CN112388621B - 对接装置、移动机器人和对接装置的对接方法 - Google Patents
对接装置、移动机器人和对接装置的对接方法 Download PDFInfo
- Publication number
- CN112388621B CN112388621B CN201910745386.1A CN201910745386A CN112388621B CN 112388621 B CN112388621 B CN 112388621B CN 201910745386 A CN201910745386 A CN 201910745386A CN 112388621 B CN112388621 B CN 112388621B
- Authority
- CN
- China
- Prior art keywords
- docking
- photo sensor
- laser
- opposite
- photosensitive
- 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.)
- Active
Links
- 238000003032 molecular docking Methods 0.000 title claims abstract description 192
- 238000000034 method Methods 0.000 title claims abstract description 32
- 210000001503 joint Anatomy 0.000 claims abstract description 38
- 230000004044 response Effects 0.000 claims description 16
- 238000004590 computer program Methods 0.000 claims description 9
- 230000005611 electricity Effects 0.000 abstract 1
- 238000010586 diagram Methods 0.000 description 14
- 230000006870 function Effects 0.000 description 7
- 238000004891 communication Methods 0.000 description 4
- 230000003287 optical effect Effects 0.000 description 4
- 230000008569 process Effects 0.000 description 2
- 230000000644 propagated effect Effects 0.000 description 2
- 230000001960 triggered effect Effects 0.000 description 2
- 235000003166 Opuntia robusta Nutrition 0.000 description 1
- 244000218514 Opuntia robusta Species 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 229940079593 drug Drugs 0.000 description 1
- 239000003814 drug Substances 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 235000013305 food Nutrition 0.000 description 1
- 239000007788 liquid Substances 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 235000012054 meals Nutrition 0.000 description 1
- 239000013307 optical fiber Substances 0.000 description 1
- 239000004065 semiconductor Substances 0.000 description 1
- 238000000926 separation method 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 or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- 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
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0225—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving docking at a fixed facility, e.g. base station or loading bay
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
- B64G1/00—Cosmonautic vehicles
- B64G1/22—Parts of, or equipment specially adapted for fitting in or to, cosmonautic vehicles
- B64G1/64—Systems for coupling or separating cosmonautic vehicles or parts thereof, e.g. docking arrangements
- B64G1/646—Docking or rendezvous systems
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- 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
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- 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
- G05D1/0234—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using optical markers or beacons
- G05D1/0236—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using optical markers or beacons in combination with a laser
Abstract
Description
Claims (12)
Priority Applications (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201910745386.1A CN112388621B (zh) | 2019-08-13 | 2019-08-13 | 对接装置、移动机器人和对接装置的对接方法 |
PCT/CN2020/107278 WO2021027665A1 (zh) | 2019-08-13 | 2020-08-06 | 对接装置、移动机器人和对接装置的对接方法 |
EP20851638.5A EP4015160A4 (en) | 2019-08-13 | 2020-08-06 | CONNECTOR, MOBILE ROBOT AND CONNECTION METHOD FOR A CONNECTOR |
US17/632,143 US20230125504A1 (en) | 2019-08-13 | 2020-08-06 | Docking apparatus, mobile robot, and docking method for docking apparatus |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201910745386.1A CN112388621B (zh) | 2019-08-13 | 2019-08-13 | 对接装置、移动机器人和对接装置的对接方法 |
Publications (2)
Publication Number | Publication Date |
---|---|
CN112388621A CN112388621A (zh) | 2021-02-23 |
CN112388621B true CN112388621B (zh) | 2023-04-07 |
Family
ID=74570902
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN201910745386.1A Active CN112388621B (zh) | 2019-08-13 | 2019-08-13 | 对接装置、移动机器人和对接装置的对接方法 |
Country Status (4)
Country | Link |
---|---|
US (1) | US20230125504A1 (zh) |
EP (1) | EP4015160A4 (zh) |
CN (1) | CN112388621B (zh) |
WO (1) | WO2021027665A1 (zh) |
Families Citing this family (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN114610022A (zh) * | 2022-02-09 | 2022-06-10 | 北京三快在线科技有限公司 | 一种接驳定位方法及配送系统 |
Citations (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN101779289A (zh) * | 2007-08-15 | 2010-07-14 | 美光科技公司 | 用于光敏装置的透镜对准方法及设备以及其实施系统 |
CN103425005A (zh) * | 2012-05-22 | 2013-12-04 | 上海微电子装备有限公司 | 基于光源调制的掩模预对准系统及预对准方法 |
CN106415301A (zh) * | 2014-03-25 | 2017-02-15 | 奥斯兰姆施尔凡尼亚公司 | 用于在基于光的通信中的光栅线对准的技术 |
CN107844204A (zh) * | 2017-10-31 | 2018-03-27 | 宁波视睿迪光电有限公司 | 定位系统及方法 |
KR20180094300A (ko) * | 2017-02-15 | 2018-08-23 | 한국기술교육대학교 산학협력단 | 이종 로봇을 도킹하는 로봇 |
CN108885264A (zh) * | 2015-12-18 | 2018-11-23 | 杰拉德·迪尔克·施密茨 | 对象的实时位置感测 |
CN109491382A (zh) * | 2018-11-07 | 2019-03-19 | 深圳乐动机器人有限公司 | 一种机器人充电方法、装置、存储介质及机器人 |
Family Cites Families (24)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US3224709A (en) * | 1962-09-13 | 1965-12-21 | Martin Marietta Corp | Method and apparatus for docking vehicles |
DE19738163A1 (de) * | 1997-09-01 | 1999-03-11 | Siemens Ag | Verfahren zur Andockpositionierung einer autonomen mobilen Einheit unter Verwendung eines Leitstrahles |
US6120052A (en) * | 1998-01-15 | 2000-09-19 | Capik; Dan | Optically guided trailer hitching system |
US6658329B1 (en) * | 2002-05-02 | 2003-12-02 | The United States Of America As Represented By The United States National Aeronautics And Space Administration | Video guidance sensor system with laser rangefinder |
US8386096B2 (en) * | 2009-12-22 | 2013-02-26 | General Electric Company | Relative navigation system |
CN102447270B (zh) * | 2010-09-30 | 2014-01-01 | 比亚迪股份有限公司 | 车辆用太阳能供电控制系统及控制方法 |
CN103251355A (zh) * | 2012-02-16 | 2013-08-21 | 恩斯迈电子(深圳)有限公司 | 扫地机器人与充电系统 |
KR101551667B1 (ko) * | 2013-11-27 | 2015-09-09 | 현대모비스(주) | 라이다 센서 시스템 |
US20200409382A1 (en) * | 2014-11-10 | 2020-12-31 | Carnegie Mellon University | Intelligent cleaning robot |
CN204408031U (zh) * | 2015-03-10 | 2015-06-17 | 金陵科技学院 | 一种无人机用无线激光充电设备及其充电系统 |
CN104750115B (zh) * | 2015-04-09 | 2017-03-08 | 北京科技大学 | 一种移动设备的激光主动式导航系统及导航方法 |
CN105157697B (zh) * | 2015-07-31 | 2017-05-17 | 天津大学 | 基于光电扫描的室内移动机器人位姿测量系统及测量方法 |
CN105119338B (zh) * | 2015-09-10 | 2017-10-17 | 珠海市一微半导体有限公司 | 移动机器人充电控制系统及方法 |
CN105798922B (zh) * | 2016-05-12 | 2018-02-27 | 中国科学院深圳先进技术研究院 | 一种家庭服务机器人 |
US10281912B2 (en) * | 2016-08-03 | 2019-05-07 | Kevin Cole Hollister | Autonomous inspection system |
US10866102B2 (en) * | 2016-12-23 | 2020-12-15 | X Development Llc | Localization of robotic vehicles |
DE102017117148A1 (de) * | 2017-07-28 | 2019-01-31 | RobArt GmbH | Magnetometer für die roboternavigation |
CN107392962A (zh) * | 2017-08-14 | 2017-11-24 | 深圳市思维树科技有限公司 | 一种基于图案识别的机器人充电对接系统和方法 |
CN107598935A (zh) * | 2017-09-07 | 2018-01-19 | 苏州三体智能科技有限公司 | 巡逻机器人系统及方法 |
CN108873879B (zh) * | 2017-09-25 | 2022-03-04 | 北京石头创新科技有限公司 | 自主移动机器人及其寻桩方法、控制装置和智能清洁系统 |
US10761539B2 (en) * | 2017-11-22 | 2020-09-01 | Locus Robotics Corp. | Robot charger docking control |
US10893222B2 (en) * | 2018-03-29 | 2021-01-12 | Panasonic Intellectual Property Management Co., Ltd. | Imaging device and camera system, and driving method of imaging device |
CN112640432A (zh) * | 2018-08-28 | 2021-04-09 | 松下知识产权经营株式会社 | 光电传感器、图像传感器以及光电传感器的驱动方法 |
CN110244311B (zh) * | 2019-06-28 | 2021-07-02 | 深圳市速腾聚创科技有限公司 | 激光雷达接收装置、激光雷达系统和激光测距方法 |
-
2019
- 2019-08-13 CN CN201910745386.1A patent/CN112388621B/zh active Active
-
2020
- 2020-08-06 EP EP20851638.5A patent/EP4015160A4/en active Pending
- 2020-08-06 US US17/632,143 patent/US20230125504A1/en active Pending
- 2020-08-06 WO PCT/CN2020/107278 patent/WO2021027665A1/zh unknown
Patent Citations (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN101779289A (zh) * | 2007-08-15 | 2010-07-14 | 美光科技公司 | 用于光敏装置的透镜对准方法及设备以及其实施系统 |
CN103425005A (zh) * | 2012-05-22 | 2013-12-04 | 上海微电子装备有限公司 | 基于光源调制的掩模预对准系统及预对准方法 |
CN106415301A (zh) * | 2014-03-25 | 2017-02-15 | 奥斯兰姆施尔凡尼亚公司 | 用于在基于光的通信中的光栅线对准的技术 |
CN108885264A (zh) * | 2015-12-18 | 2018-11-23 | 杰拉德·迪尔克·施密茨 | 对象的实时位置感测 |
KR20180094300A (ko) * | 2017-02-15 | 2018-08-23 | 한국기술교육대학교 산학협력단 | 이종 로봇을 도킹하는 로봇 |
CN107844204A (zh) * | 2017-10-31 | 2018-03-27 | 宁波视睿迪光电有限公司 | 定位系统及方法 |
CN109491382A (zh) * | 2018-11-07 | 2019-03-19 | 深圳乐动机器人有限公司 | 一种机器人充电方法、装置、存储介质及机器人 |
Also Published As
Publication number | Publication date |
---|---|
WO2021027665A1 (zh) | 2021-02-18 |
EP4015160A4 (en) | 2023-08-30 |
EP4015160A1 (en) | 2022-06-22 |
CN112388621A (zh) | 2021-02-23 |
US20230125504A1 (en) | 2023-04-27 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
US20210055416A1 (en) | Integrated optical transmitter and receiver | |
JP2017162435A (ja) | 自律移動体ガイダンスシステム、自律移動体をガイドする方法、およびプログラム | |
US11609575B2 (en) | Mobile robot device and method for controlling mobile robot device | |
US11747832B2 (en) | Unmanned aerial vehicle (UAV) systems and methods for maintaining continuous UAV operation | |
EP3633478B1 (en) | Method and device for assessing probability of presence of obstacle in unknown position | |
US10823572B2 (en) | Method, system and apparatus for generating navigational data | |
CN103547989A (zh) | 用于装置状态的用户控制的方法、装置和计算机程序 | |
CN112388621B (zh) | 对接装置、移动机器人和对接装置的对接方法 | |
US11784407B2 (en) | Beacon network, moving-object positioning system, and logistics management system | |
CN105953788B (zh) | 一种目标对象的定位方法及系统 | |
KR20210040216A (ko) | 재고 관리를 위한 무인 비행체 및 그의 동작 방법 | |
US9223441B1 (en) | Detection surface for a computing device | |
US10731970B2 (en) | Method, system and apparatus for support structure detection | |
US20200209876A1 (en) | Positioning method and apparatus with the same | |
EP3735122A1 (en) | Method for inspecting insertion state of plurality of pins included in connector inserted into substrate, and substrate inspection device | |
US10339230B2 (en) | Simulation apparatus and method of an article and a conveyor in a 3D simulated space | |
CN113654558A (zh) | 导航方法及装置、服务器、设备、系统及存储介质 | |
US20210039931A1 (en) | Position calculation system, position calculation method, and automated guided vehicle | |
US20190235522A1 (en) | Auto guided vehicle system and operating method thereof | |
US11050461B2 (en) | Toy, method for controlling a toy, and computer program product | |
CN114104145A (zh) | 搬运系统、搬运方法及程序 | |
JP2022052489A (ja) | 動作制御装置及び動作制御システム | |
US20200183400A1 (en) | Rfid-based navigation of an autonomous guided vehicle | |
US20190227559A1 (en) | Mover, mover control system, method of detecting object by mover, moving system, and method of controlling mover | |
US20200182623A1 (en) | Method, system and apparatus for dynamic target feature mapping |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
PB01 | Publication | ||
PB01 | Publication | ||
REG | Reference to a national code |
Ref country code: HK Ref legal event code: DE Ref document number: 40038787 Country of ref document: HK |
|
CB02 | Change of applicant information |
Address after: 100176 601, 6th floor, building 2, No. 18, Kechuang 11th Street, Daxing Economic and Technological Development Zone, Beijing Applicant after: Jingdong Technology Information Technology Co.,Ltd. Address before: 100176 601, 6th floor, building 2, No. 18, Kechuang 11th Street, Daxing Economic and Technological Development Zone, Beijing Applicant before: Jingdong Shuke Haiyi Information Technology Co.,Ltd. Address after: 100176 601, 6th floor, building 2, No. 18, Kechuang 11th Street, Daxing Economic and Technological Development Zone, Beijing Applicant after: Jingdong Shuke Haiyi Information Technology Co.,Ltd. Address before: 100176 601, 6th floor, building 2, No. 18, Kechuang 11th Street, Daxing Economic and Technological Development Zone, Beijing Applicant before: BEIJING HAIYI TONGZHAN INFORMATION TECHNOLOGY Co.,Ltd. |
|
CB02 | Change of applicant information | ||
SE01 | Entry into force of request for substantive examination | ||
SE01 | Entry into force of request for substantive examination | ||
GR01 | Patent grant | ||
GR01 | Patent grant |