CN106324603A - Indoor robot homing navigation method - Google Patents
Indoor robot homing navigation method Download PDFInfo
- Publication number
- CN106324603A CN106324603A CN201610649095.9A CN201610649095A CN106324603A CN 106324603 A CN106324603 A CN 106324603A CN 201610649095 A CN201610649095 A CN 201610649095A CN 106324603 A CN106324603 A CN 106324603A
- Authority
- CN
- China
- Prior art keywords
- sound
- indoor robot
- signal
- volume
- source
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/02—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems using reflection of acoustic waves
- G01S15/04—Systems determining presence of a target
Abstract
The invention discloses an indoor robot homing navigation method which is used to home an indoor robot to a charging pile. The method comprises the following steps: a charging pile sends periodic sound signals; and an indoor robot rotates in situ and compares the volumes of the received sound signals, takes a direction with maximum volume as a source direction of sound signals, and moves towards the source direction for homing. The advantage lies in that by making use of the characteristics of ultrasonic signal or other sound signal transceiver devices, such as high signal frequency, short wavelength, little diffraction phenomenon, and especially good directionality and becoming rays to achieve directional transmission, an indoor robot can be accurately positioned to a charging pile and smoothly homed under the condition of multiple directions, and low cost is ensured.
Description
Technical field
The present invention relates to robot field, particularly relate to a kind of Indoor Robot playback air navigation aid.
Background technology
In the prior art, the accurate positioning method to be carried out of Indoor Robot typically uses UWB (Ultra-
WideBand, ultra-wideband) or TOF (Time of Flight, flight time) build drawing method.
Although both approaches positioning precision is higher, but the former needs target area mounted base station signal projector, and
And need the map of target area；The latter utilizes the mode of laser scanning to carry out splicing and builds figure, to the performance requirement of CPU very
High.The cost of both modes is the highest, and the most thousands of above costs, for need not so hi-Fix requirement
Extremely waste for application scenario.
The at present automatic homing charging of Indoor Robot is to utilize the Infrared of charging pile to carry out para-position, infrared itself declines
Subtract characteristic, substantially can not penetrate object, only glass, and reflection loss characteristic is the most poor, will be attenuated the most at a distance
To the most weak, if robot and charging pile are in same room with them, automatic homing charge successfully probability very greatly because machine
The probability ratio being blocked between device people and charging pile is relatively low, even if being blocked, the path rollback also application condition of robot is little,
If but not at same room with them, then it is difficult to find, because the cumulative errors of path rollback, possible Indoor Robot power consumption is complete
The most without back-off can be to the room at charging pile place.
Therefore, current techniques is difficult to use lower cost to realize Indoor Robot accurately determining under multiple room availabilities
Position.
Summary of the invention
For solving the problem that prior art exists, the invention provides a kind of mode, it is possible in the case of lower-cost
Realize Indoor Robot to playback smoothly in the complex situations in many rooms.
A kind of Indoor Robot playback air navigation aid, for Indoor Robot playback to charging pile, including:
Charging pile sends periodic acoustical signal；
Indoor Robot original place rotates and the volume of acoustical signal received by comparing, and by side maximum for volume
To the source direction as acoustical signal, and move playback towards source direction.
Furthermore, described charging pile sends periodic acoustical signal towards single direction.
Furthermore, Indoor Robot is provided with an acoustic signal reception apparatus, and Indoor Robot is towards acoustical signal
The method that source direction moves is:
Obtain the direction of max volume by rotating in place 360 degree and carry out volume value record；
Move towards max volume direction, the most often move the sound signal volume value and upper that predeterminable range all will receive
Secondary volume value contrasts: if bigger than the volume value of last time record, then the volume value newly obtained is used for more new record,
And move on；Otherwise, again rotate in place 360 degree and advance to obtain the direction of max volume and update volume value.
Furthermore, Indoor Robot is provided with two and is installed on rightabout acoustic signal reception apparatus, indoor set
The method that device people moves towards acoustical signal source direction includes:
Rotating in place and find the consistent direction of the sound signal volume making two acoustic signal reception apparatus receive, record should
Volume value on direction also moves one end predeterminable range towards the direction；
Judge whether the sound signal volume value that receives strengthens compared with record value: if it is, using the direction as
The source direction of acoustical signal moves on；Otherwise, the direction after rotation turnback is continued as the source direction of acoustical signal
Advance.
Furthermore, Indoor Robot is provided with three equally distributed beepers, and Indoor Robot is towards sound
The method that signal source direction moves includes:
Rotate in place the feelings finding the sound signal volume making two of which acoustic signal reception apparatus receive consistent
The direction that under condition, the 3rd acoustic signal reception apparatus volume of reception is maximum, the direction maximum towards this volume is moved.
Furthermore, Indoor Robot is provided with two and is installed on rightabout first acoustic signal reception apparatus, with
And two second sound signals perpendicular and in opposite direction with the first acoustic signal reception apparatus receive device, Indoor Robot
The method moved towards acoustical signal source direction includes:
Rotate in place the side finding the sound signal volume making two the first acoustic signal reception apparatus receive consistent
To, and compare the sound signal volume size that two second sound signals reception devices receive, choose the direction that volume is bigger
Mobile.
Furthermore, it is additionally included in when Indoor Robot moves towards acoustical signal source direction and periodically judges whether detection
The infrared signal launched to guide pile, changes into when infrared signal being detected utilizing infrared signal to playback to charging pile.
Furthermore, described charging pile has the source of sound sending periodic sound signals to multiple directions, indoor machine
People first compares the selected wherein immediate source of sound in direction of volume sending acoustical signal to all directions, then by mobile playback
Direction adjusts to the sound source direction towards this source of sound.
Furthermore, Indoor Robot compares and sends the selected wherein direction of volume of acoustical signal to all directions
The method of close source of sound includes:
Wireless connections are carried out with charging pile；
Send instruction to charging pile, open the source of sound of all directions of charging pile one by one and record volume value；
The acoustical signal of one of them volume value maximum selected is as source of sound.
Furthermore, described acoustical signal is ultrasonic signal.
It is an advantage of the current invention that acoustical signal R-T units such as utilizing ultrasonic signal positions, signal frequency height,
Wavelength is short, diffraction phenomenon is little, particularly good directionality, ray can be become and the features such as direction propagation, can have multiple side
Indoor Robot is enable to be accurately positioned charging pile to playback smoothly and to ensure that cost is relatively low in the case of to；Use single
The acoustical signal in direction has low cost, and method is simple, deals with advantage faster；Multiple audible signal reception is used to fill
Put the purpose that can reach to position rapidly source of sound, thus ensure that playback is charged in time；Use multiple source of sound can avoid list
Individual source of sound does not receives stable acoustical signal owing to reflecting and reflecting the energy attenuation caused.
Accompanying drawing explanation
Fig. 1 is the method flow schematic diagram of first embodiment of the invention.
Detailed description of the invention
In order to make the present invention of greater clarity, presently in connection with the explanation that drawings and Examples are the most detailed.
Can not find the situation of infrared signal for avoiding not chummery to block, acoustical signal conduct can be launched on charging pile
Supplementing and zone location, such as ultrasonic signal, ultrasound wave is similar to voice, can be reflected by the object, and it is little more than infrared to decay
Much.The mankind can be clear from a sound source in another one room in a room, is because sound and arrives two ears
Time is different with loudness, utilizes this principle can be clear from the Position Approximate of source of sound.
Acoustical signal may be used without the distinguishable acoustical signal of human ear, but is easily subject to surrounding interference, the most easily produces
Raw noise pollution.The Indoor Robot playback air navigation aid of first embodiment of the invention uses ultrasonic signal as acoustical signal
It is transmitted, and the 30kHZ source of sound that source of sound is standard, on single direction, send acoustical signal, the indoor set of present example
The acoustic signal reception apparatus that device people is used is ultrasonic microphone (MIC), and the method for present example includes:
Charging pile sends periodic acoustical signal；
Indoor Robot original place rotates and the volume of acoustical signal received by comparing, and by side maximum for volume
To the source direction as acoustical signal, and move playback towards source direction；
Periodically judge whether to detect that guide pile is launched when Indoor Robot moves towards acoustical signal source direction red
External signal, changes into when infrared signal being detected utilizing infrared signal to playback to charging pile.
Source of sound location side utilizes and arrives the loudness of two MIC and the time different calculates, and can only utilize and be loaded in machine
Volume that two ultrasound wave MIC of people both sides symmetric position receive acoustical signal is different to be distinguished, if the sound of two MIC
Amount is consistent, then it is believed that sound source robot just before or dead astern, can move towards this direction and judge next step.Current real
Execute in example, when Indoor Robot relies on acoustical signal to switch back into employing infrared letter when moving and return in the range of IR signal reception
Number carry out follow-up playback.So once arrive in infrared signal transceiving range, it is possible to use prior art comparative maturity
Infrared signal location mode carry out remaining process, this mode makes Indoor Robot playback more flexible, depending on positioned
Position depending on, it is possible to ensure the smooth playback of Indoor Robot.In other implementations, it is possible to omnidistance employing acoustical signal enters
Row playback.
In the present example, charging pile sends periodic acoustical signal, and the room of present example towards single direction
Inner machine people is provided with two and is installed on rightabout acoustic signal reception apparatus, and Indoor Robot is towards acoustical signal source direction
The method of movement, with reference to Fig. 1, specifically includes:
Rotating in place and find the consistent direction of the sound signal volume making two acoustic signal reception apparatus receive, record should
Volume value on direction also moves one end predeterminable range towards the direction；
Judge whether the sound signal volume value that receives strengthens compared with record value: if it is, using the direction as
The source direction of acoustical signal moves on；Otherwise, the direction after rotation turnback is continued as the source direction of acoustical signal
Advance.
In other situations, the number of the acoustic signal reception apparatus of Indoor Robot can be one or more, accordingly
Ground, the determination of Indoor Robot acoustical signal source direction is adjusted correspondingly according to the number of acoustic signal reception apparatus.
In the case of Indoor Robot is provided with an acoustic signal reception apparatus, Indoor Robot coming towards acoustical signal
The method that direction, source is moved is:
Obtain the direction of max volume by rotating in place 360 degree and carry out volume value record；
Move towards max volume direction, the most often move the sound signal volume value and upper that predeterminable range all will receive
Secondary volume value contrasts: if bigger than the volume value of last time record, then the volume value newly obtained is used for more new record,
And move on；Otherwise, again rotate in place 360 degree and advance to obtain the direction of max volume and update volume value.
The advantage of this mode is, compare two acoustic signal reception apparatus, can be lower on cost, and shortcoming is list
Individual acoustic signal reception apparatus may decrease in precision on location, increases certain power consumption during causing playback.
In the case of Indoor Robot is provided with three equally distributed acoustic signal reception apparatus, Indoor Robot is towards sound
The method that signal source direction moves includes:
Rotate in place the feelings finding the sound signal volume making two of which acoustic signal reception apparatus receive consistent
The direction that under condition, the 3rd acoustic signal reception apparatus volume of reception is maximum, the direction maximum towards this volume is moved.
When using three acoustic signal reception apparatus, Indoor Robot can need not rotating 360 degrees, can be at two sound
Tone signal receive device receive volume consistent in the case of record this first volume value, and record the 3rd audible signal reception
Second volume value of device, when rotating later, the volume value of any two acoustic signal reception apparatus meets recorded
Can be obtained by needing the direction of movement during the volume maximum that one volume value and the 3rd acoustic signal reception apparatus receive.
Indoor Robot be provided with four acoustic signal reception apparatus be provided with two be installed on rightabout first sound letter
Number receive device, and two second sound signals perpendicular and in opposite direction with the first acoustic signal reception apparatus receive dress
Putting, the method that Indoor Robot moves towards acoustical signal source direction includes:
Rotate in place the side finding the sound signal volume making two the first acoustic signal reception apparatus receive consistent
To, and compare the sound signal volume size that two second sound signals reception devices receive, choose the direction that volume is bigger
Mobile.
Four or more acoustic signal reception apparatus make the angle rotated in place less, it is also possible to increase the standard of location
By the volume before and after comparing, exactness, as long as the sound signal volume meeting both sides is consistent, i.e. may know which direction belongs to
In sound source direction.Certain multiple acoustic signal reception apparatus also results in the problem that cost increased.Therefore, concrete implementation
Can select according to the balance between cost and positional accuracy and speed.
It addition, for room layout complicated in the case of, single-tone source location may can not reach extraordinary discrimination, this
Sample can add the ultrasonic horn in variant direction at charging pile, is also periodically to launch signal, a most at least source of sound
Arrival MIC in the middle of path be the shortest, decay be also minimum.Can also first connect with radio communication family for time-consuming
Connecing, both sides' intercommunication is linked up and is calculated that to open the source of sound of which loudspeaker be maximally effective.
The charging pile of second embodiment of the invention has the source of sound sending periodic sound signals to multiple directions, indoor set
Device people first compares the selected wherein immediate source of sound in direction of volume sending acoustical signal to all directions, then movement is playbacked
Direction adjust to the sound source direction towards this source of sound.Communication includes multiple, and the most common Wi-Fi connects
Or bluetooth connection etc..In second embodiment, Indoor Robot compares the volume choosing sending acoustical signal to all directions
The method of the fixed wherein immediate source of sound in direction includes:
Wireless connections are carried out with charging pile；
Send instruction to charging pile, open the source of sound of all directions of charging pile one by one and record volume value；
The acoustical signal of one of them volume value maximum selected is as source of sound.
In second embodiment, Indoor Robot uses the beeper setting means of first embodiment.At selected source of sound
After, the follow-up method moved towards sound source direction is identical with first embodiment, it would however also be possible to employ one or more audible signal reception
The setting of device and respective handling.
Do so, primarily to there is multiple barrier to block so that sound diffraction between robot and charging pile, is launched folded
Causing the situation that all directions detection loudness differences is little after adding, if loudness is the biggest in theory, middle barrier can be got over
Few；If robot advances, after a segment distance, detection zone indexing is not it is obvious that above step can be repeated, and reaches to open
The purpose of big discrimination source of sound.
It addition, when using multiple source of sound, it is also possible to need not Indoor Robot and come by the way of wireless connections select
Actively close source of sound, and adopt and in other ways selected source of sound is made a distinction with other source of sound.Can be by three ultrasound wave
Loudspeaker carry out timesharing transmission according to fixed time interval, such as, have three ultrasonic horn A, B and C, and A horn wire is launched fixing
The signal of duration, then turns off A and opens the fixing duration signal of B transmitting, in like manner arrive C, when being wherein spaced after separated in time
Between can be robot process signal maximum time+signal aerial maximum possible transmission the time, thus will not lead
Causing voice technique, the fixing duration that A B C launches can be different, and it is which source of sound is being sent out that Indoor Robot can be told
Penetrate.The time that certain this mode can cause robot to detect along with the increase of loudspeaker quantity is elongated, if it is desired to the time of shortening,
Can also encode the acoustical signal of different loudspeaker sources of sound, the ultrasonic signal of such as different audio frequency uses carrier wave to add
With the data signal mode of different information, such Indoor Robot can distinguish source of sound according to decoding signal out, with
Advance towards selected source of sound.
It is an advantage of the current invention that acoustical signal R-T units such as utilizing ultrasonic signal positions, signal frequency height,
Wavelength is short, diffraction phenomenon is little, particularly good directionality, ray can be become and the features such as direction propagation, can have multiple side
Indoor Robot is enable to be accurately positioned charging pile to playback smoothly and to ensure that cost is relatively low in the case of to；Use single
The acoustical signal in direction has low cost, and method is simple, deals with advantage faster；Multiple audible signal reception is used to fill
Put the purpose that can reach to position rapidly source of sound, thus ensure that playback is charged in time；Use multiple source of sound can avoid list
Individual source of sound does not receives stable acoustical signal owing to reflecting and reflecting the energy attenuation caused.
Claims (10)
1. an Indoor Robot playback air navigation aid, playbacks to charging pile for Indoor Robot, it is characterised in that including:
Charging pile sends periodic acoustical signal；
Indoor Robot original place rotates and the volume of acoustical signal received by comparing, and is made in direction maximum for volume
For the source direction of acoustical signal, and move playback towards source direction.
2. Indoor Robot playback air navigation aid as claimed in claim 1, it is characterised in that described charging pile is sent out towards single direction
Send periodic acoustical signal.
3. Indoor Robot playback air navigation aid as claimed in claim 1, it is characterised in that Indoor Robot is provided with a sound
Signal receiving device, the method that Indoor Robot moves towards the source direction of acoustical signal is:
Obtain the direction of max volume by rotating in place 360 degree and carry out volume value record；
Move towards max volume direction, the most often move predeterminable range all by the sound signal volume value received and last time
Volume value contrasts: if bigger than the volume value of last time record, then the volume value newly obtained be used for more new record, and continue
Continuous advance；Otherwise, again rotate in place 360 degree and advance to obtain the direction of max volume and update volume value.
4. Indoor Robot playback air navigation aid as claimed in claim 1, it is characterised in that Indoor Robot is provided with two installations
In rightabout acoustic signal reception apparatus, the method that Indoor Robot moves towards acoustical signal source direction includes:
Rotate in place and find the consistent direction of the sound signal volume making two acoustic signal reception apparatus receive, record the direction
On volume value and move one end predeterminable range towards the direction；
Judge whether the sound signal volume value received strengthens compared with record value: if it is, using the direction as sound
The source direction of signal moves on；Otherwise, will rotation turnback after direction as acoustical signal source direction continue before
Enter.
5. Indoor Robot playback air navigation aid as claimed in claim 2, it is characterised in that Indoor Robot is provided with three uniformly
The beeper of distribution, the method that Indoor Robot moves towards acoustical signal source direction includes:
In the case of rotating in place to find the sound signal volume making two of which acoustic signal reception apparatus receive consistent
The direction that 3rd acoustic signal reception apparatus volume of reception is maximum, the direction maximum towards this volume is moved.
6. Indoor Robot playback air navigation aid as claimed in claim 1, it is characterised in that Indoor Robot is provided with two installations
In rightabout first acoustic signal reception apparatus and perpendicular with the first acoustic signal reception apparatus and in opposite direction
Two second sound signals receive device, and the method that Indoor Robot moves towards acoustical signal source direction includes:
Rotate in place the direction finding the sound signal volume making two the first acoustic signal reception apparatus receive consistent, and
Relatively two second sound signals receive the sound signal volume size that device receives, and the direction choosing volume bigger is moved.
7. Indoor Robot playback air navigation aid as claimed in claim 1, it is characterised in that be additionally included in Indoor Robot towards sound
Periodically judge whether when tone signal source direction moves the infrared signal that guide pile is launched to be detected, when infrared signal being detected
Change into utilizing infrared signal to playback to charging pile.
8. Indoor Robot playback air navigation aid as claimed in claim 1, it is characterised in that described charging pile has to multiple sides
To the source of sound of transmission periodic sound signals, the volume that Indoor Robot first compares to all directions transmission acoustical signal is selected
The wherein immediate source of sound in direction, then the direction of mobile playback is adjusted to the sound source direction towards this source of sound.
9. Indoor Robot playback air navigation aid as claimed in claim 8, it is characterised in that Indoor Robot compares to all directions
The method of the selected wherein immediate source of sound in direction of volume sending acoustical signal includes:
Wireless connections are carried out with charging pile；
Send instruction to charging pile, open the source of sound of all directions of charging pile one by one and record volume value；
The acoustical signal of one of them volume value maximum selected is as source of sound.
10. Indoor Robot playback air navigation aid as claimed in claim 1, it is characterised in that described acoustical signal is ultrasound wave
Signal.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610649095.9A CN106324603A (en) | 2016-08-10 | 2016-08-10 | Indoor robot homing navigation method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610649095.9A CN106324603A (en) | 2016-08-10 | 2016-08-10 | Indoor robot homing navigation method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106324603A true CN106324603A (en) | 2017-01-11 |
Family
ID=57739757
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610649095.9A Pending CN106324603A (en) | 2016-08-10 | 2016-08-10 | Indoor robot homing navigation method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106324603A (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107685334A (en) * | 2017-09-27 | 2018-02-13 | 歌尔股份有限公司 | A kind of service robot charging method and service robot |
| CN107765688A (en) * | 2017-09-27 | 2018-03-06 | 深圳市神州云海智能科技有限公司 | The control method and device of a kind of autonomous mobile robot and its automatic butt |
| CN107943054A (en) * | 2017-12-20 | 2018-04-20 | 北京理工大学 | Automatic recharging method based on robot |
| CN108233466A (en) * | 2017-12-20 | 2018-06-29 | 北京理工大学 | Automatic charging system |
| CN109262621A (en) * | 2018-09-26 | 2019-01-25 | 苏州米机器人有限公司 | Chassis, the Self-Service machine people including this chassis and its autonomous looking-for-person method |
| CN112198873A (en) * | 2020-09-03 | 2021-01-08 | 江苏美的清洁电器股份有限公司 | Control method and device of electronic equipment, electronic equipment and computer storage medium |
| CN112750431A (en) * | 2019-10-29 | 2021-05-04 | 珠海市一微半导体有限公司 | Voice control method of garbage can robot, garbage can robot and chip |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101108482A (en) * | 2006-07-19 | 2008-01-23 | 财团法人工业技术研究院 | Route guidance method of self-propelled device |
| CN102541080A (en) * | 2010-12-11 | 2012-07-04 | 骅威科技股份有限公司 | Mobile device with sound source positioning function |
| EP2637073A2 (en) * | 2012-03-09 | 2013-09-11 | LG Electronics, Inc. | Robot cleaner and method for controlling the same |
| CN103507067A (en) * | 2012-06-15 | 2014-01-15 | 华硕电脑股份有限公司 | Robot device and method for guiding robot to return base station |
| CN103852745A (en) * | 2012-12-05 | 2014-06-11 | 联想(北京)有限公司 | Positioning method and electronic devices |
| CN104035065A (en) * | 2014-06-23 | 2014-09-10 | 河北工业大学 | Sound source orienting device on basis of active rotation and method for applying sound source orienting device |
| CN105116920A (en) * | 2015-07-07 | 2015-12-02 | 百度在线网络技术（北京）有限公司 | Intelligent robot tracking method and apparatus based on artificial intelligence and intelligent robot |
| CN105629971A (en) * | 2014-11-03 | 2016-06-01 | 贵州亿丰升华科技机器人有限公司 | Robot automatic charging system and control method therefor |
| CN105761363A (en) * | 2016-02-19 | 2016-07-13 | 海信集团有限公司 | Self-service charging method for mobile equipment, mobile equipment and fixed charging pile |
-
2016
- 2016-08-10 CN CN201610649095.9A patent/CN106324603A/en active Pending
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101108482A (en) * | 2006-07-19 | 2008-01-23 | 财团法人工业技术研究院 | Route guidance method of self-propelled device |
| CN102541080A (en) * | 2010-12-11 | 2012-07-04 | 骅威科技股份有限公司 | Mobile device with sound source positioning function |
| EP2637073A2 (en) * | 2012-03-09 | 2013-09-11 | LG Electronics, Inc. | Robot cleaner and method for controlling the same |
| CN103507067A (en) * | 2012-06-15 | 2014-01-15 | 华硕电脑股份有限公司 | Robot device and method for guiding robot to return base station |
| CN103852745A (en) * | 2012-12-05 | 2014-06-11 | 联想(北京)有限公司 | Positioning method and electronic devices |
| CN104035065A (en) * | 2014-06-23 | 2014-09-10 | 河北工业大学 | Sound source orienting device on basis of active rotation and method for applying sound source orienting device |
| CN105629971A (en) * | 2014-11-03 | 2016-06-01 | 贵州亿丰升华科技机器人有限公司 | Robot automatic charging system and control method therefor |
| CN105116920A (en) * | 2015-07-07 | 2015-12-02 | 百度在线网络技术（北京）有限公司 | Intelligent robot tracking method and apparatus based on artificial intelligence and intelligent robot |
| CN105761363A (en) * | 2016-02-19 | 2016-07-13 | 海信集团有限公司 | Self-service charging method for mobile equipment, mobile equipment and fixed charging pile |
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107685334A (en) * | 2017-09-27 | 2018-02-13 | 歌尔股份有限公司 | A kind of service robot charging method and service robot |
| CN107765688A (en) * | 2017-09-27 | 2018-03-06 | 深圳市神州云海智能科技有限公司 | The control method and device of a kind of autonomous mobile robot and its automatic butt |
| WO2019062164A1 (en) * | 2017-09-27 | 2019-04-04 | 歌尔股份有限公司 | Service robot charging method and charging apparatus, and service robot |
| CN107765688B (en) * | 2017-09-27 | 2019-12-20 | 深圳市神州云海智能科技有限公司 | Autonomous mobile robot and automatic docking control method and device thereof |
| US10946529B2 (en) | 2017-09-27 | 2021-03-16 | Goertek Inc. | Method and device for charging service robot and service robot |
| CN107685334B (en) * | 2017-09-27 | 2024-04-02 | 歌尔股份有限公司 | Service robot charging method and service robot |
| CN107943054A (en) * | 2017-12-20 | 2018-04-20 | 北京理工大学 | Automatic recharging method based on robot |
| CN108233466A (en) * | 2017-12-20 | 2018-06-29 | 北京理工大学 | Automatic charging system |
| CN109262621A (en) * | 2018-09-26 | 2019-01-25 | 苏州米机器人有限公司 | Chassis, the Self-Service machine people including this chassis and its autonomous looking-for-person method |
| CN112750431A (en) * | 2019-10-29 | 2021-05-04 | 珠海市一微半导体有限公司 | Voice control method of garbage can robot, garbage can robot and chip |
| CN112198873A (en) * | 2020-09-03 | 2021-01-08 | 江苏美的清洁电器股份有限公司 | Control method and device of electronic equipment, electronic equipment and computer storage medium |
| CN112198873B (en) * | 2020-09-03 | 2022-04-01 | 美智纵横科技有限责任公司 | Control method and device of electronic equipment, electronic equipment and computer storage medium |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106324603A (en) | Indoor robot homing navigation method | |
| US10024952B2 (en) | Self-organizing hybrid indoor location system | |
| US10126406B2 (en) | Method and apparatus for performing ultrasonic presence detection | |
| EP2975892B1 (en) | Mobile terminal, and locating method and device | |
| JP6573710B2 (en) | Method and device for aligning device positions | |
| CN103874020B (en) | Ultra-wideband positioning method of single receiver in indirect path environment | |
| US9684060B2 (en) | Ultrasound-based localization of client devices with inertial navigation supplement in distributed communication systems and related devices and methods | |
| US20130154872A1 (en) | Method and a device for locating at least one obstacle in a communications network, a corresponding computer program | |
| US10114116B2 (en) | Common burst for pulse compression radar | |
| WO2019137281A1 (en) | Positioning method and apparatus | |
| US20070150103A1 (en) | Positioning method and system for indoor moving robot | |
| WO2022111129A1 (en) | Positioning method, apparatus, device and system, and storage medium | |
| CN103024661A (en) | Wireless location method and system | |
| WO2018108097A1 (en) | Positioning method, assistant site and system | |
| CN113347572A (en) | Method and system for realizing terminal positioning by using aerial base station | |
| KR101597437B1 (en) | Indoor localization system and method using ratio of relative received signal strength indicator of radio signal | |
| US20210160707A1 (en) | Mobile station control method and mobile station control apparatus | |
| WO2020133404A1 (en) | Antenna system, control method therefor, and network apparatus | |
| TWI807115B (en) | Method for determining a communication path of millimeter wave signal, measurememt device and measurement controller using the same | |
| CN116449289A (en) | Infrastructure positioning method and system | |
| CN109672465B (en) | Method, equipment and system for adjusting antenna gain | |
| Hii et al. | Improving location accuracy by combining WLAN positioning and sensor technology | |
| CN108271245A (en) | A kind of direct projection diameter judgment method and device | |
| WO2020133280A1 (en) | Mobile platform-based antenna testing method and apparatus and information processing device | |
| KR102650647B1 (en) | Apparatus and Method for estimating position of acoustic source |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20170111 |