixed docking straight line.

As an embodiment, the number of the signal emitters is one, and the emission angle of the signal emitter is less than or equal to 360 degrees; thereby reducing system cost and design difficulty. Wherein, the transmitting angle is adjusted according to the allowed moving area of the mobile robot and the placing position of the charging seat, so that the coverage area of the signal transmitted by the signal transmitter is the same with the allowed moving area of the mobile robot, and the mobile robot can receive the signal transmitted from the signal transmitter 101 in a specific range to trigger the guiding back charging. The allowed moving area of the mobile robot changes due to the change of the physical space environment where the mobile robot is located, and is restricted by the layout of the obstacles; meanwhile, the area between the projection position of the signal transmitter on the surface of the charging chassis and the nearest one of the electrode metal rings 103 is also an area which belongs to the mobile robot and is allowed to move. The coverage area of the signal transmitted by the signal transmitter changes along with the change of the placement position of the charging seat, when the charging seat is placed in an open area around, the charging chassis 102 is a circular chassis, the transmitting angle of the signal transmitter is equal to 360 degrees, and the signal coverage area with the largest area is realized; when the charging stand is placed at a corner position or a corridor area, the transmitting angle of the signal transmitter does not need to reach 360 degrees, and the transmitting angle can be the same as the area (the area along the edge) of the mobile robot, which is allowed to move, as long as the transmitting angle can cover 90 degrees or 180 degrees, and in this case, the plane figure of the cross section of the charging chassis 102 can be a sector, including a sector of 90 degrees or a sector of 180 degrees. And the mobile robot is prevented from navigating to an area where the electrode metal rings are not arranged according to the received signal intensity information.

As an embodiment, as shown in fig. 1, the charging chassis 102 is a base structure allowing the mobile robot to cross and supporting the mobile robot to move to the two electrode metal rings on its surface, and the plane figure of the cross section of the charging chassis 102 is a geometric figure having a central position for being laid out parallel to the traveling plane of the mobile robot. The plane figure of the cross section of the charging chassis 102 includes a regular geometry figure and an irregular geometry figure, and specifically includes but is not limited to a closed geometry plane figure such as a circle, a square, a rectangle, an ellipse, a triangle, and the like, and the plane figure of the cross section of the charging chassis 102 necessarily surrounds a ring formed by the two electrode metal rings. In this embodiment, the sweeping robot is allowed to move from any angle to the center of the cross section of the charging chassis except for moving in the direction away from the signal transmitter, and particularly when the charging chassis is circular, a certain butt joint straight line does not need to be specially found by adjusting the angle, so that the recharging speed of the sweeping robot is increased; when the cross section of the charging chassis is fan-shaped, the charging seat is placed at a corner position or a gallery area adaptively, so that the sweeping robot can complete the recharging task in a flexible angle posture in various indoor environments. Thereby simplifying the recharging steps of the robot.

As an embodiment, as shown in fig. 1, the plane figure of the cross section of the charging chassis 102 is preferably configured to be circular, so as to form the maximum robot contact range, and meet the requirement that the mobile robot 105 completes 360-degree recoil charging. The signal transmitter 101 is arranged on the axis of the cross section of the charging chassis 102, and the signal transmitter 101 is preferably installed to be adapted to the height of the body of the mobile robot 105, so that the body-mounted signal receiving sensor of the mobile robot 105 receives the effective signal transmitted from the signal transmitter 101; wherein the axis of the cross section is through the center of the cross section, corresponding to the center black dot in fig. 2 and 3. When the cross section of the charging base plate 102 has a circular planar shape, the electrode metal rings 103 and 104 are both circular rings, and the electrode metal rings 103 and 104 are arranged on the charging base plate 102 at intervals from outside to inside in the radial direction. The signal emitter 101 is arranged on the axial lead (central axis) of the cross section of the charging chassis 102, the signal emitter 101 may be a cylinder shown in fig. 1, or may be arranged above the cylinder shown in fig. 1, the electrode metal ring 103 and the electrode metal ring 104 are sequentially arranged on the periphery of the cylinder shown in fig. 1, but there is no physical contact with the cylinder, compared with the charging seat disclosed in the granted patent CN103066645B of china utility model, the present embodiment does not cover the electrode on the side surface of the charging seat, no matter whether the mobile robot 105 is in butt-joint charging, the electrode arranged on the upper surface of the charging chassis 102 will not affect the stability of the effective coverage range of the signal emitted by the signal emitter, thereby ensuring the stability and uniformity of the scalar field formed by the signal emitter.

As an embodiment, two sets of signal receiving sensors are symmetrically installed on the left and right sides of the body of the mobile robot 105 with the center of gravity of the body of the mobile robot 105 as the center of symmetry, and at least one signal receiving sensor exists in each set of signal receiving sensors and is uniformly arranged along the circumference of the body. When two power receiving electrodes arranged at the bottom of the body of the mobile robot are respectively butted with the two electrode metal rings, the strength of a signal transmitted from the signal transmitter received by a signal receiving sensor arranged at the left side of the body of the mobile robot is equal to the strength of a signal transmitted from the signal transmitter received by a signal receiving sensor symmetrically arranged at the right side of the body of the mobile robot; if the intensity of the signal transmitted from the signal transmitter received by the signal receiving sensor arranged on the left side of the machine body is preferably maximized, the intensity of the signal transmitted from the signal transmitter received by the signal receiving sensor symmetrically arranged on the right side of the machine body is also preferably maximized; wherein the two signal receiving sensors participating in the signal strength comparison are symmetrically arranged relative to the center parting line of the mobile robot. Therefore, the coverage area of the two electrode metal rings on the surface of the charging chassis is divided into areas with the same signal intensity for receiving the signal by the signal receiving sensors on the left side and the right side of the mobile robot, the range of the recharging butt joint area of the mobile robot is enlarged, and the difficulty of recharging butt joint is reduced.

As an embodiment, two sets of signal receiving sensors are symmetrically installed on the front and rear sides of the body of the mobile robot 105 with the center of gravity of the body of the mobile robot 105 as a symmetric center, and at least one signal receiving sensor exists in each set of signal receiving sensors and is uniformly arranged along the circumference of the body. When two power receiving electrodes arranged at the bottom of the body of the mobile robot are respectively butted with the two electrode metal rings, the strength of a signal transmitted from the signal transmitter received by a signal receiving sensor arranged at the front side of the body of the mobile robot is equal to the strength of the signal transmitted from the signal transmitter received by a signal receiving sensor symmetrically arranged at the rear side of the body of the mobile robot; if the intensity of the signal transmitted from the signal transmitter received by the signal receiving sensor arranged on the front side of the machine body is preferably maximized, the intensity of the signal transmitted from the signal transmitter received by the signal receiving sensor symmetrically arranged on the rear side of the machine body is also preferably maximized; wherein the two signal receiving sensors participating in the signal strength comparison are symmetrically arranged relative to the center parting line of the mobile robot. Therefore, the coverage area of the two electrode metal rings on the surface of the charging chassis is divided into areas with the same signal strength for receiving the same signal by the signal receiving sensors on the front side and the rear side of the mobile robot, the range of the recharging butt joint area of the mobile robot is enlarged, and the difficulty of recharging butt joint is reduced.

In the foregoing embodiment, the arrangement position of one of the two electrode metal rings closest to the signal transmitter is defined as: when two power receiving electrodes arranged at the bottom of the machine body of the mobile robot are respectively butted with the two electrode metal rings, the strength of a signal received by a signal receiving sensor arranged at the left side of the machine body of the mobile robot and transmitted by the signal transmitter is equal to the strength of a signal received by a signal receiving sensor symmetrically arranged at the right side of the machine body of the mobile robot and transmitted by the signal transmitter; or, among the two electrode metal rings, the arrangement position of one electrode metal ring closest to the signal transmitter is defined as: when two power receiving electrodes arranged at the bottom of the body of the mobile robot are respectively butted with the two electrode metal rings, the strength of a signal received by a signal receiving sensor arranged at the front side of the body of the mobile robot and transmitted from the signal transmitter is equal to the strength of a signal received by a signal receiving sensor symmetrically arranged at the rear side of the body of the mobile robot and transmitted from the signal transmitter; wherein the two signal receiving sensors participating in the signal strength comparison are symmetrically arranged relative to the center parting line of the mobile robot. When the cross-sectional plane of the charging chassis 102 is circular, the radius of the electrode metal ring 103 relative to the center of the charging chassis 102 is set according to the arrangement position of the electrode metal ring closest to the signal transmitter. Therefore, specific positions of the two electrode metal rings on the surface of the charging chassis are clearly defined, a corresponding relation between the arrangement positions of the two electrode metal rings and the received signal strength is established, and a signal strength confirmation basis is laid for judging that the mobile robot is in butt joint and recharging.

In another embodiment of the present invention, a robot recharging control method of a charging stand based on the foregoing embodiment is disclosed, the robot recharging control method includes the following basic steps of, when a signal receiving sensor of the mobile robot receives a signal transmitted from the signal transmitter, controlling the mobile robot to perform adaptive speed-reducing movement in a direction of increasing both the first guiding signal strength and the second guiding signal strength, specifically, controlling the mobile robot to perform adaptive speed-reducing movement in a direction of increasing both the first guiding signal strength and the second guiding signal strength until the absolute value of the signal strength difference between the first guiding signal strength and the second guiding signal strength is equal to a preset strength difference threshold value, determining that two receiving electrodes arranged at the bottom of the mobile robot body are in butt joint with the two electrode metal rings, and it should be noted that, the two electrode metal rings occupy a certain annular area on the charging chassis and allow the mobile robot to slightly swing in the process of butt-joint charging with the two electrode metal rings, but the absolute value of the signal intensity difference between the first guiding signal intensity and the second guiding signal intensity is kept equal to a preset intensity difference threshold value, and the preset intensity difference threshold value fluctuates.

Specifically, in the process that the mobile robot performs adaptive speed regulation movement towards the direction in which the first guiding signal intensity and the second guiding signal intensity are increased, if it is detected that the absolute value of the difference between the first guiding signal intensity and the second guiding signal intensity is reduced, the angle of rotation of the mobile robot becomes smaller and smaller until the absolute value is close to 0, the moving direction of the mobile robot is adjusted in time, then the mobile robot is controlled to move linearly towards the direction in which the first guiding signal intensity and the second guiding signal intensity are increased, the mobile robot is continuously close to the two electrode metal rings or the signal emitter, meanwhile, the real-time speed of the mobile robot also becomes smaller and smaller until the absolute value is close to 0, final butt joint charging is completed, and the recharging efficiency and the returning accuracy of the mobile robot are improved. The signal intensity of the signal which is transmitted from the signal transmitter and received by the signal receiving sensor arranged on one side of the body of the mobile robot in real time is set as first guide signal intensity, and the signal intensity of the signal which is transmitted from the signal transmitter and received by the signal receiving sensor arranged on the other side of the body of the mobile robot in real time is set as second guide signal intensity. The signal receiving sensors arranged on two sides of the mobile robot body form a certain included angle. Compared with the prior art, the embodiment does not need to control two transmitters of the charging seat to respectively transmit a signal and adjust the angle between the transmitting directions of the two transmitters, and the embodiment utilizes the change of the signal intensity difference value between the signals received by two sides of the same mobile robot to control the mobile robot to adaptively adjust to move towards the direction of increasing the first guide signal intensity and the second guide signal intensity and to do the motion of adaptively adjusting the speed in real time, so as to achieve the purpose of controlling the deviation degree of the mobile robot relative to the charging seat until two power receiving electrodes arranged at the bottom of the body of the mobile robot are in butt joint with the two electrode metal rings, thereby improving the accuracy of finding the positions of the two electrode metal rings from any pose of the mobile robot, the robot can be prevented from being charged only by relying on a specific angle or a specific straight path.

As an embodiment, as shown in fig. 4, the robot recharging control method specifically includes the following steps:

step S401, the signal receiving sensor of the mobile robot receives the signal transmitted from the signal transmitter, and the mobile robot enters the coverage range of the signal transmitted by the signal transmitter, and then the step S402 is executed. In step S401, the signal receiving sensor on the left side of the body of the mobile robot receives and may continuously detect the signal transmitted from the signal transmitter, or the signal receiving sensor on the right side of the body of the mobile robot receives and may continuously detect the signal transmitted from the signal transmitter, or the signal receiving sensors on the left and right sides of the body of the mobile robot both receive and may continuously detect the signal transmitted from the signal transmitter, and determine that the mobile robot enters the coverage area of the signal transmitted by the signal transmitter. Or, in step S401, the signal receiving sensor on the front side of the body of the mobile robot receives and may continuously detect the signal transmitted from the signal transmitter, or the signal receiving sensor on the rear side of the body of the mobile robot receives and may continuously detect the signal transmitted from the signal transmitter, or the signal receiving sensors on both the front and rear sides of the body of the mobile robot receive and may continuously detect the signals transmitted from the signal transmitter, so as to determine that the mobile robot enters the coverage area of the signal transmitted by the signal transmitter.

Step S402, determining whether an absolute value of a signal strength difference between the first pilot signal strength and the second pilot signal strength is the preset strength difference threshold, if so, entering step S404, otherwise, entering step S403. When the absolute value of the signal intensity difference is equal to the preset intensity difference threshold, it can be determined that the moving direction of the mobile robot is directly opposite to the charging seat, and two power receiving electrodes arranged at the bottom of the mobile robot body are in adaptive abutting contact with the two electrode metal rings.

In step S403, the signal strength and the value of the first guiding signal strength and the second guiding signal strength are used to adjust the moving speed of the mobile robot, which may be regarded as increasing the current moving speed or decreasing the current moving speed, and then step S405 is executed to adjust the moving direction of the mobile robot.

Step S405, controlling the mobile robot to move in a direction of increasing both the first guidance signal strength and the second guidance signal strength at the adjusted moving speed, so that the mobile robot simultaneously rotates in a direction of decreasing an absolute value of a signal strength difference between the first guidance signal strength and the second guidance signal strength, and then returning to perform step S402. In step S405, if the mobile robot detects that the first guidance signal strength and the second guidance signal strength are both increased in real time in the current moving direction, the adjustment degree of the sent direction adjustment instruction to the current moving direction of the mobile robot is decreased until the absolute value of the signal strength difference between the first guidance signal strength and the second guidance signal strength is equal to the preset strength difference threshold, and then the mobile robot keeps walking straight in the current moving direction; otherwise, a direction adjusting instruction is sent to control the mobile robot to turn to the direction in which the first guide signal strength and the second guide signal strength are increased, and then the mobile robot is controlled to move to be close to the two electrode metal rings in the direction in which the first guide signal strength and the second guide signal strength are increased at the adjusted moving speed. The angle value required for the rotation in the direction in which both the first pilot signal strength and the second pilot signal strength are increased is obtained by multiplying the signal strength difference between the first pilot signal strength and the second pilot signal strength by a conversion coefficient configured in advance.

Repeating the foregoing steps S402 to S405 in this way, and constantly modifying the real-time moving direction of the mobile robot to a direction moving such that both the first guidance signal strength and the second guidance signal strength increase, so as to: the receiving electrode arranged at the bottom of the mobile robot body can be in any angle, and when the absolute value of the signal intensity difference between the first guide signal intensity and the second guide signal intensity is equal to the preset intensity difference threshold value, the electrode metal ring on the charging chassis of the charging seat is in butt joint with the charging seat for charging. Wherein the direction of increasing both the first pilot signal strength and the second pilot signal strength is not the only fixed direction.

Step S404, when it is determined that the absolute value of the signal intensity difference between the first guidance signal intensity and the second guidance signal intensity is equal to the preset intensity difference threshold, determining that two power receiving electrodes arranged at the bottom of the mobile robot are in butt joint with the two electrode metal rings along the same direction, where the butt joint means that a positive power receiving electrode arranged at the bottom of the mobile robot is in butt joint with a negative electrode metal ring, and a negative power receiving electrode arranged at the bottom of the mobile robot is in butt joint with a positive electrode metal ring. Wherein the first pilot signal strength and the second pilot signal strength are both obtained in real time.

In the foregoing steps S401 to S405, the moving speed of the mobile robot is adjusted by using the signal strength difference, and then the moving direction of the mobile robot is adjusted to the direction in which the first guiding signal strength and the second guiding signal strength are both increased, so that the moving direction of the mobile robot is adjusted in time according to the strength change of the signal strength received at the two sides of the body to control the mobile robot to continuously approach the charging base until the mobile robot completes the straight-line butt joint of the two electrode metal rings of the charging base.

As another embodiment, as shown in fig. 5, the robot recharging control method specifically includes the following steps:

step S501, the signal receiving sensor of the mobile robot receives the signal transmitted from the signal transmitter, and if the mobile robot is determined to enter the coverage range of the signal transmitted by the signal transmitter, the step S502 is executed. In step S501, the signal receiving sensor on the left side of the body of the mobile robot receives and may continuously detect the signal transmitted from the signal transmitter, or the signal receiving sensor on the right side of the body of the mobile robot receives and may continuously detect the signal transmitted from the signal transmitter, or the signal receiving sensors on the left and right sides of the body of the mobile robot both receive and may continuously detect the signal transmitted from the signal transmitter, and determine that the mobile robot enters the coverage area of the signal transmitted by the signal transmitter. Or, in step S501, the signal receiving sensor on the front side of the body of the mobile robot receives and may continuously detect the signal transmitted from the signal transmitter, or the signal receiving sensor on the rear side of the body of the mobile robot receives and may continuously detect the signal transmitted from the signal transmitter, or the signal receiving sensors on both the front and rear sides of the body of the mobile robot receive and may continuously detect the signals transmitted from the signal transmitter, so as to determine that the mobile robot enters the coverage area of the signal transmitted by the signal transmitter.

Step S502, determining whether an absolute value of a signal strength difference between the first pilot signal strength and the second pilot signal strength is the preset strength difference threshold, if so, entering step S504, otherwise, entering step S503. When the absolute value of the signal intensity difference is equal to the preset intensity difference threshold, it can be determined that the moving direction of the mobile robot is opposite to the charging seat, and two power receiving electrodes arranged at the bottom of the mobile robot body start to be in abutting contact with the two electrode metal rings.

Step S503 is to control the mobile robot to turn in a direction to increase both the first guidance signal strength and the second guidance signal strength, and then the process proceeds to step S505. In step S505, if the mobile robot detects in real time that the first guidance signal strength and the second guidance signal strength are both increased in the current moving direction, a direction adjustment instruction is issued to change the amplitude of the current moving direction of the mobile robot to be smaller until the absolute value of the signal strength difference between the first guidance signal strength and the second guidance signal strength is equal to the preset strength difference threshold, and then the current moving direction is kept to travel straight, otherwise, a direction adjustment instruction is issued to control the mobile robot to turn to a direction in which the first guidance signal strength and the second guidance signal strength are both increased, so that the powered electrode disposed at the bottom of the body of the mobile robot gradually approaches the electrode metal ring on the charging chassis of the charging stand instead of approaching the electrode metal ring on the charging chassis of the charging stand depending on a single angular direction.

Step S505, adjusting the moving speed of the mobile robot by using the signal strength and the value of the first guiding signal strength and the second guiding signal strength, which may be regarded as increasing the current moving speed or decreasing the current moving speed, and then controlling the mobile robot to move continuously in the direction of increasing the first guiding signal strength and the second guiding signal strength by the adjusted moving speed, and then returning to execute step S502.

Step S504, when it is determined that the absolute value of the signal intensity difference between the first guidance signal intensity and the second guidance signal intensity is equal to the preset intensity difference threshold, it is determined that two power receiving electrodes disposed at the bottom of the mobile robot are in butt joint with the two electrode metal rings along the same direction, where the butt joint means that a positive power receiving electrode disposed at the bottom of the mobile robot is in butt joint with a negative electrode metal ring, and a negative power receiving electrode disposed at the bottom of the mobile robot is in butt joint with a positive electrode metal ring. Wherein the first pilot signal strength and the second pilot signal strength are both obtained in real time.

In the foregoing steps S501 to S505, the moving direction of the mobile robot is adjusted to face the direction in which the first guiding signal strength and the second guiding signal strength are both enhanced, and then the moving speed of the mobile robot is adjusted by using the signal strength difference, so that the mobile robot is controlled to move at the adjusted moving speed in the direction in which the first guiding signal strength and the second guiding signal strength are both enhanced, so as to guide the mobile robot to approach the charging dock until the mobile robot completes the straight docking of the charging dock.

In the foregoing embodiment, the method for adjusting the moving speed of the mobile robot by using the signal strength sum of the first guiding signal strength and the second guiding signal strength specifically includes: respectively acquiring first guide signal intensity and second guide signal intensity in real time; converting the signal intensity sum value of the first guiding signal intensity and the second guiding signal intensity into the acceleration, subtracting the converted acceleration from the preset reference speed, and taking the speed obtained by subtraction as the adjusted moving speed; the reference speed configured in advance is the moving speed of the mobile robot when all the signal receiving sensors of the mobile robot do not receive the signals transmitted from the signal transmitter, and can be understood as the normal moving speed of the mobile robot under the condition that the mobile robot does not receive the recharging instruction and responds to the recharging instruction. When the signal strength and the value received by the two sides of the body of the mobile robot are larger, the mobile robot is determined to be close to the charging seat, and the moving speed of the mobile robot is greatly reduced on the basis of a reference speed by utilizing the larger signal strength and value, so that the mobile robot slowly approaches and is in butt joint with the two electrode metal rings, and the phenomenon that the mobile robot collides with the charging seat due to overhigh speed is avoided; when the signal intensity and the value received by the two sides of the body of the mobile robot are smaller, the deviation degree of the mobile robot relative to the charging seat is determined to be larger, and the moving speed of the mobile robot is slightly reduced on the basis of a reference speed by using the smaller signal intensity and value, so that the mobile robot is accelerated to approach and butt-joint the two electrode metal rings towards the moving direction of subsequent adjustment, and the recharging efficiency of the robot is improved.

It should be noted that, the signal intensity of the signal transmitted from the signal transmitter received in real time by the left signal receiving sensor (i.e., 1051 in fig. 2) installed on the left side of the body of the mobile robot is set as the first guiding signal intensity, the signal intensity of the signal transmitted from the signal transmitter received in real time by the right signal receiving sensor (i.e., 1052 in fig. 2) installed on the right side of the body of the mobile robot is set as the second guiding signal intensity, and the left signal receiving sensor 1051 and the right signal receiving sensor 1052 in fig. 2 are symmetrically arranged with respect to the central axis of the body of the mobile robot 105.

In this embodiment, the first pilot signal strength and the second pilot signal strength obtained in real time may be converted into the speed parameter range [0,1] by a preconfigured parameter, where 0 represents the minimum signal strength mapping value that can be received by the first pilot signal strength or the second pilot signal strength, 1 represents the maximum signal strength mapping value that can be received by the first pilot signal strength or the second pilot signal strength, and then the preconfigured reference speed is converted into 2 by the preconfigured parameter. When the signal receiving sensor corresponding to the signal to which the first guidance signal strength belongs and the signal receiving sensor corresponding to the signal to which the second guidance signal strength belongs are symmetrically arranged on the body of the mobile robot, the maximum value of the acceleration magnitude converted from the sum of the signal strengths of the first guidance signal strength and the second guidance signal strength is 2, and the minimum value is 0.

Preferably, when the first guidance signal strength is equal to the second guidance signal strength, and the acceleration converted from the sum of the first guidance signal strength and the second guidance signal strength is equal to the preset reference velocity, it is determined that the adjusted moving velocity is 0, wherein the signal receiving sensor acquiring the first guidance signal strength and the signal receiving sensor acquiring the second guidance signal strength are symmetrically arranged about a midline of the body of the mobile robot. Two power receiving electrodes arranged at the bottom of the mobile robot body are in butt joint with the two electrode metal rings in a static motion state, or the two power receiving electrodes arranged at the bottom of the mobile robot body can be in butt joint with the two electrode metal rings under the condition of slight swinging, and at the moment, the strength of the first guide signal and the strength of the second guide signal respectively reach the maximum value. The charging stability of the mobile robot is improved. Thereby adjusting the real-time moving speed of the mobile robot between the preconfigured reference speed (highest moving speed) and 0.

As an embodiment, the method for moving the mobile robot at the real-time moving speed in the direction of increasing both the first guidance signal strength and the second guidance signal strength specifically includes: respectively acquiring first guide signal intensity and second guide signal intensity in real time; that is, the left signal receiving sensor 1051 installed at the left side of the body of the mobile robot is used to acquire the first guide signal strength, and the right signal receiving sensor 1052 installed at the right side of the body of the mobile robot is used to acquire the second guide signal strength. When the signal intensity difference between the first guiding signal intensity and the second guiding signal intensity is larger than the preset intensity difference threshold value, controlling the mobile robot to rotate towards the left side of the current moving direction by a first deflection angle, and determining to adjust the mobile robot to rotate towards the direction in which the first guiding signal intensity and the second guiding signal intensity are increased; corresponding to the mobile robot 105 in the area #2 in fig. 3, the mobile robot 105 has entered the coverage area (the area covered by the right side of the central axis of the dotted circle in fig. 3) of the signal emitted by the signal emitter 101, the current moving direction of the mobile robot 105 is the direction indicated by the arrow P4, and when it is detected that the signal strength difference between the first guiding signal strength and the second guiding signal strength is greater than the preset strength difference threshold, the mobile robot is controlled to rotate towards the left side of the current moving direction by the first deflection angle, as shown in fig. 3, the direction indicated by the arrow P4 is turned towards the left, and the current moving direction of the mobile robot is adjusted to the direction indicated by the arrow P5, which corresponds to the adjusted moving direction. It should be noted that, the difference between the signal strength of the first pilot signal strength and the signal strength of the second pilot signal strength is in a direct proportional relationship with the first deflection angle; the left rotation of the robot towards the current moving direction is the anticlockwise rotation of the robot by a first deflection angle; the ratio of the difference in signal strength of the first pilot signal strength and the second pilot signal strength to the first deflection angle is a preconfigured angle transformation coefficient, the angle conversion coefficient is related to the type of the signal transmitted by the signal transmitter, specifically, an engineer may adjust the receiving angle of the signal receiving sensor to change so as to cause the received signal strength to change, and through repeated experiments, it is known that the ratio of the change value of the signal strength to the change value of the receiving angle of the signal receiving sensor (the change value of the mounting angle of the signal receiving sensor) is relatively stable, and through conventional mathematical model processing, the ratio can be regarded as a fixed ratio and defined as an angle conversion coefficient, the mobile robot may be disposed in advance in the mobile robot when the mobile robot returns to the charging stand of the above embodiment to perform the docking charging. But this angle conversion factor may vary with the type of signal emitted by the signal emitter.

Then, on the basis of the above embodiment, the mobile robot is controlled to move towards the direction after rotating by the first deflection angle at the real-time moving speed, and the mobile robot is determined to be guided to move towards the direction of increasing the first guiding signal strength and the second guiding signal strength at the real-time moving speed, so that the mobile robot simultaneously moves towards the direction of decreasing the absolute value of the signal strength difference between the first guiding signal strength and the second guiding signal strength, and the deviation degree of the mobile robot relative to the signal transmitter is further reduced; preferably, when the signal intensity difference between the first guidance signal intensity and the second guidance signal intensity is 0, the converted first deflection angle is 0, and at this time, the preset intensity difference threshold is 0, the mobile robot keeps the current moving direction to move forward until the mobile robot is in butt joint with the two electrode metal rings, and during the linear movement, the two power receiving electrodes arranged at the bottom of the mobile robot body are controlled to be closer to the two electrode metal rings. And the real-time moving speed is the current moving speed or the adjusted moving speed.

When the real-time moving speed is the current moving speed, it indicates that the mobile robot does not adjust the moving speed of the mobile robot by using the signal strength and the value of the first pilot signal strength and the second pilot signal strength, but according to the embodiment shown in fig. 5, the mobile robot is controlled to move in the direction after rotating by the first deflection angle according to the current moving speed, that is, the moving is completed in the direction in which the first pilot signal strength and the second pilot signal strength are both increased, and then the moving speed of the mobile robot is adjusted by using the signal strength and the value of the first pilot signal strength and the second pilot signal strength obtained in real time. Repeating steps S502 to S505, as shown in fig. 3, the mobile robot moves in the direction indicated by the arrow P5 at the magnitude of the adjusted moving speed, when the signal intensity difference between the first guiding signal intensity and the second guiding signal intensity is larger than the preset intensity difference threshold value, controlling the mobile robot to rotate towards the left side of the current moving direction by a first deflection angle, as shown in fig. 3, the direction indicated by the arrow P5 is turned to the left, the current moving direction of the mobile robot is adjusted to the direction indicated by the arrow P6, and at this time, the first deflection angle formed by the arrow P6 and the arrow P5 is smaller than the first deflection angle formed by the arrow P5 and the arrow P4, since the process in which the direction indicated by the arrow P4 is biased toward the direction indicated by the arrow P5 and the process in which the direction indicated by the arrow P5 is biased toward the direction indicated by the arrow P6 are substantially the mobile robot turning in the direction in which both the first guidance signal strength and the second guidance signal strength increase. The ratio of the absolute value of the signal strength difference to the absolute value of the difference between the two first deflection angles is a pre-configured angle conversion factor.

When the real-time moving speed is the adjusted moving speed, it means that the mobile robot first adjusts the moving speed of the mobile robot according to the embodiment shown in fig. 4 by using the signal strength sum of the first pilot signal strength and the second pilot signal strength, then controls the mobile robot to rotate in a direction in which both the first pilot signal strength and the second pilot signal strength are increased so as to correct the real-time moving direction of the mobile robot to a direction in which the absolute value of the signal strength difference between the first pilot signal strength and the second pilot signal strength is decreased, then controls the mobile robot to move in a direction in which both the first pilot signal strength and the second pilot signal strength are increased in the adjusted moving speed, and repeats steps S402 to S405, as shown in fig. 3, the mobile robot moves in the direction indicated by the arrow P5 at the adjusted moving speed, when the signal strength difference between the first guidance signal strength and the second guidance signal strength is greater than the preset strength difference threshold, continuing to adjust the moving speed of the mobile robot by using the signal strength sum of the first guidance signal strength and the second guidance signal strength, and then controlling the mobile robot to rotate to the left of the current moving direction by the first deflection angle, so that the mobile robot moves again at the adjusted moving speed in a direction in which both the first guidance signal strength and the second guidance signal strength are increased, as also shown in fig. 3, turning to the left in the direction indicated by the arrow P5, and adjusting the current moving direction of the mobile robot to the direction indicated by the arrow P6, where the first deflection angle formed by the arrow P6 and the arrow P5 is smaller than the first deflection angle formed by the arrow P5 and the arrow P4, because the direction indicated by the arrow P4 deviates to the direction indicated by the arrow P5, The process of the direction indicated by the arrow P5 being biased toward the direction indicated by the arrow P6 is substantially that the mobile robot turns in a direction in which both the first guidance signal strength and the second guidance signal strength increase. The ratio of the absolute value of the signal strength difference to the absolute value of the difference between the two first deflection angles is a pre-configured angle conversion factor. According to the embodiment, through setting the preset intensity difference threshold and the first deflection angle, when the signal intensity difference between the first guide signal intensity and the second guide signal intensity is too large, the mobile robot is enabled to move towards the direction in which the first guide signal intensity and the second guide signal intensity are increased, the mobile robot is enabled to rotate towards the direction in which the signal intensity difference is reduced more accurately, and then towards the axis of the cross section of the charging chassis, so that the adjusting frequency of the current moving direction of the mobile robot is reduced, the power consumption required by recharging of the robot is reduced, and the recharging accuracy of the robot is improved.

As an example, the signal intensity of the signal transmitted from the signal transmitter received by the signal receiving sensor installed on the front side of the body of the mobile robot in real time is the first guiding signal intensity, and the signal intensity of the signal transmitted from the signal transmitter received by the signal receiving sensor installed on the rear side of the body of the mobile robot in real time is the second guiding signal intensity; the method for moving the mobile robot in the direction in which the first guidance signal strength and the second guidance signal strength are both increased by the magnitude of the real-time moving speed specifically includes: respectively acquiring a first guide signal strength and a second guide signal strength in real time, and identifying the distribution direction of the charging seat (the signal emitter) relative to the mobile robot; when the signal intensity difference between the first guiding signal intensity and the second guiding signal intensity is larger than the preset intensity difference threshold value and the charging seat is determined to be positioned on the left side of the current moving direction of the mobile robot, controlling the mobile robot to rotate towards the right side of the current moving direction by a first deflection angle, and determining to adjust the mobile robot to rotate towards the direction in which the first guiding signal intensity and the second guiding signal intensity are increased; and when the signal intensity difference between the first guide signal intensity and the second guide signal intensity is greater than the preset intensity difference threshold value and the charging seat is determined to be positioned at the right side of the current moving direction of the mobile robot, determining to adjust the mobile robot to rotate towards the direction in which the first guide signal intensity and the second guide signal intensity are increased. Then controlling the mobile robot to move towards the direction after rotating by the first deflection angle at the real-time moving speed, and determining that the mobile robot is guided to move towards the direction of increasing the first guide signal strength and the second guide signal strength at the real-time moving speed; wherein a signal strength difference between the first pilot signal strength and the second pilot signal strength is in direct proportion to the first deflection angle; the robot rotates towards the left side of the current moving direction and rotates anticlockwise, and the robot rotates towards the right side of the current moving direction and rotates clockwise; the ratio of the difference in signal strength of the first pilot signal strength and the second pilot signal strength to the first deflection angle is a preconfigured angle conversion factor that is associated with the type of signal transmitted by the signal transmitter.

As another embodiment, the method for moving the mobile robot at the real-time moving speed in the direction of increasing both the first guidance signal strength and the second guidance signal strength specifically includes: respectively acquiring first guide signal intensity and second guide signal intensity in real time; that is, the left signal receiving sensor 1051 installed at the left side of the body of the mobile robot is used to acquire the first guide signal strength, and the right signal receiving sensor 1052 installed at the right side of the body of the mobile robot is used to acquire the second guide signal strength. When the signal intensity difference between the second guiding signal intensity and the second guiding signal intensity is larger than the preset intensity difference threshold value, controlling the mobile robot to rotate towards the right side of the current moving direction by a second deflection angle, and determining to adjust the mobile robot to rotate towards the direction in which the first guiding signal intensity and the second guiding signal intensity are increased; corresponding to the mobile robot 105 in the area #1 in fig. 2, the mobile robot 105 has entered the coverage area (the area covered by the left side of the central axis of the dotted circle in fig. 3) of the signal emitted by the signal emitter 101, the current moving direction of the mobile robot 105 is the direction indicated by the arrow P1, and when it is detected that the signal strength difference between the first guiding signal strength and the second guiding signal strength is greater than the preset strength difference threshold, the mobile robot is controlled to rotate towards the right side of the current moving direction by the second deflection angle, as shown in fig. 2, the direction indicated by the arrow P1 is turned towards the right, and the current moving direction of the mobile robot is adjusted to the direction indicated by the arrow P2, which corresponds to the adjusted moving direction. It should be noted that the difference between the signal strength of the second pilot signal strength and the signal strength of the first pilot signal strength is in a direct proportional relationship with the second deflection angle; the robot rotates towards the right side of the current moving direction by a second clockwise rotation deflection angle; the ratio of the signal strength difference of the second pilot signal strength to the first pilot signal strength to the second deflection angle is a preconfigured angle transformation coefficient, the angle conversion coefficient is related to the type of the signal transmitted by the signal transmitter, specifically, an engineer may adjust the receiving angle of the signal receiving sensor to change so as to cause the received signal strength to change, and through repeated experiments, it is known that the ratio of the change value of the signal strength to the change value of the receiving angle of the signal receiving sensor (the change value of the mounting angle of the signal receiving sensor) is relatively stable, and through conventional mathematical model processing, the ratio can be regarded as a fixed positive ratio and defined as an angle conversion coefficient, the mobile robot may be disposed in advance in the mobile robot when the mobile robot returns to the charging stand of the above embodiment to perform the docking charging. But this angle conversion factor may vary with the type of signal emitted by the signal emitter.

Then controlling the mobile robot to move towards the direction after rotating by the second deflection angle according to the magnitude of the real-time moving speed, and determining that the mobile robot is guided to move towards the direction of increasing the first guide signal strength and the second guide signal strength according to the magnitude of the real-time moving speed, so that the mobile robot simultaneously moves towards the direction of reducing the absolute value of the signal strength difference of the first guide signal strength and the second guide signal strength, and the deviation degree of the mobile robot relative to the signal transmitter is reduced; preferably, when the signal intensity difference between the second guiding signal intensity and the first guiding signal intensity is 0, and the converted second deflection angle is 0, the mobile robot keeps the current moving direction to move forward until the mobile robot is in butt joint with the two electrode metal rings, and in the linear moving process, the two power receiving electrodes arranged at the bottom of the mobile robot body are controlled to be closer to the two electrode metal rings, and meanwhile, the first guiding signal intensity and the second guiding signal intensity are both enhanced. And the real-time moving speed is the current moving speed or the adjusted moving speed.

When the real-time moving speed is the current moving speed, it indicates that the mobile robot does not adjust the moving speed of the mobile robot by using the signal strength and the value of the first pilot signal strength and the second pilot signal strength, but according to the embodiment shown in fig. 5, the mobile robot is controlled to move in the direction after rotating by the second deflection angle according to the current moving speed, that is, the moving is completed in the direction in which the first pilot signal strength and the second pilot signal strength are both increased, and then the moving speed of the mobile robot is adjusted by using the signal strength and the value of the first pilot signal strength and the second pilot signal strength obtained in real time. Repeating steps S502 to S505, as shown in fig. 2, the mobile robot moves in the direction indicated by the arrow P2 at the adjusted moving speed, when the signal intensity difference between the second guiding signal intensity and the first guiding signal intensity is larger than the preset intensity difference threshold value, controlling the mobile robot to rotate towards the right side of the current moving direction by a second deflection angle, as shown in fig. 2, the direction indicated by the arrow P2 is turned to the right, the current moving direction of the mobile robot is adjusted to the direction indicated by the arrow P3, and at this time, the second deflection angle formed by the arrow P3 and the arrow P2 is smaller than the second deflection angle formed by the arrow P1 and the arrow P2, since the process in which the direction indicated by the arrow P2 is biased toward the direction indicated by the arrow P3 and the process in which the direction indicated by the arrow P1 is biased toward the direction indicated by the arrow P2 are substantially the mobile robot turning in the direction in which both the first guidance signal strength and the second guidance signal strength increase. The ratio of the absolute value of the signal strength difference to the absolute value of the difference between the two first deflection angles is a pre-configured angle conversion factor.

When the real-time moving speed is the adjusted moving speed, it means that the mobile robot first adjusts the moving speed of the mobile robot according to the embodiment shown in fig. 4 by using the signal strength sum of the first pilot signal strength and the second pilot signal strength, then controls the mobile robot to rotate in the direction in which both the first pilot signal strength and the second pilot signal strength are increased so as to correct the real-time moving direction of the mobile robot to the direction in which the absolute value of the signal strength difference between the first pilot signal strength and the second pilot signal strength is decreased, then controls the mobile robot to move in the direction in which both the first pilot signal strength and the second pilot signal strength are increased by the adjusted moving speed, and repeats steps S402 to S405, as shown in fig. 2, the mobile robot moves in the direction indicated by the arrow P5 by the adjusted moving speed, when the signal intensity difference between the second pilot signal intensity and the first pilot signal intensity is greater than the preset intensity difference threshold, continuing to adjust the moving speed of the mobile robot by using the signal intensity sum of the first pilot signal intensity and the second pilot signal intensity, and then controlling the mobile robot to rotate to the right of the current moving direction by a second deflection angle, so that the mobile robot moves again at the adjusted moving speed in a direction in which both the first pilot signal intensity and the second pilot signal intensity are increased, as shown in fig. 2, turning to the right in a direction indicated by an arrow P2, and adjusting the current moving direction of the mobile robot to a direction indicated by an arrow P3, where the second deflection angle formed by an arrow P3 and an arrow P2 is smaller than the second deflection angle formed by an arrow P2 and an arrow P1, because the direction indicated by an arrow P2 deviates to the direction indicated by an arrow P3, The process of the direction indicated by the arrow P1 being biased toward the direction indicated by the arrow P2 is substantially that the mobile robot turns in a direction in which both the first guidance signal strength and the second guidance signal strength increase. The ratio of the absolute value of the signal strength difference to the absolute value of the difference between the two first deflection angles is a pre-configured angle conversion factor. This embodiment is through setting up predetermine poor threshold value of intensity and second deflection angle, move towards the direction that makes first guide signal intensity and second guide signal intensity all increase when the signal intensity difference of second guide signal intensity and first guide signal intensity is too big, let mobile robot more accurately towards the direction that the signal intensity difference reduces rotates, reduces mobile robot's current moving direction's regulation frequency prevents the range grow of the skew charging seat of mobile robot, reduces the required consumption of robot recharging, improves the success rate that the robot recharged.

As an example, the signal intensity of the signal transmitted from the signal transmitter received by the signal receiving sensor installed on the front side of the body of the mobile robot in real time is the first guiding signal intensity, and the signal intensity of the signal transmitted from the signal transmitter received by the signal receiving sensor installed on the rear side of the body of the mobile robot in real time is the second guiding signal intensity; the method for moving the mobile robot in the direction in which the first guidance signal strength and the second guidance signal strength are both increased by the magnitude of the real-time moving speed specifically includes: respectively acquiring a first guiding signal strength and a second guiding signal strength in real time, and identifying the distribution direction of the charging seat (the signal emitter) relative to the mobile robot by a conventional signal source direction judgment method (such as a special mark signal sent by the signal emitter); when the signal intensity difference between the second guiding signal intensity and the first guiding signal intensity is larger than the preset intensity difference threshold value and the charging seat is determined to be positioned on the left side of the current moving direction of the mobile robot, controlling the mobile robot to rotate towards the left side of the current moving direction by a second deflection angle, and determining to adjust the mobile robot to rotate towards the direction in which the first guiding signal intensity and the second guiding signal intensity are increased; and when the signal intensity difference between the second guiding signal intensity and the first guiding signal intensity is greater than the preset intensity difference threshold value and the charging seat is determined to be positioned on the right side of the current moving direction of the mobile robot, controlling the mobile robot to rotate towards the right side of the current moving direction by a second deflection angle, and determining to adjust the mobile robot to rotate towards the direction in which the first guiding signal intensity and the second guiding signal intensity are increased. Then controlling the mobile robot to move towards the direction after rotating by the second deflection angle at the real-time moving speed, and determining that the mobile robot is guided to move towards the direction of increasing the first guide signal strength and the second guide signal strength at the real-time moving speed; wherein a signal strength difference between the second pilot signal strength and the first pilot signal strength is in direct proportion to the second deflection angle; the robot rotates towards the right side of the current moving direction in a clockwise mode, and the robot rotates towards the left side of the current moving direction in a counterclockwise mode; the ratio of the difference in signal strength of the first pilot signal strength and the second pilot signal strength to the first deflection angle is a preconfigured angle conversion factor that is associated with the type of signal transmitted by the signal transmitter.

Preferably, when the strength of the second guidance signal and the strength of the first guidance signal are both weakened, the mobile robot is controlled to rotate by 180 degrees, and the direction after rotation is adjusted to be the current moving direction. Specifically, when the mobile robot 105 moves away from the charging chassis 102, and the second guidance signal strength and the first guidance signal strength are weakened, the mobile robot is controlled to turn around, and the direction after rotating 180 degrees is updated to the current moving direction; when determining that the absolute value of the signal strength difference between the first guiding signal strength and the second guiding signal strength is equal to the preset strength difference threshold, determining that two receiving electrodes arranged at the bottom of the body of the mobile robot are butted with the two electrode metal rings, and also determining that the second guiding signal strength and the first guiding signal strength both reach the maximum value, if the mobile robot 105 continues to advance towards the central position of the signal transmitter 101, namely, the current butting position with the two electrode metal rings spans into the annular area between the electrode metal ring 103 and the projection position of the signal transmitter 101 on the charging chassis 102, limited by the receiving angles of the left signal receiving sensor 1051 installed at the left side of the body of the mobile robot and the right signal receiving sensor 1052 installed at the right side of the body, the second guiding signal strength and the first guiding signal strength both begin to weaken from the maximum value, and controlling the mobile robot to turn around, and updating the direction after rotating for 180 degrees to be the current moving direction until two power receiving electrodes arranged at the bottom of the mobile robot body complete butt joint charging with the two electrode metal rings along the current moving direction. Therefore, according to the present embodiment, the mobile robot is guided to move forward in the correct charging direction in time according to the strength variation degree of the second guiding signal strength and the first guiding signal strength, so as to prevent the amplitude of the mobile robot deviating from the charging seat from further increasing.

In the foregoing embodiment, the preset intensity difference threshold is associated with an angle difference value of signal receiving sensors installed on the left and right sides of the body of the mobile robot, which are deviated from the central axis of the body, under the condition that a system floating error value is allowed to exist, so that the preset intensity difference threshold becomes a sum of a signal intensity compensation amount and the system floating error value; the signal intensity compensation quantity is a ratio of an angle difference value of the signal receiving sensors installed on the left and right sides of the body of the mobile robot deviating from a central axis of the body to an angle conversion coefficient under the condition that the signal receiving sensors installed on the left and right sides of the body of the mobile robot receive the same signal transmitted from the signal transmitter, and the angle conversion coefficient is a parameter which is configured in advance and is associated with the type of the signal transmitted by the signal transmitter; preferably, the mobile robot has two signal receiving sensors respectively installed on the left and right sides of the body, and the installation positions of the two signal receiving sensors are the same with respect to the central axis of the body, i.e. when the two signal receiving sensors are symmetrically installed on the left and right sides of the body, the signal intensity compensation amount is 0.

Preferably, when the angle of the signal receiving sensor installed on the left side of the machine body deviating from the central axis of the machine body is not equal to the angle of the signal receiving sensor installed on the right side of the machine body deviating from the central axis of the machine body, the signal intensity compensation amount has a compensation effect, in the foregoing embodiment, whether the absolute value of the signal intensity difference between the first guiding signal intensity and the second guiding signal intensity is greater than a preset intensity difference threshold value is used to determine whether two receiving electrodes arranged at the bottom of the machine body of the mobile robot are in butt joint with two electrode metal rings of the charging seat or whether the mobile robot needs to be controlled to move at an adjusted moving speed in a direction that the mobile robot increases the first guiding signal intensity and the second guiding signal intensity more accurately, and the influence caused by the asymmetric design of the signal receiving sensor on the machine body is overcome in the moving process, the accuracy of recharging and butting of the mobile robot is improved. When two powered electrodes arranged at the bottom of the body of the mobile robot are in butt joint with the two electrode metal rings, the system floating error value is an allowable signal intensity difference value between the intensity of a signal transmitted from the signal transmitter received by a signal receiving sensor arranged on the left side of the body of the mobile robot and the intensity of a signal transmitted from the signal transmitter received by a signal receiving sensor symmetrically arranged on the right side of the body of the mobile robot. Therefore, the signal receiving sensor array is suitable for signal receiving sensor arrays of different assembly modes on the mobile robot, and the redundancy of the signal strength judgment threshold of the robot recharging control method is improved.

A chip storing a computer program for controlling said mobile robot to perform said robot recharge control method. Any side of the left side or any side of the front side and the rear side of the mobile robot assembled with the chip enters an effective coverage area formed by the emission of the signal emitter, so that the robot recharging control method can be started to be executed, and the mobile robot is controlled to efficiently finish the recharging of the seat in the process of automatically updating the speed and the angle.

While the utility model has been described with reference to a preferred embodiment, it will be understood by those skilled in the art that various changes may be made and equivalents may be substituted for elements thereof without departing from the scope of the utility model. However, any simple modification, equivalent change and modification of the above embodiments according to the technical essence of the present invention are within the protection scope of the technical solution of the present invention.

Claims (6)

1. A charging seat is used for guiding a mobile robot to be in butt joint charging, and is characterized by comprising a charging chassis, two electrode metal rings and a signal transmitter;

the signal emitter is arranged above the charging chassis and used for guiding the mobile robot to move to contact the two electrode metal rings;

the two electrode metal rings are arranged on the surface of the charging chassis, which allows the mobile robot to contact, at a preset installation distance and are used for butting two power receiving electrodes arranged at the bottom of the body of the mobile robot;

the signal emitter and the two electrode metal rings are not arranged on the same column structure;

the two electrode metals are annularly arranged on the surface of the charging chassis around the signal transmitter, the two electrode metal rings are arranged on the surface of the charging chassis to form a symmetrical structure, and the distances of any position point occupied by the same electrode metal ring on the surface of the charging chassis relative to the center of the assembly position of the signal transmitter are equal;

the signal emitted by the signal emitter creates a scalar field around the signal emitter.

2. The charging stand of claim 1, wherein the two electrode metal rings are protruded on the surface of the charging chassis and distributed along the contour of the charging chassis;

when two power receiving electrodes arranged at the bottom of the body of the mobile robot are respectively butted with the two electrode metal rings, a preset installation distance between the two electrode metal rings is equal to the distance between the two power receiving electrodes arranged at the bottom of the body of the mobile robot, and the protruding height positions of the two electrode metal rings on the surface of the charging chassis are matched with the height positions of the two power receiving electrodes arranged at the bottom of the body of the mobile robot;

wherein, the two electrode metal rings are respectively a positive electrode metal ring and a negative electrode metal ring.

3. The charging dock of claim 2, wherein the number of the signal emitters is one, and the emission angle of the signal emitters is less than or equal to 360 degrees;

wherein, the emission angle is adjusted according to the allowed movement area of the mobile robot and the placing position of the charging seat, so that the coverage area of the signal emitted by the signal emitter is the same as the allowed movement area of the mobile robot.

4. The charging stand of claim 3, wherein the charging chassis is a structure of a base allowing the mobile robot to cross, and the cross section of the charging chassis is arranged to be parallel to the traveling plane of the mobile robot.

5. The charging dock of claim 4, wherein when the cross-section of the charging chassis is circular, the signal emitter is disposed on the axis of the cross-section of the charging chassis; wherein, the axis of the cross section is the center position passing through the cross section; the two electrode metals are annularly arranged on the surface of the charging chassis around the axis and are parallel to the profile of the cross section of the charging chassis.

6. The charging stand according to any of the claims 1 to 5, wherein the arrangement position of one of the two electrode metal rings closest to the signal transmitter is defined as: when two power receiving electrodes arranged at the bottom of the mobile robot body are respectively in butt joint with the two electrode metal rings, the strength of a signal transmitted by the signal transmitter received by the signal receiving sensor arranged at one side of the mobile robot body is equal to the strength of a signal transmitted by the signal transmitter received by the signal receiving sensor symmetrically arranged at the other side of the mobile robot body.

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