CN112823320A - 自动返回装置、系统及自动行走设备自动返回方法 - Google Patents

自动返回装置、系统及自动行走设备自动返回方法 Download PDF

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Publication number
CN112823320A
CN112823320A CN201980028200.9A CN201980028200A CN112823320A CN 112823320 A CN112823320 A CN 112823320A CN 201980028200 A CN201980028200 A CN 201980028200A CN 112823320 A CN112823320 A CN 112823320A
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China
Prior art keywords
sound wave
sound
automatic
intensity
strongest
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Pending
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CN201980028200.9A
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English (en)
Inventor
弗朗西斯科·佩利萨里
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Positec Power Tools Suzhou Co Ltd
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Positec Power Tools Suzhou Co Ltd
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Application filed by Positec Power Tools Suzhou Co Ltd filed Critical Positec Power Tools Suzhou Co Ltd
Publication of CN112823320A publication Critical patent/CN112823320A/zh
Pending legal-status Critical Current

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    • 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
    • G05D1/0255—Control of position or course in two dimensions specially adapted to land vehicles using acoustic signals, e.g. ultra-sonic singals
    • 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
    • G05D1/0212—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
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
    • B60L53/30—Constructional details of charging stations
    • B60L53/35—Means for automatic or assisted adjustment of the relative position of charging devices and vehicles
    • B60L53/36—Means for automatic or assisted adjustment of the relative position of charging devices and vehicles by positioning the vehicle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
    • B60L53/30—Constructional details of charging stations
    • B60L53/35—Means for automatic or assisted adjustment of the relative position of charging devices and vehicles
    • B60L53/37—Means for automatic or assisted adjustment of the relative position of charging devices and vehicles using optical position determination, e.g. using cameras
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/70—Energy storage systems for electromobility, e.g. batteries
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
    • Y02T90/10—Technologies relating to charging of electric vehicles
    • Y02T90/12—Electric charging stations

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)
  • Power Engineering (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Acoustics & Sound (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

一种自动返回系统，包括充电站(200)及自动行走设备(100)，充电站上设有声波发射器(80)，自动行走设备包括声波接收器(20)、处理器(60)及控制器(50)。一种自动行走设备自动返回方法，包括步骤：自动行走设备启动回归时，控制器控制声波接收器持续侦测不同方向上的声波发射器发射的声波；处理器对声波接收器持续侦测到的不同方向的声波进行强度分析并获得声强最强的声波所在方向；控制器根据声强最强的声波所在方向控制自动行走设备的行走方向，使得自动行走设备返回充电站。该系统及方法可以提高自动行走设备的回归效率，节约回归时间，方式简单可靠。

Description

PCT国内申请，说明书已公开。

Claims (21)

  1. PCT国内申请，权利要求书已公开。
CN201980028200.9A 2018-04-27 2019-04-26 自动返回装置、系统及自动行走设备自动返回方法 Pending CN112823320A (zh)

Applications Claiming Priority (5)

Application Number Priority Date Filing Date Title
CN2018103949613 2018-04-27
CN201810394961 2018-04-27
CN201810412363 2018-05-03
CN2018104123634 2018-05-03
PCT/CN2019/084565 WO2019206282A1 (zh) 2018-04-27 2019-04-26 自动返回装置、系统及自动行走设备自动返回方法

Publications (1)

Publication Number Publication Date
CN112823320A true CN112823320A (zh) 2021-05-18

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CN201980028200.9A Pending CN112823320A (zh) 2018-04-27 2019-04-26 自动返回装置、系统及自动行走设备自动返回方法

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US (1) US20210223787A1 (zh)
EP (1) EP3786755A4 (zh)
CN (1) CN112823320A (zh)
WO (1) WO2019206282A1 (zh)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114194045B (zh) * 2021-10-25 2022-11-01 东风汽车集团股份有限公司 车辆充电接口与外部充电接头的自动对准方法及系统

Citations (7)

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CN100999078A (zh) * 2006-01-09 2007-07-18 田角峰 一种机器人自动充电方法及其自动充电装置
KR100845531B1 (ko) * 2007-06-29 2008-07-10 (주)하기소닉 이방성초음파센서를 이용한 이동로봇의 자동충전을 위한 접속 방법
US20100305752A1 (en) * 2009-05-28 2010-12-02 Shai Abramson Localisation System
CN103066645A (zh) * 2012-12-14 2013-04-24 安科智慧城市技术（中国）有限公司 一种机器人及其自动充电系统和方法
CN106292718A (zh) * 2016-09-08 2017-01-04 南京阿凡达机器人科技有限公司 一种基于超声波强度实现机器人自主充电的方法及系统
CN107402571A (zh) * 2016-05-20 2017-11-28 富泰华工业（深圳）有限公司 声音强度定位引导系统及方法
CN107685334A (zh) * 2017-09-27 2018-02-13 歌尔股份有限公司 一种服务机器人充电方法和服务机器人

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Publication number Priority date Publication date Assignee Title
WO2003019125A1 (en) * 2001-08-31 2003-03-06 Nanyang Techonological University Steering of directional sound beams
KR100704486B1 (ko) * 2005-07-22 2007-04-10 엘지전자 주식회사 이동로봇의 자동 충전대 복귀 시스템 및 그 방법
JP2007275361A (ja) * 2006-04-07 2007-10-25 Toshiba Battery Co Ltd 掃除ロボット
CN204129525U (zh) * 2014-07-18 2015-01-28 李威霆 扫地机器人超声波回位装置
CN106843198B (zh) * 2015-12-07 2020-09-11 北京奇虎科技有限公司 扫地机器人自动返回充电方法、扫地机器人和充电座
CN106647753A (zh) * 2016-12-19 2017-05-10 钦州市晶通科技有限公司 基于超声波自动定位的电子设备

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN100999078A (zh) * 2006-01-09 2007-07-18 田角峰 一种机器人自动充电方法及其自动充电装置
KR100845531B1 (ko) * 2007-06-29 2008-07-10 (주)하기소닉 이방성초음파센서를 이용한 이동로봇의 자동충전을 위한 접속 방법
US20100305752A1 (en) * 2009-05-28 2010-12-02 Shai Abramson Localisation System
CN103066645A (zh) * 2012-12-14 2013-04-24 安科智慧城市技术（中国）有限公司 一种机器人及其自动充电系统和方法
CN107402571A (zh) * 2016-05-20 2017-11-28 富泰华工业（深圳）有限公司 声音强度定位引导系统及方法
CN106292718A (zh) * 2016-09-08 2017-01-04 南京阿凡达机器人科技有限公司 一种基于超声波强度实现机器人自主充电的方法及系统
CN107685334A (zh) * 2017-09-27 2018-02-13 歌尔股份有限公司 一种服务机器人充电方法和服务机器人

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Publication number Publication date
EP3786755A4 (en) 2022-01-12
US20210223787A1 (en) 2021-07-22
WO2019206282A1 (zh) 2019-10-31
EP3786755A1 (en) 2021-03-03

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Application publication date: 20210518