US 12,085,949 B2
Autonomous mobile robot, method for docking autonomous mobile robot, control device and smart cleaning system
Lei Wang, Shenzhen (CN); and Haojian Xie, Shenzhen (CN)
Assigned to SHENZHEN ROCK TIMES TECHNOLOGY CO., LTD., Guangdong (CN)
Filed by SHENZHEN ROCK TIMES TECHNOLOGY CO., LTD., Shenzhen (CN)
Filed on May 5, 2022, as Appl. No. 17/737,904.
Application 17/737,904 is a continuation of application No. 16/883,706, filed on May 26, 2020, granted, now 11,347,230.
Application 16/883,706 is a continuation of application No. PCT/CN2018/105836, filed on Sep. 14, 2018.
Claims priority of application No. 201710876877.0 (CN), filed on Sep. 25, 2017.
Prior Publication US 2022/0276658 A1, Sep. 1, 2022
Int. Cl. G05D 1/00 (2024.01); B25J 9/00 (2006.01); B25J 11/00 (2006.01)
CPC G05D 1/0225 (2013.01) [B25J 9/0003 (2013.01); B25J 11/0085 (2013.01); G05D 1/0219 (2013.01); G05D 1/0238 (2013.01)] 16 Claims
OG exemplary drawing
 
1. A robot, comprising:
a machine body;
a driving system, configured to drive the machine body and elements disposed in the machine body to move across a surface;
a signal receiver, configured to receive a signal from a charging station;
a control system, disposed in the machine body, and configured to build a simultaneous map of an environment in which the robot is located, and navigate the robot based on the simultaneous map;
wherein,
in a process of docking the robot, the signal receiver determines whether the robot is in a coverage region of the signal from the charging station; in response to determining that the robot is not in the coverage region of the signal from the charging station, the control system controls the driving system to drive the robot to move toward an open region based on the simultaneous map; and
in response to determining that the open region is within a restriction region, the control system controls the driving system to drive the robot to move along a boundary of the restriction region.