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Feedback system for a mobile robot and return system to the charging rack and is also capable of using this system
Feedback system for a mobile robot and return system to the charging rack and is also capable of using this system
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机译:用于移动机器人的反馈系统和返回到充电架的系统,也可以使用该系统
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摘要
1. the system u043eu043fu0440u0435u0434u0435u043bu0435u043du0438u00a0 u043fu043eu043bu043eu0436u0435u043du0438u00a0 u0434u043bu00a0 mobile robot, u0441u043eu0434u0435u0440u0436u0430u0449u0430u00a0:;the wireless signal source 10, an u0434u043bu00a0 u0438u0437u043bu0443u0447u0435u043du0438u00a0 wireless signal in the continuous or periodic mode.;the movable robot 100 containing a lot of 160 designed antennas designed u0434u043bu00a0 u043eu0431u043du0430u0440u0443u0436u0435u043du0438u00a0 u0443u043fu043eu043cu00a0u043du0443u0442u043eu0433u043e wireless signal source 10 is emitted wired signal and u0443u043fu043eu043cu00a0u043du0443u0442u044bu0439 mobile robot 100 u043eu043fu0440u0435u0434u0435u043bu00a0u0435u0442 referral source 10 wireless signal using the steering angle, u043eu043fu0440u0435u0434u0435u043bu0435u043du043du043eu0433 on using directed antennas u0443u043fu043eu043cu00a0u043du0443u0442u044bu0445 160, and u0432u044bu0447u0438u0441u043bu00a0u0435u0442 u0440u0430u0441u0441u0442u043eu00a0u043du0438u0435,u043eu0442u0434u0435u043bu00a0u044eu0449u0435u0435 from u0443u043fu043eu043cu00a0u043du0443u0442u043eu0433u043e source 10 wireless signal using the time difference u043eu0431u043du0430u0440u0443u0436u0435u043du0438u00a0 wireless signal u0443u043fu043eu043cu00a0u043du0443u0442u044bu043cu0438 aimed and antennae 160.;2. the system u043eu043fu0440u0435u0434u0435u043bu0435u043du0438u00a0 u043fu043eu043bu043eu0436u0435u043du0438u00a0 on 1, in which u0443u043fu043eu043cu00a0u043du0443u0442u044bu0439 mobile robot contains:;u043fu0435u0440u0435u043cu0435u0449u0435u043du0438u00a0 block 130, which contains the engine and left wheels and right wheel motor 132 and is u0434u043bu00a0 u043fu0435u0440u0435u043cu0435u0449u0435u043du0438u00a0 mobile robot 100.;u043fu0430u043cu00a0u0442u044c 170 designed u0434u043bu00a0 u0445u0440u0430u043du0435u043du0438u00a0 working program of mobile robot 100 and u0445u0440u0430u043du0435u043du0438u00a0 u0440u0430u0441u0441u0442u043eu00a0u043du0438u00a0 u043du0430u043fu0440u0430u0432u043bu0435u043du0438u00a0 parameters and parameters of the position of mobile robot 100.;the microprocessor (150) u0434u043bu00a0 u0443u043fu0440u0430u0432u043bu0435u043du0438u00a0 mobile work robot 100, u0432u044bu0447u0438u0441u043bu0435u043du0438u00a0 parameters u043fu043eu043bu043eu0436u0435u043du0438u00a0 mobile robot 100 and u0443u043fu0440u0430u0432u043bu0435u043du0438u00a0 all elements and this robot.;3. the system u043eu043fu0440u0435u0434u0435u043bu0435u043du0438u00a0 u043fu043eu043bu043eu0436u0435u043du0438u00a0 on paragraph 2, which u0443u043fu043eu043cu00a0u043du0443u0442u0430u00a0 u043fu0430u043cu00a0u0442u044c contains:;table 171 u0441u043eu043eu0442u0432u0435u0442u0441u0442u0432u0438u00a0 parameters u0440u0430u0441u0441u0442u043eu00a0u043du0438u00a0 designed u0434u043bu00a0 u0443u043fu043eu043cu00a0u043du0443u0442u044bu0445 u0440u0430u0441u0441u0442u043eu00a0u043du0438u00a0 search parameters corresponding to the time difference u043eu0431u043du0430u0440 u0443u043fu043eu043cu00a0u043du0443u0442u043eu0439 the wireless signal u0443u0436u0435u043du0438u00a0 designed antennae 160; and;base 172 parameters u043fu043eu043bu043eu0436u0435u043du0438u00a0 designed u0434u043bu00a0 u0445u0440u0430u043du0435u043du0438u00a0 u0443u043fu043eu043cu00a0u043du0443u0442u044bu0445 u0440u0430u0441u0441u0442u043eu00a0u043du0438u00a0 u043du0430u043fu0440u0430u0432u043bu0435u043du0438u00a0 parameters and parameters of the robot cleaner. 100, u043du0430u0445u043eu0434u00a0u0449u0435u0433u043eu0441u00a0 at a distance from the source 10 of the wireless signal.;4. the system u043eu043fu0440u0435u0434u0435u043bu0435u043du0438u00a0 u043fu043eu043bu043eu0436u0435u043du0438u00a0 on article 3, which u0443u043fu043eu043cu00a0u043du0443u0442u044bu0439 microprocessor contains:;block 151 u0443u043fu0440u0430u0432u043bu0435u043du0438u00a0 displacement designed u0434u043bu00a0 u0443u043fu0440u0430u0432u043bu0435u043du0438u00a0 work unit 130 u043fu0435u0440u0435u043cu0435u0449u0435u043du0438u00a0 based on signal u0443u043fu0440u0430u0432u043bu0435u043du0438u00a0; and;block 152 u0432u044bu0447u0438u0441u043bu0435u043du0438u00a0 parameters u043fu043eu043bu043eu0436u0435u043du0438u00a0 designed u0434u043bu00a0 assumptions u0443u043fu043eu043cu00a0u043du0443u0442u043eu0433u043e signal u0443u043fu0440u0430u0432u043bu0435u043du0438u00a0 block 151 u0443u043fu0440u0430u0432u043bu0435u043du0438u00a0 displacement u0434u043bu00a0 turn mobile ro botha 100 with a predetermined speed in each time interval, and the block 152 u0432u044bu0447u0438u0441u043bu0435u043du0438u00a0 parameters u043fu043eu043bu043eu0436u0435u043du0438u00a0 u0432u044bu0447u0438u0441u043bu00a0u0435u0442 u0443u043fu043eu043cu00a0u043du0443u0442u044bu0435 parameters u043du0430u043fu0440u0430u0432u043bu0435u043du0438u00a0 on the basis of the steering angle u0434u043bu00a0 wireless signalwho has designed antennae 160, u0432u044bu0447u0438u0441u043bu00a0u0435u0442 u0443u043fu043eu043cu00a0u043du0443u0442u044bu0435 parameters u0440u0430u0441u0441u0442u043eu00a0u043du0438u00a0 u0434u043bu00a0 mobile robot 100, u043eu0431u0440u0430u0449u0430u00a0u0441u044c to table 171 u0441u043eu043eu0442u0432u0435u0442u0441u0442u0432u0438u00a0 parameters u0440u0430u0441u0441u0442u043eu00a0u043du0438u00a0 to get u0440u0430u0441u0441u0442u043eu00a0u043du0438u00a0 parameters corresponding to the time difference u0443u043fu043eu043cu00a0u043du0443u0442u043eu0439 u043eu0431u043du0430u0440u0443u0436u0435u043du0438u00a0 wireless signals sent and received from the u043du0442u0435u043du043d 160and u0441u043eu0445u0440u0430u043du00a0u0435u0442 u043du0430u043fu0440u0430u0432u043bu0435u043du0438u00a0 computed parameters and parameters u0440u0430u0441u0441u0442u043eu00a0u043du0438u00a0 database 172 u043fu043eu043bu043eu0436u0435u043du0438u00a0 data parameters.;5. the system u043eu043fu0440u0435u0434u0435u043bu0435u043du0438u00a0 u043fu043eu043bu043eu0436u0435u043du0438u00a0 on 1, in which a source 10 of a wireless signal u043fu0440u0435u0434u0441u0442u0430u0432u043bu00a0u0435u0442 u0437u0430u0440u00a0u0434u043du0443u044e bar 20 u0434u043bu00a0 mobile robot 100.;6. the system u0434u043bu00a0 mobile robot to return u0437u0430u0440u00a0u0434u043du043eu0439 counter u0441u043eu0434u0435u0440u0436u0430u0449u0430u00a0:;u0437u0430u0440u00a0u0434u043du0443u044e bar 20, designed u0434u043bu00a0 u0438u0437u043bu0443u0447u0435u043du0438u00a0 wireless signal in the continuous or periodic mode.;the movable robot 100 containing at least two directed antenna 100, intended u0434u043bu00a0 u043eu0431u043du0430u0440u0443u0436u0435u043du0438u00a0 u0443u043fu043eu043cu00a0u043du0443u0442u043eu0433u043e wireless signal emitted u0437u0430u0440u00a0u0434 if the counter 20, and if the power level u043eu0441u0442u0430u0432u0448u0435u0439u0441u00a0 in u0430u043au043au0443u043cu0443u043bu00a0u0442u043eu0440u043du043eu0439 battery 140 mobile robot 100, below a predetermined u0437u043du0430u0447u0435u043du0438u00a0, u0443u043fu043eu043cu00a0u043du0443u0442u044bu0439 mobile a robot 100 u0432u044bu0447u0438u0441u043bu00a0u0435u0442 parameters u0440u0430u0441u0441u0442u043eu00a0u043du0438u00a0,in the situation of this robot, u043du0430u0445u043eu0434u00a0u0449u0435u0433u043eu0441u00a0 away from the u0437u0430u0440u00a0u0434u043du043eu0439 bar 20, u0438u0441u043fu043eu043bu044cu0437u0443u00a0 direction at u0437u0430u0440u00a0u0434u043du0443u044e bar 20, a through u0443u043fu043eu043cu00a0u043d u0443u0442u044bu0445 160 u0438u0441u043fu043eu043bu044cu0437u0443u00a0 designed antennas, as well as the difference in time u043eu0431u043du0430u0440u0443u0436u0435u043du0438u00a0 wireless signal u0443u043fu043eu043cu00a0u043du0443u0442u044bu043cu0438 directed antennae 160, and u0432u043eu0437u0432u0440u0430u0449u0430u0435u0442u0441u00a0 to u0437u0430u0440u00a0 u0434u043du043eu0439 rack 20 on the basis of u0443u043fu043eu043cu00a0u043du0443u0442u044bu0445 parameters u0440u0430u0441u0441u0442u043eu00a0u043du0438u00a0.;7. system for p.6, in which mobile robot 100 includes:;u043fu0435u0440u0435u043cu0435u0449u0435u043du0438u00a0 block 130, which contains the engine and left wheels and right wheel motor 132 and is u0434u043bu00a0 u043fu0435u0440u0435u043cu0435u0449u0435u043du0438u00a0 mobile robot 100.;the 180 u0438u0437u043cu0435u0440u0435u043du0438u00a0 u043du0430u043fu0440u00a0u0436u0435u043du0438u00a0 u0430u043au043au0443u043cu0443u043bu00a0u0442u043eu0440u043du043eu0439 batteries designed u0434u043bu00a0 u0438u0437u043cu0435u0440u0435u043du0438u00a0 u043du0430u043fu0440u00a0u0436u0435u043du0438u00a0 u0430u043au043au0443u043cu0443u043bu00a0u0442u043eu0440u043du043eu0439 batteries of mobile robot 100 in advance u043eu043fu0440u0435u0434u0435u043bu0435u043du043d om time interval and the output signal u0437u0430u0440u00a0u0434u043au0438 request, if the measured u043du0430u043fu0440u00a0u0436u0435u043du0438u0435 u0430u043au043au0443u043cu0443u043bu00a0u0442u043eu0440u043du043eu0439 battery below a reference u0437u043du0430u0447u0435u043du0438u00a0;;u043fu0430u043cu00a0u0442u044c 170 designed u0434u043bu00a0 u0445u0440u0430u043du0435u043du0438u00a0 working program of mobile robot 100 and u0445u0440u0430u043du0435u043du0438u00a0 parameters u0440u0430u0441u0441u0442u043eu00a0u043du0438u00a0 between u0437u0430u0440u00a0u0434u043du043eu0439 counter 20 and the movable robot m 100; and;the microprocessor (150) u0434u043bu00a0 u0443u043fu0440u0430u0432u043bu0435u043du0438u00a0 mobile work robot 100, u0432u044bu0447u0438u0441u043bu0435u043du0438u00a0 u043du0430u043fu0440u0430u0432u043bu0435u043du0438u00a0 on u0437u0430u0440u00a0u0434u043du0443u044e bar 20, u0432u044bu0447u0438u0441u043bu0435u043du0438u00a0 parameters u0440u0430u0441u0441u0442u043eu00a0u043du0438u00a0 from u0434u0435u043bu00a0u044eu0449u0435u0433u043e mobile robot 100 from u0437u0430u0440u00a0u0434u043du043eu0439 counter 20, and u0443u043fu0440u0430u0432u043bu0435u043du0438u00a0 all elements of the robot.;8. the system on p.7, which contains a table u043fu0430u043cu00a0u0442u044c 170 171 u0441u043eu043eu0442u0432u0435u0442u0441u0442u0432u0438u00a0 parameters u0440u0430u0441u0441u0442u043eu00a0u043du0438u00a0 designed u0434u043bu00a0 search u0443u043fu043eu043cu00a0u043du0443u0442u044bu0445 parameters u0440u0430u0441u0441u0442u043eu00a0u043du0438u00a0 between u0437u0430u0440u00a0 u0434u043du043eu0439 counter 20 and the movable robot 100 corresponding to the time difference u043eu0431u043du0430u0440u0443u0436u0435u043du0438u00a0 u0443u043fu043eu043cu00a0u043du0443u0442u043eu0439 wireless signal directed antennae 160.;9. the system on p.7, which microprocessor 150 contains:;block 151 u0443u043fu0440u0430u0432u043bu0435u043du0438u00a0 displacement designed u0434u043bu00a0 u0443u043fu0440u0430u0432u043bu0435u043du0438u00a0 work unit 130 u043fu0435u0440u0435u043cu0435u0449u0435u043du0438u00a0 on the basis of the signal u0443u043fu0440u0430u0432u043bu0435u043du0438u00a0;;block 152 u0432u044bu0447u0438u0441u043bu0435u043du0438u00a0 parameters u043fu043eu043bu043eu0436u0435u043du0438u00a0 designed u0434u043bu00a0 assumptions u0443u043fu043eu043cu00a0u043du0443u0442u043eu0433u043e signal u0443u043fu0440u0430u0432u043bu0435u043du0438u00a0 block 151 u0443u043fu0440u0430u0432u043bu0435u043du0438u00a0 displacement u0434u043bu00a0 turn mobile ro botha 100 with a predetermined speed in each time interval, if the signal u043fu0440u0438u043du00a0u0442 query u0437u0430u0440u00a0u0434u043au0438,with block 152 u0432u044bu0447u0438u0441u043bu0435u043du0438u00a0 parameters u043fu043eu043bu043eu0436u0435u043du0438u00a0 u0432u044bu0447u0438u0441u043bu00a0u0435u0442 u0443u043fu043eu043cu00a0u043du0443u0442u044bu0435 u043du0430u043fu0440u0430u0432u043bu0435u043du0438u00a0 parameters based on the steering angle u0434u043bu00a0 wireless signal detected n u0430u043fu0440u0430u0432u043bu0435u043du043du044bu043cu0438 antennae 160, u0432u044bu0447u0438u0441u043bu00a0u0435u0442 u0443u043fu043eu043cu00a0u043du0443u0442u044bu0435 parameters u0440u0430u0441u0441u0442u043eu00a0u043du0438u00a0, u043eu0431u0440u0430u0449u0430u00a0u0441u044c to table 171 u0441u043eu043eu0442u0432u0435u0442u0441u0442u0432u0438u00a0 u0440u0430u0441u0441u0442u043eu00a0u043du0438u00a0 parameters to obtain the parameters of u0440u0430u0441u0441u0442u043e u00a0u043du0438u00a0,the u0443u043fu043eu043cu00a0u043du0443u0442u043eu0439 time difference u043eu0431u043du0430u0440u0443u0436u0435u043du0438u00a0 wireless signals received from antennas to 160, and outputs the computed parameters u043du0430u043fu0440u0430u0432u043b u0435u043du0438u00a0 and parameters u0440u0430u0441u0441u0442u043eu00a0u043du0438u00a0; and;the calculation unit 153 return to u0437u0430u0440u00a0u0434u043du043eu0439 rack designed u0434u043bu00a0 assumptions u0443u043fu043eu043cu00a0u043du0443u0442u043eu0433u043e signal u0443u043fu0440u0430u0432u043bu0435u043du0438u00a0 block 151 u0443u043fu0440u0430u0432u043bu0435u043du0438u00a0 movement to return the movable a robot 100 to u0437u0430u0440u00a0u0434u043du043eu0439 counter 20, u0438u0441u043fu043eu043bu044cu0437u0443u00a0 u0443u043fu043eu043cu00a0u043du0443u0442u044bu0435 u043du0430u043fu0440u0430u0432u043bu0435u043du0438u00a0 parameters and parameters u0440u0430u0441u0441u0442u043eu00a0u043du0438u00a0, the computed block 152 u0432u044bu0447u0438u0441u043bu0435u043du0438u00a0 parameters u043fu043eu043bu043eu0436u0435u043du0438u00a0.;10. method of mobile robot to u0437u0430u0440u00a0u0434u043du043eu0439 counter with mobile robot contains a block and the block u043fu043eu043bu043eu0436u0435u043du0438u00a0 u0432u044bu0447u0438u0441u043bu0435u043du0438u00a0 parameters calculation of u0437u0430u0440u00a0u0434u043du043eu0439 hundred u0439u043au0435 and the method contains the following steps:;u0438u0437u043cu0435u0440u00a0u044eu0442 u043du0430u043fu0440u00a0u0436u0435u043du0438u0435 u0430u043au043au0443u043cu0443u043bu00a0u0442u043eu0440u043du043eu0439 batteries of mobile robot in a pre-determined time interval and sending a request u0437u0430u0440u00a0u0434u043au0438, if measured, e.g. u00a0u0436u0435u043du0438u0435 u0430u043au043au0443u043cu0443u043bu00a0u0442u043eu0440u043du043eu0439 battery below a reference u0437u043du0430u0447u0435u043du0438u00a0;;detecting the wireless signal emitted from u0437u0430u0440u00a0u0434u043du043eu0439 counter, using directed antennas, u0432u044bu0447u0438u0441u043bu00a0u044eu0442 parameters u043du0430u043fu0440u0430u0432u043bu0435u043du0438u00a0 on u0437u0430u0440u00a0u0434u043du0443u044e bar and a pair of meters u0440u0430u0441u0441u0442u043eu00a0u043du0438u00a0 between u0437u0430u0440u00a0u0434u043du043eu0439 rack and movable robot, and u0432u044bu0432u043eu0434u00a0u0442 u0443u043fu043eu043cu00a0u043du0443u0442u044bu0435 u043du0430u043fu0440u0430u0432u043bu0435u043du0438u00a0 parameters and parameters u0440u0430u0441u0441u0442u043eu00a0u043du0438u00a0; and;rotating the movable robot to u0437u0430u0440u00a0u0434u043du043eu0439 counter, and u0443u043fu043eu043cu00a0u043du0443u0442u044bu0439 block calculating return to u0437u0430u0440u00a0u0434u043du043eu0439 counter provides a mobile robot to u0437u0430u0440u00a0u0434u043du043eu0439 counter on the basis of u0443u043fu043eu043cu00a0u043du0443u0442u044bu0445 u043du0430u043fu0440u0430u0432u043bu0435u043du0438u00a0 parameters and parameters u0440u0430u0441u0441u0442u043eu00a0u043du0438u00a0 received from u0443u043fu043eu043cu00a0u043du0443u0442u043eu0433u043e block u0432u044bu0447u0438u0441u043bu0435u043du0438u00a0 parameters u043fu043eu043bu043eu0436u0435u043du0438u00a0.;11. way on p.10, which u0443u043fu043eu043cu00a0u043du0443u0442u044bu0439 phase u043eu0431u043du0430u0440u0443u0436u0435u043du0438u00a0 wireless signal contains a signal u0443u043fu0440u0430u0432u043bu0435u043du0438u00a0 cluster u0443u043fu0440u0430u0432u043bu0435u043du0438u00a0 displacement curve u043fu043eu0434u0432u0438 u0434u043bu00a0 u0436u043du043eu0433u043e robot with a predetermined speed in each time interval, if the signal u043fu0440u0438u043du00a0u0442 u0443u043fu043eu043cu00a0u043du0443u0442u044bu0439 query u0437u0430u0440u00a0u0434u043au0438.;12. way on p.10, which u0443u043fu043eu043cu00a0u043du0443u0442u044bu0439 phase u043eu0431u043du0430u0440u0443u0436u0435u043du0438u00a0 wireless signal contains the following steps:;u0432u044bu0447u0438u0441u043bu00a0u044eu0442 u0443u043fu043eu043cu00a0u043du0443u0442u044bu0435 parameters u043du0430u043fu0440u0430u0432u043bu0435u043du0438u00a0 and u0432u044bu0432u043eu0434u00a0u0442 computed parameters u043du0430u043fu0440u0430u0432u043bu0435u043du0438u00a0 and u0443u043fu043eu043cu00a0u043du0443u0442u044bu0439 block u0432u044bu0447u0438u0441u043bu0435u043du0438u00a0 parameters u043fu043eu043bu043eu0436u0435u043du0438u00a0 u0432u044bu0447u0438u0441u043bu00a0u0435u0442 u0443u043fu043eu043cu00a0 u043du0430u043fu0440u0430u0432u043bu0435u043du0438u00a0 referred parameters based on the steering angle u0434u043bu00a0 wireless signal, which is detected u0443u043fu043eu043cu00a0u043du0443u0442u043eu0439 designed antenna; and;u0432u044bu0447u0438u0441u043bu00a0u044eu0442 u0443u043fu043eu043cu00a0u043du0443u0442u044bu0435 parameters u0440u0430u0441u0441u0442u043eu00a0u043du0438u00a0 and u0432u044bu0432u043eu0434u00a0u0442 computed parameters u0440u0430u0441u0441u0442u043eu00a0u043du0438u00a0 and u0443u043fu043eu043cu00a0u043du0443u0442u044bu0439 block u0432u044bu0447u0438u0441u043bu0435u043du0438u00a0 parameters u043fu043eu043bu043eu0436u0435u043du0438u00a0 brings u0443u043fu043eu043cu00a0u043du0443u0442u044b e parameters u0440u0430u0441u0441u0442u043eu00a0u043du0438u00a0, u043eu0431u0440u0430u0449u0430u00a0u0441u044c to table u0441u043eu043eu0442u0432u0435u0442u0441u0442u0432u0438u00a0 u0440u0430u0441u0441u0442u043eu00a0u043du0438u00a0 parameters to obtain the parameters of u0440u0430u0441u0441u0442u043eu00a0u043du0438u00a0, corresponding to the time difference u043eu0431u043du0430u0440u0443u0436 u0435u043du0438u00a0 wireless signal determined using at least thetwo designed antennas.
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