CN111465908A - 一种分段式自主充电对接方法及移动设备、充电站 - Google Patents
一种分段式自主充电对接方法及移动设备、充电站 Download PDFInfo
- Publication number
- CN111465908A CN111465908A CN201880070517.4A CN201880070517A CN111465908A CN 111465908 A CN111465908 A CN 111465908A CN 201880070517 A CN201880070517 A CN 201880070517A CN 111465908 A CN111465908 A CN 111465908A
- Authority
- CN
- China
- Prior art keywords
- ultrasonic
- charging station
- mobile device
- charging
- mobile equipment
- 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 75
- 238000003032 molecular docking Methods 0.000 title claims abstract description 53
- 238000005516 engineering process Methods 0.000 claims abstract description 21
- 230000001360 synchronised effect Effects 0.000 claims description 26
- 238000004891 communication Methods 0.000 claims description 14
- 230000004888 barrier function Effects 0.000 claims description 12
- 230000008569 process Effects 0.000 claims description 12
- 230000033001 locomotion Effects 0.000 claims description 11
- 210000001503 joint Anatomy 0.000 claims description 7
- 230000005540 biological transmission Effects 0.000 claims description 5
- 238000004364 calculation method Methods 0.000 claims description 5
- 238000002360 preparation method Methods 0.000 claims description 4
- 230000007246 mechanism Effects 0.000 claims description 3
- 238000004804 winding Methods 0.000 claims description 2
- 230000007613 environmental effect Effects 0.000 abstract description 4
- 238000006073 displacement reaction Methods 0.000 description 8
- 238000012986 modification Methods 0.000 description 6
- 230000004048 modification Effects 0.000 description 6
- 238000013461 design Methods 0.000 description 4
- 238000005070 sampling Methods 0.000 description 4
- 230000000694 effects Effects 0.000 description 3
- 238000013178 mathematical model Methods 0.000 description 3
- 238000005259 measurement Methods 0.000 description 3
- 238000012545 processing Methods 0.000 description 3
- 230000008901 benefit Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000000007 visual effect Effects 0.000 description 2
- 230000004075 alteration Effects 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
- 230000002035 prolonged effect Effects 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 238000010408 sweeping Methods 0.000 description 1
- 238000002604 ultrasonography Methods 0.000 description 1
Images
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
Landscapes
- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
一种分段式移动设备自主充电对接方法,该移动设备检测到自身电池电量低或者接收到人为充电命令时(S101),判断设备是否处于精确定位区域(S102),若否,则基于航位推算法、超宽带定位技术或基于接收信号强度的定位技术估计移动设备与充电站之间的相对位置,驱动移动设备向充电站移动(S103),直至进入精确定位区域;移动设备处于精确定位区域时,启动超声波定位模式,向充电站发送超声波定位指令(S104),获取利用无线同步信号和超声波信号实时估算的移动设备与充电站之间相对位姿,驱动移动设备向充电站移动,其中,相对位姿包括位置信息和角度信息(S105)。该方法在效率、精度、功耗、硬件成本、算法复杂度及环境适应性等方面取得了较好的平衡。
Description
PCT国内申请,说明书已公开。
Claims (17)
- PCT国内申请,权利要求书已公开。
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
PCT/CN2018/101877 WO2020037584A1 (zh) | 2018-08-23 | 2018-08-23 | 一种分段式自主充电对接方法及移动设备、充电站 |
Publications (2)
Publication Number | Publication Date |
---|---|
CN111465908A true CN111465908A (zh) | 2020-07-28 |
CN111465908B CN111465908B (zh) | 2024-03-15 |
Family
ID=69592129
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN201880070517.4A Active CN111465908B (zh) | 2018-08-23 | 2018-08-23 | 一种分段式自主充电对接方法及移动设备、充电站 |
Country Status (2)
Country | Link |
---|---|
CN (1) | CN111465908B (zh) |
WO (1) | WO2020037584A1 (zh) |
Cited By (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN113282076A (zh) * | 2021-03-31 | 2021-08-20 | 浙江大学 | 一种基于雷达射线分割地图的机器人远程回充装置及方法 |
CN113675960A (zh) * | 2021-07-23 | 2021-11-19 | 上海闻泰电子科技有限公司 | 无线充电方法、装置、电子设备和介质 |
CN113726032A (zh) * | 2021-11-03 | 2021-11-30 | 中国科学院空天信息创新研究院 | 一种无线充电方法、设备、介质和产品 |
Families Citing this family (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN115047874B (zh) * | 2022-06-02 | 2023-09-15 | 北京三快在线科技有限公司 | 机器人接驳方法、储物柜、机器人、系统和电子设备 |
Citations (8)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
KR20040039027A (ko) * | 2002-10-30 | 2004-05-10 | 엘지전자 주식회사 | 로봇의 자동충전시스템 및 방법 |
US20080077511A1 (en) * | 2006-09-21 | 2008-03-27 | International Business Machines Corporation | System and Method for Performing Inventory Using a Mobile Inventory Robot |
US20120116588A1 (en) * | 2010-11-09 | 2012-05-10 | Samsung Electronics Co., Ltd. | Robot system and control method thereof |
CN203882195U (zh) * | 2014-06-13 | 2014-10-15 | 常州智宝机器人科技有限公司 | 基于多传感器融合的服务机器人及其充电座 |
CN104298234A (zh) * | 2013-11-13 | 2015-01-21 | 沈阳新松机器人自动化股份有限公司 | 一种双引导式机器人自主充电方法 |
CN105629971A (zh) * | 2014-11-03 | 2016-06-01 | 贵州亿丰升华科技机器人有限公司 | 一种机器人自动充电系统及其控制方法 |
CN106444748A (zh) * | 2016-09-08 | 2017-02-22 | 南京阿凡达机器人科技有限公司 | 一种实现自机器人主充电的方法及系统 |
CN107728622A (zh) * | 2017-10-20 | 2018-02-23 | 中国人民解放军陆军工程大学 | 一种基于超声波阵列的无人驾驶机械车辆位姿测量与追踪方法 |
Family Cites Families (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
KR100845528B1 (ko) * | 2007-06-29 | 2008-07-10 | (주)하기소닉 | 이방성 초음파센서를 이용한 이동로봇의 주행 중 장애물회피와 자동충전을 위한 접속장치 및 방법 |
CN102981148B (zh) * | 2011-11-30 | 2015-06-03 | 深圳市恒润晖光电科技有限公司 | 定位系统及其方法 |
CN105700528A (zh) * | 2016-02-19 | 2016-06-22 | 深圳前海勇艺达机器人有限公司 | 一种机器人自主导航避障系统及其方法 |
-
2018
- 2018-08-23 CN CN201880070517.4A patent/CN111465908B/zh active Active
- 2018-08-23 WO PCT/CN2018/101877 patent/WO2020037584A1/zh active Application Filing
Patent Citations (8)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
KR20040039027A (ko) * | 2002-10-30 | 2004-05-10 | 엘지전자 주식회사 | 로봇의 자동충전시스템 및 방법 |
US20080077511A1 (en) * | 2006-09-21 | 2008-03-27 | International Business Machines Corporation | System and Method for Performing Inventory Using a Mobile Inventory Robot |
US20120116588A1 (en) * | 2010-11-09 | 2012-05-10 | Samsung Electronics Co., Ltd. | Robot system and control method thereof |
CN104298234A (zh) * | 2013-11-13 | 2015-01-21 | 沈阳新松机器人自动化股份有限公司 | 一种双引导式机器人自主充电方法 |
CN203882195U (zh) * | 2014-06-13 | 2014-10-15 | 常州智宝机器人科技有限公司 | 基于多传感器融合的服务机器人及其充电座 |
CN105629971A (zh) * | 2014-11-03 | 2016-06-01 | 贵州亿丰升华科技机器人有限公司 | 一种机器人自动充电系统及其控制方法 |
CN106444748A (zh) * | 2016-09-08 | 2017-02-22 | 南京阿凡达机器人科技有限公司 | 一种实现自机器人主充电的方法及系统 |
CN107728622A (zh) * | 2017-10-20 | 2018-02-23 | 中国人民解放军陆军工程大学 | 一种基于超声波阵列的无人驾驶机械车辆位姿测量与追踪方法 |
Cited By (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN113282076A (zh) * | 2021-03-31 | 2021-08-20 | 浙江大学 | 一种基于雷达射线分割地图的机器人远程回充装置及方法 |
CN113282076B (zh) * | 2021-03-31 | 2022-09-27 | 浙江大学 | 一种基于雷达射线分割地图的机器人远程回充装置及方法 |
CN113675960A (zh) * | 2021-07-23 | 2021-11-19 | 上海闻泰电子科技有限公司 | 无线充电方法、装置、电子设备和介质 |
CN113726032A (zh) * | 2021-11-03 | 2021-11-30 | 中国科学院空天信息创新研究院 | 一种无线充电方法、设备、介质和产品 |
Also Published As
Publication number | Publication date |
---|---|
WO2020037584A1 (zh) | 2020-02-27 |
CN111465908B (zh) | 2024-03-15 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
KR100561855B1 (ko) | 로봇용 로컬라이제이션 시스템 | |
CN111465908B (zh) | 一种分段式自主充电对接方法及移动设备、充电站 | |
AU2019208265B2 (en) | Moving robot, method for controlling the same, and terminal | |
KR101303911B1 (ko) | 추종 로봇 | |
US7693681B2 (en) | System for determining three dimensional position of radio transmitter | |
KR20150047893A (ko) | 청소 로봇 | |
JP2007149088A (ja) | 移動ロボットの自己位置認識方法及び装置 | |
US7546179B2 (en) | Method and apparatus for allowing mobile robot to return to docking station | |
CN108844543A (zh) | 基于uwb定位及航位推算的室内agv导航控制方法 | |
EP3403155A1 (en) | Self-propellered robotic tool navigation | |
KR20200015880A (ko) | 스테이션 장치 및 이동 로봇 시스템 | |
WO2018094863A1 (zh) | 一种定位方法、装置和计算机存储介质 | |
CN102436260B (zh) | 一种室内自主定位与定向的二维导航系统 | |
JP2005069892A (ja) | 移動体の自己位置算出システム | |
CN111722623A (zh) | 一种基于蓝牙阵列天线定位的自动跟随系统 | |
CN112904845A (zh) | 基于无线测距传感器的机器人卡住检测方法、系统及芯片 | |
US20220281337A1 (en) | System and method for positioning a mobile assembly | |
Cho et al. | Localization of a high-speed mobile robot using global features | |
KR100962674B1 (ko) | 이동 로봇의 위치 추정 방법 및 이를 위한 이동 로봇 | |
JP2005018248A (ja) | 無人搬送車の自律走行システム | |
CN106217348A (zh) | 一种基于超高频无线电定位的移动机器人 | |
Ginzburg et al. | Indoor localization of an omni-directional wheeled mobile robot | |
JP6026307B2 (ja) | 移動体の向きを示す情報を取得するシステム及び方法 | |
Luo et al. | Autonomous mobile robot localization based on multisensor fusion approach | |
KR101339899B1 (ko) | 스마트폰 기반 로봇위치 자가 측위 방법 |
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 | ||
TA01 | Transfer of patent application right |
Effective date of registration: 20221121 Address after: 215000 No. 88, Keling Road, science and Technology City, high tech Zone, Suzhou, Jiangsu Applicant after: Suzhou Guoke medical technology development (Group) Co.,Ltd. Address before: 321300 8th floor, Jinzu building, headquarters center, Yongkang City, Jinhua City, Zhejiang Province Applicant before: YONGKANG GUOKE REHABILITATION ENGINEERING TECHNOLOGY Co.,Ltd. |
|
TA01 | Transfer of patent application right | ||
GR01 | Patent grant | ||
GR01 | Patent grant |