US 12,085,948 B2
Automatic generation method for robot return-to-base code
Zhuobiao Chen, Guangdong (CN); Hewen Zhou, Guangdong (CN); and Huibao Huang, Guangdong (CN)
Assigned to AMICRO SEMICONDUCTOR CO., LTD., Guangdong (CN)
Appl. No. 17/442,635
Filed by AMICRO SEMICONDUCTOR CO.,LTD., Guangdong (CN)
PCT Filed Nov. 1, 2019, PCT No. PCT/CN2019/114940
§ 371(c)(1), (2) Date Sep. 24, 2021,
PCT Pub. No. WO2020/199580, PCT Pub. Date Oct. 8, 2020.
Claims priority of application No. 201910255044.1 (CN), filed on Apr. 1, 2019.
Prior Publication US 2022/0187839 A1, Jun. 16, 2022
Int. Cl. G05D 1/00 (2024.01)
CPC G05D 1/0225 (2013.01) 9 Claims
OG exemplary drawing
 
1. An automatic generation method for a robot return-to-base code, comprising the following:
on basis of a preset signal collection mode, collecting, by the robot, a guide signal which is sent by a charging base and distributed within a preset range;
sending, by the robot, signal information and azimuth information of the robot, which are recorded when the guide signal is collected, to a data processing device; and
generating, by the data processing device, the robot return-to-base code corresponding to the charging base according to the signal information and the azimuth information which are received, the return-to-base code is a program which is embedded in a robot control system and is used for controlling the robot to automatically return to the base for charging,
wherein the preset signal collection mode comprises: a traversal collection mode, a national standard position collection mode and a middle signal region collection mode,
wherein on the basis of the preset signal collection mode, collecting, by the robot, the guide signal which is sent by the charging base and distributed within the preset range specifically comprises the following: starting from a position of the charging base, traversing, by the robot, the preset range in front of the charging base in a form of a snake shaped track, during traversal process, collecting, by a signal receiving device of the robot, in real time, the guide signal sent by the charging base, and meanwhile, further recording, by the robot, the signal information and the azimuth information of the robot when the guide signal is collected,
wherein generating, by the data processing device, the robot return-to-base code corresponding to the charging base according to the signal information and the azimuth information which are received specifically comprises the following:
performing, by the data processing device, information graphical processing according to the signal information and the azimuth information recorded by the robot in the traversal collection mode so as to obtain a first signal distribution map, and extracting first signal probability distribution data;
performing, by the data processing device, probability statistics according to the signal information and the azimuth information recorded by the robot in the national standard position collection mode so as to obtain a signal receiving probability, signal receiving interval time and a signal receiving direction at each national standard position;
performing, by the data processing device, the information graphical processing according to the signal information and the azimuth information recorded by the robot in the middle signal region mode so as to obtain a second signal distribution map, and extracting second signal probability distribution data; and
performing, by the data processing device, return-to-base flow information configuration on the first signal probability distribution data, the second signal probability distribution data, the signal receiving probability, the signal receiving interval time and the signal receiving direction so as to generate the robot return-to-base code corresponding to the charging base.