CN109491382A - A kind of robot charging method, device, storage medium and robot - Google Patents
A kind of robot charging method, device, storage medium and robot Download PDFInfo
- Publication number
- CN109491382A CN109491382A CN201811319207.XA CN201811319207A CN109491382A CN 109491382 A CN109491382 A CN 109491382A CN 201811319207 A CN201811319207 A CN 201811319207A CN 109491382 A CN109491382 A CN 109491382A
- Authority
- CN
- China
- Prior art keywords
- robot
- signal
- cradle
- line laser
- 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.)
- Granted
Links
- 238000000034 method Methods 0.000 title claims abstract description 55
- 238000003860 storage Methods 0.000 title claims description 15
- 238000004590 computer program Methods 0.000 claims description 19
- 230000003287 optical effect Effects 0.000 claims description 5
- 238000009738 saturating Methods 0.000 claims description 3
- 238000004519 manufacturing process Methods 0.000 abstract description 9
- 238000009434 installation Methods 0.000 abstract description 6
- 238000010586 diagram Methods 0.000 description 8
- 230000006870 function Effects 0.000 description 8
- 230000000007 visual effect Effects 0.000 description 6
- 230000005611 electricity Effects 0.000 description 4
- 238000010168 coupling process Methods 0.000 description 3
- 238000005859 coupling reaction Methods 0.000 description 3
- 230000008878 coupling Effects 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 230000010485 coping Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000005192 partition Methods 0.000 description 1
- 238000000926 separation method Methods 0.000 description 1
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0257—Control of position or course in two dimensions specially adapted to land vehicles using a radar
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0242—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using non-visible light signals, e.g. IR or UV signals
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
- G05D1/0274—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means using mapping information stored in a memory device
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- Aviation & Aerospace Engineering (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Electromagnetism (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses a kind of robot charging methods, it include: when robot receives charging instruction, the line laser that the first infrared signal and line laser radar transmitter that the infrared transmitter transmitting on cradle is alternately received by line laser radar reception device emit is incident to the laser signal that current environment is returned；According to the first infrared signal, controls robot and be moved to first position；When determining that robot is moved to first position, the characteristic information that cradle carries is identified according to laser signal, determines the second position of cradle in the default map, and controls robot and is moved to the second position and charge.In the embodiment of the present invention, infrared signal and laser signal can be alternately received by line laser radar reception device, the reception of infrared signal is carried out without installing infrared receiver sensor in robot, reduce the installation of infrared receiver sensor in robot, the mounting complexity for reducing robot, reduces the manufacturing cost of robot.
Description
Technical field
The present invention relates to robotic technology field more particularly to a kind of robot charging method, device, computer-readable deposit
Storage media and robot.
Background technique
Currently, robot is that the infrared emittance on cradle issues infrared letter with the widest scheme that recharges automatically
After number, the infrared remote receiver installed in robot receives signal, and then determines the direction where cradle and move towards cradle
Dynamic, when robot is moved near cradle, the characteristic information that the laser radar identification cradle in robot carries is determined
The pose of cradle, robot are subsequently moved to fill on a seat and charge, but such scheme needs are installed in robot
Infrared receiver sensor not only increases the mounting complexity of robot, also adds the manufacturing cost of robot.
Summary of the invention
The embodiment of the invention provides a kind of robot charging method, device, computer readable storage medium and robot,
The installation that infrared receiver sensor in robot can be reduced reduces the mounting complexity of robot, reduces the production of robot
Manufacturing cost.
The embodiment of the present invention in a first aspect, providing a kind of robot charging method, comprising:
When robot receives charging instruction, is alternately received and filled by the line laser radar reception device of the robot
First infrared signal of the infrared transmitter transmitting on electric seat and the line laser of line laser radar transmitter transmitting are incident to and work as
The laser signal that preceding environment is returned；
According to first infrared signal, controls the robot and be moved to first position；
When determining that the robot is moved to the first position, identify that the cradle carries according to the laser signal
Characteristic information, determine the second position of the cradle in the default map；
It controls the robot and is moved to the second position and charge.
Further, the determination robot is moved to the first position, comprising:
According to first infrared signal, the third place of the cradle is determined；
It is mobile to the third place to control the robot, and is received in moving process by the line laser radar
Device receives the second infrared signal of the infrared transmitter transmitting；
Judge whether the second signal value of second infrared signal is greater than preset signals threshold value；
If the second signal value of second infrared signal is greater than the preset signals threshold value, it is determined that the robot moves
It moves to the first position.
Preferably, before determining the second position of the cradle in the default map, comprising:
Positioning and map structuring carried out to scene where the cradle according to the laser signal, and by constructed ground
Figure is determined as the default map；
Correspondingly, the control robot is moved to the second position and charges, comprising:
Obtain current location of the robot in the default map；
Determine that the robot is moved to the movement of the first position by the current location in the default map
Path；
It controls the robot and is moved to the second position according to the movement routine and charge.
Optionally, it is provided in the line laser radar reception device high to laser signal saturating, low to infrared signal
Filter plate.
Further, described according to first infrared signal, it controls the robot and is moved to first position, comprising:
Obtain the first signal value of first infrared signal；
Judge whether first signal value is located in preset threshold section；
If first signal value is located in the preset threshold section, according to first infrared signal control
Robot is moved to first position.
Preferably, described when robot receives charging instruction, dress is received by the line laser radar of the robot
Set the first infrared signal for alternately receiving the transmitting of the infrared transmitter on cradle, comprising:
When robot receives charging instruction, Xiang Suoshu cradle sends charging signals, so that the cradle exists
After receiving the charging signals, start the infrared transmitter on the cradle, and institute is emitted by the infrared transmitter
State the first infrared signal；
The infrared transmitter hair on the cradle is alternately received by the line laser radar reception device of the robot
The first infrared signal penetrated.
Optionally, the line laser radar reception device by the robot alternately receives the infrared hair on cradle
First infrared signal of emitter transmitting and the line laser of line laser radar transmitter transmitting are incident to what current environment was returned
Laser signal, comprising:
The line laser radar reception device that the robot is arranged alternately receives what the infrared transmitter on cradle emitted
First infrared signal and the line laser of line laser radar transmitter transmitting are incident to the laser signal that current environment is returned
Alternation method；
According to the alternation method, control the line laser radar reception device alternately receive first infrared signal and
The laser signal；
Wherein, when the line laser radar reception device receives first infrared signal, the line laser thunder is set
Time for exposure up to reception device is at the first time；
When the line laser radar reception device receives the laser signal, the line laser radar reception device is set
Time for exposure be the second time；
Wherein, the first time is greater than second time.
The second aspect of the embodiment of the present invention provides a kind of robot charging device, comprising:
Signal replaces receiving module, for passing through the line laser of the robot when robot receives charging instruction
Radar reception device alternately receives the first infrared signal and line laser radar emission dress of the infrared transmitter transmitting on cradle
The line laser for setting transmitting is incident to the laser signal that current environment is returned；
First movement control module, for controlling the robot and being moved to first according to first infrared signal
It sets；
Second position determining module, when for determining that the robot is moved to the first position, according to the laser
The characteristic information that cradle described in signal identification carries, determines the second position of the cradle in the default map；
Second mobile control module is moved to the second position for controlling the robot and charges.
The third aspect of the embodiment of the present invention, provides a kind of robot, including memory, processor and is stored in institute
The computer program that can be run in memory and on the processor is stated, the processor executes real when the computer program
Now as described in aforementioned first aspect the step of robot charging method.
The fourth aspect of the embodiment of the present invention, provides a kind of computer readable storage medium, described computer-readable to deposit
Storage media is stored with computer program, and the machine as described in aforementioned first aspect is realized when the computer program is executed by processor
The step of people's charging method.
As can be seen from the above technical solutions, the embodiment of the present invention has the advantage that
In the embodiment of the present invention, when robot receives charging instruction, alternately connect by line laser radar reception device
The line laser of the first infrared signal and the transmitting of line laser radar transmitter of receiving the infrared transmitter transmitting on cradle is incident
The laser signal returned to current environment；According to the first infrared signal, controls robot and be moved to first position；Determine machine
When people is moved to first position, the characteristic information that cradle carries is identified according to laser signal, determines cradle in default map
In the second position, and control robot and be moved to the second position and charge.In the embodiment of the present invention, line laser thunder can be passed through
Infrared signal and laser signal are alternately received up to reception device, is carried out without installing infrared receiver sensor in robot
The reception of infrared signal reduces the installation of infrared receiver sensor in robot, reduces the mounting complexity of robot, reduces machine
The manufacturing cost of device people.
Detailed description of the invention
It to describe the technical solutions in the embodiments of the present invention more clearly, below will be to embodiment or description of the prior art
Needed in attached drawing be briefly described, it should be apparent that, the accompanying drawings in the following description is only of the invention some
Embodiment for those of ordinary skill in the art without any creative labor, can also be according to these
Attached drawing obtains other attached drawings.
Fig. 1 is a kind of one embodiment flow chart of robot charging method in the embodiment of the present invention；
Fig. 2 is a kind of structural schematic diagram of robot in the embodiment of the present invention；
Fig. 3 is a kind of structural schematic diagram of line laser radar in the embodiment of the present invention；
Fig. 4 is a kind of structural schematic diagram of cradle in the embodiment of the present invention；
Fig. 5 controls robot for robot charging method a kind of in the embodiment of the present invention under an application scenarios and is moved to
The flow diagram of first position；
Fig. 6 determines that robot is moved to for robot charging method a kind of in the embodiment of the present invention under an application scenarios
The flow diagram of first position；
Fig. 7 controls robot for robot charging method a kind of in the embodiment of the present invention under an application scenarios and is moved to
The flow diagram of the second position；
Fig. 8 is a kind of one embodiment structure chart of robot charging device in the embodiment of the present invention；
Fig. 9 is a kind of schematic diagram for robot that one embodiment of the invention provides.
Specific embodiment
The embodiment of the invention provides a kind of robot charging method, device, computer readable storage medium and robot,
For reducing the installation of infrared receiver sensor in robot, the mounting complexity of robot is reduced, the production of robot is reduced
Manufacturing cost.
In order to make the invention's purpose, features and advantages of the invention more obvious and easy to understand, below in conjunction with the present invention
Attached drawing in embodiment, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that disclosed below
Embodiment be only a part of the embodiment of the present invention, and not all embodiment.Based on the embodiments of the present invention, this field
Those of ordinary skill's all other embodiment obtained without making creative work, belongs to protection of the present invention
Range.
Referring to Fig. 1, the embodiment of the invention provides a kind of robot charging method, the robot charging method, packet
It includes:
Step S101, when robot receives charging instruction, pass through the line laser radar reception device of the robot
The line of the first infrared signal and the transmitting of line laser radar transmitter that alternately receive the infrared transmitter transmitting on cradle swashs
Light is incident to the laser signal that current environment is returned；
As shown in Figure 2, Figure 3 and Figure 4, in the embodiment of the present invention, line laser radar 21, line laser are installed in robot 20
Radar 21 includes line laser radar transmitter 31 and line laser radar reception device 32, wherein line laser radar transmitter
31 can emit line laser 34, and infrared transmitter 41 and characteristic information 42 are provided on cradle 40, and infrared transmitter 41 can be real-time
Externally transmitting infrared signal.
When robot 20 does not receive charging instruction, robot 20 is set to radar mode, i.e. line laser thunder at this time
It is in starting state up to the line laser radar transmitter 31 in 21, and line laser 34 can be emitted to ambient enviroment, and line laser
Radar reception device 32 then can receive line laser 34 and be incident to the laser signal returned after environment, obtain ambient enviroment with this
Two-dimensional distance information, allow robot 20 according to the two-dimensional distance information positioned and built figure (SLAM), navigation and
Carry out other tasks.
And when robot 20 receives charging instruction, such as it is less than default electricity needs in the electricity for detecting robot 20
When being recharged, charging instruction can be sent to robot 20, here, the default electricity can be set according to concrete application situation
It is fixed, it such as can be set as the 20% of Full Charge Capacity, i.e., when detecting the electricity of robot 20 less than 20%, it may be considered that machine
The not enough power supply of people 20 recharges, and charging instruction can be sent to robot 20, and robot 20 refers to receiving charging
After order, the infrared transmitter 41 that can be alternately received on cradle 40 by the line laser radar reception device 32 of robot 20 emits
The first infrared signal and line laser radar transmitter 31 emit line laser 34 be incident to the laser that current environment is returned
Signal may make robot 20 to alternately enter visual pattern and radar mode.
Wherein, in visual pattern, can closed line laser radar launcher 31, and can be by line laser radar reception device
32 time for exposure is set as relatively long first time, so that line laser radar reception device 32 can receive infrared hair
The infrared signal that emitter 41 emits；And in radar mode, then it can start line laser radar transmitter 31, and can be by line laser
The time for exposure of radar reception device 32 is set as the second relatively short time, so that line laser radar reception device 32 can
The line laser for receiving the transmitting of line laser radar transmitter 31 is incident to the laser signal that environment is returned.
Further, it in the embodiment of the present invention, is provided in the line laser radar reception device 32 to laser signal height
Thoroughly, the filter plate low to infrared signal, so that the signal of laser signal received by line laser radar reception device 32
Intensity is high, and the signal strength of the infrared signal received is low, such as may make the signal strength range of the laser signal received
Between 150 to 255, and the signal strength of the infrared signal received is made to be and to be in robot 20 between 0 to 100
When visual pattern, i.e., when the line laser radar transmitter 31 is in close state, the line laser radar can be received
The time for exposure of device 32 is set as relatively long first time, such as may be configured as 1ms；And radar mould is in robot 20
It, i.e., can be by the line laser radar reception device 32 when the line laser radar transmitter 31 is in starting state when formula
Time for exposure be set as the second relatively short time, such as may be configured as 1us, line laser radar reception device 32 made with this
The infrared signal and line laser that can emit infrared transmitter 41 are incident to the laser signal that environment is returned and distinguish.
Preferably, in the embodiment of the present invention, the line laser radar reception device by the robot is alternately received
First infrared signal of the infrared transmitter transmitting on cradle and the line laser of line laser radar transmitter transmitting are incident to
The laser signal that current environment is returned may include:
Step a, the infrared transmitter on the line laser radar reception device alternating reception cradle of the robot is set
The line laser of the first infrared signal and line laser the radar transmitter transmitting of transmitting is incident to the laser that current environment is returned
The alternation method of signal；
Step b, according to the alternation method, controlling the line laser radar reception device, alternately to receive described first infrared
Signal and the laser signal.
For above-mentioned steps a and step b, it is to be understood that in the embodiment of the present invention, can be preset radar mode and
Alternation method such as can be set as replacing according to the time by the alternation method of visual pattern alternately.It specifically, can be by
It is determined as radar mode within one second, was determined as visual pattern for second second, then the third second is determined as radar mode, etc..Here,
The time span of radar mode and visual pattern can be according to the processing speed concrete decision of line laser radar reception device 32.
Here, when robot 20 receives charging instruction, firstly, can at first second closing machine people 20 line laser
Radar transmitter 31, and the infrared emission on cradle 40 can be received by the line laser radar reception device 32 of robot 20
The first infrared signal that device 41 is emitted；Secondly, line laser radar transmitter 31 can be started at second second, carrys out emission lines and swash
Light, and the line laser can be received by line laser radar reception device 32 and be incident to the laser signal that current environment is returned；
Then, the line laser radar transmitter 31 of robot 20 can be turned off in the third second, and is swashed again by the line of robot 20
Optical radar reception device 32 receives the first infrared signal that the infrared transmitter 41 on cradle 40 is emitted；It then, can be
Restart line laser radar transmitter 31 at four seconds, to emit line laser again, and line laser radar reception device can be passed through
32 receive the line laser again is incident to the laser signal that current environment is returned, and is alternately gone down with this.
Further, described when robot receives charging instruction in the embodiment of the present invention, pass through the robot
Line laser radar reception device alternately receives the first infrared signal of the infrared transmitter transmitting on cradle, may include:
Step c, when robot receives charging instruction, Xiang Suoshu cradle sends charging signals, so that described fill
Electric seat starts the infrared transmitter on the cradle after receiving the charging signals, and passes through the infrared transmitter
Emit first infrared signal；
Step d, the infrared hair on the cradle is alternately received by the line laser radar reception device of the robot
First infrared signal of emitter transmitting.
For above-mentioned steps c and step d, it is to be understood that in the embodiment of the present invention, robot 20 and 40 nothing of cradle
Line connection, and when robot 20 is not received by charging instruction, the infrared transmitter 41 on cradle 40 can be at closing shape
In state, and when robot 20 is when receiving charging instruction, robot 20 can wirelessly send to cradle 40 and charge
Signal, cradle 40 can start the infrared transmitter 41 on cradle 40 after the charging signals for receiving the sending of robot 20
Emit infrared signal, robot 20 can then receive the infrared emission on cradle 40 by line laser radar reception device 32
The infrared signal that device 41 is emitted, i.e., the first infrared signal described above.
Step S102, it according to first infrared signal, controls the robot and is moved to first position；
It is understood that the line laser radar reception device 32 in robot 20 receives from cradle 40
After one infrared signal, then approximate location and/or direction of cradle 40 etc. can be determined according to first infrared signal, and
Controllable robot 20 is moved to designated position towards the approximate location and/or direction, that is, is moved to first position described above.
It should be noted that because the line laser radar reception device 32 in robot 20 can be not only used for receiving laser signal,
It can also be used to receive the infrared signal that infrared transmitter 41 emits, thus, in the embodiment of the present invention, according to the first infrared letter
Number, when control robot 20 is moved to first position, it need to first determine that signal received by line laser radar reception device 32 is
No is infrared signal, i.e., whether received signal can be used for determining approximate location and/or the direction of cradle 40, with control
Robot 20 is moved to first position towards the approximate location and/or direction, thus, as shown in figure 5, described red according to described first
External signal controls the robot and is moved to first position, may include:
Step S501, the first signal value of first infrared signal is obtained；
Step S502, judge whether first signal value is located in preset threshold section；
If step S503, described first signal value is located in the preset threshold section, according to the described first infrared letter
Number control robot is moved to first position.
In the embodiment of the present invention, the preset threshold section can be according to the tool of filter plate in line laser radar reception device 32
Body transmitance determines, such as the preset threshold section can be determined as 0 to 100 according to the specific transmitance of filter plate.
For above-mentioned steps S501 to step S503, it is to be understood that online laser radar reception device 32 receives
After first infrared signal, the first signal value of first infrared signal can be obtained immediately, can obtain received first
The signal strength of infrared signal, then judges whether first signal value is located at preset threshold section corresponding to infrared signal
It is interior, it such as can determine whether first signal value is located between 0 to 100, if first signal value is not located between 0 to 100
If, then show that first infrared signal is not the infrared signal that the infrared transmitter 41 on cradle 40 is emitted, this
When cannot determine the approximate location of cradle 40 using first infrared signal, thus machine cannot be controlled accordingly
People 20 is moved to first position；And if first signal value shows the described first infrared letter between 0 to 100
It number is the infrared signal that the infrared transmitter 41 on cradle 40 is emitted, it at this time then can be according to first infrared signal come really
Approximate location and/or the direction of cradle 40 are determined, so that controlling robot 20 is moved to first position.
Step S103, when determining that the robot is moved to the first position, according to laser signal identification
The characteristic information that cradle carries, determines the second position of the cradle in the default map；
In the embodiment of the present invention, laser signal packet that the line laser radar reception device 32 on line laser radar 21 receives
The laser signal for being incident to and being returned on cradle 40 is included, thus line laser radar reception device 32 is receiving line laser incidence
After the laser signal returned on to cradle 40, the characteristic information that cradle 40 carries can be identified according to the laser signal
42, the exact position of cradle 40 in the default map, i.e., the second position described above are accurately determined out with this.
Preferably, as shown in fig. 6, in the embodiment of the present invention, the determination robot is moved to the first position,
May include:
Step S601, according to first infrared signal, the third place of the cradle is determined；
It is understood that online laser radar reception device 32 receives on cradle 40 in the embodiment of the present invention
When the first infrared signal that infrared transmitter 41 emits, the substantially position of cradle 40 can be determined according to first infrared signal
It sets, i.e., the third place described above.
Step S602, it is mobile to the third place to control the robot, and is swashed in moving process by the line
Optical radar reception device receives the second infrared signal of the infrared transmitter transmitting；
It is understood that then can control robot 20 towards institute after the third place that cradle 40 has been determined
It is mobile to state the third place, that is, can control robot 20 constantly close to cradle 40, and in robot 20 constantly close to charging
During seat 40, line laser radar reception device 32 in robot 20 can also infrared emission on real-time reception cradle 40
The infrared signal that device 41 is emitted, i.e., the second infrared signal described above.
Step S603, judge whether the second signal value of second infrared signal is greater than preset signals threshold value；
It should be noted that the line laser radar in robot 20 receives in the constantly close cradle 40 of robot 20
Infrared signal received by device 32 also can gradually be reinforced, at this point it is possible to be received according to line laser radar reception device 32
To the signal strength of the second infrared signal judge whether robot 20 reaches near cradle 40.Wherein, cradle 40 is attached
The characteristic information that cradle 40 carries can be identified according to laser signal according to robot 20 closely to determine, such as work as robot
20 with a distance from cradle 40 for 0.5m position at, can be identified according to laser signal cradle 40 carry characteristic information
When, then it is at the position of the 0.5m near cradle 40, therefore the preset signals threshold value then can be identified as robot 20
At the position of the 0.5m, the signal of infrared signal received by the line laser radar reception device 32 in robot 20 is strong
Degree.Thus, when receiving the second infrared signal in 20 moving process of robot, then it can determine whether second infrared signal
Whether second signal value is greater than the preset signals threshold value, judges whether robot 20 is moved near cradle 40 with this.
If the second signal value of step S604, described second infrared signal is greater than the preset signals threshold value, it is determined that institute
It states robot and is moved to the first position.
It is understood that in 20 moving process of robot, it can the reception of real-time judge line laser radar reception device 32
To the second signal value of the second infrared signal whether be greater than the preset signals threshold value, if the second signal value be greater than it is described
It if preset signals threshold value, then can determine that robot 20 has had been moved near cradle 40, that is, determine that robot 20 is mobile
To the first position；If can continue to control if the second signal value is less than or equal to the preset signals threshold value
Robot 20 processed is mobile to the first position, until being moved to the first position.
Step S104, the control robot is moved to the second position and charges.
It is understood that can continue after accurately determining out the exact position of cradle 40 in the default map
It is mobile to the second position to control robot 20, to be moved on cradle 40, to carry out the charging of robot 20.
It further,, can before determining the second position of the cradle in the default map in the embodiment of the present invention
To include:
Positioning and map structuring carried out to scene where the cradle according to the laser signal, and by constructed ground
Figure is determined as the default map；
In the embodiment of the present invention, line laser radar reception device 32 is receiving the transmitting of line laser radar transmitter 31
After line laser is incident to the laser signal that current environment is returned, current environment can be positioned according to the laser signal
It is constructed with real-time map, so that the default map of 40 place scene of cradle can be obtained.
Correspondingly, it as shown in fig. 7, the control robot is moved to the second position and charges, can wrap
It includes:
Step S701, current location of the robot in the default map is obtained；
Step S702, determine that the robot is moved to the second by the current location in the default map
The movement routine set；
Step S703, the control robot is moved to the second position according to the movement routine and charges.
For above-mentioned steps S701 to step S703, it is to be understood that after completing the map structuring to current environment,
The default map of 40 place scene of cradle is then provided in robot 20, thus, robot 20 is determining that cradle 40 exists
Behind the second position in default map, robot 20 can be further obtained from the current location in the default map, so
The optimal path of movement for being moved to the second position by current location is determined in the default map afterwards, controls machine therewith
Device people 20 is mobile to the second position according to the optimal path of movement, is charged with being moved on cradle 40.
In the embodiment of the present invention, when robot receives charging instruction, alternately connect by line laser radar reception device
The line laser of the first infrared signal and the transmitting of line laser radar transmitter of receiving the infrared transmitter transmitting on cradle is incident
The laser signal returned to current environment；According to the first infrared signal, controls robot and be moved to first position；Determine machine
When people is moved to first position, the characteristic information that cradle carries is identified according to laser signal, determines cradle in default map
In the second position, and control robot and be moved to the second position and charge.In the embodiment of the present invention, line laser thunder can be passed through
Infrared signal and laser signal are alternately received up to reception device, is carried out without installing infrared receiver sensor in robot
The reception of infrared signal reduces the installation of infrared receiver sensor in robot, reduces mounting complexity and the production of robot
Manufacturing cost.
It should be understood that the size of the serial number of each step is not meant that the order of the execution order in above-described embodiment, each process
Execution sequence should be determined by its function and internal logic, the implementation process without coping with the embodiment of the present invention constitutes any limit
It is fixed.
Essentially describe a kind of robot charging device method above, below will to a kind of robot charging device device into
Row detailed description.
Fig. 8 shows a kind of one embodiment structure chart of robot charging device in the embodiment of the present invention.Such as Fig. 8 institute
Show, the robot charging device, comprising:
Signal replaces receiving module 801, for being swashed by the line of the robot when robot receives charging instruction
Optical radar reception device alternately receives the first infrared signal and line laser radar emission of the infrared transmitter transmitting on cradle
The line laser of device transmitting is incident to the laser signal that current environment is returned；
First movement control module 802, for controlling the robot and being moved to first according to first infrared signal
Position；
Second position determining module 803 when for determining that the robot is moved to the first position, swashs according to described
Optical signal identifies the characteristic information that the cradle carries, and determines the second position of the cradle in the default map；
Second mobile control module 804 is moved to the second position for controlling the robot and charges.
Further, the second position determining module 803, comprising:
The third place determination unit, for determining the third place of the cradle according to first infrared signal；
Second infrared signal receiving unit, it is mobile to the third place for controlling the robot, and be moved through
The second infrared signal of the infrared transmitter transmitting is received in journey by the line laser radar reception device；
Second infrared signal judging unit, for judging it is default whether the second signal value of second infrared signal is greater than
Signal threshold value；
The first position determination unit, if the second signal value for second infrared signal is greater than the default letter
Number threshold value, it is determined that the robot is moved to the first position.
Preferably, the robot charging device, comprising:
Map structuring module, for carrying out positioning and map structure to scene where the cradle according to the laser signal
It builds, and constructed map is determined as the default map.
Correspondingly, the described second mobile control module 804, comprising:
Present location obtaining unit, for obtaining current location of the robot in the default map；
Movement routine determination unit, for determining that the robot is moved by the current location in the default map
To the movement routine of the first position；
Second mobile control unit is moved to the second position according to the movement routine for controlling the robot
It charges.
Optionally, it is provided in the line laser radar reception device high to laser signal saturating, low to infrared signal
Filter plate.
Further, the first movement control module 802, comprising:
First signal value acquiring unit, for obtaining the first signal value of first infrared signal；
First signal value judging unit, for judging whether first signal value is located in preset threshold section；
First movement control unit, if being located in the preset threshold section for first signal value, according to institute
It states the first infrared signal control robot and is moved to first position.
Preferably, the signal replaces receiving module 801, comprising:
Charging signals transmission unit, for when robot receives charging instruction, Xiang Suoshu cradle to send charging letter
Number, so that the cradle starts the infrared transmitter on the cradle after receiving the charging signals, and pass through
The infrared transmitter emits first infrared signal；
First infrared signal receiving unit alternately receives institute for the line laser radar reception device by the robot
State the first infrared signal of the infrared transmitter transmitting on cradle.
Optionally, the signal replaces receiving module 801, further includes:
Alternation method setting unit, the line laser radar reception device for the robot to be arranged alternately receive cradle
On the first infrared signal of infrared transmitter transmitting and the line laser of line laser radar transmitter transmitting be incident to and work as front ring
The alternation method for the laser signal that border is returned；
Signal replaces receiving unit, for controlling the line laser radar reception device alternating according to the alternation method
Receive first infrared signal and the laser signal；
Wherein, when the line laser radar reception device receives first infrared signal, the line laser thunder is set
Time for exposure up to reception device is at the first time；
When the line laser radar reception device receives the laser signal, the line laser radar reception device is set
Time for exposure be the second time；
Wherein, the first time is greater than second time.
Fig. 9 is a kind of schematic diagram for robot that one embodiment of the invention provides.As shown in figure 9, the machine of the embodiment
People 9 includes: processor 90, memory 91 and is stored in the meter that can be run in the memory 91 and on the processor 90
Calculation machine program 92, such as robot charging procedure.The processor 90 is realized above-mentioned each when executing the computer program 92
Step in robot charging method embodiment, such as step S101 shown in FIG. 1 to step S104.Alternatively, the processor
The function of each module/unit in above-mentioned each Installation practice is realized when the 90 execution computer program 92, such as shown in Fig. 8
Module 801 to module 804 function.
Illustratively, the computer program 92 can be divided into one or more module/units, it is one or
Multiple module/units are stored in the memory 91, and are executed by the processor 90, to complete the present invention.Described one
A or multiple module/units can be the series of computation machine program instruction section that can complete specific function, which is used for
Implementation procedure of the computer program 92 in the robot 9 is described.For example, the computer program 92 can be divided
At signal alternating receiving module, first movement control module, second position determining module, the second mobile control module, each module
Concrete function is as follows:
Signal replaces receiving module, for passing through the line laser of the robot when robot receives charging instruction
Radar reception device alternately receives the first infrared signal and line laser radar emission dress of the infrared transmitter transmitting on cradle
The line laser for setting transmitting is incident to the laser signal that current environment is returned；
First movement control module, for controlling the robot and being moved to first according to first infrared signal
It sets；
Second position determining module, when for determining that the robot is moved to the first position, according to the laser
The characteristic information that cradle described in signal identification carries, determines the second position of the cradle in the default map；
Second mobile control module is moved to the second position for controlling the robot and charges.
The robot may include, but be not limited only to, processor 90, memory 91.It will be understood by those skilled in the art that
Fig. 9 is only the example of robot 9, does not constitute the restriction to robot 9, may include than illustrating more or fewer portions
Part perhaps combines certain components or different components, such as the robot can also include input-output equipment, network
Access device, bus etc..
The processor 90 can be central processing unit (Central Processing Unit, CPU), can also be
Other general processors, digital signal processor (Digital Signal Processor, DSP), specific integrated circuit
(Application Specific Integrated Circuit, ASIC), ready-made programmable gate array (Field-
Programmable Gate Array, FPGA) either other programmable logic device, discrete gate or transistor logic,
Discrete hardware components etc..General processor can be microprocessor or the processor is also possible to any conventional processor
Deng.
The memory 91 can be the internal storage unit of the robot 9, such as the hard disk or memory of robot 9.
The memory 91 is also possible to the External memory equipment of the robot 9, such as the plug-in type being equipped in the robot 9 is hard
Disk, intelligent memory card (Smart Media Card, SMC), secure digital (Secure Digital, SD) card, flash card
(Flash Card) etc..Further, the memory 91 can also both include the internal storage unit of the robot 9 or wrap
Include External memory equipment.The memory 91 is for other programs needed for storing the computer program and the robot
And data.The memory 91 can be also used for temporarily storing the data that has exported or will export.
It is apparent to those skilled in the art that for convenience and simplicity of description, the system of foregoing description,
The specific work process of device and unit, can refer to corresponding processes in the foregoing method embodiment, and details are not described herein.
In the above-described embodiments, it all emphasizes particularly on different fields to the description of each embodiment, is not described in detail or remembers in some embodiment
The part of load may refer to the associated description of other embodiments.
Those of ordinary skill in the art may be aware that each embodiment described in conjunction with the examples disclosed in this document
Module, unit and/or method and step can be realized with the combination of electronic hardware or computer software and electronic hardware.This
A little functions are implemented in hardware or software actually, the specific application and design constraint depending on technical solution.Specially
Industry technical staff can use different methods to achieve the described function each specific application, but this realization is not
It is considered as beyond the scope of this invention.
In several embodiments provided herein, it should be understood that disclosed system, device and method can be with
It realizes by another way.For example, the apparatus embodiments described above are merely exemplary, for example, the unit
It divides, only a kind of logical function partition, there may be another division manner in actual implementation, such as multiple units or components
It can be combined or can be integrated into another system, or some features can be ignored or not executed.Another point, it is shown or
The mutual coupling, direct-coupling or communication connection discussed can be through some interfaces, the indirect coupling of device or unit
It closes or communicates to connect, can be electrical property, mechanical or other forms.
The unit as illustrated by the separation member may or may not be physically separated, aobvious as unit
The component shown may or may not be physical unit, it can and it is in one place, or may be distributed over multiple
In network unit.It can select some or all of unit therein according to the actual needs to realize the mesh of this embodiment scheme
's.
It, can also be in addition, the functional units in various embodiments of the present invention may be integrated into one processing unit
It is that each unit physically exists alone, can also be integrated in one unit with two or more units.Above-mentioned integrated list
Member both can take the form of hardware realization, can also realize in the form of software functional units.
If the integrated unit is realized in the form of SFU software functional unit and sells or use as independent product
When, it can store in a computer readable storage medium.Based on this understanding, the present invention realizes above-described embodiment side
All or part of the process in method can also instruct relevant hardware to complete, the computer by computer program
Program can be stored in a computer readable storage medium, and the computer program is when being executed by processor, it can be achieved that above-mentioned each
The step of a embodiment of the method.Wherein, the computer program includes computer program code, and the computer program code can
Think source code form, object identification code form, executable file or certain intermediate forms etc..The computer-readable medium can be with
It include: any entity or device, recording medium, USB flash disk, mobile hard disk, magnetic disk, light that can carry the computer program code
Disk, computer storage, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random
Access Memory), electric carrier signal, telecommunication signal and software distribution medium etc..It should be noted that the computer
The content that readable medium includes can carry out increase and decrease appropriate according to the requirement made laws in jurisdiction with patent practice, such as
It does not include electric carrier signal and telecommunication signal according to legislation and patent practice, computer-readable medium in certain jurisdictions.
The above, the above embodiments are merely illustrative of the technical solutions of the present invention, rather than its limitations；Although referring to before
Stating embodiment, invention is explained in detail, those skilled in the art should understand that: it still can be to preceding
Technical solution documented by each embodiment is stated to modify or equivalent replacement of some of the technical features；And these
It modifies or replaces, the spirit and scope for technical solution of various embodiments of the present invention that it does not separate the essence of the corresponding technical solution.
Claims (10)
1. a kind of robot charging method characterized by comprising
When robot receives charging instruction, cradle is alternately received by the line laser radar reception device of the robot
On the first infrared signal of infrared transmitter transmitting and the line laser of line laser radar transmitter transmitting be incident to and work as front ring
The laser signal that border is returned；
According to first infrared signal, controls the robot and be moved to first position；
When determining that the robot is moved to the first position, the spy that the cradle carries is identified according to the laser signal
Reference breath, determines the second position of the cradle in the default map；
It controls the robot and is moved to the second position and charge.
2. robot charging method according to claim 1, which is characterized in that the determination robot is moved to institute
State first position, comprising:
According to first infrared signal, the third place of the cradle is determined；
It is mobile to the third place to control the robot, and passes through the line laser radar reception device in moving process
Receive the second infrared signal of the infrared transmitter transmitting；
Judge whether the second signal value of second infrared signal is greater than preset signals threshold value；
If the second signal value of second infrared signal is greater than the preset signals threshold value, it is determined that the robot is moved to
The first position.
3. robot charging method according to claim 1, which is characterized in that determining the cradle in default map
In the second position before, comprising:
Positioning and map structuring are carried out to scene where the cradle according to the laser signal, and constructed map is true
It is set to the default map；
Correspondingly, the control robot is moved to the second position and charges, comprising:
Obtain current location of the robot in the default map；
Determine that the robot is moved to the movement routine of the second position by the current location in the default map；
It controls the robot and is moved to the second position according to the movement routine and charge.
4. robot charging method according to claim 1, which is characterized in that set in the line laser radar reception device
It is equipped with to the high saturating, filter plate low to infrared signal of laser signal.
5. robot charging method according to claim 1, which is characterized in that it is described according to first infrared signal,
It controls the robot and is moved to first position, comprising:
Obtain the first signal value of first infrared signal；
Judge whether first signal value is located in preset threshold section；
If first signal value is located in the preset threshold section, the machine is controlled according to first infrared signal
People is moved to first position.
6. robot charging method according to claim 1, which is characterized in that described to receive charging instruction in robot
When, first that the infrared transmitter transmitting on cradle is alternately received by the line laser radar reception device of the robot is red
External signal, comprising:
When robot receives charging instruction, Xiang Suoshu cradle sends charging signals, so that the cradle is receiving
To after the charging signals, start the infrared transmitter on the cradle, and emits described the by the infrared transmitter
One infrared signal；
The infrared transmitter transmitting on the cradle is alternately received by the line laser radar reception device of the robot
First infrared signal.
7. robot charging method according to any one of claim 1 to 6, which is characterized in that described to pass through the machine
The line laser radar reception device of device people alternately receives the first infrared signal of the infrared transmitter transmitting on cradle and line swashs
The line laser of optical radar emitter transmitting is incident to the laser signal that current environment is returned, comprising:
The line laser radar reception device that the robot is arranged alternately receives first of the infrared transmitter transmitting on cradle
Infrared signal and the line laser of line laser radar transmitter transmitting are incident to the alternating for the laser signal that current environment is returned
Mode；
According to the alternation method, controls the line laser radar reception device and alternately receive first infrared signal and described
Laser signal；
Wherein, when the line laser radar reception device receives first infrared signal, the line laser radar is set and is connect
The time for exposure of receiving apparatus is at the first time；
When the line laser radar reception device receives the laser signal, the exposure of the line laser radar reception device is set
It was the second time between light time；
Wherein, the first time is greater than second time.
8. a kind of robot charging device characterized by comprising
Signal replaces receiving module, for passing through the line laser radar of the robot when robot receives charging instruction
Reception device alternately receives the first infrared signal and line laser radar transmitter hair of the infrared transmitter transmitting on cradle
The line laser penetrated is incident to the laser signal that current environment is returned；
First movement control module, for controlling the robot and being moved to first position according to first infrared signal；
Second position determining module, when for determining that the robot is moved to the first position, according to the laser signal
It identifies the characteristic information that the cradle carries, determines the second position of the cradle in the default map；
Second mobile control module is moved to the second position for controlling the robot and charges.
9. a kind of robot, including memory, processor and storage can transport in the memory and on the processor
Capable computer program, which is characterized in that the processor is realized when executing the computer program as in claim 1 to 7
The step of any one robot charging method.
10. a kind of computer readable storage medium, the computer-readable recording medium storage has computer program, and feature exists
In realizing the robot charging method as described in any one of claims 1 to 7 when the computer program is executed by processor
Step.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811319207.XA CN109491382B (en) | 2018-11-07 | 2018-11-07 | Robot charging method and device, storage medium and robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811319207.XA CN109491382B (en) | 2018-11-07 | 2018-11-07 | Robot charging method and device, storage medium and robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109491382A true CN109491382A (en) | 2019-03-19 |
| CN109491382B CN109491382B (en) | 2021-09-24 |
Family
ID=65695140
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811319207.XA Active CN109491382B (en) | 2018-11-07 | 2018-11-07 | Robot charging method and device, storage medium and robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109491382B (en) |
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109991980A (en) * | 2019-04-01 | 2019-07-09 | 珠海市一微半导体有限公司 | The forming method of the signal quantization distribution map of cradle |
| CN109991983A (en) * | 2019-04-10 | 2019-07-09 | 拉扎斯网络科技（上海）有限公司 | Robot navigation method, device, system, electronic equipment and storage medium |
| CN110109450A (en) * | 2019-04-01 | 2019-08-09 | 深圳市女娲机器人科技有限公司 | A kind of automatic recharging method of robot, device and terminal device |
| CN110928307A (en) * | 2019-12-10 | 2020-03-27 | 广东技术师范大学 | Automatic recharging method and system based on infrared laser, robot and charging dock |
| CN112020041A (en) * | 2020-08-27 | 2020-12-01 | 尚科宁家(中国)科技有限公司 | Communication system of cleaning robot and base station |
| CN112214015A (en) * | 2020-09-04 | 2021-01-12 | 安克创新科技股份有限公司 | Self-moving robot and recharging method, system and computer storage medium thereof |
| CN112388621A (en) * | 2019-08-13 | 2021-02-23 | 北京海益同展信息科技有限公司 | Docking device, mobile robot, and docking method for docking device |
| CN112486155A (en) * | 2019-09-10 | 2021-03-12 | 深圳拓邦股份有限公司 | Automatic recharging method and system |
| CN113625226A (en) * | 2021-08-05 | 2021-11-09 | 美智纵横科技有限责任公司 | Position determination method and device, household appliance and storage medium |
| CN114915048A (en) * | 2021-02-09 | 2022-08-16 | 北京小米移动软件有限公司 | Charging device and method, charging method for foot robot, and foot robot |
Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20120203410A1 (en) * | 2009-07-15 | 2012-08-09 | Conductix-Wampfer Ag | System for inductively charging vehicles, comprising an electronic positioning aid |
| DE102012205400A1 (en) * | 2012-04-03 | 2013-10-10 | Robert Bosch Gmbh | Method for contactless charging e.g. energy storages, which supply electrical energy to electric motor of e.g. electric scooter, involves completing charging process if charging process is actively aborted or energy storage is fully-charged |
| CN105809944A (en) * | 2014-12-30 | 2016-07-27 | Tcl集团股份有限公司 | Robot, charging device, charging alignment method and charging system |
| CN107124014A (en) * | 2016-12-30 | 2017-09-01 | 深圳市杉川机器人有限公司 | The charging method and charging system of a kind of mobile robot |
| CN206684574U (en) * | 2017-04-01 | 2017-11-28 | 珠海市一微半导体有限公司 | A kind of mobile robot recharges control system |
| CN107608358A (en) * | 2017-09-30 | 2018-01-19 | 爱啃萝卜机器人技术（深圳）有限责任公司 | High-efficiency and low-cost based on outline identification technology recharges system and method automatically |
| CN107817801A (en) * | 2017-11-03 | 2018-03-20 | 深圳市杉川机器人有限公司 | Robot control method, device, robot and cradle |
| CN107825425A (en) * | 2017-11-03 | 2018-03-23 | 深圳市杉川机器人有限公司 | Robot control method, device, robot and cradle |
| CN207158711U (en) * | 2017-09-14 | 2018-03-30 | 斯坦德机器人（深圳）有限公司 | A kind of laser navigation is from electrical forklift |
| CN108227698A (en) * | 2017-11-28 | 2018-06-29 | 广东雷洋智能科技股份有限公司 | The method and apparatus that robot recharges electricity automatically |
| CN207718228U (en) * | 2018-02-02 | 2018-08-10 | 福建（泉州）哈工大工程技术研究院 | A kind of reliable indoor omni-directional mobile robots recharging system |
-
2018
- 2018-11-07 CN CN201811319207.XA patent/CN109491382B/en active Active
Patent Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20120203410A1 (en) * | 2009-07-15 | 2012-08-09 | Conductix-Wampfer Ag | System for inductively charging vehicles, comprising an electronic positioning aid |
| DE102012205400A1 (en) * | 2012-04-03 | 2013-10-10 | Robert Bosch Gmbh | Method for contactless charging e.g. energy storages, which supply electrical energy to electric motor of e.g. electric scooter, involves completing charging process if charging process is actively aborted or energy storage is fully-charged |
| CN105809944A (en) * | 2014-12-30 | 2016-07-27 | Tcl集团股份有限公司 | Robot, charging device, charging alignment method and charging system |
| CN107124014A (en) * | 2016-12-30 | 2017-09-01 | 深圳市杉川机器人有限公司 | The charging method and charging system of a kind of mobile robot |
| CN206684574U (en) * | 2017-04-01 | 2017-11-28 | 珠海市一微半导体有限公司 | A kind of mobile robot recharges control system |
| CN207158711U (en) * | 2017-09-14 | 2018-03-30 | 斯坦德机器人（深圳）有限公司 | A kind of laser navigation is from electrical forklift |
| CN107608358A (en) * | 2017-09-30 | 2018-01-19 | 爱啃萝卜机器人技术（深圳）有限责任公司 | High-efficiency and low-cost based on outline identification technology recharges system and method automatically |
| CN107817801A (en) * | 2017-11-03 | 2018-03-20 | 深圳市杉川机器人有限公司 | Robot control method, device, robot and cradle |
| CN107825425A (en) * | 2017-11-03 | 2018-03-23 | 深圳市杉川机器人有限公司 | Robot control method, device, robot and cradle |
| CN108227698A (en) * | 2017-11-28 | 2018-06-29 | 广东雷洋智能科技股份有限公司 | The method and apparatus that robot recharges electricity automatically |
| CN207718228U (en) * | 2018-02-02 | 2018-08-10 | 福建（泉州）哈工大工程技术研究院 | A kind of reliable indoor omni-directional mobile robots recharging system |
Non-Patent Citations (1)
| Title |
|---|
| 马可•科拉正格瑞: "《海洋经济 海洋资源与海洋开发》", 30 November 2011, 上海财经大学出版社 * |
Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110109450A (en) * | 2019-04-01 | 2019-08-09 | 深圳市女娲机器人科技有限公司 | A kind of automatic recharging method of robot, device and terminal device |
| CN109991980A (en) * | 2019-04-01 | 2019-07-09 | 珠海市一微半导体有限公司 | The forming method of the signal quantization distribution map of cradle |
| CN109991983A (en) * | 2019-04-10 | 2019-07-09 | 拉扎斯网络科技（上海）有限公司 | Robot navigation method, device, system, electronic equipment and storage medium |
| CN112388621B (en) * | 2019-08-13 | 2023-04-07 | 京东科技信息技术有限公司 | Docking device, mobile robot, and docking method for docking device |
| CN112388621A (en) * | 2019-08-13 | 2021-02-23 | 北京海益同展信息科技有限公司 | Docking device, mobile robot, and docking method for docking device |
| CN112486155A (en) * | 2019-09-10 | 2021-03-12 | 深圳拓邦股份有限公司 | Automatic recharging method and system |
| CN112486155B (en) * | 2019-09-10 | 2024-04-02 | 深圳拓邦股份有限公司 | Automatic recharging method and system |
| CN110928307A (en) * | 2019-12-10 | 2020-03-27 | 广东技术师范大学 | Automatic recharging method and system based on infrared laser, robot and charging dock |
| CN110928307B (en) * | 2019-12-10 | 2023-05-12 | 广东技术师范大学 | Automatic recharging method and system based on infrared laser, robot and charging dock |
| CN112020041B (en) * | 2020-08-27 | 2024-03-15 | 尚科宁家(中国)科技有限公司 | Communication system of cleaning robot and base station |
| CN112020041A (en) * | 2020-08-27 | 2020-12-01 | 尚科宁家(中国)科技有限公司 | Communication system of cleaning robot and base station |
| CN112214015A (en) * | 2020-09-04 | 2021-01-12 | 安克创新科技股份有限公司 | Self-moving robot and recharging method, system and computer storage medium thereof |
| CN114915048A (en) * | 2021-02-09 | 2022-08-16 | 北京小米移动软件有限公司 | Charging device and method, charging method for foot robot, and foot robot |
| CN114915048B (en) * | 2021-02-09 | 2024-01-30 | 北京小米移动软件有限公司 | Charging device, charging method of foot type robot and foot type robot |
| CN113625226A (en) * | 2021-08-05 | 2021-11-09 | 美智纵横科技有限责任公司 | Position determination method and device, household appliance and storage medium |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109491382B (en) | 2021-09-24 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109491382A (en) | A kind of robot charging method, device, storage medium and robot | |
| US11850963B2 (en) | Electric vehicle charging station | |
| KR20190105213A (en) | Method and Apparatus for Monitoring a Brake Device of a Vehicle in an Autonomous Driving System | |
| CN109947091A (en) | Movable body, scheduling system, server and the method for dispatching movable body | |
| CN108001684A (en) | Unmanned plane, cloud server, wireless charging system and method | |
| US20210146821A1 (en) | Vehicle headlight system | |
| CN108710506B (en) | Vehicle instruction processing method | |
| CN109196437B (en) | Intelligent driving method and device and storage medium | |
| CN110262413A (en) | Intelligent home furnishing control method, control device, car-mounted terminal and readable storage medium storing program for executing | |
| CN110077613A (en) | Unmanned plane charging method, system, storage medium and processor | |
| CN110365957A (en) | A kind of projecting method, projection arrangement and projection robot | |
| CN110430553B (en) | Interaction method and device between vehicles, storage medium and control terminal | |
| CN115465451A (en) | Unmanned aerial vehicle surveying control method and system based on geographic environment complexity optimization mutual charging strategy | |
| CN107985593B (en) | Method for providing charging service, communication base station, unmanned aerial vehicle and unmanned aerial vehicle system | |
| CN106458047A (en) | Establishing a charging connection and an associated communication connection | |
| CN116959342A (en) | Vehicle end projection method and device and vehicle | |
| KR20210103026A (en) | Apparatus for controlling drive of vehicle in autonomous driving system and method thereof | |
| CN116552302A (en) | Charging control method, system, electronic device and readable storage medium | |
| CN113696909A (en) | Automatic driving control method and device for motor vehicle and computer readable storage medium | |
| CN109769153A (en) | A kind of communication system and its communication means of distributed charging pile | |
| CN115792944B (en) | Road rapid calibration method and system matched with laser radar | |
| WO2024067766A1 (en) | Communication method and apparatus, and vehicle | |
| US20240217375A1 (en) | Electric vehicle smart charging system | |
| CN111497674B (en) | Automatic charging method and system for vehicle and vehicle network system | |
| US11869025B2 (en) | Charging infrastructure and remote computing system for electric vehicle computing node |
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 | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CP03 | Change of name, title or address |
Address after: 518000 room 1601, building 2, Vanke Cloud City phase 6, Tongfa South Road, Xili community, Xili street, Nanshan District, Shenzhen City, Guangdong Province (16th floor, block a, building 6, Shenzhen International Innovation Valley) Patentee after: Shenzhen Ledong robot Co.,Ltd. Address before: 518000 16th floor, building B1, Nanshan wisdom garden, 1001 Xueyuan Avenue, Taoyuan Street, Nanshan District, Shenzhen City, Guangdong Province Patentee before: SHENZHEN LD ROBOT Co.,Ltd. |
|
| CP03 | Change of name, title or address |