首页>
外国专利>
SYSTEM AND METHOD FOR AUTOMATIC RETURN moving robot to the charger
SYSTEM AND METHOD FOR AUTOMATIC RETURN moving robot to the charger
展开▼
机译:自动将机器人移回充电器的系统和方法
展开▼
页面导航
摘要
著录项
相似文献
摘要
1. automatic return system u0434u043bu00a0 self-propelled robot (300) to the u0437u0430u0440u00a0u0434u043du043eu043cu0443 device (100), u0441u043eu0434u0435u0440u0436u0430u0449u0430;u0437u0430u0440u00a0u0434u043du043eu0435 device (100) comprising in u0441u0435u0431u00a0 infrared module (12) u0434u043bu00a0 u0438u0437u043bu0443u0447u0435u043du0438u00a0 infrared light in response to the request signal u0437u0430u0440u00a0u0434u043au0438, u043fu0440u0438u043du00a0u0442u044bu0439 of self-propelled rob ota (300) through the wireless transmitter module has been (110), and an infrared signal u0434u043bu00a0 u0438u0437u043bu0443u0447u0435u043du0438u00a0 under the radiation of infrared light.;mobile robot (300) for the issuance of the request signal u0437u0430u0440u00a0u0434u043au0438 to u0437u0430u0440u00a0u0434u043du043eu043cu0443 device (100) when u043du0430u043fu0440u00a0u0436u0435u043du0438u0435 u0430u043au043au0443u043cu0443u043bu00a0u0442u043eu0440u0430 self-propelled robot (300) u0441u0442u0430u043du043eu0432u0438u0442u0441u00a0 n who, what u043eu043fu043eu0440u043du043eu0435 u043du0430u043fu0440u00a0u0436u0435u043du0438u0435 and u0434u043bu00a0 u043fu0435u0440u0435u043cu0435u0449u0435u043du0438u00a0 back to u0437u0430u0440u00a0u0434u043du043eu043cu0443 device (100) by using the information of images entered from the chamber u043cu043eu0434u0443u043bu00a0 (310) in response to the signal. the infrared u0438u0437u043bu0443u0447u0435u043du0438u00a0,taken from the u0437u0430u0440u00a0u0434u043du043eu0433u043e device (100), the mobile robot (300) includes a microprocessor (360) u0434u043bu00a0 u0443u043fu0440u0430u0432u043bu0435u043du0438u00a0 movement of self-propelled robot (300) u0434u043bu00a0 return self-propelled robot (300) to the u0437u0430u0440u00a0u0434u043du043eu043cu0443 device (100) with the help of information u043fu043eu043bu043eu0436u0435u043du0438u00a0 infrared light in the picture, introduced from the chamber u043cu043eu0434u0443u043bu00a0 (31), if specified in the picture (31) u043eu0431u043du0430u0440u0443u0436u0438u0432u0430u0435u0442u0441u00a0 infrared light.;2. system u043eu0442u043bu0438u0447u0430u044eu0449u0430u00a0u0441u00a0 1, so that the microprocessor (360) contains;the controller (120) u0437u0430u0440u00a0u0434u043au0438 u0434u043bu00a0 extradition request signal u0437u0430u0440u00a0u0434u043au0438 to u0437u0430u0440u00a0u0434u043du043eu043cu0443 device (100) through the wireless transmitter module has been (350) when u043du0430u043fu0440u00a0u0436u0435u043du0438u0435 u0430u043au043au0443u043cu0443u043bu00a0u0442u043eu0440u0430 below what u043eu043fu043eu0440u043du043eu0435 u043du0430u043fu0440u00a0u0436u0435u043du0438u0435, and the movement of self-propelled robot (300) u0434u043bu00a0 u0437u0430u0440u00a0u0434u043du043eu0433u043e search device (100) in response to the signal of infrared u0438u0437u043bu0443u0447u0435u043du0438u00a0, accept one of the u0437u0430u0440u00a0u0434u043du043eu0433u043e device (100).;the image processor (362), designed u0434u043bu00a0 u0441u043eu0445u0440u0430u043du0435u043du0438u00a0 images input from the chamber u043cu043eu0434u0443u043bu00a0 (310) in u043fu0430u043cu00a0u0442u0438 (320) and u0434u043bu00a0 u0441u0440u0430u0432u043du0435u043du0438u00a0 information u0438u0437u043eu0431u0440u0430u0436u0435u043du0438u00a0 up in the pictures, u0445u0440u0430u043du00a0u0449u0435u0439u0441u00a0 in u043fu0430u043cu00a0u0442u0438 (320) with information u0438u0437u043eu0431u0440u0430u0436u0435u043du0438u00a0 images entered from the chamber u043cu043eu0434u0443u043bu00a0 (310), and u0434u043bu00a0 u0434u0435u0442u0435u043au0442u0438u0440u043eu0432u0430u043du0438u00a0 infrared light, u0438u0437u043bu0443u0447u0430u0435u043c wow from the infrared u043cu043eu0434u0443u043bu00a0 (120) u0437u0430u0440u00a0u0434u043du043eu0433u043e device (100).in this u0438u043du0444u043eu0440u043cu0430u0446u0438u00a0 images of previous pictures and introduced in u0441u0435u0431u00a0 pictures includes information about their color or u00a0u0440u043au043eu0441u0442u0438,;calculator (363) u043fu043eu043bu043eu0436u0435u043du0438u00a0 designed u0434u043bu00a0 u043fu043eu043bu0443u0447u0435u043du0438u00a0 information u043fu043eu043bu043eu0436u0435u043du0438u00a0 infrared light in the picture, introduced from the chamber u043cu043eu0434u0443u043bu00a0 (310) when the cpu (36 (2) the images detects infrared light;the controller (364) u043fu0435u0440u0435u043cu0435u0449u0435u043du0438u00a0 designed u0434u043bu00a0 of signaling u0443u043fu0440u0430u0432u043bu0435u043du0438u00a0 displacement on the basis of the information u043fu043eu043bu043eu0436u0435u043du0438u00a0 infrared light from the u0432u044bu0447u0438u0441u043bu0438u0442u0435u043bu00a0 (363) u043fu043eu043bu043eu0436u0435u043du0438u00a0 to ensure the location of infrared light in the center of images entered from the chamber.;3. system u043eu0442u043bu0438u0447u0430u044eu0449u0430u00a0u0441u00a0 2, so that the wireless exchange of data between u0437u0430u0440u00a0u0434u043du044bu043c device (100) and a self-propelled robot (300) implemented by a module. selected from the group u0441u043eu0441u0442u043eu00a0u0449u0435u0439 of bluetooth, wireless local area network (lan) (lan) and Zigbee.;4. system u043eu0442u043bu0438u0447u0430u044eu0449u0430u00a0u0441u00a0 2, so that the exchange of data between u0437u0430u0440u00a0u0434u043du044bu043c device (100) and a self-propelled robot (300) implemented by infrared light.;5. automatic return system u0434u043bu00a0 self-propelled robot (300) to the u0437u0430u0440u00a0u0434u043du043eu043cu0443 device (100), u0441u043eu0434u0435u0440u0436u0430u0449u0430;u0437u0430u0440u00a0u0434u043du043eu0435 device (100) for exchanging data with u0434u043bu00a0 self-propelled robot (300) and u0438u0437u043bu0443u0447u0435u043du0438u00a0 infrared signal;mobile robot (300) for data exchange with the u0437u0430u0440u00a0u0434u043du044bu043c device (100), the reception from the outside information u0438u0437u043eu0431u0440u0430u0436u0435u043du0438u00a0, comparison information previously saved images u0436u0435u043du0438u00a0 information input u0438u0437u043eu0431u0440u0430u0436u0435u043du0438u00a0, calculation u043fu043eu043bu043eu0436u0435u043du0438u00a0 u0437u0430u0440u00a0u0434u043du043eu0433u043e device (100), which u0438u0437u043bu0443u0447u0430u0435u0442u0441u00a0 infrared light, and a return to the u0437u0430u0440u00a0u0434u043du043eu043cu0443 set was (100).when the information input u0438u0437u043eu0431u0440u0430u0436u0435u043du0438u00a0 detected infrared signal.;6. the system according to clause 5, u043eu0442u043bu0438u0447u0430u044eu0449u0430u00a0u0441u00a0, u0437u0430u0440u00a0u0434u043du043eu0435 device (100) contains;the wireless transmitter module has been designed u0434u043bu00a0 u0432u044bu043fu043eu043bu043du0435u043du0438u00a0 (110), a wireless data exchange with a self-propelled robot (300).;an infrared module (120) designed u0434u043bu00a0 u0432u043eu0437u0431u0443u0436u0434u0435u043du0438u00a0 u0441u0432u0435u0442u043eu0438u0437u043bu0443u0447u0430u044eu0449u0435u0433u043e element to emit the infrared light when receiving the request signal from the u0441u0430u043cu043eu0445 u0437u0430u0440u00a0u0434u043au0438 a robot (300) through the wireless transmitter module has been (110).;7. system u043eu0442u043bu0438u0447u0430u044eu0449u0430u00a0u0441u00a0 p.6, so that the mobile robot (300) contains;unit (370) drive engines designed u0434u043bu00a0 u0443u043fu0440u0430u0432u043bu0435u043du0438u00a0 homing engine and actuation of the at least one wheel;the meter (340) u0437u0430u0440u00a0u0434u043au0438 u0430u043au043au0443u043cu0443u043bu00a0u0442u043eu0440u0430 designed u0434u043bu00a0 u0434u0435u043bu0435u043du0438u00a0 u043du0430u043fu0440u00a0u0436u0435u043du0438u00a0 annexed to the u0430u043au043au0443u043cu0443u043bu00a0u0442u043eu0440u0443 (330), the ratio of resistors, found that u0434u043bu00a0 u0438u0437u043cu0435u0440u0435u043du0438 u00a0 divided u043du0430u043fu0440u00a0u0436u0435u043du0438u00a0 and the measured u0443u0440u043eu0432u043du00a0,;the wireless transmitter module has been designed u0434u043bu00a0 u0432u044bu043fu043eu043bu043du0435u043du0438u00a0 (350), a wireless data exchange with u0437u0430u0440u00a0u0434u043du044bu043c device (100).;chamber module (310) u0434u043bu00a0 fixation images taken from the outside;u043fu0430u043cu00a0u0442u044c (320), u043fu0440u0435u0434u043du0430u0437u043du0430u0447u0435u043du043du0430u00a0 u0434u043bu00a0 u0445u0440u0430u043du0435u043du0438u00a0 working programme of work u0434u043bu00a0 self-propelled robot (300) and information on an image entered from a chamber (310), u043cu043eu0434u0443u043bu00a0;the microprocessor (360) designed u0434u043bu00a0 u0443u043fu0440u0430u0432u043bu0435u043du0438u00a0 u043eu043fu0435u0440u0430u0446u0438u00a0u043cu0438 self-propelled robot (300), the office u0437u0430u0440u00a0u0434u043eu043c u0430u043au043au0443u043cu0443u043bu00a0u0442u043eu0440u0430 (330), the office of entertainment u0431u043cu0435u043du043eu043c data with u0437u0430u0440u00a0u0434u043du044bu043c device (100), the processing of the input image, calculating u043fu043eu043bu043eu0436u0435u043du0438u00a0 u0437u0430u0440u00a0u0434u043du043eu0433u043e device (100) and the movement of self-propelled r u043eu0431u043eu0442u0430 (300).;8. system u043eu0442u043bu0438u0447u0430u044eu0449u0430u00a0u0441u00a0 p.7, so that the microprocessor (360) contains;the controller (120) u0437u0430u0440u00a0u0434u043au0438 designed u0434u043bu00a0 u0433u0435u043du0435u0440u0438u0440u043eu0432u0430u043du0438u00a0 and u0432u044bu0432u0435u0434u0435u043du0438u00a0 request signal u0437u0430u0440u00a0u0434u043au0438 u0430u043au043au0443u043cu0443u043bu00a0u0442u043eu0440u0430 (330) when the measured level of the u0438u0437u043cu0435u0440u0438u0442u0435u043bu00a0 (340) u0437u0430u0440u00a0u0434u043au0438 u0430u043au043au0443u043cu0443u043bu00a0u0442u043eu0440u0430, lower than the reference level.;the processor (362) images, an image u0434u043bu00a0 u0441u043eu0445u0440u0430u043du0435u043du0438u00a0 information entered from the chamber u043cu043eu0434u0443u043bu00a0 (310) in u043fu0430u043cu00a0u0442u044c (320), and u0441u0440u0430u0432u043du0435u043du0438u00a0 information before the framework u0430u043du0435u043du043du043eu0433u043e u0438u0437u043eu0431u0440u0430u0436u0435u043du0438u00a0 information input u0438u0437u043eu0431u0440u0430u0436u0435u043du0438u00a0 u0434u043bu00a0 u043eu0431u043du0430u0440u0443u0436u0435u043du0438u00a0, is whether the infrared signal, and u0434u043bu00a0 u0432u044bu0432u0435u0434u0435u043du0438u00a0 signal u043eu0431u043du0430u0440u0443u0436u0435u043du0438u00a0,;calculator (363) u043fu043eu043bu043eu0436u0435u043du0438u00a0 designed u0434u043bu00a0 u0432u044bu0447u0438u0441u043bu0435u043du0438u00a0 u043fu043eu043bu043eu0436u0435u043du0438u00a0 u0438u0437u043bu0443u0447u0435u043du0438u00a0 infrared light from the information u0438u0437u043eu0431u0440u0430u0436u0435u043du0438u00a0 when found that infrared the signal included in the information u0438u0437u043eu0431u0440u0430u0436u0435u043du0438u00a0 and u0434u043bu00a0 u0432u044bu0432u0435u0434u0435u043du0438u00a0 information u043fu043eu043bu043eu0436u0435u043du0438u00a0 infrared light.;the controller (364) u043fu0435u0440u0435u0434u0432u0438u0436u0435u043du0438u00a0 designed u0434u043bu00a0 u0432u044bu0432u0435u0434u0435u043du0438u00a0 u0443u043fu0440u0430u0432u043bu00a0u044eu0449u0435u0433u043e signal unit (370) drive motors on the basis of the information u043fu043eu043bu043eu0436u0435u043du0438u00a0 be removed from in u044bu0447u0438u0441u043bu0438u0442u0435u043bu00a0 (363) u043fu043eu043bu043eu0436u0435u043du0438u00a0 to a self-propelled robot (300) to the u0437u0430u0440u00a0u0434u043du043eu043cu0443 device (100).;9. system u043eu0442u043bu0438u0447u0430u044eu0449u0430u00a0u0441u00a0 point 9, so that the cpu (362) images is u0434u043bu00a0 u043eu043fu0440u0435u0434u0435u043bu0435u043du0438u00a0 is whether the infrared signal on the basis of u043eu0442u043bu0438u0447u0438u00a0 between inform u0430u0446u0438u0435u0439 color or u00a0u0440u043au043eu0441u0442u0438 information previously saved u0438u0437u043eu0431u0440u0430u0436u0435u043du0438u00a0 and information, color information, or u00a0u0440u043au043eu0441u0442u0438 u0438u0437u043eu0431u0440u0430u0436u0435u043du0438u00a0 entered from the chamber u043cu043eu0434u0443u043bu00a0 (310).;10. the system for any of the u043eu0442u043bu0438u0447u0430u044eu0449u0430u00a0u0441u00a0 point 9 or 9, so that the calculator (363) u043fu043eu043bu043eu0436u0435u043du0438u00a0 is u0434u043bu00a0 u0432u044bu0447u0438u0441u043bu0435u043du0438u00a0 u043du0430u043fu0440u0430u0432u043bu0435u043du0438u00a0 of centre fixed pictures, over first detected infrared image, the infrared u0438u0437u043eu0431u0440u0430u0436u0435u043du0438u00a0,;the controller (364) u043fu0435u0440u0435u0434u0432u0438u0436u0435u043du0438u00a0 is u0434u043bu00a0 u0444u043eu0440u043cu0438u0440u043eu0432u0430u043du0438u00a0 signal u0443u043fu0440u0430u0432u043bu0435u043du0438u00a0 movement with the help of information u043fu043eu043bu043eu0436u0435u043du0438u00a0 infrared light entered from the u0432u044bu0447u0438u0441u043bu0438u0442u0435u043bu00a0 (363) u043fu043eu043bu043eu0436u0435u043du0438u00a0 to ensure the location of infrared light in the form of pictures.;11. the system for any of the p.8 or 9, u043eu0442u043bu0438u0447u0430u044eu0449u0430u00a0u0441u00a0 orderthe microprocessor (360) is designed u0434u043bu00a0 transfer request signal u0437u0430u0440u00a0u0434u043au0438 to u0437u0430u0440u00a0u0434u043du043eu043cu0443 device (100) through the wireless transmitter module has been (350) in response to a signal check rosa u0437u0430u0440u00a0u0434u043au0438 from controller (361) u0437u0430u0440u00a0u0434u043au0438 and of signaling u0443u043fu0440u0430u0432u043bu0435u043du0438u00a0 displacement u0434u043bu00a0 u0437u0430u0440u00a0u0434u043du043eu0433u043e search device (100) to the controller (364) u043fu0435u0440u0435u043cu0435u0449u0435u043du0438u00a0 admission u0441u0438u0433u043d ala infrared u0438u0437u043bu0443u0447u0435u043du0438u00a0 from u0437u0430u0440u00a0u0434u043du043eu0433u043e device (100).;12. system u043eu0442u043bu0438u0447u0430u044eu0449u0430u00a0u0441u00a0 p.11, so that the controller (364) u043fu0435u0440u0435u043cu0435u0449u0435u043du0438u00a0 provides movement of self-propelled robot (300) in a specific area u0437u0430u0440u00a0u0434u043du043eu0433u043e u0434u043bu00a0 search device (100) according to an algorithm u043fu0435u0440u0435u0434u0432u0438u0436u0435u043du0438u00a0, u0445u0440u0430u043du00a0u0449u0435u043cu0443u0441u00a0 in u043fu0430u043cu00a0u0442u0438 (320), when receiving the signal u0443u043fu0440u0430u0432u043bu0435u043du0438u00a0 displacement u0434u043bu00a0 u0437u0430u0440u00a0u0434u043du043eu0433u043e search device (100).;13. the system for any of the u043fu043f.7 u043eu0442u043bu0438u0447u0430u044eu0449u0430u00a0u0441u00a0 9, so that a chamber module (310) is located at the same height, and u0441u0432u0435u0442u043eu0438u0437u043bu0443u0447u0430u044eu0449u0438u0439 element infrared u043cu043eu0434u0443u043bu00a0 (120).;14. method of automatic return of self-propelled robot (300) to the u0437u0430u0440u00a0u0434u043du043eu043cu0443 device (100), u0437u0430u043au043bu044eu0447u0430u044eu0449u0438u0439u0441u00a0 what;transmitting the request u0437u0430u0440u00a0u0434u043au0438 on u0437u0430u0440u00a0u0434u043du043eu0435 device (100) when the measured level of u0437u0430u0440u00a0u0434u043au0438 u0430u043au043au0443u043cu0443u043bu00a0u0442u043eu0440u0430 is lower than the level of a reference u043du0430u043fu0440u00a0u0436u0435u043du0438u00a0,;initiate movement of self-propelled robot (300) u0434u043bu00a0 u0437u0430u0440u00a0u0434u043du043eu0433u043e search device (100) and the information u0438u0437u043eu0431u0440u0430u0436u0435u043du0438u00a0 input through the chamber module (310) limited t to the signal from the infrared u0438u0437u043bu0443u0447u0435u043du0438u00a0 u0437u0430u0440u00a0u0434u043du043eu0433u043e device (100).;u0434u0435u0442u0435u043au0442u0438u0440u0443u044eu0442 infrared light emitted from the u0437u0430u0440u00a0u0434u043du043eu0433u043e device (100), the information u0438u0437u043eu0431u0440u0430u0436u0435u043du0438u00a0 entered through the chamber module (310).;u0432u044bu0447u0438u0441u043bu00a0u044eu0442 position of infrared light of the information u043fu043eu043bu043eu0436u0435u043du0438u00a0 when him reveal information u0438u0437u043eu0431u0440u0430u0436u0435u043du0438u00a0, and give signal to u0443u043fu0440u0430u0432u043bu0435u043du0438u00a0 displacement let u0441u0430u043cu043eu0445u043eu0434u043du043eu043cu0443 robot (300) u0432u0435u0440u043du0443u0442u044cu0441u00a0 to u0437u0430u0440u00a0u0434u043du043eu043cu0443 device (100).;15. method for u043eu0442u043bu0438u0447u0430u044eu0449u0438u0439u0441u00a0 p.14, so that the detected infrared light u043eu0441u0443u0449u0435u0441u0442u0432u043bu00a0u044eu0442 comparison information, color information, or u00a0u0440u043au043eu0441u0442u0438 previously saved image u0440u0430u0436u0435u043du0438u00a0 information or color information u00a0u0440u043au043eu0441u0442u0438 u0438u0437u043eu0431u0440u0430u0436u0435u043du0438u00a0 entered from the chamber u043cu043eu0434u0443u043bu00a0 (310) to determine whether the signal is present.;16. way on any question 14 or 15, u043eu0442u043bu0438u0447u0430u044eu0449u0438u0439u0441u00a0, in the placement of signal u0443u043fu0440u0430u0432u043bu0435u043du0438u00a0 displacement to allow u0441u0430u043cu043eu0445u043eu0434u043du043eu043cu0443 robot (300) u0432u0435u0440u043du0443u0442u044cu0441u00a0 to u0437u0430u0440u00a0u0434u043du043eu043cu0443 cs u0442u0440u043eu0439u0441u0442u0432u0443 (100) u0432u044bu0432u043eu0434u00a0u0442 u0443u043fu0440u0430u0432u043bu0435u043du0438u00a0 displacement signal through the input u043fu043eu043bu043eu0436u0435u043du0438u00a0 infrared light, infrared light to provide accommodation and in the form of pictures.
展开▼