CN102012706B - Electronic device capable of automatically positioning and moving and method for automatically returning moving element thereof - Google Patents
Electronic device capable of automatically positioning and moving and method for automatically returning moving element thereof Download PDFInfo
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- CN102012706B CN102012706B CN201010508156.2A CN201010508156A CN102012706B CN 102012706 B CN102012706 B CN 102012706B CN 201010508156 A CN201010508156 A CN 201010508156A CN 102012706 B CN102012706 B CN 102012706B
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- identification division
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Abstract
The invention relates to an electronic device capable of automatically positioning and moving and a method for automatically returning a moving element thereof. The electronic device comprises a base and a moving element, wherein the base is provided with a first identifying part, a second identifying part and a third identifying part; the first identifying part and the second identifying part are positioned on the same reference plane; and the third identifying part is positioned between the first identifying part and the second identifying part and positioned outside the reference plane. The moving element is provided with an image capturing assembly for capturing an image of the base; and the moving element calculates a moving path according to relative positions of the first identifying part, the second identifying part and the third identifying part in each frame of image captured by the image capturing assembly so as move to the base. The invention also provides a method for automatically returning the moving element.
Description
[technical field]
The invention relates to a kind of electronic installation with moving member and pedestal, and relate to especially a kind of can automatically locate and movement electronic installation and allow the method for its moving member automatic homing.
[background technology]
Along with the development of science and technology, intelligent electronic product is weeded out the old and bring forth the new day by day, makes the life of the mankind more convenient.For sweeping robot, it can carry out the work of cleaning, and even automatically can start, so can promote the convenience of human lives in the time of setting.
Sweeping robot comprises pedestal and moving member.Moving member can move everywhere, and to carry out cleaning works, and pedestal can for moving member charging.When the electric power of moving member is not enough, moving member meeting automatic returning pedestal, to charge.Therefore, how to allow relative position between moving member energy accurate recognition itself and pedestal, return in order to moving member the important technology that pedestal will be this type of intelligent electronic product.
[summary of the invention]
The object of the present invention is to provide a kind of can automatically location and the electronic installation of movement, its moving member can automatic homing exactly.
The present invention's another object another is to provide a kind of method allowing moving member automatic homing, to make moving member can automatic homing exactly.
What the present invention proposed a kind ofly can locate and the electronic installation of movement automatically, comprises pedestal and moving member.Pedestal has the first Identification Division, the second Identification Division and the 3rd Identification Division.First Identification Division and the second Identification Division be positioned in same reference planes, and the 3rd Identification Division is positioned at outside reference planes between the first Identification Division and the second Identification Division.Moving member has image-pickup assembly, and to capture the image of pedestal, the relative position of the first Identification Division wherein in each frame image of capturing according to image-pickup assembly of moving member, the second Identification Division and the 3rd Identification Division calculates mobile route, to move to pedestal.
In one embodiment of this invention, the first above-mentioned Identification Division, line between the second Identification Division and the 3rd Identification Division form isosceles triangle, and the 3rd Identification Division is positioned at the drift angle of isosceles triangle.
In one embodiment of this invention, above-mentioned pedestal has the concave surface from reference planes indent, and the 3rd Identification Division is arranged on concave surface.
In one embodiment of this invention, the distance of above-mentioned the 3rd Identification Division to the bottom surface of pedestal equals the distance of image-pickup assembly to the bottom surface of moving member.
In one embodiment of this invention, the distance of the first above-mentioned Identification Division to the bottom surface of pedestal equals the distance of the second Identification Division to the bottom surface of pedestal, and the distance of the first Identification Division to the bottom surface of pedestal is not equal to the distance of the 3rd Identification Division to the bottom surface of pedestal.
In one embodiment of this invention, the first above-mentioned Identification Division, the second Identification Division and the 3rd Identification Division comprise at least one luminescence component or at least one identification figure respectively.
In one embodiment of this invention, the visual angle central axis of above-mentioned image-pickup assembly is in reference planes.
In one embodiment of this invention, above-mentioned pedestal has the first junction surface, and moving member has the second junction surface, and moving member is suitable for moving towards the direction close to pedestal the first junction surface is engaged with the second junction surface.
The present invention separately proposes a kind of method allowing moving member automatic homing, and it is applicable to the above-mentioned electronic installation automatically locating movement.This allows the method for moving member automatic homing be the image first continuing to capture pedestal by image-pickup assembly, then calculate mobile route according to the relative position of the first Identification Division in each frame image, the second Identification Division and the 3rd Identification Division, move to pedestal to make moving member.
In one embodiment of this invention, the first above-mentioned Identification Division, line between the second Identification Division and the 3rd Identification Division form isosceles triangle, and the 3rd Identification Division is positioned at the drift angle of isosceles triangle, the first spacing is had between first Identification Division and the second Identification Division, 3rd has the second spacing between Identification Division and reference planes, the first Identification Division in each frame image and the second Identification Division are positioned at first directly online, and the 3rd Identification Division is positioned on the second straight line with the first linear vertical.Above-mentioned calculating mobile route, comprises with the method making moving member move to pedestal: calculate the first distance between the first Identification Division in each frame image and the second straight line and the second distance between the second Identification Division and the second straight line; According to the first distance, second distance, the first spacing and the second distance computation the 3rd angle between straight line and reference planes by image-pickup assembly and the 3rd Identification Division; Mobile route is calculated according to the first distance, second distance and angle, middle position is moved to make moving member, wherein when moving member is positioned at middle position, image-pickup assembly the first distance in the image that captures equal second distance, and angle equals 90 degree; And make moving member move to pedestal along the straight line path perpendicular to reference planes.
In one embodiment of this invention, the above-mentioned moving member that makes more comprised the distance calculated between moving member and pedestal before the straight line path perpendicular to reference planes moves to pedestal.
In one embodiment of this invention, the distance of above-mentioned the 3rd Identification Division to the bottom surface of pedestal equals the distance of image-pickup assembly to the bottom surface of moving member, and the method calculating the distance between moving member and pedestal is such as when moving member is positioned at middle position, calculate image-pickup assembly the 3rd distance between the 3rd Identification Division of image that captures and the first straight line, and the 3rd distance is multiplied by predetermined coefficient, to calculate the distance between moving member and pedestal.
In one embodiment of this invention, the above-mentioned method obtaining predetermined coefficient comprises: make moving member be positioned at middle position and moving member and pedestal are separated by the 4th distance; Make image-pickup assembly the 3rd Identification Division in the image that captures and the bee-line between the first straight line be the 5th distance; And by the 4th distance divided by the 5th distance to obtain predetermined coefficient.
Benefit of the present invention is, because the 3rd identification position is outside the reference planes residing for the first Identification Division and the second Identification Division, so be conducive to moving member to calculate mobile route, accurately to move to pedestal according to the relative position of the first Identification Division, the second Identification Division and the 3rd Identification Division.
[accompanying drawing explanation]
Fig. 1 is a kind of schematic diagram automatically locating the electronic installation of movement of one embodiment of the invention.
Fig. 2 is the process flow diagram of method allowing moving member automatic homing of one embodiment of the invention.
Fig. 3 is the schematic diagram automatically locating the moving member pick-up image of the electronic installation of movement of one embodiment of the invention.
Fig. 4 is the schematic diagram of the image that the moving member of Fig. 3 captures.
Fig. 5 is the schematic diagram of the angle of calculating the 3rd between straight line and reference planes in one embodiment of the invention.
Fig. 6 be in one embodiment of the invention moving member be positioned at middle position the schematic diagram of image that captures.
Fig. 7 is the schematic diagram of the relative position of moving member and pedestal when setting predetermined coefficient in one embodiment of the invention.
Fig. 8 be when setting predetermined coefficient in one embodiment of the invention moving member the schematic diagram of image that captures.
Schematic diagram when Fig. 9 is moving member recurrence pedestal in one embodiment of the invention.
[embodiment]
Fig. 1 is a kind of schematic diagram automatically locating the electronic installation of movement of one embodiment of the invention.Please refer to Fig. 1, the electronic installation 100 automatically locating movement of the present embodiment can be sweeping robot or entertainment device etc., but not as limit.This electronic installation 100 automatically locating movement comprises pedestal 110 and moving member 120.Pedestal 110 has the first Identification Division 114, Identification Division 112, second and the 3rd Identification Division 116.First Identification Division 112 and the second Identification Division 114 be positioned on same reference planes P, and the 3rd Identification Division 116 is positioned at outside reference planes P between the first Identification Division 112 and the second Identification Division 114.Moving member 120 has image-pickup assembly 122, to capture the image of pedestal 110.The relative position of the first Identification Division in each frame image that moving member 120 captures according to image-pickup assembly 122, the second Identification Division and the 3rd Identification Division calculates mobile route, to move to pedestal 110.
In the present embodiment, pedestal 110 such as has the concave surface 111 from reference planes P indent, and the 3rd Identification Division 116 is arranged on concave surface 111, is positioned at outside reference planes P to make the 3rd Identification Division 116.The center line C of the view angle theta of image-pickup assembly 122 is such as perpendicular to reference planes P.That is the visual angle center line C of image-pickup assembly 122 is parallel to the normal vector of reference planes P.In addition, the line between the first above-mentioned Identification Division 114, Identification Division 112, second and the 3rd Identification Division 116 is such as form isosceles triangle T, and the 3rd Identification Division 116 is positioned at the drift angle of isosceles triangle.Therefore, the distance between the first Identification Division 112 and the 3rd Identification Division 116 equals the distance between the second Identification Division 114 and the 3rd Identification Division 116, is so conducive to calculating mobile route.In addition, the distance of the bottom surface 113 of the first Identification Division 112 to pedestal 110 is such as the distance of the bottom surface 113 equaling the second Identification Division 114 to pedestal 110, and the distance of the bottom surface 113 of the first Identification Division 112 to pedestal 110 is such as the distance of the bottom surface 113 being not equal to the 3rd Identification Division 116 to pedestal 110.So, be not only conducive to Identification Division 114, difference first Identification Division 112, second and the 3rd Identification Division 116, also can prevent from occurring in the image captured at some situation that the 3rd Identification Division 116 and the first Identification Division 112 or the second Identification Division 114 overlap.
The first above-mentioned Identification Division 114, Identification Division 112, second and the 3rd Identification Division 116 can be luminescence component or identify figure, for the relative position distinguishing the first Identification Division 114, Identification Division 112, second and the 3rd Identification Division 116.Luminescence component can be visible ray luminescence component, infrared light luminescence component or other suitable luminescence component.In another embodiment, the luminescence component of the first Identification Division 114, Identification Division 112, second and the 3rd Identification Division 116 or to identify that figure can comprise multiple, and these luminescence components of each first Identification Division 114, Identification Division 112, second and the 3rd Identification Division 116 or identify that figure is towards different directions, the image of the first Identification Division 114, Identification Division 112, second and the 3rd Identification Division 116 is captured in order to image-pickup assembly 122.
Hereafter in detail the method for above-mentioned moving member 120 automatic homing of how allowing will be described.
Fig. 2 is the process flow diagram of method allowing moving member automatic homing of one embodiment of the invention, Fig. 3 is the schematic diagram automatically locating the moving member pick-up image of the electronic installation of movement of one embodiment of the invention, and the schematic diagram of the image that the moving member that Fig. 4 is Fig. 3 captures.Please refer to Fig. 2 to Fig. 4, the present embodiment allow the method for moving member automatic homing as shown in step S110, first continue the image M of acquisition pedestal 110 by the image-pickup assembly 122 of moving member 120.That is, namely capture a frame image M by image-pickup assembly 122 every one section of predetermined time (as the several seconds).
Then, as shown in step S120, the relative position according to the first Identification Division 112 ' in each frame image M, the second Identification Division 114 ' and the 3rd Identification Division 116 ' calculates mobile route, moves to pedestal 110 to make moving member 120.In more detail, the first spacing V1 is had between first Identification Division 112 and the second Identification Division 114, the second spacing V2 is had between 3rd Identification Division 116 and reference planes P, the first Identification Division 112 ' in each frame image M and the second Identification Division 114 ' are positioned on the first straight line L1, and the 3rd Identification Division 116 ' is positioned on the second straight line L2 vertical with the first straight line L1.Above-mentioned calculating mobile route is such as first calculate the first distance D1 between the first Identification Division 112 ' in each frame image M and the second straight line L2 and the second distance D2 between the second Identification Division 114 ' and the second straight line L2 with the method making moving member 120 move to pedestal 110.
Then, to calculate by the 3rd straight line L3 and reference planes P of image-pickup assembly 122 and the 3rd Identification Division 116 according to the first distance D1, second distance D2, the first spacing V1 and the second spacing V2 between angle ω.In more detail, as shown in Figure 5, when calculating, first the 4th straight line L4 can be considered as parallel 3rd straight line L3, and the 3rd straight line L3 and the 4th straight line L4 vertical image M respectively.Because the 3rd straight line L3 and the 4th straight line L4 is parallel to each other, and the first distance D1 and second distance D2 is known, therefore can calculate distance E1 and distance E2 according to the first distance D1 and second distance D2.Again because distance E1 adds distance E2 and equals the first spacing V1, and the distance of the 3rd Identification Division, Identification Division 116 to the first 112 equals the distance of the 3rd Identification Division, Identification Division 116 to the second 114, and therefore distance E3 equals (V1/2)-E1.And, because distance E3 and the second spacing V2 is known, so angle ω can be calculated.So, mobile route can be calculated according to the first distance D1, second distance D2 and angle ω, move to middle position to make moving member 120.The middle position of indication is when moving member 120 is positioned at this middle position herein, image-pickup assembly 122 the first distance D1 in the image M that captures equal second distance D2, angle ω equals 90 degree, and the 3rd straight line L3 and visual angle center line C overlaps.
It is noted that in the process of moving member 120 movement, image-pickup assembly 122 still just can capture an image M every period of predetermined time, for correction mobile route.In addition, after moving member 120 moves to middle position, moving member 120 is then made to move to pedestal 110 along the straight line path perpendicular to reference planes P.
In one embodiment, moving member 120 is made to move to the distance that can first to calculate before pedestal 110 between moving member 120 and pedestal 110 along the straight line path perpendicular to reference planes P, then according to calculated distance, moving member 120 is moved along the straight line path perpendicular to reference planes P again, to return pedestal 110.Equal in the embodiment of the distance of the bottom surface 121 of image-pickup assembly 122 to moving member 120 in the distance of the bottom surface 113 of the 3rd Identification Division 116 to pedestal 110, the method calculating the distance between moving member and pedestal is such as when moving member 120 is positioned at middle position, by image-pickup assembly 122 pick-up image M (as shown in Figure 6), and calculate the 3rd distance D3 between the 3rd Identification Division 116 ' of image M that captures and the first straight line L1, and the 3rd distance D3 is multiplied by predetermined coefficient, to calculate the distance between moving member 120 and pedestal 110.
Above-mentioned predetermined coefficient has namely been set in wherein after the described electronic installation 100 automatically locating movement has manufactured.Please refer to Fig. 7 and Fig. 8, the method obtaining predetermined coefficient is such as first make moving member 120 be positioned at middle position and moving member 120 and pedestal 110 are separated by the 4th distance D4.Then, make image-pickup assembly 122 the 3rd Identification Division 116 ' in the image M that captures and the bee-line between the first straight line L1 be the 5th distance D5.Afterwards, by the 4th distance D4 divided by the 5th distance D5 to obtain predetermined coefficient.
Fig. 9 is the schematic diagram that in another embodiment of the present invention, moving member is returned to pedestal.Please refer to Fig. 9, pedestal 110 such as has the first junction surface 118, and moving member 120 such as has the second junction surface 124, and when moving member 120 to move to towards the direction close to pedestal 110 first junction surface 118 engage with the second junction surface 124 time, then namely moving member 120 stops mobile.This first junction surface 118 and the second junction surface 124 can be charging terminal, can charge to make pedestal 110 through the first junction surface 118 and the second junction surface 124 to the rechargeable battery in moving member 120.But the present invention does not limit the first junction surface 118 and the second junction surface 124 is required to be charging terminal.First junction surface 118 and the second junction surface 124 also can be the holding section of working in coordination or the hole of working in coordination and pin, but not as limit.
In sum, automatically the electronic installation 100 locating movement of the embodiment of the present invention and allow in the method for its moving member automatic homing, because 116, the 3rd Identification Division is outside the reference planes P residing for the first Identification Division 112 and the second Identification Division 114, so be conducive to moving member 120 to calculate mobile route, accurately to move to pedestal 110 according to the relative position of the first Identification Division 114, Identification Division 112, second and the 3rd Identification Division 116.
The present invention is described by above-mentioned related embodiment, but not limits the invention to above-described embodiment, and the interest field of this patent is as the criterion with claims.
Claims (13)
1. automatically can locate an electronic installation for movement, it is characterized in that comprising:
Pedestal, has the first Identification Division, the second Identification Division and the 3rd Identification Division, this first Identification Division and this second Identification Division are positioned in same reference planes, and the 3rd Identification Division is positioned at outside these reference planes between this first Identification Division and this second Identification Division; And
Moving member, there is an image-pickup assembly, to capture the image of this pedestal, the relative position of this first Identification Division wherein in each frame image of capturing according to this image-pickup assembly of this moving member, this second Identification Division and the 3rd Identification Division calculates mobile route, to move to this pedestal.
2. the electronic installation automatically locating movement according to claim 1, it is characterized in that this first Identification Division, line between this second Identification Division and the 3rd Identification Division forms an isosceles triangle, and the 3rd Identification Division is positioned at the drift angle of this isosceles triangle.
3. the electronic installation automatically locating movement according to claim 1, it is characterized in that this pedestal has the concave surface from this reference planes indent, and the 3rd Identification Division is arranged on this concave surface.
4., according to the electronic installation automatically locating movement described in claim 1, it is characterized in that the distance of the 3rd Identification Division to the bottom surface of this pedestal equals the distance of this image-pickup assembly to the bottom surface of this moving member.
5. the electronic installation automatically locating movement according to claim 1, it is characterized in that the distance of this first Identification Division to the bottom surface of this pedestal equals the distance of this second Identification Division to the bottom surface of this pedestal, and the distance of this first Identification Division to the bottom surface of this pedestal is not equal to the distance of the 3rd Identification Division to the bottom surface of this pedestal.
6. the electronic installation automatically locating movement according to claim 1, is characterized in that this first Identification Division, this second Identification Division and the 3rd Identification Division comprise at least one luminescence component or respectively and identify figure.
7. the electronic installation automatically locating movement according to claim 1, is characterized in that the visual angle central axis of this image-pickup assembly is in these reference planes.
8. the electronic installation automatically locating movement according to claim 1, it is characterized in that this pedestal has the first junction surface, and this moving member has the second junction surface, and this moving member is suitable for moving towards the direction close to this pedestal this first junction surface is engaged with this second junction surface.
9. allow the method for moving member automatic homing, be applicable to the electronic installation automatically locating movement as claimed in claim 1, this allows the feature of the method for moving member automatic homing be to comprise:
The image capturing this pedestal is continued by this image-pickup assembly;
Relative position according to this first Identification Division in this image of each frame, this second Identification Division and the 3rd Identification Division calculates mobile route, moves to this pedestal to make this moving member.
10. the method allowing moving member automatic homing according to claim 9, it is characterized in that this first Identification Division, line between this second Identification Division and the 3rd Identification Division forms isosceles triangle, and the 3rd Identification Division is positioned at the drift angle of this isosceles triangle, the first spacing is had between this first Identification Division and this second Identification Division, the second spacing is had between 3rd Identification Division and this reference planes, this first Identification Division in this image of each frame and this second Identification Division are positioned at the first straight line, 3rd Identification Division is positioned on the second straight line with this first linear vertical, and calculate mobile route, comprise with the method making this moving member move to this pedestal:
Calculate the first distance between this first Identification Division in this image of each frame and this second straight line and the second distance between this second Identification Division and this second straight line;
The angle between the 3rd straight line of this image-pickup assembly and the 3rd Identification Division and this reference planes is passed through according to this first distance, this second distance, this first spacing and this second distance computation;
Mobile route is calculated according to this first distance, this second distance and this angle, a middle position is moved to make this moving member, wherein when this moving member is positioned at this middle position, this image-pickup assembly this first distance in this image of capturing equal this second distance, and this angle equals 90 degree; And
This moving member is made to move to this pedestal along the straight line path perpendicular to these reference planes.
11. methods allowing moving member automatic homing according to claim 10, is characterized in that making this moving member more comprise the distance calculated between this moving member and this pedestal before this straight line path perpendicular to these reference planes moves to this pedestal.
12. methods allowing moving member automatic homing according to claim 11, it is characterized in that the distance of the 3rd Identification Division to the bottom surface of this pedestal equals the distance of this image-pickup assembly to the bottom surface of this moving member, and the method calculating the distance between this moving member and this pedestal comprises:
When this moving member is positioned at this middle position, calculate this image-pickup assembly the 3rd distance between the 3rd Identification Division of this image that captures and this first straight line, and the 3rd distance is multiplied by a predetermined coefficient, to calculate the distance between this moving member and this pedestal.
13., according to the method allowing moving member automatic homing described in claim 12, is characterized in that the method obtaining this predetermined coefficient comprises:
Make this moving member be positioned at this middle position and this moving member and this pedestal are separated by the 4th distance;
Make this image-pickup assembly the 3rd Identification Division in this image of capturing and the bee-line between this first straight line be the 5th distance; And
By the 4th distance divided by the 5th distance to obtain this predetermined coefficient.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201010508156.2A CN102012706B (en) | 2010-10-01 | 2010-10-01 | Electronic device capable of automatically positioning and moving and method for automatically returning moving element thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201010508156.2A CN102012706B (en) | 2010-10-01 | 2010-10-01 | Electronic device capable of automatically positioning and moving and method for automatically returning moving element thereof |
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| Publication Number | Publication Date |
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| CN102012706A CN102012706A (en) | 2011-04-13 |
| CN102012706B true CN102012706B (en) | 2015-06-24 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201010508156.2A Expired - Fee Related CN102012706B (en) | 2010-10-01 | 2010-10-01 | Electronic device capable of automatically positioning and moving and method for automatically returning moving element thereof |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| TWI617277B (en) * | 2015-11-17 | 2018-03-11 | 東芝股份有限公司 | Pose estimation apparatus and vacuum cleaner system |
| TWI812865B (en) * | 2019-06-05 | 2023-08-21 | 大陸商北京外號信息技術有限公司 | Device, method, storage medium and electronic apparatus for relative positioning |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| TWI555496B (en) * | 2011-05-17 | 2016-11-01 | 微星科技股份有限公司 | Cleaning system and control method thereof |
| KR101893152B1 (en) * | 2012-10-26 | 2018-08-31 | 엘지전자 주식회사 | robot cleaner system and a control method of the same |
| US9675226B2 (en) | 2012-10-26 | 2017-06-13 | Lg Electronics Inc. | Robot cleaner system and control method of the same |
| CN105222693B (en) * | 2015-09-02 | 2018-04-17 | 苏州佳世达电通有限公司 | Intelligent mobile method and intelligent mobile system |
| CN106843198B (en) * | 2015-12-07 | 2020-09-11 | 北京奇虎科技有限公司 | Automatic returning and charging method for sweeping robot, sweeping robot and charging seat |
| CN106598075A (en) * | 2016-07-21 | 2017-04-26 | 深圳曼塔智能科技有限公司 | System and method for tracking control of unmanned aerial vehicle based on luminescence object identification |
| CN109799816B (en) * | 2019-01-11 | 2022-02-22 | 华南智能机器人创新研究院 | Alignment method and system for automatic charging of mobile robot |
| CN112051546B (en) * | 2019-06-05 | 2024-03-08 | 北京外号信息技术有限公司 | Device for realizing relative positioning and corresponding relative positioning method |
| CN113845064B (en) * | 2021-08-05 | 2023-05-09 | 乐仓信息科技有限公司 | Positioning method and system for material bearing device with round support legs |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE10242257C5 (en) * | 2001-09-14 | 2017-05-11 | Vorwerk & Co. Interholding Gmbh | Automatically movable floor dust collecting device, and combination of such a collecting device and a base station |
| KR100468107B1 (en) * | 2002-10-31 | 2005-01-26 | 삼성광주전자 주식회사 | Robot cleaner system having external charging apparatus and method for docking with the same apparatus |
| CN1256072C (en) * | 2004-03-11 | 2006-05-17 | 上海交通大学 | Method for connecting space object positioned by visible marking points |
| CN101526601B (en) * | 2008-03-04 | 2013-02-13 | 日电（中国）有限公司 | Self-adaptive localization method, equipment and system adopting TOA and RSS fusion mode |
| CN101763120B (en) * | 2009-12-17 | 2011-12-21 | 长安大学 | Robot locating device based on sound guidance and locating method thereof |
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2010
- 2010-10-01 CN CN201010508156.2A patent/CN102012706B/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| TWI617277B (en) * | 2015-11-17 | 2018-03-11 | 東芝股份有限公司 | Pose estimation apparatus and vacuum cleaner system |
| TWI812865B (en) * | 2019-06-05 | 2023-08-21 | 大陸商北京外號信息技術有限公司 | Device, method, storage medium and electronic apparatus for relative positioning |
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| CN102012706A (en) | 2011-04-13 |
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