System and method for automatically returning self-propelled robot to recharge unit

FIELD: computer engineering.

SUBSTANCE: recharge unit emits infrared light from infrared unit in response to recharge request signal received from robot via wireless transceiver, and sends infrared radiation signal in accordance with infrared light radiation. The self-propelled robot communicates with the recharge unit using various data and sends recharge request signal to the recharge unit when accumulator charge level drops below a threshold level and moves back towards the recharge unit using image data input from camera unit as response to infrared radiation signal sent by the recharge unit. The robot has microprocessor for controlling robot movements for providing return to the recharge unit by processing data of infrared light position on picture introduced from camera unit when detecting infrared light presence in the picture.

EFFECT: accelerated return to recharge unit.

16, cl, 2 dwg

 

The technical field to which the invention relates.

The present invention relates to self-propelled robot, and more particularly to a system and method for automatic return of the self-moving robot to a charger and the self-propelled robot can quickly and accurately return to a charger according to the information of the infrared image of the infrared module provided on the charger, which is introduced from the chamber module provided on the self-propelled robot.

Prior art

Robots are being developed for industrial purposes and are used as part of factory automation. Robots are also used instead of people to gather information in an extreme environment, in which people do not have access. Developing robots are evolving rapidly, because robots are used in the most advanced of space industry developments. The newly developed human-readable homemade robots. A typical example of a comfortable home robot is a mobile robot cleaner.

Self-propelled robot cleaner is a device that sucks the dust and other foreign objects in the process automatic movement cleaned in a specific area, such as apartment or office. In addition to the elements of vacuum cleaner that sucks the dust or other who ostoronne items self-propelled robot cleaner includes a driving unit for moving the robot, multiple detection sensors for detecting a variety of obstacles that the robot was moving without collisions with obstacles in the treated area, a battery for supplying power to each component of the robot and a microprocessor for controlling each component of the robot.

Using detection sensors, the robot cleaner determines the distance to various obstacles, such as furniture and walls, cleaned the area and cleans the cleaned area in the process of movement without collision with obstacles, using the obtained information.

Recently began to use self-propelled robot cleaner, which has a chamber module for detecting objects in the treated area to clear the cleaned area, not missing any part thereof.

This self-propelled robot can not only detect its own position, but also to obtain accurate information on the cleaned area through the image of the environment received the chamber module, so that it can more accurately to brush the cleaned area, not missing any part thereof.

On the other hand, since the self-propelled robot is powered by a battery, as described above, it has for the user's convenience is the automatic battery charging. Through this functionautomatic charging a battery of self-propelled robot determines the charge level of your battery and if the charge level is lower than the reference level, the self-propelled robot automatically returns to the charging device provided in a specific location in the treated area, and resumes cleaner after the battery is fully charged the charger.

In the known method automatic return of the self-propelled robot-cleaner charger and the self-propelled robot finds the position of the charging device by detecting infrared light emitted from the infrared emitter provided on the charger, using an infrared sensor mounted on self-propelled robot to return to a charger.

However, in the known method requires a long time to the infrared sensor on the self-propelled robot has detected infrared light emitted from the infrared transmitter, since the infrared sensor not only has a narrower range of light, but also unable to detect an infrared signal when the self-propelled robot is at a great distance from the infrared transmitter. If the detection of infrared light emitted from an infrared transmitter, takes a long time, the battery may be discharged, and self-propelled robot can stop on the way back to the charger.

The essential is to be inventions

The technical task of the present invention is to provide a system and method for automatic return of the self-propelled robot to the charger and the self-propelled robot quickly determines the position of the charger on the basis of information from the infrared image of the infrared module provided on the charger, which is introduced from the chamber module placed on the self-propelled robot that will provide fast and accurate return to the charger and the self-propelled robot.

The task in accordance with the present invention solved through a system containing a mobile robot and the charging device for the automatic return of the self-propelled robot to a charger, and the charger emits infrared light from the infrared module in response to the request signal charge received from the self-propelled robot via the wireless transceiver, and outputs a signal of infrared radiation according to a radiation of the infrared light, while the self-propelled robot exchanges various data with the charging device generates a request signal charge on the charger, when the battery voltage of the self-propelled robot is lower than the reference voltage, and moved back to the charger using information images entered from emirnogo module, which fixes the image input through the lens, in response to the signal of the infrared radiation received from the charger and the self-propelled robot also contains a microprocessor to control the movement of self-propelled robot for the return of the self-propelled robot to the charger using the information of the position of the infrared light in the picture entered from the chamber module, if the infrared light is detected in the image input from the chamber of the module.

System and method for automatic return of the self-propelled robot to a charger according to the present invention, the position of the charging device is determined on the basis of the information of the infrared light device, input from the chamber of the module, placed on the self-propelled robot, without the use of separately installed infrared or ultrasonic sensor, which is traditionally used to return the self-propelled robot to a charger. This allows the mobile robot to quickly return to a charger.

Brief description of drawings

The above features and advantages of the present invention will be clearer from the following detailed description with reference to the accompanying drawings, in which:

figure 1 depicts a block diagram of a system for automatic return of the self-propelled robot to a charger according to the invention;

figure 2 - block diagram of the sequence of operations of a method for automatic return of the self-propelled robot to a charger according to the invention.

Detailed description of preferred embodiments of the invention

In the above description of the self-propelled robot according to the present invention are explained on the example of the robot cleaner. However, without limitation, a mobile robot according to the invention includes any robot, which automatically returns to a charger when the battery is almost discharged, and which is activated after the battery is fully charged.

Figure 1 presents a block diagram of a system for automatic return of the self-propelled robot to a charger according to the present invention.

System for automatic return of the self-propelled robot to a charger includes charger 100 and the self-propelled robot 300. Charger 100 stimulates self-propelled robot 300 to return to the charging device 100 when the mobile robot 300 is necessary to charge and supplies power to the self-propelled robot 300, when he returned to the charger 100. Self-propelled robot 300 performs a cleaning operation according to the command from the user in the process of movement in a specific area, using the image information surrounding the situation is ovci, input from the chamber of the module.

Charger 100 automatic return of the robot according to the present invention transmits data to a mobile robot 300 and receives the data from the self-propelled robot 300, and stimulates the return of the self-propelled robot 300 to the charger 100. The charger 100 includes a wireless transceiver 110 to transmit wireless data to mobile robot 300 and receive data from the self-propelled robot 300 and the infrared module 120 for emitting infrared light. The charging device 100 also includes a power lead (not shown)through which power is fed to the self-propelled robot 300, when the self-propelled robot 300 is plugged into the charger 100.

In this embodiment, the wireless transceiver 110 transmits and receives a wireless signal through one of the following modules: Bluetooth, wireless local area network (LAN) (LAN) and Zigbee, which are communication modules wireless LAN zone. In another embodiment, the wireless transceiver 110 may be implemented according to the scheme infrared using infrared signals. In this case, the charging device 100 performs communication with a self-propelled robot 300 via an infrared module 120, which contains an infrared transmitter for applying a given signal to infrared light and radiation that infrared light and an infrared receiver for demodulation of the received infrared light.

Infrared module 120 activates the light-emitting element for emitting infrared light in response to the request signal charge, which is taken from the self-propelled robot 300 through the wireless transceiver 110. When the infrared module 120 emits infrared light via light-emitting element, the charging device 100 transmits a signal of infrared radiation, indicating the working state light-emitting element on a mobile robot 300 through the wireless transceiver 110.

In other words, in the embodiment of the present invention when receiving a request signal charge via the wireless transceiver 110 charger 100, made as described above, activates the infrared module 120 and the radiation of the infrared light to stimulate the self-propelled robot 300 to return to the charger 100, and transmits a signal of infrared radiation that indicates the status of the infrared radiation on the self-propelled robot 300 through the wireless transceiver 110.

The following describes a mobile robot 300, which is a component of the automatic return of the self-propelled robot to a charger according to the invention, the movement of which is consistent with the operational status of the charging device made as described above.

Self-propelled robot 300 according to the version of the implementation of the present invention includes a chamber module 310, the memory 320, the battery 330, measuring 340 battery charging, wireless transceiver 350, the microprocessor 360 and block 370 of the actuator motors. Chamber module 310 records the image received through the lens. The memory 320 stores a program operation self-propelled robot 300 and the information about the images input from the chamber of the module 310. The battery 330 supplies power to each component of the self-propelled robot 300. Measuring 340 battery charging measures the voltage level of the battery 330. The wireless transceiver 350 transmits the data to the charging device 100 and receives data from the charger 100. The microprocessor 360 controls each component of the self-propelled robot 300.

Chamber module 310 captures a different image ahead of the movement of self-propelled robot 300. Chamber module 310 includes a lens system lens unit of perception of images, and the conversion unit and the controller chamber module. Block the perception of images converts the optical signal from the lens system into an analog electrical signal. The power conversion process and converts the signal issued from the block image perception, into a digital signal having a format suitable for input to the microprocessor 360. The chamber controller module manages all the work chamber of the module. Chamber module with those who componentui known in the art and therefore its detailed description is omitted.

When moving the self-propelled robot 300 according to the present invention it captures images of the environment through the chamber module 310. Using the information captured image, self-propelled robot 300 can more accurately determine whether there are obstacles. Chamber module 310 is installed on the front part of the self-propelled robot 300, preferably at the same height as the light-emitting element infrared module 120, which is provided on the above-described charging device 100.

As described above, in the system for the automatic return of the self-propelled robot to a charger mobile robot 300 moves, capturing images of the surrounding environment through the chamber module 310, and using the recorded information image of the self-propelled robot 300 can not only be precise to determine whether there are obstacles, when it is in motion, but can also return to the charger 100 by detecting the direction of the infrared light emitted from the infrared module 120.

The memory 320, which consists of a non-volatile memory such as EPROM (EEPROM) or flash memory stores the operating program for the operation of self-propelled robot. The memory 320 stores information minimum battery charge required to perform cleaning, for example the level of support napryazhyennosti. The memory 320 stores various information of the image recorded chamber module 310. The microprocessor 360 controls access to data stored in memory 320.

Measuring 340 battery charging voltage of the battery 330, built-in self-propelled robot 300. More specifically, the probe 340 battery charging divides the voltage outputted from the battery 330, through a certain ratio of resistances, and measures and outputs divided voltage to the microprocessor 360.

The microprocessor 360 displays the current battery level indicator on the scale level of battery power according to the measured voltage level taken from the meter 340 battery charging.

The wireless transceiver 350 performs communication with the wireless transceiver 110 charger 100. In the embodiment of the present invention the wireless transceiver 350 transmits and receives a wireless signal through one of the following modules: Bluetooth, wireless local area network (LAN) (LAN) and Zigbee, which are communication modules wireless LAN zone.

In another embodiment, the wireless transceiver 110 may be implemented according to the scheme infrared using infrared signals. In this embodiment, the charger 100 done is no data exchange with a self-propelled robot 300 via an infrared module 120, which includes an infrared transmitter for applying a given signal to infrared light and a flash of infrared light and an infrared receiver for demodulation of the received infrared light, and a self-propelled robot 300 transmits and receives various data through the module infrared communication, the corresponding infrared module 120 of the charger 100. More specifically, the module infrared communication self-propelled robot 300 includes an infrared transmitter for applying a given signal to infrared light and a flash of infrared light and an infrared receiver for demodulation of the received infrared light. Such infrared communication known in the art, and therefore its detailed description is here omitted.

Block 370 drive motors controls the motors of the left and right wheels are connected to the left and right wheels according to the control signals engines (i.e. the signals of the displacement control), received from the microprocessor 360.

The microprocessor 360 self-propelled robot 300 according to a variant implementation of the present invention controls the overall operation of the self-propelled robot 300 on the basis of the working program stored in the memory 320. According to one object of the present invention, the microprocessor 360 controls the movement of self-propelled robot 300 to return to the charge of the WMD device 100 based on the information of the position of the infrared light, obtained from information of the image input via the chamber module 310.

More specifically, the microprocessor 360 according to the invention contains a controller 361 charging, the processor 362 images, the transmitter 363 position and the controller 364 of movement (figure 1).

When the battery voltage of the self-propelled robot, taken from the meter 340 battery charge becomes lower than the reference voltage, the controller 361 charging issues on the wireless transceiver 350 request signal charge, requesting that the charger 100 charge the battery. When receiving a signal of infrared radiation through the wireless transceiver 350 in response to the request signal charge controller 361 controls the charging unit 370 of the drive motors so that the self-propelled robot 300 moved anywhere in the surrounding areas to search for infrared light emitted from the charging device 100 according to a predetermined algorithm move.

As described above, the self-propelled robot 300 captures images of the environment in the process of movement in the surrounding areas to search for infrared light, according to the control signal from the controller 361 charging.

The processor 362 images saves the images taken from the chamber module 310, a memory 320 and compares the information of the image previous image stored in the memory 320, and the formation of the image of the current picture, input from the chamber module 310 to detect infrared light emitted from the infrared module 120 of the charger 100.

In the embodiment of the present invention, the processor 362 images detects infrared light emitted from the infrared module 120 that is installed on the charging device 100, on the basis of the difference between the picture information (for example, color information or brightness) of the recorded images input from the chamber module 310 according to the working program of the self-propelled robot 300. When the chamber module 310 captures an image that includes an infrared image, this picture changes compared with the previous picture in color or brightness due to the infrared image, so that the processor 362 images to detect a change of color or brightness.

The transmitter 363 provisions calculates the position of the infrared light in the recorded image when the processor 362 images detects infrared light in the recorded picture. For example, the transmitter 363 provisions calculates the direction from the center of the recorded image on the center of the detected infrared image.

On the basis of the status information issued from the transmitter 363 position, the microprocessor 360 self-propelled robot 300 issues a control signal on block drive motors of the left/right wheels through the controller 362 of movement, so the self-propelled robot 300 moves according to the control signal.

On the basis of the information of the position of the infrared light input from the transmitter 363 position, the controller 364 movement produces the control signal movement to provide the location of the infrared light in the center of the captured image, i.e. in the center of the lens.

Every time a mobile robot 300 moves a specific distance, self-propelled robot 300 compares the image information of the previous image stored in the memory 320, the image information of the current picture input from the chamber module 310, and outputs the control signal movement for self-propelled robot 300 at block 370 drive motors via the controller 361 movement on the basis of the information of the position of the infrared light received by the comparison to provide the location of the infrared light in the center of the image.

System for automatic return of the self-propelled robot to a charger according to the present invention can easily detect the position of the charging device 100 by using the information of the position of the infrared light obtained from images recorded chamber module 310, so that the self-propelled robot 300 can quickly return to the charger 100.

The system according to the present invention use is eshet the fact, what are the common chamber modules mounted on self-propelled robots that can detect infrared light. Common chamber module can easily detect infrared light emitted from the charger, even when the charger is removed, because the common chamber module has a wide range of received light (i.e. a wide range of fixed images for images entered in the chamber module through the lens) compared to infrared or ultrasonic sensors, which are traditionally used for automatic return of the self-propelled robot to a charger.

When infrared light is detected in a captured image input from the chamber of the module calculates the position of the infrared light in a captured image, and controls the movement of self-propelled robot based on the calculated position of infrared light, so that a mobile robot can quickly return to a charger.

Below is described a method for automatic return of the self-propelled robot to a charger according to the present invention.

Figure 2 presents the block diagram of the operational sequence of the method for automatic return of the self-propelled robot to a charger according to the invention. Self-propelled robot 300 performs an operation ochistki a particular zone on command from the user (figure 2) (S100). When performing the self-propelled cleaning robot 300 measures the charge level of the battery at certain time intervals by measuring 340 battery charging (S110).

When the battery power is taken from the meter 340 battery charge becomes lower than the reference level established in memory 320 (S120), the microprocessor 360 self-propelled robot 300 includes a charging mode (i.e. the mode of return) to return the self-propelled robot 300 to the charger 100. However, if the battery power is taken from the meter 340 charging of the battery is higher than the reference level set in the memory 320, the microprocessor 360 returns to step S100 to perform cleanup operations on command from the user.

When the battery power is taken from the meter 340 charging of the battery is lower than the reference level set in the memory 320, the microprocessor 360 includes a charging mode, i.e. the microprocessor 360 self-propelled robot 300 issues a request signal charge on the charger 100 via the controller 361 charging (S130). In response to the signal of the infrared radiation received from the charging device 100 through the wireless transceiver 350, a mobile robot 300 moves in a specific area to search for infrared light according to the algorithm of movement, keeping the camping in the memory 320, to search for the charger 100 (S140 and S150). Communication between the charger 100 and the self-propelled robot 300 can be performed by using one of the following modules: Bluetooth, wireless local area network (LAN) (LAN) and Zigbee, which are communication modules Wi-Fi local area, and may also be performed using infrared light.

When moving to search for the charger 100 according to the signal of infrared radiation transmitted from the battery charger 100, a mobile robot 300 receives pictures of the surrounding areas through the chamber module 310 and stores the received image in the memory 320 (S160).

Then, the microprocessor 360 detects infrared light emitted from an infrared module 120 of the charger 100, the picture input from the camera module 310 (S170). Specifically, in the embodiment of the present invention, the microprocessor 360 self-propelled robot 300 compares by processor 362 image previous image stored in the memory with the image of the current image, input from the chamber module 310 to detect infrared light emitted from the infrared module 120 of the charger 100.

When the chamber module 310 captures an image that includes any part of the image of the infrared light emitted from the infrared module 120 charger 00, information (or value) of the color or brightness of the previous image stored in the memory 320 differs from the same values in the recorded image, which includes the infrared image input from the chamber module 310, so that the processor 362 images of the self-propelled robot 300 detects infrared radiation on the basis of this distinction.

If the processor 362 images does not detect infrared light by a comparison between the previous and the input images, the self-propelled robot 300 returns to step S150 to move around to search for the charger 100. On the other hand, if the processor 362 images detects infrared light in step S170, the microprocessor 360 self-propelled robot 300 calculates the position of the infrared image recorded in the image by means of the transmitter 363 provisions (S180). For example, the transmitter 363 provisions calculates the direction from the center of the captured image to the center of the infrared image.

After that, the microprocessor 360 self-propelled robot 300 generates a control signal to move in block 370 drive motors via controller 364 of movement to allow you to place the calculated position of the infrared image in the center of the image input through the lens (S190).

Every time a mobile robot 300 moves to be certain the tion, self-propelled robot 300 compares the image information of the previous image stored in the memory 320, the image information of the current picture input from the chamber module 310, and outputs the control signal to move the self-propelled robot 300 at block 370 drive motors via the controller 361 on the basis of the information of the position of the infrared light obtained from the comparison, to allow the infrared light to be placed in the center of the image.

As is evident from the above description, the system and method automatic return of the self-propelled robot to a charger position charger is determined on the basis of image information of the infrared light introduced from the chamber module provided on the self-propelled robot, without the use of separately installed infrared or ultrasonic sensor, which traditionally is used to return a self-propelled robot to a charger. This allows the mobile robot to quickly return to a charger.

The system uses the fact that the total chamber modules mounted on self-propelled robots that can detect infrared light. Common chamber module can easily detect infrared light emitted from the charger, even when the charger is removed, because overall the chamber module has a wide range of received light (i.e. a wide range of capturing images for images entered in the chamber module through the lens) compared to infrared or ultrasonic sensors, which are traditionally used for automatic return of the self-propelled robot to a charger.

When in a captured image input from the chamber of the module that detected any part of the infrared light, the movement of self-propelled robot is controlled based on the position of the infrared light in a captured image, so that a mobile robot can quickly return to a charger.

There may be various modifications, additions and substitutions without departing from the scope and essence of the invention as disclosed in the accompanying claims.

1. System for automatic return of the self-propelled robot (300) to a charger (100), containing

battery charger (100), comprising an infrared module (120) for emitting infrared light in response to the request signal charge received from the self-propelled robot (300) via the wireless transceiver (110), and for issuing a signal of infrared radiation according to a radiation of infrared light,

self-propelled robot (300), providing for the issuance request signal of the charging to the charging device (100)when the battery voltage of the self-propelled robot (300)becomes lower than the reference voltage, and to move back to a charger (100) using the information of the image input from the chamber of the module (310) in response to the signal of the infrared radiation received from the charging device (100), while the self-propelled robot (300) includes a microprocessor (360) to control the movement of self-propelled robot (300) to return a self-propelled robot (300) to a charger (100) using the information of the position of the infrared light in the picture entered from the chamber module (31), if specified in the picture (31) is detected by the infrared light.

2. The system according to claim 1, characterized in that the microprocessor (360) includes a controller (361) charge for the issuance request signal of the charging to the charging device (100) through wireless transceiver (350), when the battery voltage is lower than the reference voltage, and control the movement of self-propelled robot (300) to search for the charger (100) in response to the signal of the infrared radiation received from the charging device (100),

the processor (362) images, designed to save the images input from the chamber of the module (310), (320) and to compare the information image previous image stored in the memory (320), with information of the picture entered from the chamber module (310), as well as to detect infrared SV is the emitted from the infrared module (120) charger (100), and the information image previous image and the input image includes information about their color or brightness,

the transmitter (363) provisions designed to obtain information of the position of the infrared light in the picture entered from the chamber module (310)when the processor (362) images detects infrared light,

controller (364) move intended to signal motion control based on information of the position of the infrared light from the transmitter (363) provisions to ensure that the location of the infrared light in the center of the picture input from the camera.

3. The system according to claim 2, characterized in that the wireless communication between the charging device (100) and self-propelled robot (300) made by one of the modules selected from the group consisting of Bluetooth, wireless local area network (LAN) (LAN) and Zigbee.

4. The system according to claim 2, characterized in that the communication between the charging device (100) and self-propelled robot (300) is performed by means of infrared light.

5. System for automatic return of the self-propelled robot (300) to a charger (100), containing

battery charger (100)designed to communicate with a self-propelled robot (300) and radiation infr the red signal,

self-propelled robot (300)providing communication with the charging device (100), receiving from the outside of image information, comparing information previously stored image information input image, calculating the position of the charging device (100), from which radiates infrared light, and return to a charger (100), when the information input image detected infrared signal.

6. The system according to claim 5, characterized in that the charging device (100) includes

wireless transceiver (110), designed to perform wireless communication with a self-propelled robot (300),

infrared module (120), designed to excite the light-emitting element on the radiation of infrared light when receiving a request signal charge from the self-propelled robot (300) via the wireless transceiver (110).

7. The system according to claim 6, characterized in that the self-propelled robot (300) contains

block (370) drive motors, designed for control of the driving motor and driving at least one wheel,

meter (340) charging battery designed for dividing the voltage applied to the battery (330), in particular the ratio of resistances for measuring the divided voltage and outputting the measured level,

wireless transceiver (350), designed to perform wireless communication with the charging device (100),

chamber module (310) to capture images taken from the outside,

the memory (320), is used to store the operating program for operating a self-propelled robot (300) and the image information entered from the chamber module (310),

the microprocessor (360)designed to control the operation of the self-propelled robot (300), including management of battery (330), the wireless communication with the charging device (100), the processing of the input image, calculating the position of the charging device (100) and the control of self-propelled robot (300).

8. The system according to claim 7, characterized in that the microprocessor (360) contains

controller (361) charging, designed to generate and output a request signal battery charging (330)when the measured level is entered from the meter (340) of the battery is lower than the reference level,

the processor (362) images, designed to save the images input from the chamber of the module (310) in the memory (320), and compare the information previously stored image information input image to detect whether there is an infrared signal, and to output a detection signal,

Vice the amplifier (363) provisions designed for calculating the position of radiation of infrared light from the image information, when detected that the infrared signal included in the image information, and to derive information of the position of the infrared light,

controller (364) movement, designed to derive a control signal to the block (370) of the drive motors based on the status information, derived from the evaluator (363) provisions to ensure the return of the self-propelled robot (300) to a charger (100).

9. The system of claim 8, wherein the processor (362) images is intended to determine whether the infrared signal on the basis of differences between the color information or brightness information of the previously stored image and the color information or brightness information of the image input from the chamber of the module (310).

10. System according to any one of claim 8 or 9, characterized in that the transmitter (363) position is designed to calculate the direction from the center of the captured image in which the detected infrared image, an infrared image, the controller (364) movement is designed to generate control signals travel via the status information of infrared light input from the transmitter (363) provisions to ensure that is the e infrared light in the center of the recorded image.

11. System according to any one of claim 8 or 9, characterized in that the microprocessor (360) is designed to transfer the request signal charge to a charger (100) through wireless transceiver (350) in response to the request signal charge from the controller (361) charging and signal transfer control to search for the charger (100) to the controller (364) move when the signal reception of infrared radiation from the charger(100).

12. The system according to claim 11, characterized in that the controller (364) move moves the self-propelled robot (300) in a specific area to search for a charging device (100) according to the algorithm of movement stored in the memory (320), when receiving a signal transfer control to search for the charger (100).

13. System according to any one of claims 7 to 9, characterized in that the chamber module (310) is located at the same height as the light-emitting element infrared module (120).

14. Method automatic return of the self-propelled robot (300) to a charger (100), namely, that

transmit the request signal charge on the charging device (100)when the measured charging level of the battery is lower than the level of the reference voltage,

initiate the movement of self-propelled robot (300) to search for the charger (100) and save the image, BB is conducted through the chamber module (310) in response to the signal of infrared radiation from the battery charger(100),

detects infrared light emitted from the battery charger (100), in the image information input through the chamber module (310),

calculate the position of the infrared light from the status information, when it is detected in the image information, and generates the control signal by moving to allow the self-propelled robot (300) to return to the charging device (100).

15. The method according to 14, characterized in that the detection of infrared light compare color information or brightness information of the previously stored image with color information or brightness information of the image input from the chamber of the module (310)to determine whether the infrared signal.

16. The method according to any of the 14 or 15, characterized in that during insertion of the control signal a move to allow the self-propelled robot (300) to return to the charger (100), output a control signal to move by using the input position of infrared light to provide infrared light in the center of the recorded image.



 

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The invention relates to the field of radio electronics

FIELD: conditioning of network equipment.

SUBSTANCE: system contains data transfer network, conditioner with control device, controller with memory, connected to transmission network and controlling conditioner through control device. For achieving technical result a specialized controller is installed in a room, connected to data transfer network and containing a list of network addresses and critical temperatures in its memory for each device being cooled. Through data transfer network, controller receives temperature information from devices being cooled, compares received information about temperatures of a set of cooled devices and critical temperature of cooled devices, recorded into memory, and on basis of comparison result controls the conditioner.

EFFECT: possible setting of temperature mode not for room as a whole, but for each device being cooled.

2 cl, 2 dwg

FIELD: the invention refers to automated control systems.

SUBSTANCE: it may be used for management of industrial-technological processes of an enterprise of gas and oil industry with controlling inputs at the place of their origin. The invention allows to control the industrial-technological process at each management level together with industrial-technological indexes and control the values of evaluations of indexes of effectiveness which so, as the industrial-technological indexes are compared with permissible borders.

EFFECT: increases effectiveness of management due to operative local response at effectiveness reduction on a part of the industrial-technological process of the enterprise.

1 dwg

FIELD: antitrouble control of electrical equipment and control of power flows in electric power supply networks.

SUBSTANCE: the station of automated control of electric power supply network has an automated controller's position composed of the central processor module, main and two auxiliary monitors, graphic manipulator, keyboard, printer, information processing unit, collective use panel, navigation receiver and a control unit, switchboard unit, communication panel, switchboard, VHF radio set with a receiver, feeder and an antenna, HF radio set with an antenna, information exchange device, data transmission equipment, operational communication equipment, power input unit with two AC external network channels connected to it, long-range communication adapter, lines input unit, long-range communication channels, connecting lines, customers service communication lines, automated manager's position comprising a central processor module, main and auxiliary monitors, graphic manipulator, keyboard, information processing unit, laser range finder and a control unit, as well as remote automated operator's positions.

EFFECT: enhanced efficiency of functioning and provided trouble-free operation of the electric power supply network.

4 cl, 4 dwg

FIELD: experimental equipment, possible use in stands for testing mechanical properties of structures.

SUBSTANCE: multi-channel loading system contains a controlling computer, hydro-power source and tracking loading channels with check force connection. Loading channel includes digital controller, hydro-cylinder and dynamometer with inbuilt normalizing amplifier, servo-valve, mounted on it. Loading channel additionally contains generator of load-setting signals, while generator and regulator are mounted on hydro-cylinder and connected to controlling computer by field bus interface.

EFFECT: increased reliability and increased manufacturability of a multichannel system.

2 dwg

FIELD: experimental equipment, possible use in stands for testing mechanical properties of structures.

SUBSTANCE: multi-channel loading system contains a controlling computer, hydro-power source and tracking loading channels with check force connection. Loading channel includes digital controller, hydro-cylinder and dynamometer with inbuilt normalizing amplifier, servo-valve, mounted on it. Loading channel additionally contains generator of load-setting signals, while generator and regulator are mounted on hydro-cylinder and connected to controlling computer by field bus interface.

EFFECT: increased reliability and increased manufacturability of a multichannel system.

2 dwg

FIELD: technology for testing and controlling systems or elements thereof.

SUBSTANCE: spark-safe instrument for technical service in field conditions includes connectors, first and second elements for accessing data transfer environment, while first element for accessing data transfer network is made with possible communication in accordance to first industrial communication protocol standard, second element for accessing data transfer network is made with possible communication in accordance to second industrial communication protocol standard, processor, keyboard, display, and also either infrared port or replaceable memory block, or memory extension block. Invention includes diagnostic methods, realized by spark-safe instrument for technical service purposes in field conditions.

EFFECT: simplified display of diagnostic information.

11 cl, 7 dwg

FIELD: electrical communication networks, radio technique, computing technique.

SUBSTANCE: apparatus for controlling system of objects includes power conductor connected to autonomous electric power source; adapters connected between power conductor and objects. Adapters forming together with objects control circuits are programmed for setting timing of data receiving. Power conductor serves simultaneously for transmitting data. Adapters are made with possibility of taking noises into account. Adapter connected between power conductor and autonomous electric power source is made with possibility of simultaneous transmission of data between all other adapters while taking into account time moments of noise occurring and with possibility of regulating voltage of electric power source. Adapter for such apparatus is also offered in description of invention.

EFFECT: improved quality of control process.

2 cl, 7 dwg

FIELD: automation of processes with usage of field devices.

SUBSTANCE: method is realized in control device by means of operation program, which for parameterization in dialog mode is connected to field device via data transfer bus, and which has no access to device description, which describes behavior of field device in autonomous mode. Technical result is achieved because operation program connects to copy of software program of device executed in field device, realizing imitation of field device in dialog mode.

EFFECT: simplification and lower costs of programming.

8 cl, 3 dwg

FIELD: connecting controller may be used in gas transportation systems.

SUBSTANCE: connecting controller contains electric interconnection, which connects a set of input ports to processor and memory. In accordance to invention, marked data may be grouped in time and space by means of central computer using attributes. Processor may utilize aforementioned data to constantly monitor, determine parameters and control the whole gas transportation system.

EFFECT: controller precisely distributes system events in time and space, using marked data for this purpose, resulting in increased efficiency of system, control over repairing of breakdown, capacity for planning of advance technical maintenance and routine maintenance.

5 cl, 6 dwg

FIELD: technology for automatic modeling of system for controlling process, wherein elements of user interface are organized in tree-like structure, reflecting topography of elements in process control system.

SUBSTANCE: each element is assigned to at least one input window, having a set of attributes for setting up and/or monitoring target device, controlled in system for controlling process. Current organization of tree-like structure is recorded as project, and list of all windows, opened during one and the same operation, and also attributes, are recorded as work session, by means of which state of elements is restored during repeated loading of process control system.

EFFECT: improvement of complicated structure of model of real system, positioning of involved graphical elements and information transfer.

3 cl, 6 dwg

FIELD: mechanical engineering; welding.

SUBSTANCE: invention relates to resistance spot welding device for manufacture of spacer grids of nuclear reactor fuel assemblies. Provides robot module includes welding machine, industrial robot with welding gun with electrodes installed on robot arm, control system and tables with device for fastening spacer grid to be welded. Device for fastening spacer grid to be welded is made in from of multijaw chuck with jaws enclosing perimeter of said grid. Electrodes of welding guns have spherical working surface and they are provided with cylindrical connecting element. Said connecting element is arranged in electrode holder at angle to perpendicular drawn to welded surfaces. Multijaw chuck is provided with platform with reduced height sections. Slots are made on jaws enclosing perimeter of spacer grid.

EFFECT: simplified design of electrodes and method of their fastening, increased service life of electrodes.

5 dwg

Robot coiled arm // 2301143

FIELD: improvement of hardware and software for positioning of the working tool or sensor.

SUBSTANCE: the robot coiled arm has the first and second hinge member, each of them cam perform a restricted motion relative to the other member, and flexible elastomeric facilities, which are positioned between the mentioned first and second members, in the form of a thin layer by gluing or by means of bosses and cavities. The relative motion of the members in the direction corresponding to bending of the robot arm causes of shift displacement inside the elastomeric facilities and weakens any displacement in the direction corresponding to a compression because of a relative displacement of the first and second member.

EFFECT: improved efficiency.

34 cl, 10 dwg

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