Autonomous mobile robot, method for docking an autonomous mobile robot, control device and smart cleaning system
The present disclosure is related to a method for docking an autonomous mobile robot. A first effective area is determined A first effective boundary is determined from the one or more first boundaries of the first effective area. An optimal point on the first effective boundary is determined. The autonomous mobile robot is controlled to move to the optimal point. The steps are repeated to make the autonomous mobile robot reach the vicinity of the charging station. The optimal point may be determined from one or more candidate optimal points. Each candidate optimal point defines a respective second effective area centering on the candidate optimal point and overlapping with the first effective area to form a respective overlapping area. The respective overlapping area associated with the optimal point is smallest among the respective overlapping areas associated with the one or more candidate optimal points.
1. A method for docking an autonomous mobile robot, comprising:
determining a first effective area, wherein the first effective area is defined by one or more first boundaries, and wherein the autonomous mobile robot is located in the first effective area;
determining a first effective boundary from the one or more first boundaries of the first effective area, wherein the first effective boundary is in a coverage area of a homing signal of a charging station;
determining an optimal point from one or more candidate optimal points on the first effective boundary, wherein each of the one or more candidate optimal points defines a respective second effective area centering on the each of the one or more candidate optimal points and overlapping with the first effective area to form a respective overlapping area, wherein a respective overlapping area associated with the each of the one or more optimal points is smallest among respective overlapping areas associated with the one or more candidate optimal points;
controlling the autonomous mobile robot to move to the optimal point; and
repeating the determining of the first effective area, the determining of the first effective boundary, the determining of the optimal point and the controlling of the autonomous mobile robot in one or more iterations to make the autonomous mobile robot reach a vicinity of the charging station.
2. The method as claimed in claim 1 , wherein the first effective area and the second effective area are areas without obstacles.
3. The method as claimed in claim 2 , wherein the obstacles comprise at least a wall.
4. The method as claimed in claim 1 , wherein the autonomous mobile robot comprises a confined area detector.
5. The method as claimed in claim 4 , wherein the autonomous mobile robot is controlled to move along a boundary of the confined area to approach the optimal point.
6. The method as claimed in claim 5 , wherein the boundary of the confined area comprises at least one of a virtual wall or a cliff edge.
7. The method as claimed in claim 6 , wherein the confined area detector comprises at least one of a virtual wall sensor or a cliff sensor, wherein the virtual wall sensor is configured to detect the virtual wall, and the cliff sensor is configured to detect the cliff edge.
8. The method as claimed in claim 1 , further comprising stopping the one or more iterations when a distance between the autonomous mobile robot and the charging station has reached a predetermined distance.
9. The method as claimed in claim 8 , wherein the autonomous mobile robot comprises a laser distance sensor configured to detect the distance between the autonomous mobile robot and the charging station.
10. The method as claimed in claim 1 , further comprising stopping the one or more iterations responsive to detect a near-field signal from the charging station.
11. A control device for an autonomous mobile robot, comprising a processor and a non-transitory memory storing a computer program that, when executed by the processor, causes the processor to:
determine a first effective area, wherein the first effective area is defined by one or more first boundaries, and the autonomous mobile robot is located in the first effective area;
determine a first effective boundary from the one or more first boundaries of the first effective area, wherein the first effective boundary is in a coverage area of a homing signal of a charging station;
determine an optimal point from one or more candidate optimal points on the first effective boundary, wherein each of the one or more candidate optimal points defines a respective second effective area centering on the each of the one or more candidate optimal points and overlapping with the first effective area to form a respective overlapping area, wherein a respective overlapping area associated with the each of the one or more optimal points is smallest among respective overlapping areas associated with the one or more candidate optimal points;
control the autonomous mobile robot to move to the optimal point; and
repeat the determining of the first effective area, the determining of the first effective boundary, the determining of the optimal point and the controlling of the autonomous mobile robot in one or more iterations to make the autonomous mobile robot reach a vicinity of the charging station.
12. The control device as claimed in claim 11 , wherein the first effective area and the second effective area are areas without obstacles.
13. The control device as claimed in claim 12 , wherein the obstacles comprise at least a wall.
14. The control device as claimed in claim 11 , wherein the autonomous mobile robot comprises a confined area detector.
15. The control device as claimed in claim 14 , wherein the autonomous mobile robot is controlled to move along a boundary of the confined area to approach the optimal point.
16. The control device as claimed in claim 15 , wherein the boundary of the confined area comprises at least one of a virtual wall or a cliff edge.
17. The control device as claimed in claim 16 , wherein the confined area detector comprises at least one of a virtual wall sensor or a cliff sensor, wherein the virtual wall sensor is configured to detect the virtual wall, and the cliff sensor is configured to detect the cliff edge.
18. The control device as claimed in claim 11 , wherein the computer program is further configured to cause the processor to stop the one or more iterations when a distance between the autonomous mobile robot and the charging station has reached a predetermined distance.
19. An autonomous mobile robot, comprising a main body and a control device, and the control device being disposed in the main body;
wherein the control device comprises a processor and a non-transitory memory storing a computer program that, when executed by the processor, causes the processor to:
determine a first effective area, wherein the first effective area is defined by one or more first boundaries, and the autonomous mobile robot is located in the first effective area;
determine a first effective boundary from the one or more first boundaries of the first effective area, wherein the first effective boundary is in a coverage area of a homing signal of a charging station;
determine an optimal point by one or more candidate optimal points on the first effective boundary, wherein each of the one or more candidate optimal points defines a respective second effective area centering on the each of the one or more candidate optimal points and overlapping with the first effective area to form a respective overlapping area, wherein a respective overlapping area associated with the each of the one or more optimal points is smallest among respective overlapping areas associated with the one or more candidate optimal points;
control the autonomous mobile robot to move to the optimal point; and
repeat the determining of the first effective area, the determining of the first effective boundary, the determining of the optimal point and the controlling of the autonomous mobile robot in one or more iterations to make the autonomous mobile robot reach a vicinity of the charging station.
20. The autonomous mobile robot as claimed in claim 19 , wherein the autonomous mobile robot comprises a cleaning system.