CN101109809A - Positioning device, system and method based on direction control photosensitive array - Google Patents
Positioning device, system and method based on direction control photosensitive array Download PDFInfo
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Abstract
The invention discloses a device, system and method for a robot, etc. to locate and orient objects moving in a small ground. The device comprises at least three fixed infrared signal emitter and a signal receiver mounted on the object-moving platform. The signal receiver is provided with a circular array comprising photosensitive elements. The on/off of the signals received by the photosensitive elements is controllable. The system comprises a emitting module, a receiving module, a strobe module, a frequency-selecting module, an A/D module, an interface and a processor. The relative angle between the object-moving platform and the relative infrared signal emitter is detected by using above device, so as to calculate the location coordinates and orientation of the object-moving platform. The invention allows to position and orient in a timed way any moving objects in a room or a small area, is of simple tech equipment, low application cost, steady performance and easy maintenance.
Description
Technical field
The present invention relates to device, system and method, the especially target localization that robot etc. is moved at little field domain that moving target is positioned.
Background technology
Along with development in science and technology, positive Public Service Field and the family of coming at a quick pace of non-technical robot, these robotlike's great majority need to rely on wheel to move at little field domain.For this class on-fixed robot, no matter be program control or remote control, often need to determine current residing position and towards.
GPS (GPS) is current general localization method, and the bearing accuracy of its phase observations value can reach millimeter, but gps system will sharply descend in its performance of environment indoor or that satellite-signal is bad.Gps system can accurately be located, but can't determine target towards, and its technical sophistication, application cost height.
Based on the origin coordinates of moving target, accumulative total its mobile route, calculate current position and towards, also be a kind of localization method.But this method can produce cumulative errors, so result of use is not good when target need move back and forth for a long time.
, publication number open on August 1st, 2007 is in the patent document of CN 101009942A, introduce and disclose a kind of method that with detection means moving target is positioned in field of mobile communication, this method utilizes difference time of arrival (TDOA) between transfer table and a plurality of base station to estimate to come to mobile position estimation, estimate one group of Nonlinear System of Equations setting up because the locator meams of estimating based on TDOA need be found the solution based on TDOA, its algorithm complexity, resource occupation is big, application cost is high.
In the national defence field, utilizing radar is well-known, an ancient and ripe method to target localization, utilizes direction and distance that the radar antenna of rotation can the detection of a target; Phased-array radar is called phased-array radar again, is a kind of changing the radar that the radar wave phase place changes beam direction, and it is to control wave beam but not the radar of traditional mechanical rotation antenna surface mode in the electronics mode.
Above-mentioned several localization method is used for service robot etc. at the target localization that little field domain moves, and has problems such as technical sophistication, application cost height or bearing accuracy difference.
Summary of the invention
The technical problem to be solved in the present invention is for the location of little field domain mobile robot, orientation provide that a kind of technology is simple, easy to maintenance, the device of dependable performance, system and method.
For solving the problems of the technologies described above the technical solution adopted in the present invention be: around the moving target scope of activities, set up more than three fixing infrared signal emitter, respectively the infrared signal that can distinguish of sending and receiving apparatus; On moving target, settle a horizontal annular array of forming with sensor devices, the signal conduction that sensor devices is gathered is subjected to computer control, generate the analog intensity value of current signal after the signal process gating of gathering, amplification, frequency-selecting, detection, the filtering, this analog intensity value is carried out mould/number conversion, generation can be by the digitized current signal strength values of computer Recognition, the above-mentioned signal strength values that separates with frequency-selecting by gating is deposited in computing machine, generate related with a receive direction and sender unit respectively two-dimensional array; By this two-dimensional array is analyzed, to obtain the coherent signal emitter be limit with the moving target, be oriented the polar angle of pole axis with moving target; Sender unit is fixed, and its map reference, phase mutual edge distance are known, and are stored in computing machine in advance; Take out the phase mutual edge distance of coherent signal emitter, with the moving target of measuring and calculating acquisition and the polar angle of coherent signal emitter, set up a system of equations, solve an equation and obtain one group of utmost point footpath, thereby the relative position of acquisition moving target and coherent signal emitter, and then carry out coordinate system conversion, obtain the map reference position of moving target and moving target towards.
Adopt the beneficial effect of said apparatus, system and method to be: to estimate, rotate detection type positioning system and methods such as radar with respect to GPS, difference, the present invention's characteristics simple, easy to maintenance, with low cost that possess skills are particularly useful for the detection type location of the robot that uses for Public Service Field and family; Be used for mobile robot's computed position method at present with respect to path reckoning, video passback etc., the present invention has the advantage that does not have cumulative errors, dependable performance; The present invention provides a kind of simple relatively, economic, reliable device, system and method for the moving target in indoor or the zonule being carried out continuously real-time location, orientation.
Description of drawings
The invention will be further described below in conjunction with drawings and Examples.
Fig. 1 is the go in ring synoptic diagram of array of the described level of being made up of sensor devices of claim 3 of the present invention.
Fig. 2 is the longitudinal profile structural map of embodiment of the invention signal receiving device.
Fig. 3 is the vertical profile structure decomposition map of embodiment of the invention sender unit.
Fig. 4 is the geometric coordinate synoptic diagram that the present invention uses.
Fig. 5 is the system diagram of the embodiment of the invention.
Fig. 6 is an embodiment of the invention emitter circuit theory diagrams.
Fig. 7 is that the embodiment of the invention receives gating modular circuit schematic diagram.
Fig. 8 is an embodiment of the invention frequency-selecting modular circuit schematic diagram.
Fig. 9 is embodiment of the invention mould/number conversion modular circuit schematic diagram.
Figure 10 is that synoptic diagram is arranged in application of the present invention.
Figure 11 is the control flow chart of the embodiment of the invention.
Figure 12 is the two-dimensional array histogram example that the embodiment of the invention is gathered.
1. sensor devices among Fig. 1
1. sensor devices among Fig. 2 are 2. gone up structure ring, 3. descend structure ring, 4. circuit board, 5. connection terminal, 6. mounting hole
7. infundibulate reflecting covers among Fig. 3,8. transparent cup-shaped cover, 9. ballistic device, 10. circuit board, 11. housings, 12. mount pads
Embodiment
Referring to Fig. 1, the present invention is based on the level of being made up of the sensor devices shown in Figure 1 array that goes in ring and comes moving target location, directed device, system and method.The sensor devices array points to the horizontal annular array of forming away from the sensor devices 1 in the center of circle by sensitization direction level and forms.
Referring to Fig. 2, signal receiving device in the embodiment of the invention is welded on the circular circuit board 4 by 256 sensor devices 1, fixing by last structure ring 2 and following structure ring 3 simultaneously, also be welded with 16 4067 analog switching circuits and 1 74LS154TTL circuit on the circuit board 4, and 15 line connection terminals 5.Last structure ring 2 and following structure 3 usefulness insulating material are made, each uniform 16 mounting hole 6 on last structure ring 2 and following structure ring 3, wherein the 8 pairs of mounting holes 6 are used for the fixing of circuit board 4 and install self moulding, and other 8 pairs of mounting holes 6 are used for fixing with last bit architecture, time bit architecture of this signal receiving device and being connected.
Referring to Fig. 3, the sender unit in the embodiment of the invention is made up of infundibulate reflecting cover 7, transparent cup-shaped cover 8, ballistic device 9, circuit board 10, housing 11 and mount pad 12.Be welded with oscillating circuit and the ballistic device 9 be made up of NE555 on the circuit board 10, the ballistic device 9 vertical infundibulate reflecting covers 7 that point to make the signal of ballistic device 9 emissions become umbrella evenly to cover the sender unit peripheral region.Sender unit be installed in the moving target zone of action around, the absolute altitude of installation site should not have big difference with the absolute altitude of signal receiving device, the difference of both absolute altitudes then is the radius of signal blind zone.
Referring to Fig. 4,, paint this geometric coordinate synoptic diagram for convenient understanding localization method of the present invention.A, B, 3 of C are sender unit in the synoptic diagram, and the M point is the position of moving target, cross arrow points that M orders and be moving target towards.With the pole axis that is oriented of moving target, AM, BM, CM are utmost point footpath, and utmost point footpath is a polar angle with the angle of pole axis, and polar angle can detect by device disclosed by the invention and obtain, and the utmost point directly is the unknown number that this step will be found the solution.Among the figure A, B, 3 of C be fix, coordinate position is known, therefore leg-of-mutton each limit, each angle with these 3 connections also is known.If moving target M point in triangle, connects A point M point, B point M point, C point M point respectively,, just can set up equation and obtain the angle at each angle and the length of each bar line segment at this moment as long as determine that according to polar angle two is the angle at the angle on summit with the M point.
Known: AB=c, AC=b, ∠ BAC=ε
Record: ∠ AMB=α, ∠ CMA=β
If: AM=x, ∠ BAM=δ
According to sine: a/SinA=b/SinB=c/SinC
It is as follows to establish an equation: and c/Sin α=x/Sin (180-α-δ)
b/Sinβ＝x/Sin(180-β-ε+δ)
The transposition back obtains: and c*Sin (180-α-δ)/Sin α=x
b*Sin(180-β-ε+δ)/Sinβ＝x
Solving an equation obtains AM and ∠ BAM, and so far each leg-of-mutton each limit of being made up of A, B, 4 of C, M, each angle can obtain by known simple computation, no longer describe in detail here.
Below according to the result of calculation of previous step explanation moving target coordinate and towards computing method: cross the straight line that B point makes to be parallel to X-axis, cross the straight line that M point work is parallel to Y-axis, the intersection point of two straight lines is D.
Known: BM, ∠ MBC, the polar angle that ∠ CBD, B are ordered, B point coordinate: Bx, By
∠MBD＝∠MBC+∠CBD
The polar angle that moving target is ordered towards θ=180 degree-B+∠ MBD
BD＝BM*Cos∠MBD
MD＝BM*Sin∠MBD
Moving target coordinate Mx=Bx+BD
Moving target coordinate My=By+MD
This localization method is the relative angle according to the known object of reference of moving target and three coordinates, calculate the map reference that obtains moving target and towards method.
Referring to Fig. 5, the system of the embodiment of the invention is made up of transmitter module, receiver module, gating module, frequency-selecting module, A/D module and computing machine and interface thereof.Wherein computing machine and interface thereof are to use the resource that is in upper moving target platform, can be single card microcomputer, single-chip microcomputer or the PCs of any kind.
Referring to Fig. 6, the emitter in the embodiment of the invention is formed the pulsation infrared emission drive circuit by NE555 etc.Emitter in the embodiment of the invention has 8 kinds of different concussion frequencies, and the concussion frequency is determined between 700Hz to 3000Hz.
Referring to Fig. 7, the reception gating module in the embodiment of the invention is made up of 256 phototriodes, 16 slices 4,067 16 path analoging switch and a slice 7,4LS,154 16 line code translators.256 phototriodes are divided into 16 groups, every winding is on the x0 to x15 of a slice 4,067 16 path analoging switch, the code translator input end A of every 4,067 16 path analoging switch, B, C, D are connected to low four of PA mouth, the forbidding of 4,067 ten six path analoging switch holds INH to be connected to the decoding output terminal Y0 to Y15 of 7,4LS,154 16 line code translators respectively, and the Input Address end A of code translator, B, C, D are connected to the high four of PA mouth.Unique conducting of the signal that 256 phototriodes gather separately like this from the Data Control of PA mouth.
Referring to Fig. 8, signal amplification circuit and eight road RC frequency-selecting amplifiers that the frequency-selecting module in the embodiment of the invention is made up of emitter follower are formed.The frequency-selecting frequency difference of each road RC frequency-selecting amplifier, the frequency-selecting frequency is corresponding one by one with the concussion frequency of infrared emission drive circuit shown in Figure 6.Each road RC frequency-selecting amplifier also comprises multiplication of voltage detecting circuit and the RC filtering circuit be made up of two diodes except that comprising RC network and operational amplifier.Like this, be divided into 8 signals,, detect in that this module is separated, deliver to the analog input end IN0 to IN7 of mould/number conversion circuit ADC0809 respectively from the mixed signal of unlike signal emitter, different frequency by receiving the signal that the gating module sends.
Referring to Fig. 9, mould/number conversion in the embodiment of the invention is finished by ADC0809, analog input end IN0 to IN7 is respectively from the different frequency-selecting amplification output of frequency-selecting module, digital quantity output terminal D0 to D7 is connected to the PB mouth of interface circuit, data read for computing machine, Input Address end A, B, C are connected to PC0, PC1, the PC2 in low four of the PC mouth of interface circuit, select for use the signal strength values of which kind of frequency to carry out mould/number conversion by computer control.
Referring to Figure 10, for the explanation embodiment of the invention is carried out the essential condition that one-time positioning was calculated the Cheng Qian, and how to utilize only eight kinds of signal modulating frequencies, and satisfy the demand the needs of numerous sender units are set, draw this and use the layout synoptic diagram.In the architectural plane as shown in figure 10 is the zone of action of moving target, the round dot of painting is a sender unit in the zone of action, the literal FSn on round dot limit is the sender unit code, literal fn below the sender unit code identifies the signal frequency of this sender unit emission, wherein n is 0 to 7 numeral, is the numbering to eight kinds of transmission frequencies.Sender unit has more than ten as can be seen from Figure 10, and only eight kinds of transmission frequencies.Owing to use localization method of the present invention, except that fixing each known sender unit coordinate, only need three angle values by moving target directional signal emitter, just can satisfy the calculating needs of location, so whenever carry out the one-time positioning measuring and calculating, only need to gather the data of three relevant sender units; Therefore when the moving target scope of activities hour, three sender units only are set just can satisfy and locate needs.As shown in Figure 10 than large tracts of land, the area applications the present invention of blocking arranged, then need to be provided with numerous sender units, should be noted that the layout distance of the sender unit of same transmission frequency during the signalization emitter, be much larger than the layout distance of the sender unit of it and other frequency.That is to say and between the sender unit of same transmission frequency, will arrange the sender unit of a plurality of other frequencies.The position coordinates of all sender units of arranging all will be stored in the computer system of calculating in advance, and the code or the coding of energy basis signal emitter call at any time.
When using three above sender units to carry out the moving target location, need position according to the sender unit of being arranged, subregion is carried out in zone of action to moving target, and to separately provincial characteristics of these subregions, the moving target numbering in the transmission frequency of the code of three selected sender units of this zone, selected sender unit be stored in the computing machine in advance.For example the provincial characteristics of area B is among Figure 10: x＞0andx＜9andy＞3andy＜6, just the scope of area B is that lower left corner coordinate is (0,3), upper right corner coordinate is (9,6) rectangle, selecting code for use is that the sender unit of FS1, FS2, FS9 is the measuring and calculating object of reference, and the transmission frequency of sender unit numbering is followed successively by: 1,2,6.
With Figure 10 is example, the embodiment of the invention is before whenever carrying out the one-time positioning measuring and calculating, all need position coordinates in early stage according to moving target, compare each provincial characteristics, determine the region of moving target, and the code of the sender unit that the one's respective area of the above-mentioned storage of foundation is selected for use, the position coordinates that accesses the sender unit of prior storage deposits variable X (0), Y (0), X (1), Y (1), X (2), Y (2) in, and the transmission frequency numbering that accesses sender unit deposits variable FS (0), FS (1), FS (2) in.
Comprehensive above explanation: the embodiment of the invention needs to determine in advance the position coordinates and their the transmission frequency numbering of three sender units when positioning measuring and calculating, which three sender unit each zone selects for use is pre-determined, determine the zone according to moving target position in early stage, call the data that are associated according to the zone and participate in measuring and calculating.
Referring to Figure 11, the control flow chart of the embodiment of the invention is a subroutine in the upper structure control system, and this process has been carried out one-time positioning and measured and calculate.The process flow diagram left part has been recorded and narrated the process that the signal receiving device of the system read-write embodiment of the invention carries out data acquisition, process flow diagram right side upper part has been recorded and narrated system determines moving target and coherent signal emitter relative angle according to the data analysis of gathering process, the bottom part in process flow diagram right side is included in the mathematical computations process in this subroutine, this process is according to the position coordinates of each known sender unit and moving target and the coherent signal emitter relative angle that calculates, calculate moving target map reference and towards.
Before this subroutine of execution, system has finished the position coordinates of current three emitters selecting for use has been write variable X (0), Y (0), X (1), Y (1), X (2), Y (2), has finished the transmission frequency of current three emitters selecting for use numbering is stored in variable FS (0), FS (1), FS (2).
Constant ZLs is the go in ring quantity of sensor devices of array of the level be made up of sensor devices in the process flow diagram, variable ZL is the gating address pointer, begin to enter this subroutine at first to gating address clear 0, carry out the gating circulation then, its essence is exactly that the belt array of the level of being made up of sensor devices is carried out a sequential scanning.The PA mouth is connected with the gating circuit of the embodiment of the invention, and control selects to point to the conducting of different directions sensor devices received signal, writes data to the PA mouth and selects detection direction exactly.
I is a counter variable in the process flow diagram, carries out 0 to 2 circulation with this variable, reads three of being separated in several signal intensity analog quantitys by frequency selection circuit and deposits two-dimensional array in.The PCL mouth is low four of PC mouth, be connected with the address input line of mould/number conversion circuit ADC0809, FS (I) is write the channel selector switch that the PCL mouth is control mould/number conversion circuit, just select to carry out mould/number conversion with the signal strength values of any three emitters; The digital quantity output terminal of mould/number conversion circuit ADC0809 is connected with the PB mouth, and reading the PB mouth is exactly reading in computing machine from the data of mould/number conversion circuit digital amount output terminal; These data of reading in computing machine are the signal strength values that current ZL pointed to, came from FS (I) emitter, with its deposit in variable QD (ZL, I).
Finish the program in process flow diagram left side, system acquisition a ZLs take advantage of 3 two-dimensional array, they identify the intensity of signal on 360 degree different directions that come from three emitters, the signal strength values maximum when ZL directional signal emitter.Figure 12 is the histogrammic example of this two-dimensional array, each column data all has the place of a signal strength values maximum as can be seen from histogram, it is exactly the relative angle of moving target and coherent signal emitter that its corresponding ZL points to,, be the polar angle in utmost point footpath both with moving target to sender unit with the pole axis that is oriented of moving target.
Process flow diagram right side upper part has been recorded and narrated peaked process in the above-mentioned array of system searching, just determines the process of moving target and coherent signal emitter relative angle.In the process flow diagram variable Zlmax (I) final entry the moving target array related with coherent signal emitter relative angle point to, variable QDmax is for relatively searching the temporary variable that maximum of intensity is provided with.This process is the canonical process that computing machine is searched, and therefore no longer describes in detail.
The bottom part in process flow diagram right side is included in the mathematical computations process in this subroutine, and it calculates the principle method and set forth in the explanation to Fig. 4, and its flow process belongs to known general mathematical computations and is not repeated here.
Referring to Figure 12, this is the two-dimensional array histogram example that the embodiment of the invention is gathered.Histogram laterally is divided into three row, respectively corresponding sender unit, the histogram along slope coordinate is the strobe position of photosensitive array, the relative angle of the strobe position of photosensitive array and moving target and coherent signal emitter is interrelated, and the numerical value in the histogram is the signal intensity of the signal that receives.
Above disclosed only is preferred embodiment of the present invention, can not limit interest field of the present invention with this.
Claims (5)
1. a localization method is made up of at least three fixing infrared signal emitters and the signal receiving device, signal processing circuit, the control calculating system that are installed on the target mobile platform, it is characterized in that:
The signal that A, described each infrared signal emitter are launched can be connect the signal receiving apparatus and be distinguished;
B, described signal receiving device, signal processing circuit, control calculating system can record the relative angle of target mobile platform and infrared signal emitter;
C, described calculating system be by the target mobile platform that records and the relative angle of three infrared signal emitters, calculate the coordinate that obtains the target mobile platform and towards.
2. have three fixing infrared signal emitters according to claim 1 at least, it is characterized in that:
The signal frequency difference that A, described each infrared signal emitter are launched;
B, described each infrared signal emitter have infundibulate reflecting cover (7), make the signal of emission become umbrella evenly to distribute.
3. be installed in the signal receiving device on the target mobile platform according to claim 1, it is characterized in that:
A, described signal receiving device contain the belt array of the level of being made up of sensor devices (1);
B, described signal receiving device have the signal gating circuit by the computer address Data Control;
The selection of C, described its outgoing signal of signal receiving device is subjected to the computer address Data Control;
The address date of D, described signal gating circuit points to related with the signal reception that with the target mobile platform is coordinate system.
4. be installed in the signal processing circuit on the target mobile platform according to claim 1, it is characterized in that:
A, described signal processing circuit comprise the amplifying circuit that is used to improve the signal fan out capability;
B, described signal processing circuit comprise the frequency selection circuit that is used to separate different frequency signals;
C, described signal processing circuit comprise the detection filter circuit that is used for modulation signal is converted into DC analogue quantity;
D, described signal processing circuit comprise the mould/number conversion circuit that is used for the analog quantity of signal intensity is converted to digital quantity.
5. be installed in the control calculating system on the target mobile platform according to claim 1, it is characterized in that:
The hardware components of A, described control calculating system can be used the part resource of the computer control system of upper structure target mobile platform and finish location required control and measuring and calculating;
B, described control calculating system, collection is as converting the signal intensity numerical value of digital quantity as described in the claim 4 to, in conjunction with the address date that as described in claim 3, is associated with the signal gating circuit, calculate the target mobile platform coordinate and towards, its control measuring and calculating step is:
B01, send address date successively, the corresponding conducting successively of signal that control is gathered as the different sensor devices that point in the sensor devices array as described in the claim 3 as control signal gating circuit as described in the claim 3 by described control calculating system;
After one of B02, the every transmission of described control calculating system the address date, all read and store the signal intensity numerical value that current gating address date and signal processing circuit as claimed in claim 4 provide as control signal gating circuit as described in the claim 3;
B03, described control calculating system have scanned successively as after all sensor devices in the sensor devices array as described in the claim 3, take out the total data that this is stored during to the sensor devices array scanning, calculate the relative angle of current target mobile platform and associated transmissions device, so calculate to obtain the target mobile platform coordinate and towards.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNA2007101203732A CN101109809A (en) | 2007-08-17 | 2007-08-17 | Positioning device, system and method based on direction control photosensitive array |
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| CNA2007101203732A CN101109809A (en) | 2007-08-17 | 2007-08-17 | Positioning device, system and method based on direction control photosensitive array |
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| CNA2007101203732A Pending CN101109809A (en) | 2007-08-17 | 2007-08-17 | Positioning device, system and method based on direction control photosensitive array |
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| CN102053238A (en) * | 2010-10-12 | 2011-05-11 | 广州市奥威亚电子科技有限公司 | Indoor positioning system |
| WO2014071834A1 (en) * | 2012-11-09 | 2014-05-15 | 苏州科瓴精密机械科技有限公司 | Robot location system and method for identification of reflecting devices thereof |
| CN105486299A (en) * | 2014-09-17 | 2016-04-13 | Tcl集团股份有限公司 | Mobile terminal indoor positioning method based on electronic compass and mobile terminal indoor positioning system method based on electronic compass |
| CN106405486A (en) * | 2016-10-17 | 2017-02-15 | 成都信息工程大学 | Positioning apparatus based on directional antenna and frequency coding, and work method thereof |
| CN108415001A (en) * | 2018-02-12 | 2018-08-17 | 深圳市镭神智能系统有限公司 | It receives the photosensitive array of the flare of laser radar, receive system and method |
| CN106405486B (en) * | 2016-10-17 | 2019-07-16 | 成都信息工程大学 | A kind of positioning device and its working method based on directional aerial and frequency coding |
| CN110192122A (en) * | 2017-01-24 | 2019-08-30 | 深圳市大疆创新科技有限公司 | Radar-directed system and method on unmanned moveable platform |
| CN110441782A (en) * | 2019-07-11 | 2019-11-12 | 深圳市深创谷技术服务有限公司 | Infrared detecting device |
| CN111337876A (en) * | 2020-03-04 | 2020-06-26 | 广东博智林机器人有限公司 | Positioning device and target positioning method |
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| CN102053238A (en) * | 2010-10-12 | 2011-05-11 | 广州市奥威亚电子科技有限公司 | Indoor positioning system |
| CN102053238B (en) * | 2010-10-12 | 2012-08-22 | 广州市奥威亚电子科技有限公司 | Indoor positioning system |
| WO2014071834A1 (en) * | 2012-11-09 | 2014-05-15 | 苏州科瓴精密机械科技有限公司 | Robot location system and method for identification of reflecting devices thereof |
| CN105486299A (en) * | 2014-09-17 | 2016-04-13 | Tcl集团股份有限公司 | Mobile terminal indoor positioning method based on electronic compass and mobile terminal indoor positioning system method based on electronic compass |
| EP4345564A1 (en) | 2014-09-26 | 2024-04-03 | Ecovacs Robotics Co., Ltd. | Self-moving robot movement boundary determining method |
| EP3889725A1 (en) | 2014-09-26 | 2021-10-06 | Ecovacs Robotics Co., Ltd. | Self-moving robot movement boundary determining methods |
| CN106405486B (en) * | 2016-10-17 | 2019-07-16 | 成都信息工程大学 | A kind of positioning device and its working method based on directional aerial and frequency coding |
| CN106405486A (en) * | 2016-10-17 | 2017-02-15 | 成都信息工程大学 | Positioning apparatus based on directional antenna and frequency coding, and work method thereof |
| CN110192122A (en) * | 2017-01-24 | 2019-08-30 | 深圳市大疆创新科技有限公司 | Radar-directed system and method on unmanned moveable platform |
| CN110192122B (en) * | 2017-01-24 | 2023-11-14 | 深圳市大疆创新科技有限公司 | System and method for radar control on unmanned mobile platforms |
| CN108415001A (en) * | 2018-02-12 | 2018-08-17 | 深圳市镭神智能系统有限公司 | It receives the photosensitive array of the flare of laser radar, receive system and method |
| CN110441782A (en) * | 2019-07-11 | 2019-11-12 | 深圳市深创谷技术服务有限公司 | Infrared detecting device |
| CN111337876A (en) * | 2020-03-04 | 2020-06-26 | 广东博智林机器人有限公司 | Positioning device and target positioning method |
| CN111337876B (en) * | 2020-03-04 | 2022-09-27 | 广东博智林机器人有限公司 | Positioning device and target positioning method |
| CN112917514A (en) * | 2021-01-20 | 2021-06-08 | 云南电网有限责任公司电力科学研究院 | Cable temperature detection device based on snake-shaped robot |
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