CN105375574A - Charging system and charging method - Google Patents
Charging system and charging method Download PDFInfo
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- CN105375574A CN105375574A CN201510864497.6A CN201510864497A CN105375574A CN 105375574 A CN105375574 A CN 105375574A CN 201510864497 A CN201510864497 A CN 201510864497A CN 105375574 A CN105375574 A CN 105375574A
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- 239000000284 extract Substances 0.000 claims description 3
- 230000003993 interaction Effects 0.000 abstract 1
- 238000005516 engineering process Methods 0.000 description 5
- 238000010586 diagram Methods 0.000 description 2
- 230000018199 S phase Effects 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
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- 238000000605 extraction Methods 0.000 description 1
- 238000005286 illumination Methods 0.000 description 1
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02B—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO BUILDINGS, e.g. HOUSING, HOUSE APPLIANCES OR RELATED END-USER APPLICATIONS
- Y02B40/00—Technologies aiming at improving the efficiency of home appliances, e.g. induction cooking or efficient technologies for refrigerators, freezers or dish washers
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- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Charge And Discharge Circuits For Batteries Or The Like (AREA)
Abstract
The present invention discloses a charging method applied to a first electronic device. The charging method comprises: acquiring a first image through an image acquisition unit; analyzing the first image and generating a first analysis result; calculating a relative position relationship of the first electronic device and a second electronic device when the analysis result shows the first image contains at least part of the second electronic device; controlling the motion of the motion unit of the first electronic device with respect to the second electronic device according to the relative position relationship to perform accurately positioning of the first electronic device with respect to the second electronic device; and controlling the interaction of the first electronic device and the second electronic device to allow the second electronic device to charge the first electronic device.
Description
Technical field
The invention belongs to and relate to a kind of charging system and charging method, particularly relate to a kind of automatic charging system for robot and automatic recharging method.
Background technology
At present, existing increasing robot product is applied to various field.In these robot products, be use rechargeable battery as power source greatly.When the electricity of rechargeable battery is not enough, needs user to be connected with external power source by rechargeable battery, complete charging.This not only can the workload of adding users, and, under the operational environment that staff is in short supply, once fail Timeliness coverage because electric quantity of rechargeable battery is not enough, periods of robot operation stop can be caused, thus affect operating efficiency.
Based on this, occur in prior art to the technology of robot product automatic charging.But, traditional automatic charging technology cannot realize the accurate location between robot and charging station or charging pile, causes automatic charging failure, or needs the pose repeatedly adjusting robot could locate charging station or charging pile exactly, expend time in length, and efficiency is low.
Therefore, need to improve existing charging system and charging method.
Summary of the invention
In view of this, object of the present invention aims to provide a kind of charging method and charging system, to solve at least one aspect in the above-mentioned problems in the prior art.
According to an aspect of the present invention, provide a kind of charging method, be applied to the first electronic equipment, described charging method comprises:
The first image is obtained by image acquisition unit;
Analyze described first image, generate the first analysis result;
When described analysis result show described first image comprise the second electronic equipment at least partially time, calculate the relative pose relation of described first electronic equipment and described second electronic equipment;
According to described relative pose relation, the moving cell controlling described first electronic equipment, relative to described second electronic equipment motion, is accurately located relative to described second electronic equipment to make described first electronic equipment;
Control described first electronic equipment and described second electronic equipment carries out alternately, charge to described first electronic equipment to make described second electronic equipment.
In one embodiment, described first image comprises invisible light image.
In one embodiment, described first image also comprises visible images.
In one embodiment, described relative pose relation comprises described first electronic equipment relative to the distance of described second electronic equipment, orientation and direction vector.
In one embodiment, described charging method also comprises: control described first electronic equipment moving cell relative to described second electronic equipment motion before, plan the motion path of the moving cell of described first electronic equipment.
In one embodiment, control described first electronic equipment and described second electronic equipment to carry out mutual step and comprise: control described first electronic equipment and send the first signal to described second electronic equipment, or trigger the charging device of described second electronic equipment when described first electronic equipment enters in the particular range of described second electronic equipment.
In one embodiment, analyze described first image to comprise with the step generating the first analysis result: analyze the described visible images and described invisible light image that obtain, to obtain the feature set comprising the multiple characteristic informations relevant with at least one invisible light feature at least one Visible Light Characteristics of described second electronic equipment.
In one embodiment, the moving cell controlling described first electronic equipment according to described relative pose relation comprises relative to the step of described second electronic equipment motion:
Control described first electronic equipment relative to described second electronic equipment motion;
In the process that described first electronic equipment moves relative to described second electronic equipment, visible images described in Real-time Obtaining and described invisible light image, and analyze described visible images and described invisible light image, with the relative pose relation of the first electronic equipment described in real-time update and described second electronic equipment, wherein, described feature set comprises the characteristic information relevant to desired character error;
According to the relative pose relation of real-time update, the motion control instruction that real-time update is current, to make described characteristic error restrain, until described first electronic equipment is accurately located relative to described second electronic equipment.
In one embodiment, the step analyzing visible images and the invisible light image obtained comprises:
Extract the multiple characteristic informations relevant with at least one invisible light feature at least one Visible Light Characteristics of described second electronic equipment;
Merge described multiple characteristic information, to obtain a described stack features collection;
In one embodiment, at least one Visible Light Characteristics of described second electronic equipment comprises visible point patterns, line features, pattern characteristics, boss feature and/or hole characteristic.
In one embodiment, at least one invisible light feature of described second electronic equipment comprises infrared signature.
According to a further aspect in the invention, provide a kind of charging system, for giving the first electronic equipment charging, this charging system comprises:
Second electronic equipment;
Image acquisition unit, this image acquisition unit is configured to acquisition first image;
Control unit, this control unit is electrically connected with the motion controller of image acquisition unit and the first electronic equipment respectively, and wherein, this control unit is configured to:
Analyze described first image, generate the first analysis result;
When described analysis result show described first image comprise described second electronic equipment at least partially time, calculate the relative pose relation of described first electronic equipment and described second electronic equipment;
According to described relative pose relation, the moving cell controlling described first electronic equipment, relative to described second electronic equipment motion, is accurately located relative to described second electronic equipment to make described first electronic equipment;
Control described first electronic equipment and described second electronic equipment carries out alternately, charge to described first electronic equipment to make described second electronic equipment.
In one embodiment, described first image comprises invisible light image.
In one embodiment, described first image also comprises visible images.
In one embodiment, described relative pose relation comprises described first electronic equipment relative to the distance of described second electronic equipment, orientation and direction vector.
In one embodiment, described control unit is also configured to: control described first electronic equipment moving cell relative to described second electronic equipment motion before, plan the motion path of the moving cell of described first electronic equipment.
In one embodiment, described control unit is also configured to: control described first electronic equipment and send the first signal to described second electronic equipment or trigger the charging device of described second electronic equipment when described first electronic equipment enters in the particular range of described second electronic equipment, to control described first electronic equipment and described second electronic equipment carries out alternately.
In one embodiment, described control unit is also configured to: analyze the described visible images and described invisible light image that obtain, to obtain the feature set comprising the multiple characteristic informations relevant with at least one invisible light feature at least one Visible Light Characteristics of described second electronic equipment.
In one embodiment, described control unit is also configured to:
Control described first electronic equipment relative to described second electronic equipment motion;
In the process that described first electronic equipment moves relative to described second electronic equipment, visible images described in Real-time Obtaining and described invisible light image, and analyze described visible images and described invisible light image, with the relative pose relation of the first electronic equipment described in real-time update and described second electronic equipment, wherein, described feature set comprises the characteristic information relevant to desired character error;
According to the relative pose relation of real-time update, the motion control instruction that real-time update is current, to make described characteristic error restrain, until described first electronic equipment is accurately located relative to described second electronic equipment.
In one embodiment, at least one Visible Light Characteristics of described second electronic equipment comprises visible point patterns, line features, pattern characteristics, boss feature and/or hole characteristic.
In one embodiment, at least one invisible light feature of described second electronic equipment comprises infrared signature.
In charging method according to an embodiment of the invention and charging system, the visible images characteristic sum invisible light characteristics of image of the electronic equipments such as charging pile is gathered by the image acquiring device such as Optical devices and/or noncontacting proximity sensor, extracted and integration technology by series of features, effective characteristic information extraction, thus the validity feature that can realize under multiple illumination condition extracts; And in motion control process, real-time update image feature information real-time update motion control instruction, utilize the mode of visual servo to adjust relative pose relation between two electronic equipments efficiently, thus can realize between two electronic equipments efficient, accurately locate; After accurately locating, control interactive information between two electronic equipments, to open charging operations, thus effectively ensure that the success of charging operations.
By hereinafter reference accompanying drawing description made for the present invention, other object of the present invention and advantage will be apparent, and can help there is comprehensive understanding to the present invention.
Accompanying drawing explanation
Fig. 1 is the flow chart of charging method according to an embodiment of the invention;
Fig. 2 is another flow chart of charging method according to an embodiment of the invention;
Fig. 3 shows the schematic diagram of relative pose relation when applying charging system according to an embodiment of the invention between robot and charging pile.
Embodiment
Below by embodiment, and by reference to the accompanying drawings, technical scheme of the present invention is described in further detail.In the description, same or analogous drawing reference numeral indicates same or analogous parts.The explanation of following reference accompanying drawing to embodiment of the present invention is intended to make an explanation to present general inventive concept of the present invention, and not should be understood to one restriction of the present invention.
In addition, in the following detailed description, for ease of explaining, many concrete details have been set forth to provide the complete understanding to this disclosure embodiment.But significantly, one or more embodiment also can be implemented when not having these details.In other cases, known construction and device diagrammatically embodies to simplify accompanying drawing.
The aspect that general technical according to the present invention is conceived, The embodiment provides a kind of charging method.
Fig. 1 is the flow chart of charging method according to an embodiment of the invention.This charging method is applied to the first electronic equipment, and in an exemplary embodiment, this first electronic equipment can be robot, particularly mobile robot.As shown in Figure 1, described charging method comprises the steps:
S11, obtain the first image by image acquisition unit.Wherein, this image acquisition unit can be CCD, CMOS, DVS (DynamicVisionSensor), noncontacting proximity sensor etc.
S12, analyze described first image, generate the first analysis result.
S13, when described analysis result represent described first image comprise the second electronic equipment at least partially time, calculate the relative pose relation of described first electronic equipment and described second electronic equipment;
Wherein, in an exemplary embodiment, described second electronic equipment can for the charging pile that can charge to robot.
S14, according to described relative pose relation, the moving cell controlling described first electronic equipment, relative to described second electronic equipment motion, is accurately located relative to described second electronic equipment to make described first electronic equipment.
S15, control described first electronic equipment and described second electronic equipment carries out alternately, charge to described first electronic equipment to make described second electronic equipment.
Wherein, the first image obtained in step s 11 comprises visible images and invisible light image, and this first image can be the image that the second electronic equipment directly sends, and also can be the image that the second electronic equipment sends back reflection formation.
In step s 13, the step calculating the relative pose relation of described first electronic equipment and described second electronic equipment comprises and calculates described first electronic equipment relative to the distance of described second electronic equipment, orientation and direction vector.Below in conjunction with Fig. 3, this step is further detailed.Fig. 3 shows the schematic diagram of relative pose relation when applying charging system according to an embodiment of the invention between robot 20 and charging pile 10.As shown in Figure 3, the relative pose relation of robot 20 and charging pile 10 comprises the distance between robot 20 and charging pile, as shown in " D " in Fig. 3; Also comprise the orientation of robot 20 relative to charging pile 10, this orientation is such as positioned at the east or the west of charging pile 10 for robot 20, be such as again under XYZ coordinate system, pass through the orientation that coordinate (X, Y, Z) represents; Also comprise the direction vector of robot 20 relative to charging pile 10, for the face S of Tu3Zhong robot 20, at initial pose A place, face S-phase has a certain degree for charging pile 10, and at adjustment pose B place, face S is just to charging pile 10.Concrete steps for robot 20 are, as in the local coordinate of Fig. 3 for robot 20, compare with world coordinate system.Direction in local coordinate and position form pose, draw the direction with charging pile 10, thus further position and navigate.
Return Fig. 1, between step S13 and step S14, also there are following steps: control described first electronic equipment moving cell relative to described second electronic equipment motion before, plan the motion path P (as shown in Figure 3) of the moving cell of described first electronic equipment.
Wherein, control described first electronic equipment and described second electronic equipment to carry out mutual step and comprise: control described first electronic equipment and send the first signal to described second electronic equipment, or trigger the charging device of described second electronic equipment when described first electronic equipment enters in the particular range of described second electronic equipment.
In the exemplary embodiment, can be charged by miniUSB interface between robot and charging pile, in this case, when robot and charging pile locate dock time, the charging connector of control sends the first pulse signal to charging pile, can open charging operations to indicate.Or, wireless charging technology can be adopted between robot and charging pile to charge, be similar to RFID technique, when robot enters in the particular range (such as RFID can induction range) of charging pile, charging pile identifies this robot, thus triggers its charging device unlatching charging operations.
Further, shown in composition graphs 2 and Fig. 3, charging method can also comprise following step according to an embodiment of the invention.
S101, obtain visible images and invisible light image by image acquisition unit.
S102, the described visible images analyzing acquisition and described invisible light image, to obtain the feature set comprising the multiple characteristic informations relevant with at least one invisible light feature (as shown in Fig. 3 12) at least one Visible Light Characteristics of described second electronic equipment (as shown in Fig. 3 11).In the exemplary embodiment, this Visible Light Characteristics can comprise visible point patterns, line features, pattern characteristics, boss feature and/or hole characteristic, and this invisible light feature can comprise infrared signature, such as infrared LED.
S103, merge multiple characteristic information, to obtain a stack features collection, this feature set comprises the characteristic information relevant to desired character error.
S104, according to described feature set, calculate the relative pose relation of described first electronic equipment and described second electronic equipment.
S105, according to described relative pose relation, the moving cell controlling described first electronic equipment is relative to described second electronic equipment motion.
S106, judge whether this characteristic error exceedes predetermined value.If this characteristic error is greater than predetermined value, then repeat above-mentioned steps S101 to S105; If this characteristic error is less than predetermined value, then perform step S107 below.
S107, control described first electronic equipment and described second electronic equipment carries out alternately, charge to described first electronic equipment to make described second electronic equipment.
As can be seen here, the moving cell controlling described first electronic equipment according to described relative pose relation comprises relative to the step of described second electronic equipment motion:
Control described first electronic equipment relative to described second electronic equipment motion;
In the process that described first electronic equipment moves relative to described second electronic equipment, visible images described in Real-time Obtaining and described invisible light image, and analyze described visible images and described invisible light image, with the relative pose relation of the first electronic equipment described in real-time update relative to described second electronic equipment, wherein, described feature set comprises the characteristic information relevant to desired character error;
In the process that the moving cell of described first electronic equipment moves relative to described second electronic equipment, the motion control instruction that real-time update is current, to make described characteristic error restrain, until described first electronic equipment is accurately located relative to described second electronic equipment.
Namely, in charging method according to an embodiment of the invention, automatically received by CCD, noncontacting proximity sensor etc. and process the image from charging pile, by the information of image feedback, robot further can control or carry out corresponding self-adaptative adjustment, to realize the precise positioning of robot and charging pile.
According to a further aspect in the invention, it also provides a kind of charging system, and as shown in Figure 3, this charging system is used for charging to the first electronic equipment 20 being such as robot, and this charging system comprises:
Second electronic equipment 10 is such as charging pile;
Image acquisition unit, this image acquisition unit is configured to acquisition first image;
Control unit, this control unit is electrically connected with the motion controller of image acquisition unit and the first electronic equipment respectively, and wherein, this control unit is configured to:
Analyze described first image, generate the first analysis result;
When described analysis result show described first image comprise described second electronic equipment at least partially time, calculate the relative pose relation of described first electronic equipment and described second electronic equipment;
According to described relative pose relation, the moving cell controlling described first electronic equipment, relative to described second electronic equipment motion, is accurately located relative to described second electronic equipment to make described first electronic equipment;
Control described first electronic equipment and described second electronic equipment carries out alternately, charge to described first electronic equipment to make described second electronic equipment.
In other embodiments of the invention, the control unit of described charging system can also be configured to perform any one in said method, in order to make specification overall succinct, does not repeat them here.
Although above-described embodiment with robot and charging pile for example is described charging method of the present invention and charging system; but; those skilled in the art will recognize that; charging method of the present invention and charging system are not limited to be applied to robot and charging pile; but can be applied to and carry out in any system or equipment of automatic charging, protection scope of the present invention is by claim and equivalents thereof.
Although some embodiments of general plotting of the present invention have been shown and explanation, those skilled in the art will appreciate that, when not deviating from principle and the spirit of this present general inventive concept, can make a change these embodiments, scope of the present invention is with claim and their equivalents.
Claims (21)
1. a charging method, is applied to the first electronic equipment, and described charging method comprises:
The first image is obtained by image acquisition unit;
Analyze described first image, generate the first analysis result;
When described analysis result show described first image comprise the second electronic equipment at least partially time, calculate the relative pose relation of described first electronic equipment and described second electronic equipment;
According to described relative pose relation, the moving cell controlling described first electronic equipment, relative to described second electronic equipment motion, is accurately located relative to described second electronic equipment to make described first electronic equipment;
Control described first electronic equipment and described second electronic equipment carries out alternately, charge to described first electronic equipment to make described second electronic equipment.
2. charging method according to claim 1, wherein, described first image comprises invisible light image.
3. charging method according to claim 2, wherein, described first image also comprises visible images.
4. the charging method according to any one of claim 1-3, wherein, described relative pose relation comprises described first electronic equipment relative to the distance of described second electronic equipment, orientation and direction vector.
5. the charging method according to any one of claim 1-3, also comprises: control described first electronic equipment moving cell relative to described second electronic equipment motion before, plan the motion path of the moving cell of described first electronic equipment.
6. the charging method according to any one of claim 1-3, wherein, control described first electronic equipment and described second electronic equipment to carry out mutual step and comprise: control described first electronic equipment and send the first signal to described second electronic equipment, or trigger the charging device of described second electronic equipment when described first electronic equipment enters in the particular range of described second electronic equipment.
7. charging method according to claim 3, wherein, analyze described first image to comprise with the step generating the first analysis result: analyze the described visible images and described invisible light image that obtain, to obtain the feature set comprising the multiple characteristic informations relevant with at least one invisible light feature at least one Visible Light Characteristics of described second electronic equipment.
8. charging method according to claim 7, wherein, the moving cell controlling described first electronic equipment according to described relative pose relation comprises relative to the step of described second electronic equipment motion:
Control described first electronic equipment relative to described second electronic equipment motion;
In the process that described first electronic equipment moves relative to described second electronic equipment, visible images described in Real-time Obtaining and described invisible light image, and analyze described visible images and described invisible light image, with the relative pose relation of the first electronic equipment described in real-time update and described second electronic equipment, wherein, described feature set comprises the characteristic information relevant to desired character error;
According to the relative pose relation of real-time update, the motion control instruction that real-time update is current, to make described characteristic error restrain, until described first electronic equipment is accurately located relative to described second electronic equipment.
9. charging method according to claim 8, wherein, the step analyzing visible images and the invisible light image obtained comprises:
Extract the multiple characteristic informations relevant with at least one invisible light feature at least one Visible Light Characteristics of described second electronic equipment;
Merge described multiple characteristic information, to obtain a described stack features collection.
10. charging method according to claim 9, wherein, at least one Visible Light Characteristics of described second electronic equipment comprises visible point patterns, line features, pattern characteristics, boss feature and/or hole characteristic.
11. charging methods according to claim 9, wherein, at least one invisible light feature of described second electronic equipment comprises infrared signature.
12. 1 kinds of charging systems, for giving the first electronic equipment charging, this charging system comprises:
Second electronic equipment;
Image acquisition unit, this image acquisition unit is configured to acquisition first image;
Control unit, this control unit is electrically connected with the motion controller of image acquisition unit and the first electronic equipment respectively, and wherein, this control unit is configured to:
Analyze described first image, generate the first analysis result;
When described analysis result show described first image comprise described second electronic equipment at least partially time, calculate the relative pose relation of described first electronic equipment and described second electronic equipment;
According to described relative pose relation, the moving cell controlling described first electronic equipment, relative to described second electronic equipment motion, is accurately located relative to described second electronic equipment to make described first electronic equipment;
Control described first electronic equipment and described second electronic equipment carries out alternately, charge to described first electronic equipment to make described second electronic equipment.
13. charging systems according to claim 12, wherein, described first image comprises invisible light image.
14. charging systems according to claim 12, wherein, described first image also comprises visible images.
15. charging systems according to any one of claim 12-14, wherein, described relative pose relation comprises described first electronic equipment relative to the distance of described second electronic equipment, orientation and direction vector.
16. charging systems according to any one of claim 12-14, described control unit is also configured to: control described first electronic equipment moving cell relative to described second electronic equipment motion before, plan the motion path of the moving cell of described first electronic equipment.
17. charging systems according to any one of claim 12-14, wherein, described control unit is also configured to: control described first electronic equipment and send the first signal to described second electronic equipment or trigger the charging device of described second electronic equipment when described first electronic equipment enters in the particular range of described second electronic equipment, to control described first electronic equipment and described second electronic equipment carries out alternately.
18. charging systems according to claim 14, wherein, described control unit is also configured to: analyze the described visible images and described invisible light image that obtain, to obtain the feature set comprising the multiple characteristic informations relevant with at least one invisible light feature at least one Visible Light Characteristics of described second electronic equipment.
19. charging systems according to claim 18, wherein, described control unit is also configured to:
Control described first electronic equipment relative to described second electronic equipment motion;
In the process that described first electronic equipment moves relative to described second electronic equipment, visible images described in Real-time Obtaining and described invisible light image, and analyze described visible images and described invisible light image, with the relative pose relation of the first electronic equipment described in real-time update and described second electronic equipment, wherein, described feature set comprises the characteristic information relevant to desired character error;
According to the relative pose relation of real-time update, the motion control instruction that real-time update is current, to make described characteristic error restrain, until described first electronic equipment is accurately located relative to described second electronic equipment.
20. charging systems according to claim 19, wherein, at least one Visible Light Characteristics of described second electronic equipment comprises visible point patterns, line features, pattern characteristics, boss feature and/or hole characteristic.
21. charging systems according to claim 19, wherein, at least one invisible light feature of described second electronic equipment comprises infrared signature.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510864497.6A CN105375574A (en) | 2015-12-01 | 2015-12-01 | Charging system and charging method |
| PCT/CN2016/105766 WO2017092565A1 (en) | 2015-12-01 | 2016-11-14 | Charging system and charging method, computer storage medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510864497.6A CN105375574A (en) | 2015-12-01 | 2015-12-01 | Charging system and charging method |
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| CN105375574A true CN105375574A (en) | 2016-03-02 |
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| CN201510864497.6A Pending CN105375574A (en) | 2015-12-01 | 2015-12-01 | Charging system and charging method |
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| CN (1) | CN105375574A (en) |
| WO (1) | WO2017092565A1 (en) |
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Cited By (15)
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| WO2017092565A1 (en) * | 2015-12-01 | 2017-06-08 | 纳恩博（北京）科技有限公司 | Charging system and charging method, computer storage medium |
| CN107292863A (en) * | 2016-04-12 | 2017-10-24 | 上海慧流云计算科技有限公司 | A kind of self-charging method and device |
| CN106647747A (en) * | 2016-11-30 | 2017-05-10 | 北京智能管家科技有限公司 | Robot charging method and device |
| CN106647747B (en) * | 2016-11-30 | 2019-08-23 | 北京儒博科技有限公司 | A kind of robot charging method and device |
| CN110300537A (en) * | 2017-03-06 | 2019-10-01 | Lg电子株式会社 | Dust catcher and its control method |
| CN110263601A (en) * | 2018-03-12 | 2019-09-20 | 杭州萤石软件有限公司 | A kind of cradle recognition methods and mobile robot |
| CN108767933A (en) * | 2018-07-30 | 2018-11-06 | 杭州迦智科技有限公司 | A kind of control method and its device, storage medium and charging equipment for charging |
| CN110989596A (en) * | 2019-12-04 | 2020-04-10 | 上海高仙自动化科技发展有限公司 | Pile alignment control method and device, intelligent robot and storage medium |
| CN111070205A (en) * | 2019-12-04 | 2020-04-28 | 上海高仙自动化科技发展有限公司 | Pile alignment control method and device, intelligent robot and storage medium |
| CN111070205B (en) * | 2019-12-04 | 2021-07-30 | 上海高仙自动化科技发展有限公司 | Pile alignment control method and device, intelligent robot and storage medium |
| CN110989596B (en) * | 2019-12-04 | 2023-06-06 | 上海高仙自动化科技发展有限公司 | Pile alignment control method and device, intelligent robot and storage medium |
| CN113470111A (en) * | 2020-03-31 | 2021-10-01 | 纳恩博（北京）科技有限公司 | Positioning method, positioning device, positioning apparatus, and positioning medium |
| WO2021196969A1 (en) * | 2020-03-31 | 2021-10-07 | 纳恩博（北京）科技有限公司 | Positioning method and apparatus, device, and medium |
| CN111474928A (en) * | 2020-04-02 | 2020-07-31 | 上海高仙自动化科技发展有限公司 | Robot control method, robot, electronic device, and readable storage medium |
| CN111572377A (en) * | 2020-05-13 | 2020-08-25 | 广州华立科技职业学院 | Visual guidance method for automatic alignment of mobile robot charging station |
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| WO2017092565A1 (en) | 2017-06-08 |
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