CN104765379A - Method for robot to look for recharge base in enclosed work area and robot system - Google Patents
Method for robot to look for recharge base in enclosed work area and robot system Download PDFInfo
- Publication number
- CN104765379A CN104765379A CN201410630876.4A CN201410630876A CN104765379A CN 104765379 A CN104765379 A CN 104765379A CN 201410630876 A CN201410630876 A CN 201410630876A CN 104765379 A CN104765379 A CN 104765379A
- Authority
- CN
- China
- Prior art keywords
- robot
- seat
- recharge
- recharges
- barrier
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Landscapes
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses a method for a robot to look for a recharge base in an enclosed work area, comprising the following steps: a robot looks for the boundary of an enclosed work area; and the robot moves along the boundary and looks for a recharge base after finding the boundary. The invention further discloses a robot system which comprises a robot and a recharge base independent of the robot in arrangement. By adopting the method for a robot to look for a recharge base in an enclosed work area in the embodiment of the invention, the robot can always find the recharge base in an appropriate position no matter whether the recharge base is placed against the wall or not, and the probability that the robot finds the recharge base is greatly increased. Therefore, the degree of intelligence of the robot is improved, and the user experience is optimized.
Description
Technical field
The present invention relates to robot energy management, particularly relate to a kind of robot and find the method and the robot system that recharge seat in closed perform region.
Background technology
Along with the development of science and technology, increasing home-services robot enters the life of people.Particularly Intelligent robot for sweeping floor, because it can complete cleaning works under no worker monitor, deeply welcomed by the people.When existing sweeping robot recharges, do not establish route to carry out acquisition of signal, sometimes robot may detect signal in entering signal dead angle not yet, or repeats away the route of passing by, thus makes robot find recharging seat.
Summary of the invention
Technical matters to be solved by this invention is, provides a kind of robot to find the method and the robot system that recharge seat in closed perform region, can improve sweeping robot largely and find the probability recharging seat.
In order to solve the problems of the technologies described above, on the one hand, The embodiment provides a kind of robot and find the method recharging seat in closed perform region, comprising: the border of this closed perform region of robot seeks; After described robot seeks to this border, also find along described Boundary Moving and recharge seat.
In a kind of embodiment, the step on this border, closed perform region of described robot seeks comprises: when robot probe is to barrier, move with the obstacles borders be detected described in its edge, side, after it moves one week along described obstacles borders, move towards the direction away from described barrier.
Obstacles borders described in described Robot is moved and within one week, is comprised the angle of moving along described obstacles borders and be greater than 360 °, or obstacles borders described in described Robot is through getting back to initial point after a period of time.
According to the angle that its driving wheel rotates, described robot judges whether the angle that its obstacle thing moves is greater than 360 °.
One is preferably in embodiment, and described robot judges according to the angle that its driving wheel rotates the angle that its obstacle thing moves.
By the mode of self-built map, described robot judges whether it is through moving to original position after a period of time.Particularly, described robot goes back detecting obstacles thing simultaneously when moving along obstacles borders, move along described barrier to keep it.
Further, described robot recharges seat at electricity lower than starting searching during the first preset value; Further, described robot when searching recharges, if its electricity lower than the first preset value higher than the second preset value, then described robot also carries out cleaning works when searching recharges; Further, described robot is when searching recharges, if its electricity is lower than the second preset value, then described robot does not carry out cleaning works when searching recharges.
On the other hand, The embodiment provides a kind of robot system, comprising: what robot, machine-independent people were arranged recharges seat, described robot and recharge seat and be all arranged at closed perform region; Described robot comprises control system, at least two driving wheels be independently driven respectively, many group obstacle detection sensors, be arranged at first of its top recharges signal receiver/transmitter, described robot seeks is recharged seat and comprises the border being found described closed perform region by described obstacle detection sensor, Boundary motion described in described Robot, and by described first recharge signal receiver receive described in recharge seat launch recharge signal or by described first recharge signal projector launch recharge signal to recharging seat.
In a kind of embodiment, described robot determines its angle of moving along barrier by the rotational angle of its driving wheel, and after it moves one week along barrier, described robot moves towards the direction away from described barrier.
Described robot judge its along barrier whether move within one week, comprise judge its along barrier movement angle whether more than 360 ° or judge its through whether to move to after a period of time through position.
Embodiment of the present invention tool has the following advantages or beneficial effect:
The embodiment of the present invention adopts the border along closing perform region to find the method recharging seat, no matter recharge seat place by wall or do not place by wall, it can find in appropriate position and recharge seat, improve robot greatly and find the probability recharging seat, thus, improve the intelligence degree of robot, optimize Consumer's Experience.
Accompanying drawing explanation
In order to be illustrated more clearly in the embodiment of the present invention or technical scheme of the prior art, be briefly described to the accompanying drawing used required in embodiment or description of the prior art below, apparently, accompanying drawing in the following describes is only some embodiments of the present invention, for those of ordinary skill in the art, under the prerequisite not paying creative work, other accompanying drawing can also be obtained according to these accompanying drawings.
Fig. 1 is the process flow diagram that in the present invention, robot seeks recharges seat;
Fig. 2 is the process flow diagram that in a kind of specific embodiment of the present invention, robot seeks recharges seat;
Fig. 3 is the Facad structure schematic diagram of robot in an embodiment of the present invention;
Fig. 4 is the perspective view of robot shown in Fig. 3;
Fig. 5 is the structural representation recharging seat in an embodiment of the present invention;
Fig. 6 recharges seat to launch the schematic diagram recharging signal in an embodiment of the present invention;
Fig. 7 recharges robot seeks when seat is placed by wall to recharge the path schematic diagram of seat in the embodiment of the present invention;
Fig. 8 recharges robot seeks when seat is not placed by wall to recharge the path schematic diagram of seat in the embodiment of the present invention;
Fig. 9 is the path schematic diagram that in the embodiment of the present invention, robot runs into barrier when finding and recharging.
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, be clearly and completely described the technical scheme in the embodiment of the present invention, obviously, described embodiment is only the present invention's part embodiment, instead of whole embodiments.Based on the embodiment in the present invention, those of ordinary skill in the art, not making the every other embodiment obtained under creative work prerequisite, belong to the scope of protection of the invention.
Below with reference to the accompanying drawings embodiments of the invention are described.It should be noted that, robot seeks recharges in the process of seat, can by recharge seat launch recharge signal robot receive, also can by robot launch recharge signal recharge seated connection regain fill signal, also other modes can be adopted to find and to recharge seat, as photo comparison etc.Embodiments of the invention in order to for simplicity, all launch and recharge signal robot probe to recharge seat and be received as example and be described, but protection scope of the present invention are not limited in this embodiment.
See Fig. 1, for robot seeks in the present invention recharges the process flow diagram of a method.
The method comprises the steps:
S101: the border of the closed perform region at its place of robot seeks;
S102: judge whether robot finds the border of this closed perform region, then jumps to step S103 in this way, as otherwise skip back to step S101 continue find;
S103: the border searching that Robot closes perform region recharges seat.
It should be noted that, in said process, the border that robot finds may be border---the wall of the closed perform region that will look for, and also may be the border of thing of independently placing obstacles.In a kind of embodiment, when Robot barrier motion one week, then can judge that this barrier is the border independently arranging ground barrier and non-close perform region.
In addition, robot recharges request signal and recharges seat by receiving recharge signal or the transmitting that recharge that seat launches to recharging seat to find.Robot also can recharge seat by identifying that the modes such as special marking are found.
Adopt above-mentioned edge to close border, perform region to find the method recharging seat and can improve robot seeks largely to the probability recharging seat, avoid robot and cannot complete cleaning works because electricity is not enough, thus, improve the degree of intelligence of robot significantly, optimize Consumer's Experience.
Please refer to Fig. 2, be wherein depicted as robot seeks in a kind of specific embodiment and close border, perform region and find the process flow diagram recharging signal along this border.Comprise:
S201: robot seeks's barrier;
S202: judge whether robot finds barrier, then carry out S203 in this way, as otherwise return S201;
S203: robot moves with one edge barrier and receives and recharges signal;
S204: judge whether the angle that Robot barrier moves is more than or equal to 360 °, then carries out S205 in this way, as otherwise continue move along this obstacles borders, and receive recharge signal, find recharge seat;
S205: when robot judges that the angle of moving along barrier is more than or equal to 360 °, illustrate that this barrier is the border of a barrier independently arranged and non-close perform region, therefore robot moves towards the direction away from this barrier, again finds the border closing perform region.
In a kind of embodiment, barrier is found by launching obstacle detection signal by robot.
In one preferably embodiment, robot judges according to the angle that its driving wheel rotates the angle that its obstacle thing moves.Certainly other modes also can be adopted in other embodiments to obtain the angle of robot rotation, as arranged an angel measuring instrument etc.
In addition, also can by judging whether after Preset Time robot gets back to initial point and judge that whether the barrier on robot motion institute edge is the border of closed perform region.
In addition, in other embodiments, also can by judging that Robot barrier moves time, through whether turning back to original position after a while to determine that whether this barrier is the border of closed perform region.
Disturbance in judgement thing in the present embodiment is adopted to be whether that the method on border, closed perform region effectively can identify independent barrier and border, closed perform region, thus avoid Robot barrier to repeat pitch of the laps, ensure that robot can find along border, closed perform region and recharge signal.
In the above-described embodiments, robot also launches obstacle detection signal in the process of moving along obstacles borders, finds during a barrier can continue to move along this barrier to keep it.
In addition, robot recharges seat at its electricity lower than starting searching during the first preset value, and constantly detection recharges signal, that is, robot recharges signal finding in obstacles borders and the process of moving along obstacles borders also detection.When the electricity of robot lower than the first preset value higher than the second preset value time, robot recharges in the process of seat in searching and also carries out cleaning works, when the electricity of robot is lower than the second preset value, robot only finds and recharges seat and do not carry out cleaning works, thus can electricity be saved, to reserve the more time recharging seat to robot seeks, avoid robot cannot find because electricity exhausts and recharge seat.Obviously, second preset value is lower than the first preset value, and the first preset value and the second preset value can carry out finding when cleaning works limit is found and to be recharged according to robot limit and recharge electricity that seat consumes and robot and do not carry out finding the electricity recharging the described consumption of seat to determine when cleaning works is found and to be recharged.
In addition, embodiments of the invention additionally provide that a kind of robot system comprises robot 3, machine-independent people is arranged recharges seat 5, robot 3 and recharge seat 5 and be all arranged at closed perform region; Robot comprises control system (not shown), at least two driving wheels be independently driven respectively 36,37, many groups obstacle detection sensor 33,34, be arranged at its top first recharges signal receiver 31, robot 3 searching recharges seat and comprises the border that the acquisition sensor 33,34 that breaks the barriers finds the closed perform region residing for it, then, robot 3 along this Boundary motion, and by first recharge signal receiver 31 receive recharge seat 5 launch recharge signal.
Please refer to Fig. 3, wherein be depicted as the front view of robot 3, it should be noted that, wherein obstacle detection sensor 33,34 is only exemplary illustration, the number of obstacle detection sensor is many groups, in a kind of preferred embodiment, it hits on 32 before being arranged on robot 3, is distributed as each two groups middle one group totally 5 groups around.It is the front view of robot in the embodiment of the present invention in a kind of embodiment shown in Fig. 4.In addition, this robot 3 also comprise be arranged on before the charging contacts 35 that knocks, this charging contacts 35 comprises positive and negative two electric shock electrodes.
It should be noted that, often organize obstacle detection sensor 33,34 in the embodiment of the present invention and comprise at least one signal projector and at least one signal receiver, this at least one signal projector and at least one signal receiver are arranged with predetermined angle, and the Signal reception region of the signal emitting area of signal projector device and signal receiver forms certain overlapping region, the control system of robot 3 by disturbance in judgement thing whether in this overlapping region, cognitive disorders thing.
In an embodiment of the present invention, robot 3 determines its angle of moving along barrier by the rotational angle of its driving wheel 36,37, thus the control system of robot 3 detect robot 3 along certain barrier move rotate angle be greater than 360 ° time, can move towards the direction away from this barrier by control 3.Thus effectively can find the border of closed perform region, avoid robot 3 repeatedly around the independent barrier motion arranged.
In addition, robot 3 also comprises electric power detection module (not shown), electric power detection module is electrically connected with control system, the battery condition of robot 3 can be sent to control system, when the electricity that control system monitors robot 3 is lower than the first preset value, its control 3 starts searching and recharges seat 5, and when its electricity is higher than the second preset value, control system control 3 limit of robot 3 is carried out the searching of cleaning works limit and recharged seat 5; When its electricity is lower than the second preset value, the control system control 3 of robot 3 does not carry out cleaning works when searching recharges, thus saves electricity, avoid robot 3 find recharge seat 5 before exhaust dump energy.
In addition, robot 3 also comprises second and recharges signal receiver (not shown), recharges signal for receiving the short distance recharging seat transmission.This second recharges before signal receiver can be arranged on and knocks, and also can be arranged on the dead ahead of robot, the first below recharging signal receiver.
Please refer to Fig. 5 and Fig. 6, recharge seat 5 comprise to recharge with first of robot 3 that signal receiver 31 mates first recharge signal projector 51, recharge with second of robot 3 that signal receiver mates second recharge signal projector.First recharges signal receiver 31 for omnidirectional signal receiver, and first recharges signal projector 51 is omnidirectional signal transmitter, can receive or launch the signal of all directions.
Recharge second of seat 5 to recharge signal projector and at least comprise two signal projectors 52,53, the signal 521 that recharges that signal projector 52 is launched has different codings from the signal 531 that recharges that signal projector 53 is launched, robot identifiable design, and signal 531 region that recharges that signal 521 region and signal projector 53 launch that recharges that signal projector 52 is launched forms a signal overlapping region 532, for the calibration of robot.Robot 3 is in time recharging seat 5, what if only detect, signal projector 52 launched recharges signal area 521, then control system controls its left-hand rotation until signal overlapping region 532 detected, the signal that signal projector 52 is launched and the signal that signal projector 53 is launched namely detected simultaneously; If robot 3 is in time recharging seat 5, the signal area 531 that signal projector 53 is launched only detected, then control system controls its right-hand rotation until signal overlapping region 532 detected.When robot detects signal overlapping region 532, explanation recharges contact in its front, it carries out constantly adjustment to guarantee the signal of signal and signal projector 52 transmitting detecting that signal projector 53 is launched simultaneously in the process moved ahead, until the signal that signal projector 53 and signal projector 52 are launched can not be detected simultaneously, now illustrate recharge seat recharge the dead ahead of contact 54 in robot, robot straight line moving.
It should be noted that, above-described embodiment all recharges signal to recharge seat transmitting, and robot receives and recharges signal is that example is described.In fact, the control system that also can be robot, detecting that its electricity recharges signal lower than initiatively sending during preset value, receives this signal by recharging seated connection.
It should be noted that, in the above-described embodiments, the border closing perform region typically refers to the wall of robot workroom, if there is door in room, the door of closedown is also a part for wall; Or place arranges virtual wall at door, the signal that virtual wall is launched is also as the part closing border, perform region.
In addition, recharge seat and wall can be leaned on to place, wall also can not be leaned on to place.When it is placed by wall, be a part for wall.When placing by wall, robot walks around the crashproof signal recharging seat, thus can detect by recharge seat signal projector launch recharge signal.When recharging seat and not placing by wall, Robot closes the border of perform region, namely during wall walking, can detect on a certain position recharge that seat launches recharge signal, thus find and recharge seat.In sum, adopt the scheme recharging seat along the searching of closed perform region in the present invention, robot can be improved significantly and find the probability recharging seat.
In addition, in the present invention, be not only applicable to the sweeping robot shown in Figure of description for the charging method of robot, be applicable to the robot that other take direct current as operating voltage, as family's supervisory-controlled robot etc. yet.
Please refer to Fig. 7, be wherein depicted as in the embodiment of the present invention, when recharging seat 5 by wall (i.e. the border 11 of this closed perform region) placement, the path schematic diagram recharging seat 5 is found by robot 3.Wherein first robot 3 finds the border 11 of this closed perform region, it moves along this border 11, place by wall owing to recharging seat 5, robot 3 can find the crashproof signal 56 recharging seat, robot 3 along this crashproof signal 56 move can find recharge that seat launches recharge signal 55, thus find and recharge seat 5.
Please refer to Fig. 8, wherein be depicted as in the embodiment of the present invention, when recharging seat 5 not by wall (i.e. the border 11 of this closed perform region) placement, robot 3 finds along wall 11 and recharges signal 55, it can find this to recharge signal in a certain position of wall 11, thus finds and recharge seat 5.
It should be noted that, in the embodiment shown in fig. 8, the position recharging seat placement need ensure that it recharges the border 11 that signal can arrive closed perform region.
Please refer to Fig. 9, be wherein depicted as in the embodiment of the present invention, the moving line figure that robot recharges in the process of seat when encountering barrier 6 in searching.First when barrier 6 is encountered by robot 3, move along barrier 6, detect the accumulative angle rotated when it moves along barrier 6 after running certain distance and whether be more than or equal to 360 °, if, then robot 3 leaves this barrier 6, continue to find the border 11 closing perform region, until find rear searching along this Boundary motion to recharge seat 5.It should be noted that, when Robot closes perform region Boundary motion, also need the accumulative angle detecting its motion rotation after motion certain distance, to guarantee that it is along closing perform region Boundary motion.
Embodiment of the present invention tool has the following advantages or beneficial effect: the embodiment of the present invention adopts the border along closing perform region to find the method recharging seat, no matter recharge seat place by wall or do not place by wall, it can find in appropriate position and recharge seat, improve robot greatly and find the probability recharging seat, improve the intelligence degree of robot, optimize Consumer's Experience.
Device embodiment described above is only schematic, the wherein said unit illustrated as separating component or can may not be and physically separates, parts as unit display can be or may not be physical location, namely can be positioned at a place, or also can be distributed in multiple network element.Some or all of module wherein can be selected according to the actual needs to realize the object of the present embodiment scheme.Those of ordinary skill in the art, when not paying performing creative labour, are namely appreciated that and implement.
Through the above description of the embodiments, those skilled in the art can be well understood to the mode that each embodiment can add required general hardware platform by software and realize, and can certainly pass through hardware.Based on such understanding, technique scheme can embody with the form of software product the part that prior art contributes in essence in other words, this computer software product can store in a computer-readable storage medium, as ROM/RAM, magnetic disc, CD etc., comprising some instructions in order to make a computer equipment (can be personal computer, server, or the network equipment etc.) perform the method described in some part of each embodiment or embodiment.
Above-described embodiment, does not form the restriction to this technical scheme protection domain.The amendment done within any spirit at above-mentioned embodiment and principle, equivalently to replace and improvement etc., within the protection domain that all should be included in this technical scheme.
Claims (10)
1. the method recharging seat is found by robot in closed perform region, comprising:
The border of this closed perform region of robot seeks;
After described robot seeks to this border, also find along described Boundary Moving and recharge seat.
2. the method for claim 1, it is characterized in that, the step on this border, closed perform region of described robot seeks comprises: after robot probe to barrier, move with the obstacles borders be detected described in its edge, side, after it moves one week along described obstacles borders, move towards the direction away from described barrier.
3. method as claimed in claim 2, it is characterized in that, the angle comprising the motion of obstacles borders described in described Robot for one week of moving of obstacles borders described in described Robot is greater than 360 °, or described in described Robot, obstacles borders gets back to original position after moving across a period of time.
4. method as claimed in claim 3, it is characterized in that, according to the angle that its driving wheel rotates, described robot judges whether the angle that its obstacle thing moves is greater than 360 °.
5. method as claimed in claim 3, it is characterized in that, by the mode of self-built map, described robot judges whether it is through moving to original position after a period of time.
6. the method as described in any one of claim 1-5, is characterized in that, described robot goes back detecting obstacles thing simultaneously when moving along obstacles borders, move along described barrier to keep it.
7. method as claimed in claim 6, it is characterized in that, described robot recharges seat at electricity lower than starting searching during the first preset value; Described robot when searching recharges, if its electricity lower than the first preset value higher than the second preset value, then described robot also carries out cleaning works when searching recharges; Described robot is when searching recharges, if its electricity is lower than the second preset value, then described robot does not carry out cleaning works when searching recharges.
8. a robot system, comprising: what robot, machine-independent people were arranged recharges seat, described robot and recharge seat and be all arranged at closed perform region; Described robot comprises control system, at least two driving wheels be independently driven respectively, many group obstacle detection sensors, be arranged at first of its top recharges signal receiver/transmitter, described robot seeks is recharged seat and comprises the border being found described closed perform region by described obstacle detection sensor, Boundary motion described in described Robot, and by described first recharge signal receiver receive described in recharge seat launch recharge signal or by described first recharge signal projector launch recharge signal to recharging seat.
9. robot system as claimed in claim 8, is characterized in that, after described robot judges that it moves one week along barrier, described robot moves towards the direction away from described barrier.
10. robot system as claimed in claim 9, it is characterized in that, described robot judge its whether along barrier move within one week, comprise judge its along barrier movement angle whether more than 360 ° or judge its through whether to move to after a period of time through position.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410630876.4A CN104765379B (en) | 2014-11-11 | 2014-11-11 | Robot finds the method and robot system for recharging seat in closing working region |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410630876.4A CN104765379B (en) | 2014-11-11 | 2014-11-11 | Robot finds the method and robot system for recharging seat in closing working region |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104765379A true CN104765379A (en) | 2015-07-08 |
| CN104765379B CN104765379B (en) | 2018-01-09 |
Family
ID=53647285
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410630876.4A Active CN104765379B (en) | 2014-11-11 | 2014-11-11 | Robot finds the method and robot system for recharging seat in closing working region |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN104765379B (en) |
Cited By (18)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106647779A (en) * | 2016-12-19 | 2017-05-10 | 北京小米移动软件有限公司 | Flying equipment landing method and flying equipment |
| CN108061886A (en) * | 2017-11-30 | 2018-05-22 | 深圳市沃特沃德股份有限公司 | The recharging method and sweeping robot of sweeping robot |
| WO2019056998A1 (en) * | 2017-09-25 | 2019-03-28 | 深圳洛克时代科技有限公司 | Autonomous mobile robot and pile-seeking method therefor, control apparatus and smart cleaning system |
| CN109562519A (en) * | 2016-08-03 | 2019-04-02 | Lg电子株式会社 | Mobile robot and its control method |
| CN109828565A (en) * | 2019-01-30 | 2019-05-31 | 宁波大叶园林设备股份有限公司 | A kind of control method from mobile device return path |
| CN110026979A (en) * | 2019-03-16 | 2019-07-19 | 华南师范大学 | Mobile robot and return charging method |
| CN110597254A (en) * | 2019-09-11 | 2019-12-20 | 珠海市一微半导体有限公司 | Dangerous area establishing method by using seat avoidance signal |
| CN111543908A (en) * | 2020-05-15 | 2020-08-18 | 弗徕威智能机器人科技（上海）有限公司 | Method and device for planning travelling path and intelligent equipment travelling path |
| CN111568308A (en) * | 2019-02-19 | 2020-08-25 | 北京奇虎科技有限公司 | Charging seat searching method and device, sweeping equipment and readable storage medium |
| CN111625007A (en) * | 2020-06-24 | 2020-09-04 | 深圳市银星智能科技股份有限公司 | Method for identifying dynamic obstacle and mobile robot |
| CN111707289A (en) * | 2020-05-19 | 2020-09-25 | 深圳市银星智能科技股份有限公司 | Mobile robot, sensor calibration method and computer readable storage medium |
| CN111837587A (en) * | 2019-04-29 | 2020-10-30 | 苏州科瓴精密机械科技有限公司 | Automatic mower and control method thereof |
| CN112068556A (en) * | 2020-08-27 | 2020-12-11 | 珠海市一微半导体有限公司 | Mobile robot seat returning method, chip and robot |
| CN112674655A (en) * | 2021-01-14 | 2021-04-20 | 深圳市云鼠科技开发有限公司 | Wall-following-based refilling method and device, computer equipment and storage |
| CN112748724A (en) * | 2019-10-31 | 2021-05-04 | 珠海市一微半导体有限公司 | Control method after receiving charging seat guardrail signal, chip and robot |
| US11054836B2 (en) | 2017-09-25 | 2021-07-06 | Shenzhen Rock Times Technology Co., Ltd. | Autonomous mobile robot, method for docking an autonomous mobile robot, control device and smart cleaning system |
| CN113467451A (en) * | 2021-07-01 | 2021-10-01 | 美智纵横科技有限责任公司 | Robot recharging method and device, electronic equipment and readable storage medium |
| WO2022134329A1 (en) * | 2020-12-26 | 2022-06-30 | 莱克电气绿能科技(苏州)有限公司 | Return control method, automatic walking device and automatic walking system |
Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2001125641A (en) * | 1999-10-29 | 2001-05-11 | Sony Corp | Charging system for moving robot, method for searching for charging station, moving robot, connector, and electric connection structure |
| US20040088081A1 (en) * | 2002-10-31 | 2004-05-06 | Jeong-Gon Song | Robot cleaner system having external charging apparatus and method for docking with the charging apparatus |
| CN1751650A (en) * | 2005-09-22 | 2006-03-29 | 浙江大学 | Charging device for automatic vacuum cleaner, and connecting method therefor |
| CN1923469A (en) * | 2005-08-31 | 2007-03-07 | 三星光州电子株式会社 | System and method for returning robot cleaner to charger |
| CN102087529A (en) * | 2009-12-04 | 2011-06-08 | 恩斯迈电子(深圳)有限公司 | Movable device and control method thereof |
| CN202498547U (en) * | 2012-01-12 | 2012-10-24 | 浙江理工大学 | Autonomous navigation system of cleaning robot |
| KR20120120647A (en) * | 2011-04-25 | 2012-11-02 | (주) 퓨처로봇 | System and Method for Self-Charge of Inteligent Robot |
| CN202821217U (en) * | 2012-10-09 | 2013-03-27 | 上海锍铧机电设备有限公司 | Sweeper capable of automatically charging under guide of pilot signals |
| WO2013108479A1 (en) * | 2012-01-17 | 2013-07-25 | シャープ株式会社 | Self-propelled electronic appliance |
| CN103349531A (en) * | 2013-07-24 | 2013-10-16 | 莱克电气股份有限公司 | Side edge regression charging method of robot dust collector |
-
2014
- 2014-11-11 CN CN201410630876.4A patent/CN104765379B/en active Active
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2001125641A (en) * | 1999-10-29 | 2001-05-11 | Sony Corp | Charging system for moving robot, method for searching for charging station, moving robot, connector, and electric connection structure |
| US20040088081A1 (en) * | 2002-10-31 | 2004-05-06 | Jeong-Gon Song | Robot cleaner system having external charging apparatus and method for docking with the charging apparatus |
| CN1923469A (en) * | 2005-08-31 | 2007-03-07 | 三星光州电子株式会社 | System and method for returning robot cleaner to charger |
| CN1751650A (en) * | 2005-09-22 | 2006-03-29 | 浙江大学 | Charging device for automatic vacuum cleaner, and connecting method therefor |
| CN102087529A (en) * | 2009-12-04 | 2011-06-08 | 恩斯迈电子(深圳)有限公司 | Movable device and control method thereof |
| KR20120120647A (en) * | 2011-04-25 | 2012-11-02 | (주) 퓨처로봇 | System and Method for Self-Charge of Inteligent Robot |
| CN202498547U (en) * | 2012-01-12 | 2012-10-24 | 浙江理工大学 | Autonomous navigation system of cleaning robot |
| WO2013108479A1 (en) * | 2012-01-17 | 2013-07-25 | シャープ株式会社 | Self-propelled electronic appliance |
| CN202821217U (en) * | 2012-10-09 | 2013-03-27 | 上海锍铧机电设备有限公司 | Sweeper capable of automatically charging under guide of pilot signals |
| CN103349531A (en) * | 2013-07-24 | 2013-10-16 | 莱克电气股份有限公司 | Side edge regression charging method of robot dust collector |
Cited By (28)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109562519A (en) * | 2016-08-03 | 2019-04-02 | Lg电子株式会社 | Mobile robot and its control method |
| CN106647779A (en) * | 2016-12-19 | 2017-05-10 | 北京小米移动软件有限公司 | Flying equipment landing method and flying equipment |
| US11347230B2 (en) | 2017-09-25 | 2022-05-31 | Shenzhen Rock Times Technology Co., Ltd. | Autonomous mobile robot, method for docking autonomous mobile robot, control device and smart cleaning system |
| WO2019056998A1 (en) * | 2017-09-25 | 2019-03-28 | 深圳洛克时代科技有限公司 | Autonomous mobile robot and pile-seeking method therefor, control apparatus and smart cleaning system |
| US11054836B2 (en) | 2017-09-25 | 2021-07-06 | Shenzhen Rock Times Technology Co., Ltd. | Autonomous mobile robot, method for docking an autonomous mobile robot, control device and smart cleaning system |
| CN108061886A (en) * | 2017-11-30 | 2018-05-22 | 深圳市沃特沃德股份有限公司 | The recharging method and sweeping robot of sweeping robot |
| CN108061886B (en) * | 2017-11-30 | 2020-10-09 | 深圳市无限动力发展有限公司 | Recharging method of sweeping robot and sweeping robot |
| CN109828565A (en) * | 2019-01-30 | 2019-05-31 | 宁波大叶园林设备股份有限公司 | A kind of control method from mobile device return path |
| CN109828565B (en) * | 2019-01-30 | 2022-04-05 | 宁波大叶园林设备股份有限公司 | Control method for regression path of self-moving equipment |
| CN111568308B (en) * | 2019-02-19 | 2023-02-17 | 北京奇虎科技有限公司 | Charging seat searching method and device, sweeping equipment and readable storage medium |
| CN111568308A (en) * | 2019-02-19 | 2020-08-25 | 北京奇虎科技有限公司 | Charging seat searching method and device, sweeping equipment and readable storage medium |
| CN110026979A (en) * | 2019-03-16 | 2019-07-19 | 华南师范大学 | Mobile robot and return charging method |
| CN111837587B (en) * | 2019-04-29 | 2024-04-19 | 苏州科瓴精密机械科技有限公司 | Automatic mower and control method thereof |
| CN111837587A (en) * | 2019-04-29 | 2020-10-30 | 苏州科瓴精密机械科技有限公司 | Automatic mower and control method thereof |
| CN110597254A (en) * | 2019-09-11 | 2019-12-20 | 珠海市一微半导体有限公司 | Dangerous area establishing method by using seat avoidance signal |
| CN110597254B (en) * | 2019-09-11 | 2022-08-05 | 珠海一微半导体股份有限公司 | Dangerous area establishing method utilizing seat avoidance signal |
| CN112748724A (en) * | 2019-10-31 | 2021-05-04 | 珠海市一微半导体有限公司 | Control method after receiving charging seat guardrail signal, chip and robot |
| CN112748724B (en) * | 2019-10-31 | 2024-05-07 | 珠海一微半导体股份有限公司 | Control method, chip and robot for receiving guardrail signals of charging seat |
| CN111543908B (en) * | 2020-05-15 | 2021-09-07 | 汇智机器人科技(深圳)有限公司 | Method and device for planning travelling path and intelligent equipment travelling path |
| CN111543908A (en) * | 2020-05-15 | 2020-08-18 | 弗徕威智能机器人科技（上海）有限公司 | Method and device for planning travelling path and intelligent equipment travelling path |
| CN111707289A (en) * | 2020-05-19 | 2020-09-25 | 深圳市银星智能科技股份有限公司 | Mobile robot, sensor calibration method and computer readable storage medium |
| CN111625007A (en) * | 2020-06-24 | 2020-09-04 | 深圳市银星智能科技股份有限公司 | Method for identifying dynamic obstacle and mobile robot |
| CN112068556A (en) * | 2020-08-27 | 2020-12-11 | 珠海市一微半导体有限公司 | Mobile robot seat returning method, chip and robot |
| CN112068556B (en) * | 2020-08-27 | 2022-12-09 | 珠海一微半导体股份有限公司 | Mobile robot seat returning method, chip and robot |
| WO2022134329A1 (en) * | 2020-12-26 | 2022-06-30 | 莱克电气绿能科技(苏州)有限公司 | Return control method, automatic walking device and automatic walking system |
| CN112674655A (en) * | 2021-01-14 | 2021-04-20 | 深圳市云鼠科技开发有限公司 | Wall-following-based refilling method and device, computer equipment and storage |
| CN112674655B (en) * | 2021-01-14 | 2022-06-10 | 深圳市云鼠科技开发有限公司 | Wall-following-based refilling method and device, computer equipment and storage |
| CN113467451A (en) * | 2021-07-01 | 2021-10-01 | 美智纵横科技有限责任公司 | Robot recharging method and device, electronic equipment and readable storage medium |
Also Published As
| Publication number | Publication date |
|---|---|
| CN104765379B (en) | 2018-01-09 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN104765379A (en) | Method for robot to look for recharge base in enclosed work area and robot system | |
| CN107528370B (en) | Automatic charging system and control method of intelligent security robot | |
| CN104188598B (en) | A kind of automatic floor cleaning machine device people | |
| CN105119338A (en) | Mobile robot charging control system and method | |
| US10056791B2 (en) | Self-optimizing power transfer | |
| CN105700522B (en) | A kind of robot charging method and its charging system | |
| CN201996471U (en) | Charging system for sweeping robot | |
| CN106264342B (en) | Cleaning robot and control method thereof | |
| CN109828565A (en) | A kind of control method from mobile device return path | |
| CN103705178A (en) | Robot cleaner and control method thereof | |
| CN205081492U (en) | Mobile robot control system that charges | |
| CN103891463A (en) | Automatic mowing system | |
| CN106264358A (en) | A kind of intelligence recharges system and intelligence recharging method | |
| KR101146907B1 (en) | Charging system for mobile robot | |
| CN103891464A (en) | Automatic mowing system | |
| CN105487543A (en) | Movable robot homing and charging system | |
| KR101753363B1 (en) | Flight management system with smart charge using solar power generation | |
| US20230190060A1 (en) | Robotic Device With Energy Storage Device | |
| CN210016300U (en) | Self-moving device and charging docking system | |
| US20220197299A1 (en) | Recharging method for mobile robot and mobile robot | |
| CN105406556A (en) | Auxiliary equipment charging system and method | |
| CN111106650A (en) | Cleaning robot and charging method thereof | |
| KR20200070065A (en) | Method for driving electric scooter, electric scooter and storage medium | |
| CN103825266A (en) | Vehicle-mounted charger rear-stage output anti-reversal connection circuit | |
| CN108677829A (en) | A kind of control method of unmanned formula automation road sweeper |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| EXSB | Decision made by sipo to initiate substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| CB03 | Change of inventor or designer information |
Inventor after: Xiao Shuangliang Inventor after: Wu Wanshui Inventor after: Zhang Guodong Inventor before: Xiao Shuangliang Inventor before: Wu Wanshui |
|
| COR | Change of bibliographic data | ||
| CB02 | Change of applicant information | ||
| CB02 | Change of applicant information |
Address after: 518110 Guangdong Province, Shenzhen city Longhua District Guanlan Street sightseeing road Silver Star High-tech Industrial Park building A1 Applicant after: Shenzhen Silver Star Intelligent Technology Co.,Ltd. Address before: 518110 Guangdong city of Shenzhen province Baoan District Guanlan street community rich industrial garden Huiqing Ao Bei Science Park building D plant Applicant before: Shenzhen Silver Star Intelligent Technology Co.,Ltd. |
|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CP03 | Change of name, title or address | ||
| CP03 | Change of name, title or address |
Address after: 518110 1701, building 2, Yinxing Zhijie, No. 1301-72, sightseeing Road, Xinlan community, Guanlan street, Longhua District, Shenzhen, Guangdong Province Patentee after: Shenzhen Yinxing Intelligent Group Co.,Ltd. Address before: 518110 Building A1, Yinxing Hi-tech Industrial Park, Guanlan Street Sightseeing Road, Longhua District, Shenzhen City, Guangdong Province Patentee before: Shenzhen Silver Star Intelligent Technology Co.,Ltd. |