CN108988403A - Recharging system, autonomous mobile apparatus and charging pile - Google Patents
Recharging system, autonomous mobile apparatus and charging pile Download PDFInfo
- Publication number
- CN108988403A CN108988403A CN201710399994.2A CN201710399994A CN108988403A CN 108988403 A CN108988403 A CN 108988403A CN 201710399994 A CN201710399994 A CN 201710399994A CN 108988403 A CN108988403 A CN 108988403A
- Authority
- CN
- China
- Prior art keywords
- mobile apparatus
- autonomous mobile
- charging pile
- signal
- infrared
- 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
- 230000005855 radiation Effects 0.000 claims description 64
- 230000005611 electricity Effects 0.000 claims description 9
- 238000003032 molecular docking Methods 0.000 claims description 9
- 238000000034 method Methods 0.000 claims description 8
- 230000008569 process Effects 0.000 claims description 6
- 230000004044 response Effects 0.000 claims description 6
- 230000002596 correlated effect Effects 0.000 claims description 5
- 230000005284 excitation Effects 0.000 claims description 5
- 230000001276 controlling effect Effects 0.000 claims description 4
- 238000010586 diagram Methods 0.000 description 13
- 230000004888 barrier function Effects 0.000 description 3
- 230000009897 systematic effect Effects 0.000 description 3
- 230000008859 change Effects 0.000 description 2
- 239000000428 dust Substances 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000002347 injection Methods 0.000 description 2
- 239000007924 injection Substances 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000000149 penetrating effect Effects 0.000 description 2
- 230000006978 adaptation Effects 0.000 description 1
- 230000003044 adaptive effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 238000007796 conventional method Methods 0.000 description 1
- 239000000243 solution Substances 0.000 description 1
- 238000010408 sweeping Methods 0.000 description 1
Classifications
-
- G05D1/661—
-
- H02J5/005—
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
-
- G05D1/247—
-
- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01R—ELECTRICALLY-CONDUCTIVE CONNECTIONS; STRUCTURAL ASSOCIATIONS OF A PLURALITY OF MUTUALLY-INSULATED ELECTRICAL CONNECTING ELEMENTS; COUPLING DEVICES; CURRENT COLLECTORS
- H01R24/00—Two-part coupling devices, or either of their cooperating parts, characterised by their overall structure
-
- H02J7/025—
-
- G05D2105/10—
-
- G05D2109/10—
-
- G05D2111/14—
-
- G05D2111/30—
Abstract
The disclosure is directed to a kind of recharging system, autonomous mobile apparatus and charging piles, which includes charging pile and autonomous mobile apparatus；Charging pile includes near field infrared launcher and RF transmitter, and near field infrared launcher emits near field infrared signal, and RF transmitter emits radiofrequency signal；Autonomous mobile apparatus includes infrared receiving device, RF Receiving Device and controller, controller can be when control autonomous mobile apparatus recharges, the radiofrequency signal received according to RF Receiving Device, control autonomous mobile apparatus search near field infrared signal near corresponding emission source；Controller can guide autonomous mobile apparatus to dock charging with charging pile when infrared receiving device receives near field infrared signal according near field infrared signal.By the technical solution of the disclosure, the Dock With Precision Position of autonomous mobile apparatus and charging pile may be implemented, autonomous mobile apparatus is avoided to cause to collide to charging pile, is conducive to extend the service life of autonomous mobile apparatus and charging pile.
Description
Technical field
This disclosure relates to robotic technology field more particularly to a kind of recharging system, autonomous mobile apparatus and fill
Electric stake.
Background technique
Currently, near-field thermal radiation region is directed it to by far field infrared signal when autonomous mobile apparatus is recharged, then
It is guided to dock charging between charging pile by the near field infrared signal in near-field thermal radiation region.But due to infrared signal
Be easy to be influenced by external environment, for example, dust blocks, barrier blocks, cause autonomous mobile apparatus difficult to realize with
The accurate docking of charging pile causes autonomous mobile apparatus so as to cause the continuous collision between autonomous mobile apparatus and charging pile
With the damage of charging pile, service life is influenced.
Summary of the invention
The disclosure provides a kind of recharging system, autonomous mobile apparatus and charging pile, to solve in the related technology
It is insufficient.
According to the first aspect of the embodiments of the present disclosure, a kind of recharging system is provided, comprising: charging pile and autonomous
Equipment；
The charging pile includes near field infrared launcher and RF transmitter, and the near field infrared launcher is used for
Emit near field infrared signal, the RF transmitter is for emitting radiofrequency signal；
The autonomous mobile apparatus includes infrared receiving device, RF Receiving Device and controller, and the controller can
When the control autonomous mobile apparatus recharges, according to the radiofrequency signal that the RF Receiving Device receives, control is described certainly
Main mobile device searches for the near field infrared signal near the emission source of the radiofrequency signal；And the controller can be
When the infrared receiving device receives the near field infrared signal, the autonomous is guided according to the near field infrared signal
Equipment carries out docking charging with the charging pile.
Optionally, the autonomous mobile apparatus further includes storage device, and the storage device is for storing the charging pile
Location information；
The controller can control the autonomous shifting when the electricity of the autonomous mobile apparatus is lower than default power threshold
Dynamic equipment recharges according to the positional information.
Optionally, the location information of the charging pile includes at least one of:
Described autonomous mobile apparatus the last time records the location information of the charging pile when leaving the charging pile；
Described autonomous mobile apparatus the last time docks the position letter that the charging pile is recorded when charging with the charging pile
Breath；
The location information for the charging pile that the autonomous mobile apparatus detects in the process of walking.
Optionally, the charging pile further includes far field infrared launcher, and the far field infrared launcher is for emitting
Far field infrared signal；
The controller can be red according to the far field when the infrared receiving device receives the far field infrared signal
External signal guides the autonomous mobile apparatus to walk towards the charging pile.
Optionally, the controller controls the autonomous mobile apparatus using the first pre-determined distance as radius, along preset direction
Emission source around the radiofrequency signal moves in a circle, infrared to search for the near field near the emission source of the radiofrequency signal
Signal；Wherein, first pre-determined distance is not more than the target emanation distance of the near field infrared signal.
Optionally, the signal strength for the radiofrequency signal that the controller is received according to the RF Receiving Device,
Determine the spacing distance between the autonomous mobile apparatus and the emission source of the radiofrequency signal, and the signal strength with it is described
Spacing distance is negatively correlated.
Optionally, the RF transmitter includes active radio frequency label；The RF Receiving Device includes that radio frequency is read
Device, for receiving the radiofrequency signal of the active radio frequency label transmitting.
Optionally, the RF Receiving Device includes radio frequency reader；The RF transmitter includes passive RF mark
Label, the passive RF label can spacing distance between the autonomous mobile apparatus and the charging pile it is default less than second
Apart from when, the excitation of the RF energy generated in response to the radio frequency reader and emit the radiofrequency signal, and penetrated by described
Frequency reader receives the radiofrequency signal of the passive RF label transmitting.
Optionally, the autonomous mobile apparatus includes: autonomous clean robot.
According to the second aspect of an embodiment of the present disclosure, a kind of autonomous mobile apparatus is provided, comprising:
Infrared receiving device, RF Receiving Device and controller, the infrared receiving device is for receiving charging pile
The transmitting of near field infrared launcher near field infrared signal, the RF Receiving Device is for receiving penetrating on the charging pile
The radiofrequency signal of the injection device that takes place frequently transmitting；
The controller can be received when the control autonomous mobile apparatus is recharged according to the RF Receiving Device
Radiofrequency signal controls the autonomous mobile apparatus and searches for the near field infrared signal near the emission source of the radiofrequency signal；
And the controller can be infrared according to the near field when the infrared receiving device receives the near field infrared signal
Signal guides the autonomous mobile apparatus to carry out docking charging with the charging pile.
Optionally, the autonomous mobile apparatus further includes storage device, and the storage device is for storing the charging pile
Location information；
The controller can control the autonomous shifting when the electricity of the autonomous mobile apparatus is lower than default power threshold
Dynamic equipment recharges according to the positional information.
Optionally, the location information of the charging pile includes at least one of:
Described autonomous mobile apparatus the last time records the location information of the charging pile when leaving the charging pile；
Described autonomous mobile apparatus the last time starts to dock the position that the charging pile is recorded when charging with the charging pile
Confidence breath；
The autonomous mobile apparatus detects the location information of the charging pile in the process of walking.
Optionally, the controller infrared can connect when the electricity of the autonomous mobile apparatus is lower than threshold value according to described
The far field infrared signal for the charging pile transmitting that receiving apparatus receives controls the autonomous mobile apparatus towards the charging pile
Walking.
Optionally, the controller controls the autonomous mobile apparatus using the first pre-determined distance as radius, along preset direction
Emission source around the radiofrequency signal moves in a circle, infrared to search for the near field near the emission source of the radiofrequency signal
Signal；Wherein, first pre-determined distance is not more than the target emanation distance of the near field infrared signal.
Optionally, the signal strength for the radiofrequency signal that the controller is received according to the RF Receiving Device,
Determine the spacing distance between the autonomous mobile apparatus and the emission source of the radiofrequency signal, and the signal strength with it is described
Spacing distance is negatively correlated.
Optionally, the RF Receiving Device includes radio frequency reader, and the radio frequency reader can produce RF energy；
When the RF transmitter is active radio frequency label, the radio frequency reader receives the active radio frequency label
The radiofrequency signal of transmitting；
When the RF transmitter is passive RF label, the RF energy is used in the autonomous mobile apparatus
When spacing distance between the charging pile is less than the second pre-determined distance, the passive RF label is motivated to emit the radio frequency
Signal, and the radiofrequency signal that the passive RF label emits is received by the radio frequency reader.
Optionally, the autonomous mobile apparatus includes: autonomous clean robot.
According to the third aspect of an embodiment of the present disclosure, a kind of charging pile is provided, comprising:
Near field infrared launcher and RF transmitter, the near field infrared launcher is for emitting the infrared letter near field
Number, the RF transmitter is used to indicate autonomous under state in recharging for emitting radiofrequency signal, the radiofrequency signal
Mobile device searches for the near field infrared signal near the emission source of the radiofrequency signal, so that the autonomous mobile apparatus root
Charging is docked with the charging pile according to the near field infrared signal received.
Optionally, the charging pile further includes far field infrared launcher, and the far field infrared launcher is for emitting
Far field infrared signal, the autonomous mobile apparatus that the far field infrared signal is used to be lower than electricity default power threshold recharge
Guidance, so that the autonomous mobile apparatus is walked towards the charging pile.
Optionally, the RF transmitter includes active radio frequency label, and the active radio frequency label is actively described in transmitting
Radiofrequency signal.
Optionally, the RF transmitter includes passive RF label, and the passive RF label can be in the charging
When spacing distance between stake and the autonomous mobile apparatus is less than pre-determined distance, generated in response to the autonomous mobile apparatus
The excitation of RF energy and emit the radiofrequency signal.
According to a fourth aspect of embodiments of the present disclosure, a kind of recharging system is provided, comprising:
Charging pile and autonomous mobile apparatus；The charging pile includes RF transmitter and infrared launcher, described to penetrate
The injection device that takes place frequently is for emitting radiofrequency signal, and the infrared launcher is for emitting infrared signal；Wherein, the radiofrequency signal
It is far-field signal with either one in the infrared signal and forms far field objects radiation scope, another party is near-field signals and is formed
Near-field target radiation scope；
The autonomous mobile apparatus includes RF Receiving Device, infrared receiving device and controller, and the controller can be
When controlling the autonomous mobile apparatus and recharging, received in the far field objects radiation scope according to the autonomous mobile apparatus
Far-field signal, guide the autonomous mobile apparatus to run to the near-field target radiation scope；And the controller according to
The near-field signals that the autonomous mobile apparatus receives in the near-field target radiation scope, guide the autonomous mobile apparatus
Charging is docked with the charging pile.
According to a fifth aspect of the embodiments of the present disclosure, a kind of autonomous mobile apparatus is provided, comprising:
RF Receiving Device, infrared receiving device and controller；The RF Receiving Device is for receiving on charging pile
The radiofrequency signal of RF transmitter transmitting, the infrared receiving device are used to receive the infrared launcher on the charging pile
The infrared signal of transmitting；Wherein, it is far-field signal either in the radiofrequency signal and the infrared signal and forms far field
Target emanation range, another party are near-field signals and form near-field target radiation scope；
The controller can be when the control autonomous mobile apparatus recharges, according to the autonomous mobile apparatus described remote
The far-field signal received within the scope of the target emanation of field guides the autonomous mobile apparatus to run to the near-field target radiation model
It encloses；And the controller is believed according to the near field that the autonomous mobile apparatus receives in the near-field target radiation scope
Number, guide the autonomous mobile apparatus to dock charging with the charging pile.
According to a sixth aspect of an embodiment of the present disclosure, a kind of charging pile is provided, comprising:
RF transmitter and infrared launcher, the RF transmitter are described infrared for emitting radiofrequency signal
Emitter is for emitting infrared signal；Either one in the radiofrequency signal and the infrared signal is far-field signal and is formed remote
Field target emanation range, another party are near-field signals and form near-field target radiation scope；Wherein, the far-field signal is for drawing
It leads in the far field objects radiation scope, autonomous mobile apparatus in the state that recharges and runs to the near-field target radiation model
It encloses, the near-field signals are for guiding the autonomous in the near-field target radiation scope, in the state that recharges to set
It is standby to dock charging with the charging pile.
As can be seen from the above embodiments, the disclosure can be by carrying out radiofrequency signal between charging pile and autonomous mobile apparatus
Transmitting-receiving, it is ensured that autonomous mobile apparatus receives the radiofrequency signal from charging pile during recharging, without by dust,
Barrier etc. is blocked or is influenced, and is helped to improve autonomous mobile apparatus and is docked the accuracy recharged with charging pile, reduces collision
Probability of happening, be conducive to extend the service life of autonomous mobile apparatus and charging pile.
It should be understood that above general description and following detailed description be only it is exemplary and explanatory, not
The disclosure can be limited.
Detailed description of the invention
The drawings herein are incorporated into the specification and forms part of this specification, and shows the implementation for meeting the disclosure
Example, and together with specification for explaining the principles of this disclosure.
Fig. 1 is a kind of block diagram of recharging system shown according to an exemplary embodiment.
Fig. 2 is a kind of recharging systematic difference scene figure shown according to an exemplary embodiment.
Fig. 3 is a kind of another application scenario diagram of recharging system shown according to an exemplary embodiment.
Fig. 4 is a kind of another application scenario diagram of recharging system shown according to an exemplary embodiment.
Fig. 5 is a kind of another application scenario diagram of recharging system shown according to an exemplary embodiment.
Fig. 6 is a kind of another application scenario diagram of recharging system shown according to an exemplary embodiment.
Fig. 7 is a kind of another application scenario diagram of recharging system shown according to an exemplary embodiment.
Fig. 8 is a kind of another application scenario diagram of recharging system shown according to an exemplary embodiment.
Fig. 9 is the block diagram of another recharging system shown according to an exemplary embodiment.
Figure 10 is a kind of recharging systematic difference scene figure shown according to an exemplary embodiment.
Figure 11 is a kind of another application scenario diagram of recharging system shown according to an exemplary embodiment.
Figure 12 is the block diagram of another recharging system shown according to an exemplary embodiment.
Figure 13 is a kind of recharging systematic difference scene figure shown according to an exemplary embodiment.
Figure 14 is a kind of another application scenario diagram of recharging system shown according to an exemplary embodiment.
Specific embodiment
Example embodiments are described in detail here, and the example is illustrated in the accompanying drawings.Following description is related to
When attached drawing, unless otherwise indicated, the same numbers in different drawings indicate the same or similar elements.Following exemplary embodiment
Described in embodiment do not represent all embodiments consistent with the application.On the contrary, they be only with it is such as appended
The example of the consistent device and method of some aspects be described in detail in claims, the application.
It is only to be not intended to be limiting the application merely for for the purpose of describing particular embodiments in term used in this application.
It is also intended in the application and the "an" of singular used in the attached claims, " described " and "the" including majority
Form, unless the context clearly indicates other meaning.It is also understood that term "and/or" used herein refers to and wraps
It may be combined containing one or more associated any or all of project listed.
It will be appreciated that though various information, but this may be described using term first, second, third, etc. in the application
A little information should not necessarily be limited by these terms.These terms are only used to for same type of information being distinguished from each other out.For example, not departing from
In the case where the application range, the first information can also be referred to as the second information, and similarly, the second information can also be referred to as
One information.Depending on context, word as used in this " if " can be construed to " ... when " or " when ...
When " or " in response to determination ".
Fig. 1 is a kind of schematic diagram of recharging system shown according to an exemplary embodiment, as shown in Figure 1, should be certainly
Main mobile system 100 includes autonomous mobile apparatus 1 and charging pile 2, which can be connected to each other with autonomous mobile apparatus 1, with
It charges to autonomous mobile apparatus 1.
Wherein, which may include near field infrared launcher 21 and RF transmitter 22；Radio-frequency transmissions dress
Setting 22 can be used for emitting radiofrequency signal, which can indicate penetrating in the autonomous mobile apparatus 1 recharged under state
The emission source (i.e. RF transmitter 22) of frequency signal nearby searches near field infrared signal, which is then by charging
Infrared launcher 21 in stake 2 is emitted, to guide autonomous mobile apparatus 1 that charge port is docked to the charging of charging pile 2
Electrode simultaneously realizes docking charging.
Autonomous mobile apparatus 1 may include infrared receiving device 11, RF Receiving Device 12 and controller 13.Wherein,
Controller 13 can control autonomous mobile apparatus 1 and be recharged towards charging pile 2；Also, it is in and recharges in autonomous mobile apparatus 1
When state, RF Receiving Device 12 is in running order, in order to receive the transmitting of the above-mentioned RF transmitter 22 on charging pile 2
Radiofrequency signal；When autonomous mobile apparatus 1 receives the radiofrequency signal by RF Receiving Device 12, it can determine that this is penetrated
The emission source (i.e. RF transmitter 22, that is, charging pile 2 itself) of frequency signal, and in the transmitting under the control of controller 13
Near field infrared signal is nearby searched in source；Wherein, the near field infrared signal can be received by infrared receiving device 11, goes forward side by side one
By controller 13 under the guidance of the near field infrared signal received, control autonomous mobile apparatus 1 is docked step with charging pile 2
Charging.
It in the above-described embodiments, can be to avoid the ash around charging pile 2 by sending out radiofrequency signal by charging pile 2
Dirt, barrier etc. cause to block to radiofrequency signal, it is ensured that autonomous mobile apparatus 1 can receive the radiofrequency signal, and accordingly really
It is fixed itself to have been positioned near charging pile 2, so that accurate telltale mark is realized in the position to charging pile 2.Meanwhile it receiving
After radiofrequency signal, autonomous mobile apparatus 1, can drawing in the near field infrared signal by searching further near field infrared signal
It leads docking between lower realization autonomous mobile apparatus 1 and charging pile 2 to recharge, autonomous mobile apparatus 1 and charging not only can be improved
Stake 2 docks the accuracy recharged, reduces collision, also helps the service life for extending autonomous mobile apparatus 1 and charging pile 2.
In order to make it easy to understand, autonomous mobile apparatus 1 and charging pile 2 can be abstracted as the point in travel plane, with
Just schematic diagram shown in Fig. 2-9 is combined, the recharging process of above-mentioned recharging system shown in FIG. 1 is retouched in detail
It states.
As shown in Figure 2, it is assumed that radiofrequency signal radiation radius is R1, and correspondingly forms the radiation areas M1 of radiofrequency signal；
It is assumed that the target emanation distance R2 of infrared signal, and correspondingly form substantially fan-shaped radiation areas M2.So, in recharging
Autonomous mobile apparatus 1 under state during the motion, if RF Receiving Device 12 does not receive radiofrequency signal, illustrates certainly
Farther out, autonomous mobile apparatus 1 can continue to move (towards charging pile 2) for the distance between main mobile device 1 and charging pile 2.
Assuming that autonomous mobile apparatus 1 continues to move, when RF Receiving Device 12 receives radiofrequency signal, show that radio frequency connects
Receiving apparatus 12 is located in above-mentioned radiation areas M1, thus can determine that autonomous mobile apparatus 1 has arrived near charging pile 2.
At this point, autonomous mobile apparatus 1 can be attempted to receive near field infrared signal by infrared receiving device 11；If can receive close
Field infrared signal shows that autonomous mobile apparatus 1 enters and is located at above-mentioned radiation areas M2, and can be based further on the near field
Infrared signal carries out docking charging with charging pile 2；If near field infrared signal can not be received, show autonomous mobile apparatus 1 not
In radiation areas M2, then radiation areas M2 can be entered by following manner:
As shown in figure 3, autonomous mobile apparatus 1 is located near charging pile 2, and the radiation areas M1 of radiofrequency signal has covered
Lid is to autonomous mobile apparatus 1, and controller 13 is radius, control autonomous mobile apparatus 1 along default side using the first pre-determined distance at this time
Circumference fortune is done to around radio frequency signal emitting-source (i.e. charging pile 2, or be specially the RF transmitter 22 inside the charging pile 2)
It is dynamic, to search near field infrared signal；Wherein, the first pre-determined distance should be not more than the target emanation distance of near field infrared signal
R2, to ensure that autonomous mobile apparatus 1 can search near field infrared signal.
For example, controller 13 can according to the signal strength of the radiofrequency signal received, determine autonomous mobile apparatus 1 with
Spacing distance L1 between charging pile 2, then, as L1≤R2, autonomous mobile apparatus 1 can be directly using L1 as radius, along pre-
Set direction moves in a circle around the emission source of radiofrequency signal, to search near field infrared signal near the emission source of radiofrequency signal.
The embodiment in conjunction with shown in Fig. 3-5, it is assumed that autonomous mobile apparatus 1 is since position shown in Fig. 3, along shown in Fig. 4 counterclockwise
Direction A moves in a circle around charging pile 2, until position shown in fig. 5 is reached, so that autonomous mobile apparatus 1 is red near field
The radiation areas M2 of external signal, to dock recharging with charging pile 2；The preset direction may be clockwise, originally
It is open to be limited not to this.
And as L1 > R2, as shown in fig. 6, if autonomous mobile apparatus 1 is still radius around the emission source of radiofrequency signal using L1
It moves in a circle, then cannot be introduced into the radiation areas M2 of near field infrared signal, so that autonomous mobile apparatus 1 can not also search this
Near field infrared signal.So controller 13 can control autonomous mobile apparatus 1 first and continue to advance towards charging pile 2, wherein
RF Receiving Device 12 receives negatively correlated between the signal strength of radiofrequency signal and spacing distance L1, i.e. autonomous mobile apparatus
When spacing distance between 1 and charging pile 2 is closer, the signal strength of radiofrequency signal is stronger.
It is assumed that the distance that autonomous mobile apparatus 1 moves on is distance L2 as shown in Figure 7, so that autonomous mobile apparatus 1
Spacing distance between charging pile 2 foreshortens to (L1-L2) by L1, and the first above-mentioned pre-determined distance changes correspondingly as (L1-
L2)；Wherein, it should be ensured that (L1-L2)≤R2 so that autonomous mobile apparatus 1 using (L1-L2) as radius, along preset direction
When moving in a circle around the emission source of radiofrequency signal, near field infrared signal can be searched near the emission source of radiofrequency signal.
In fact, the infrared receiving device 11 on autonomous mobile apparatus 1 may be set to RF Receiving Device 12
Same or similar position；Analogously, the infrared launcher 21 on charging pile 2 may also not set with RF transmitter 22
It is placed in same or similar position.For example, as shown in Figure 8, it is assumed that depending on the relative position relationship determine infrared receiving device 11 with
Spacing distance between RF Receiving Device 12 is S1；Similarly, determine infrared launcher 21 and RF transmitter 22 it
Between spacing distance be S2；And, it is assumed that autonomous mobile apparatus 1 comes into the radiation areas M1 of radiofrequency signal, thus according to
The intensity of the received radiofrequency signal of RF Receiving Device 12, can determine RF Receiving Device 12 and RF transmitter 22 it
Between spacing distance be L4.
So, when autonomous mobile apparatus 1 is moved in a circle using the first pre-determined distance as radius, around RF transmitter 22
When, in order to ensure it may search for the infrared signal emitted by infrared launcher 21, infrared receiving device 11 should be met
Spacing distance L5≤R2 between infrared launcher 21；And spacing distance L5 not only becomes with the variation of spacing distance L4
Change, and can be influenced by spacing distance S1, S2；So according to the changing rule of spacing distance L5, it is known that when infrared receiver fills
When setting 11, RF Receiving Device 12, infrared launcher 21 and RF transmitter 22 and being located along the same line, spacing distance
L5 reaches maximum value, and L5=L4+S1+S2, thus as L4+S1+S2≤R2 namely when spacing distance L4≤R2-S2-S2,
May insure autonomous mobile apparatus 1 using spacing distance L4 as the first pre-determined distance and around charging pile 2 move when, Ke Yijin
Enter into the radiation areas M2 of infrared signal so that infrared receiving device 11 can receive it is red into IR radiation region M2
External signal.
It, can be in controller when the electricity of autonomous mobile apparatus 1 is lower than default power threshold in above-mentioned each embodiment
It is recharged under 13 control towards charging pile 2, such as:
In one embodiment, further include storage device 14 in autonomous mobile apparatus 1, be stored with charging in the storage device 14
Stake 2 location information, allow controller 13 according to the location information control autonomous mobile apparatus 1 to charging pile 2 walk into
Row recharges.Wherein, location information can be recorded and be saved by autonomous mobile apparatus 1, for example, when autonomous mobile apparatus 1 exists
The last time records the location information of charging pile 2 or when autonomous mobile apparatus 1 is the last and charging when leaving charging pile 2
What stake 2 docked and records the location information of charging pile 2 when charging, detects in the process of walking again or when autonomous mobile apparatus 1
It is recorded when the location information of charging pile 2；Certainly, which is also possible to be set under above-mentioned a variety of scenes by autonomous
It is recorded and is saved for 1, the disclosure is limited not to this.
In another embodiment, as shown in figure 9, further including far field infrared launcher 23, the infrared emission on charging pile 2
Device 23 can be used for emitting far field infrared signal, also, can be by the infrared of autonomous mobile apparatus 1 by the far field infrared signal
Reception device 11 receives, so that controller 13 can control autonomous mobile apparatus 1 towards filling based on received far field infrared signal
The electric walking of stake 2 is recharged.
Based on above-mentioned each embodiment, the radiation areas M1 of the radiofrequency signal emitted on charging pile 2 specifically can be by radio frequency
The formation of RF tag 221 in emitter 22；In one embodiment, which may include active radio frequency label
When, to can automatically form above-mentioned radiation areas M1 on charging pile 2, and when radiation areas M1 is covered to autonomous
When equipment 1, radiofrequency signal can be received by the radio frequency reader 121 in RF Receiving Device 12, to determine autonomous mobile apparatus 1
It has been positioned near charging pile 2, so that accurate telltale mark is realized in the position to charging pile 2.
In another embodiment, which may include passive RF label, which can be
Emit radiofrequency signal under the excitation for the RF energy that radio frequency reader 121 generates, and forms above-mentioned radiation areas M1；Specifically,
As shown in Figure 10, it is assumed that the radiation radius for the RF energy that radio frequency reader 121 generates is R3, and correspondingly forms radiation areas
Spacing distance L3 on M3, autonomous mobile apparatus 1 and charging pile 2 between RF transmitter 22.
So, as L3 > R3, radiation areas M3 will not be covered to passive RF label, so autonomous mobile apparatus 1 can
To continue to move towards charging pile 2, until L3≤R3, as shown in figure 11, radiation areas M3 can be covered to passive RF label,
At this point, passive RF label can in response to RF energy excitation and launch radiofrequency signal, and formed in above-described embodiment
Radiation areas M1, be marked with the position to charging pile 2, can convenient for autonomous mobile apparatus 1 when receiving radiofrequency signal
To determine that it has been positioned near charging pile 2.
The disclosure also provides the technical solution of another recharging system, and as shown in figure 12, which can
To include autonomous mobile apparatus 1 and charging pile 2, which may include RF transmitter 24 and infrared launcher 25,
The infrared launcher 25 can be used for emitting infrared signal, and RF transmitter 24 then can be used for emitting radiofrequency signal；Its
In, when either one in the radiofrequency signal and infrared signal is far-field signal and forms far field objects radiation scope, another party is close
Field signal simultaneously forms near-field target radiation scope；Also, far-field signal can be used for guiding in far field objects radiation scope, place
Near-field target radiation scope is run in the autonomous mobile apparatus 1 for the state that recharges, near-field signals can be used for guiding near-field target
Autonomous mobile apparatus 1 in radiation scope, in the state that recharges docks charging with charging pile 2.
In one embodiment, as shown in figure 13, the radiofrequency signal that the RF transmitter 24 on charging pile 2 emits is as close
Field signal, and correspondingly form near-field thermal radiation range N1, infrared launcher 25 emit infrared signal as far-field signal, and
Correspondingly form far-field radiation range N2.So, the infrared receiving device 16 on autonomous mobile apparatus 1 can receive from remote
Far-field signal (i.e. infrared signal) in the radiation scope N2 of field, so that the controller 17 on autonomous mobile apparatus 1 is controlling its time
When filling, near-field thermal radiation range N1 can be run to according to the guidance of the far-field signal received；Also, controller 17 can be with base
In the near-field signals in the near-field thermal radiation region N1 that the RF Receiving Device 15 on autonomous mobile apparatus 1 receives, (i.e. radio frequency is believed
Number), guide the charge port of autonomous mobile apparatus 1 to dock charging with the charging electrode realization on charging pile 2.
In another embodiment, as shown in figure 14, the radiofrequency signal conduct that the RF transmitter 24 on charging pile 2 emits
Far-field signal, and correspondingly form far-field radiation range N3, infrared signal that infrared launcher 25 emits is as near-field signals,
And correspondingly form near-field thermal radiation range N4.So, the RF Receiving Device 15 on autonomous mobile apparatus 1, which can receive, comes from
Far-field signal (i.e. radiofrequency signal) in far-field radiation range N3, so that the controller 17 on autonomous mobile apparatus 1 is controlling it
When recharging, near-field thermal radiation range N4 can be run to according to the guidance of the far-field signal received；Also, controller 17 can be with
The near-field signals in the N4 of near-field thermal radiation region received based on the infrared receiving device 16 on autonomous mobile apparatus 1 are (i.e. infrared
Signal), guide the charge port of autonomous mobile apparatus 1 to dock charging with the charging electrode realization on charging pile 2.
Based on above-mentioned each embodiment, the autonomous mobile apparatus 1 in the disclosure may include autonomous clean robot, such as
Sweeping robot etc., the disclosure is limited not to this.
Those skilled in the art will readily occur to its of the disclosure after considering specification and practicing disclosure disclosed herein
Its embodiment.This application is intended to cover any variations, uses, or adaptations of the disclosure, these modifications, purposes or
Person's adaptive change follows the general principles of this disclosure and including the undocumented common knowledge in the art of the disclosure
Or conventional techniques.The description and examples are only to be considered as illustrative, and the true scope and spirit of the disclosure are by following
Claim is pointed out.
It should be understood that the present disclosure is not limited to the precise structures that have been described above and shown in the drawings, and
And various modifications and changes may be made without departing from the scope thereof.The scope of the present disclosure is only limited by the accompanying claims.
Claims (24)
1. a kind of recharging system, which is characterized in that including charging pile and autonomous mobile apparatus；
The charging pile includes near field infrared launcher and RF transmitter, and the near field infrared launcher is for emitting
Near field infrared signal, the RF transmitter is for emitting radiofrequency signal；
The autonomous mobile apparatus includes infrared receiving device, RF Receiving Device and controller, and the controller can controlled
When making the autonomous mobile apparatus and recharging, according to the radiofrequency signal that the RF Receiving Device receives, the autonomous shifting is controlled
Dynamic equipment searches for the near field infrared signal near the emission source of the radiofrequency signal；And the controller can be described
When infrared receiving device receives the near field infrared signal, the autonomous mobile apparatus is guided according to the near field infrared signal
It carries out docking charging with the charging pile.
2. recharging system according to claim 1, which is characterized in that the autonomous mobile apparatus further includes storage dress
It sets, the storage device is used to store the location information of the charging pile；
The controller can control the autonomous and set when the electricity of the autonomous mobile apparatus is lower than default power threshold
It is standby to recharge according to the positional information.
3. recharging system according to claim 2, which is characterized in that the location information of the charging pile includes following
At least one:
Described autonomous mobile apparatus the last time records the location information of the charging pile when leaving the charging pile；
Described autonomous mobile apparatus the last time docks the location information that the charging pile is recorded when charging with the charging pile；
The location information for the charging pile that the autonomous mobile apparatus detects in the process of walking.
4. recharging system according to claim 1, which is characterized in that the charging pile further includes far field infrared emission
Device, the far field infrared launcher is for emitting far field infrared signal；
The controller can be when the infrared receiving device receives the far field infrared signal, according to the infrared letter in the far field
Number guidance autonomous mobile apparatus is walked towards the charging pile.
5. recharging system according to claim 1, which is characterized in that the controller controls the autonomous and sets
For using the first pre-determined distance as radius, the emission source along preset direction around the radiofrequency signal moves in a circle, to penetrate described
The emission source of frequency signal nearby searches for the near field infrared signal；Wherein, first pre-determined distance is red no more than the near field
The target emanation distance of external signal.
6. recharging system according to claim 5, which is characterized in that the controller is filled according to the radio frequency reception
The signal strength for setting the radiofrequency signal received, determine the autonomous mobile apparatus and the radiofrequency signal emission source it
Between spacing distance, and the signal strength and the spacing distance are negatively correlated.
7. recharging system according to claim 1, which is characterized in that the RF transmitter includes active radio frequency
Label；The RF Receiving Device includes radio frequency reader, for receiving the radio frequency letter of the active radio frequency label transmitting
Number.
8. recharging system according to claim 1, which is characterized in that the RF Receiving Device includes that radio frequency is read
Device；The RF transmitter includes passive RF label, and the passive RF label can be in the autonomous mobile apparatus and institute
When stating the spacing distance between charging pile less than the second pre-determined distance, the RF energy that is generated in response to the radio frequency reader
It motivates and emits the radiofrequency signal, and believed by the radio frequency that the radio frequency reader receives the passive RF label transmitting
Number.
9. recharging system according to claim 1, which is characterized in that the autonomous mobile apparatus includes: autonomous clear
Clean robot.
10. a kind of autonomous mobile apparatus, which is characterized in that including infrared receiving device, RF Receiving Device and controller, institute
It states infrared receiving device and is connect for receiving the near field infrared signal of the transmitting of the near field infrared launcher on charging pile, the radio frequency
Receiving apparatus is used to receive the radiofrequency signal of the RF transmitter transmitting on the charging pile；
The controller can be when controlling the autonomous mobile apparatus and recharging, the radio frequency that is received according to the RF Receiving Device
Signal controls the autonomous mobile apparatus and searches for the near field infrared signal near the emission source of the radiofrequency signal；And
The controller can draw when the infrared receiving device receives the near field infrared signal according to the near field infrared signal
The autonomous mobile apparatus is led to carry out docking charging with the charging pile.
11. autonomous mobile apparatus according to claim 10, which is characterized in that the autonomous mobile apparatus further includes storage
Device, the storage device are used to store the location information of the charging pile；
The controller can control the autonomous and set when the electricity of the autonomous mobile apparatus is lower than default power threshold
It is standby to recharge according to the positional information.
12. autonomous mobile apparatus according to claim 11, which is characterized in that the location information of the charging pile include with
It is at least one lower:
Described autonomous mobile apparatus the last time records the location information of the charging pile when leaving the charging pile；
Described autonomous mobile apparatus the last time starts to dock the position letter that the charging pile is recorded when charging with the charging pile
Breath；
The autonomous mobile apparatus detects the location information of the charging pile in the process of walking.
13. autonomous mobile apparatus according to claim 10, which is characterized in that the controller can be in the autonomous
When the electricity of equipment is lower than threshold value, according to the far field infrared signal for the charging pile transmitting that the infrared receiving device receives
The autonomous mobile apparatus is controlled to walk towards the charging pile.
14. autonomous mobile apparatus according to claim 10, which is characterized in that the controller controls the autonomous
Equipment is using the first pre-determined distance as radius, and the emission source along preset direction around the radiofrequency signal moves in a circle, described
The emission source of radiofrequency signal nearby searches for the near field infrared signal；Wherein, first pre-determined distance is not more than the near field
The target emanation distance of infrared signal.
15. autonomous mobile apparatus according to claim 14, which is characterized in that the controller is according to the radio frequency reception
The signal strength for the radiofrequency signal that device receives, determines the emission source of the autonomous mobile apparatus Yu the radiofrequency signal
Between spacing distance, and the signal strength and the spacing distance are negatively correlated.
16. autonomous mobile apparatus according to claim 10, which is characterized in that the RF Receiving Device includes that radio frequency is read
Device is read, the radio frequency reader can produce RF energy；
When the RF transmitter is active radio frequency label, the radio frequency reader receives the active radio frequency label transmitting
The radiofrequency signal；
When the RF transmitter is passive RF label, the RF energy is used in the autonomous mobile apparatus and institute
When stating the spacing distance between charging pile less than the second pre-determined distance, the passive RF label is motivated to emit the radio frequency letter
Number, and the radiofrequency signal that the passive RF label emits is received by the radio frequency reader.
17. autonomous mobile apparatus according to claim 10, which is characterized in that the autonomous mobile apparatus includes: autonomous
Clean robot.
18. a kind of charging pile, which is characterized in that including near field infrared launcher and RF transmitter, the near field is infrared
Emitter is used for emitting near field infrared signal, the RF transmitter for emitting radiofrequency signal, the radiofrequency signal
It is infrared in the autonomous mobile apparatus for recharging under state the near field to be searched near the emission source of the radiofrequency signal in instruction
Signal, so that the autonomous mobile apparatus docks charging with the charging pile according to the near field infrared signal received.
19. charging pile according to claim 18, which is characterized in that the charging pile further includes far field infrared emission dress
It sets, the far field infrared launcher is used for electricity for emitting far field infrared signal, the far field infrared signal lower than pre-
If the autonomous mobile apparatus of power threshold carries out recharging guidance, so that the autonomous mobile apparatus is walked towards the charging pile.
20. charging pile according to claim 18, which is characterized in that the RF transmitter includes active radio frequency mark
Label, the active radio frequency label actively emit the radiofrequency signal.
21. charging pile according to claim 18, which is characterized in that the RF transmitter includes passive RF mark
Label, the passive RF label can spacing distance between the charging pile and the autonomous mobile apparatus be less than pre-determined distance
When, in response to the autonomous mobile apparatus generate RF energy excitation and emit the radiofrequency signal.
22. a kind of recharging system, which is characterized in that including charging pile and autonomous mobile apparatus；
The charging pile includes RF transmitter and infrared launcher, and the RF transmitter is for emitting radio frequency letter
Number, the infrared launcher is for emitting infrared signal；Wherein, either one in the radiofrequency signal and the infrared signal is
Far-field signal simultaneously forms far field objects radiation scope, and another party is near-field signals and forms near-field target radiation scope；
The autonomous mobile apparatus includes RF Receiving Device, infrared receiving device and controller, and the controller can control
When the autonomous mobile apparatus recharges, received in the far field objects radiation scope according to the autonomous mobile apparatus remote
Field signal guides the autonomous mobile apparatus to run to the near-field target radiation scope；And the controller is according to
The near-field signals that autonomous mobile apparatus receives in the near-field target radiation scope, guide the autonomous mobile apparatus and institute
State charging pile docking charging.
23. a kind of autonomous mobile apparatus, which is characterized in that including RF Receiving Device, infrared receiving device and controller；
The RF Receiving Device is used to receive the radiofrequency signal of the RF transmitter transmitting on charging pile, the infrared receiver
Device is used to receive the infrared signal of the infrared launcher transmitting on the charging pile；Wherein, the radiofrequency signal and described
It is far-field signal either in infrared signal and forms far field objects radiation scope, another party is near-field signals and forms near field
Target emanation range；
The controller can be when the control autonomous mobile apparatus recharges, according to the autonomous mobile apparatus in the far field mesh
The far-field signal received in mark radiation scope, guides the autonomous mobile apparatus to run to the near-field target radiation scope；
And the near-field signals that the controller receives in the near-field target radiation scope according to the autonomous mobile apparatus,
The autonomous mobile apparatus is guided to dock charging with the charging pile.
24. a kind of charging pile characterized by comprising RF transmitter and infrared launcher, the RF transmitter
For emitting radiofrequency signal, the infrared launcher is for emitting infrared signal；The radiofrequency signal and the infrared signal
In either one for far-field signal and form far field objects radiation scope, another party is near-field signals and forms near-field target and radiate model
It encloses；Wherein, the far-field signal is for guiding in the far field objects radiation scope, autonomous in the state that recharges to set
Standby to run to the near-field target radiation scope, the near-field signals are for guiding in the near-field target radiation scope, place
Charging is docked with the charging pile in the autonomous mobile apparatus for the state that recharges.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710399994.2A CN108988403A (en) | 2017-05-31 | 2017-05-31 | Recharging system, autonomous mobile apparatus and charging pile |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710399994.2A CN108988403A (en) | 2017-05-31 | 2017-05-31 | Recharging system, autonomous mobile apparatus and charging pile |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108988403A true CN108988403A (en) | 2018-12-11 |
Family
ID=64502237
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710399994.2A Pending CN108988403A (en) | 2017-05-31 | 2017-05-31 | Recharging system, autonomous mobile apparatus and charging pile |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108988403A (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109995117A (en) * | 2019-04-24 | 2019-07-09 | 北京极智嘉科技有限公司 | Charging system and method based on robot |
| CN111697651A (en) * | 2020-06-17 | 2020-09-22 | 上海交通大学医学院 | Fill electric pile, autonomic mobile device, autonomic charging system |
| WO2020192407A1 (en) * | 2019-03-26 | 2020-10-01 | 速感科技（北京）有限公司 | Mobile device recharging method and mobile device |
| CN111772544A (en) * | 2020-06-28 | 2020-10-16 | 深圳拓邦股份有限公司 | Sweeper recharging candidate point generation method and device and sweeper recharging system |
| CN112256012A (en) * | 2019-07-05 | 2021-01-22 | 苏州宝时得电动工具有限公司 | Regression method and device for autonomous mobile device, autonomous mobile device and storage medium |
| WO2023045792A1 (en) * | 2021-09-23 | 2023-03-30 | 追觅创新科技(苏州)有限公司 | Charging device, self-moving device, charging method, system, and storage medium |
Citations (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20080065266A1 (en) * | 2006-09-11 | 2008-03-13 | Lg Electronics Inc. | Mobile robot and operating method thereof |
| US20080161969A1 (en) * | 2006-12-28 | 2008-07-03 | Industrial Technology Research Institute | Method for routing a robotic apparatus to a service station and robotic apparatus service system using thereof |
| CN201153009Y (en) * | 2007-07-11 | 2008-11-19 | 李超 | Infrared multi-point remote controller |
| CN101862166A (en) * | 2010-06-02 | 2010-10-20 | 刘瑜 | Electronic control device of automatic cleaner for positioning charging block |
| US20100292839A1 (en) * | 2009-05-15 | 2010-11-18 | Samsung Electronics Co., Ltd. | Mobile robot system and method of controlling the same |
| US20120029697A1 (en) * | 2010-07-30 | 2012-02-02 | Toyota Motor Engineering & Manufacturing North America, Inc. | Robotic transportation devices and systems |
| CN202548320U (en) * | 2012-02-22 | 2012-11-21 | 昆山塔米机器人有限公司 | Accurate positioning navigation system of autonomous mobile equipment |
| CN103835638A (en) * | 2014-02-24 | 2014-06-04 | 福建安麟智能科技股份有限公司 | Active infrared intrusion detector |
| CN203706414U (en) * | 2013-12-27 | 2014-07-09 | 广西瀚特信息产业股份有限公司 | Infrared forwarding equipment |
| CN105389970A (en) * | 2015-11-06 | 2016-03-09 | 普天智能照明研究院有限公司 | Infrared-signal receiving-transmitting device and infrared-signal self-learning device |
| CN105652897A (en) * | 2015-12-30 | 2016-06-08 | 青岛海尔智能家电科技有限公司 | Charging docking method, device, artificial intelligence device and charging pile |
| CN205594402U (en) * | 2016-05-14 | 2016-09-21 | 济南弘方信息技术有限公司 | Automatic electric pile system is filled in guide |
| CN106383519A (en) * | 2016-11-17 | 2017-02-08 | 西安科技大学 | Robot autonomous positioning charging system and robot autonomous positioning charging method |
| US20170147001A1 (en) * | 2015-11-20 | 2017-05-25 | Jiangsu Midea Cleaning Appliances Co., Ltd. | Going back and charging system for sweeping robot and method for controlling the same |
| CN206775195U (en) * | 2017-05-31 | 2017-12-19 | 北京小米移动软件有限公司 | Recharging system, autonomous mobile apparatus and charging pile |
-
2017
- 2017-05-31 CN CN201710399994.2A patent/CN108988403A/en active Pending
Patent Citations (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20080065266A1 (en) * | 2006-09-11 | 2008-03-13 | Lg Electronics Inc. | Mobile robot and operating method thereof |
| US20080161969A1 (en) * | 2006-12-28 | 2008-07-03 | Industrial Technology Research Institute | Method for routing a robotic apparatus to a service station and robotic apparatus service system using thereof |
| CN201153009Y (en) * | 2007-07-11 | 2008-11-19 | 李超 | Infrared multi-point remote controller |
| US20100292839A1 (en) * | 2009-05-15 | 2010-11-18 | Samsung Electronics Co., Ltd. | Mobile robot system and method of controlling the same |
| CN101862166A (en) * | 2010-06-02 | 2010-10-20 | 刘瑜 | Electronic control device of automatic cleaner for positioning charging block |
| US20120029697A1 (en) * | 2010-07-30 | 2012-02-02 | Toyota Motor Engineering & Manufacturing North America, Inc. | Robotic transportation devices and systems |
| CN202548320U (en) * | 2012-02-22 | 2012-11-21 | 昆山塔米机器人有限公司 | Accurate positioning navigation system of autonomous mobile equipment |
| CN203706414U (en) * | 2013-12-27 | 2014-07-09 | 广西瀚特信息产业股份有限公司 | Infrared forwarding equipment |
| CN103835638A (en) * | 2014-02-24 | 2014-06-04 | 福建安麟智能科技股份有限公司 | Active infrared intrusion detector |
| CN105389970A (en) * | 2015-11-06 | 2016-03-09 | 普天智能照明研究院有限公司 | Infrared-signal receiving-transmitting device and infrared-signal self-learning device |
| US20170147001A1 (en) * | 2015-11-20 | 2017-05-25 | Jiangsu Midea Cleaning Appliances Co., Ltd. | Going back and charging system for sweeping robot and method for controlling the same |
| CN105652897A (en) * | 2015-12-30 | 2016-06-08 | 青岛海尔智能家电科技有限公司 | Charging docking method, device, artificial intelligence device and charging pile |
| CN205594402U (en) * | 2016-05-14 | 2016-09-21 | 济南弘方信息技术有限公司 | Automatic electric pile system is filled in guide |
| CN106383519A (en) * | 2016-11-17 | 2017-02-08 | 西安科技大学 | Robot autonomous positioning charging system and robot autonomous positioning charging method |
| CN206775195U (en) * | 2017-05-31 | 2017-12-19 | 北京小米移动软件有限公司 | Recharging system, autonomous mobile apparatus and charging pile |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2020192407A1 (en) * | 2019-03-26 | 2020-10-01 | 速感科技（北京）有限公司 | Mobile device recharging method and mobile device |
| CN109995117A (en) * | 2019-04-24 | 2019-07-09 | 北京极智嘉科技有限公司 | Charging system and method based on robot |
| CN112256012A (en) * | 2019-07-05 | 2021-01-22 | 苏州宝时得电动工具有限公司 | Regression method and device for autonomous mobile device, autonomous mobile device and storage medium |
| CN112256012B (en) * | 2019-07-05 | 2022-05-17 | 苏州宝时得电动工具有限公司 | Regression method and device for autonomous mobile device, autonomous mobile device and storage medium |
| CN111697651A (en) * | 2020-06-17 | 2020-09-22 | 上海交通大学医学院 | Fill electric pile, autonomic mobile device, autonomic charging system |
| CN111772544A (en) * | 2020-06-28 | 2020-10-16 | 深圳拓邦股份有限公司 | Sweeper recharging candidate point generation method and device and sweeper recharging system |
| CN111772544B (en) * | 2020-06-28 | 2022-01-04 | 深圳拓邦股份有限公司 | Sweeper recharging candidate point generation method and device and sweeper recharging system |
| WO2023045792A1 (en) * | 2021-09-23 | 2023-03-30 | 追觅创新科技(苏州)有限公司 | Charging device, self-moving device, charging method, system, and storage medium |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108988403A (en) | Recharging system, autonomous mobile apparatus and charging pile | |
| CN206775195U (en) | Recharging system, autonomous mobile apparatus and charging pile | |
| CN106980320B (en) | Robot charging method and device | |
| US9197095B2 (en) | Wireless power charging apparatus and method of charging the apparatus | |
| CN111743450B (en) | Recharging method for movable device and movable device | |
| CN109062207A (en) | Localization method, device, robot and the storage medium of cradle | |
| CN109669457B (en) | Robot recharging method and chip based on visual identification | |
| CN105700522B (en) | A kind of robot charging method and its charging system | |
| CN111146826A (en) | Self-moving equipment, wireless charging station, automatic working system and charging method thereof | |
| CN102709993A (en) | Laser alignment device and method for underwater wireless charging system | |
| EP3614824B1 (en) | Robotic lawnmower system with adaptive signal transmission | |
| JP2008283804A (en) | Wireless power supply system | |
| US20170142323A1 (en) | Camera system and control method therefor, and electronic device and control program therefor | |
| JP2017205855A (en) | Voice-intensity-based positioning guide system and method thereof | |
| CN102135609A (en) | Portable positioning system | |
| CN210156934U (en) | Robot control device and robot system | |
| JP5701719B2 (en) | NAVIGATION SYSTEM, SEARCH DEVICE, SEARCHED DEVICE, AND NAVIGATION METHOD | |
| EP3616019B1 (en) | Compensating for stray capacitances for a robotic lanwmower system | |
| JP2016103938A (en) | Vehicle power supply equipment | |
| CN108879809B (en) | Automatic cleaning equipment and charging method thereof | |
| CN110174675A (en) | A kind of domestic robot charging pile position determination means and method | |
| US20190193583A1 (en) | Mobile body and mobile body system | |
| CN113467451A (en) | Robot recharging method and device, electronic equipment and readable storage medium | |
| CN112713628A (en) | Charging pile for autonomous charging machine, charging control method of charging pile and storage medium | |
| CN112578787B (en) | Object searching method, device and storage medium |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| CB02 | Change of applicant information | ||
| CB02 | Change of applicant information |
Address after: 100085 Huarun Qingcai Street 68, Haidian District, Beijing, two stage, 9 floor, 01 rooms. Applicant after: BEIJING XIAOMI MOBILE SOFTWARE Co.,Ltd. Applicant after: Beijing Roborock Technology Co.,Ltd. Address before: 100085 Huarun Qingcai Street 68, Haidian District, Beijing, two stage, 9 floor, 01 rooms. Applicant before: BEIJING XIAOMI MOBILE SOFTWARE Co.,Ltd. Applicant before: BEIJING ROCKROBO TECHNOLOGY Co.,Ltd. |