CN204287962U - A kind of removable machine and robot - Google Patents
A kind of removable machine and robot Download PDFInfo
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- CN204287962U CN204287962U CN201420641905.2U CN201420641905U CN204287962U CN 204287962 U CN204287962 U CN 204287962U CN 201420641905 U CN201420641905 U CN 201420641905U CN 204287962 U CN204287962 U CN 204287962U
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- 238000001514 detection method Methods 0.000 claims description 14
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- 238000004040 coloring Methods 0.000 description 15
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Abstract
The utility model embodiment provides a kind of removable machine and robot, and wherein, described removable machine comprises: comprise machine casing, it is characterized in that, also comprise: harvester, processor and Power Component; Described harvester, for gathering outside mark; Described processor, is connected with Power Component with described harvester, and the mark being less than predeterminable range threshold value with the distance value of removable machine that described processor gathers based on described harvester controls the power that described Power Component produces.The utility model embodiment can according to a mark relative to removable machine closer distance, comparatively accurately determine the position of this removable machine, and comparatively accurately complete further the operation of this removable machine is controlled, the generation of the maloperation avoided to a certain extent, and it is low to realize cost.
Description
Technical field
The utility model relates to Computer Control Technology field, particularly relates to a kind of removable machine and robot.
Background technology
Great majority can carry out the machine of automatic or semi-automatic movement, such as robot, remote-control car, even telecontrolled aircraft etc., all can be determined the position of himself by existing various location technology, and then perform different process operations according to the position determined.
At present, the location technology great majority that above-mentioned mobile apparatus uses are GPS (Global Positioning System, GPS) location technology, but the situation of poor signal easily appears in GPS, the location requirement of user can not be met in some cases, under the scenes such as indoor, gps signal is usually unavailable, cannot provide positioning service at all, thus cannot meet the location-based apparatus control demand of user.
Utility model content
The utility model embodiment provides a kind of removable machine and robot, can control removable machines such as robots by position-based accurately, fast and at low cost.
The utility model embodiment provides a kind of removable machine, comprises machine casing, also comprises: harvester, processor and Power Component;
Described harvester, for gathering outside mark;
Described processor, is connected with Power Component with described harvester, and the mark being less than predeterminable range threshold value with the distance value of removable machine that described processor gathers based on described harvester controls the power that described Power Component produces.
Wherein alternatively, described harvester comprises: near-field communication module, and/or non-contact radio-frequency identification module.
Wherein alternatively, described harvester comprises: photographing module;
Mark in the image of the closely position that described processor is specifically taken based on described photographing module controls described Power Component.
Wherein alternatively, described photographing module is arranged on the bottom of described machine casing.
Wherein alternatively, described processor, the appointment image in the image of the closely position specifically taken by described photographing module and/or character pattern are as mark.
Wherein alternatively, also comprise: luminance detection device and lighting device;
Described luminance detection device, for testing environment brightness;
Described processor, is connected with lighting device with described luminance detection device, and described processor controls the luminosity of described lighting device based on the ambient brightness that described luminance detection device detects.
Wherein alternatively, also comprise: communicator;
Described processor is connected with described communicator, described processor is connected with external server signal by described communicator, and described processor specifically controls described Power Component according to the control signal of the described external server received from communicator.
Wherein alternatively, also comprise: insulating assembly, be configured between described lighting device and harvester, for the heat of described lighting device generation isolated by described harvester.
Correspondingly, the utility model embodiment still provides a kind of robot, comprising: robot body, camera head, mobile controller and Power Component;
Described mobile controller is connected with described camera head, Power Component;
Between described camera head, mobile controller and Power Component based on the annexation of signal be:
The close-up images signal collected is sent to described mobile controller by described camera head, described mobile controller sends control signal to Power Component based on the mark in close-up images signal, and described Power Component responsive control signal control machine human agent moves.
Wherein alternatively, also comprise: proximity sensor;
Described proximity sensor is connected with described camera head, and described proximity sensor sends the signal triggering and take pictures to described camera head when sensing in-plant plane.
Correspondingly, the utility model embodiment still provides another kind of robot, comprising: robot body, closely card reader, mobile controller and Power Component;
Described mobile controller is connected with described closely card reader, Power Component;
Annexation based on signal between described closely card reader, mobile controller and Power Component is:
The closely id signal collected is sent to described mobile controller by described closely card reader, described mobile controller sends control signal to Power Component based on closely id signal, and described Power Component responsive control signal control machine human agent moves.
The utility model embodiment can according to a mark relative to removable machine closer distance to be controlled, comparatively accurately determine the position of this removable machine to be controlled, and comparatively accurately complete further the operation of this removable machine to be controlled is controlled, the generation of the maloperation avoided to a certain extent, and it is low to realize cost.
Accompanying drawing explanation
Fig. 1 is the structural representation of a kind of removable machine of the utility model embodiment;
Fig. 2 is the structural representation of section components in removable machine in Fig. 1;
Fig. 3 is the structural representation of a kind of robot of the utility model embodiment;
Fig. 4 is the structural representation of the another kind of robot of the utility model embodiment;
Fig. 5 is the schematic flow sheet of a kind of control method of the utility model embodiment;
Fig. 6 is the schematic flow sheet of the location-based control method of another kind of the utility model embodiment;
Fig. 7 is the schematic flow sheet of the method for a kind of camera plane image of the utility model embodiment;
Fig. 8 is the schematic flow sheet of another location-based control method of the utility model embodiment.
Following embodiment will further illustrate the utility model in conjunction with above-mentioned accompanying drawing.
Embodiment
Below in conjunction with the accompanying drawing in the utility model embodiment, be clearly and completely described the technical scheme in the utility model embodiment, obviously, described embodiment is only the utility model part embodiment, instead of whole embodiments.Based on the embodiment in the utility model, those of ordinary skill in the art are not making the every other embodiment obtained under creative work prerequisite, all belong to the scope of the utility model protection.
The utility model embodiment can gather the mark at closer location place by image recognition, close range communication techniques etc., then more adequately determine the current location of local terminal, and then perform different control operations according to the current location determined.Such as, for some sports class robots, after can realizing arriving certain band of position by the described method of the utility model embodiment, the operations such as competitive state recovery are performed.
Specifically refer to Fig. 1, it is the structural representation of a kind of removable machine of the utility model embodiment of the utility model embodiment, described removable machine can be robot, the remote-control car even equipment such as aircraft, concrete, the described removable machine of the utility model embodiment comprises: harvester 100 and processor 200 and Power Component 300;
Described harvester 100, for gathering outside mark;
Described processor 200, be connected with Power Component 300 with described harvester 100, the mark being less than predeterminable range threshold value with the distance value of removable machine that described processor 200 gathers based on described harvester 100 controls the power that described Power Component 300 produces.
Wherein concrete, described harvester 100 comprises: near-field communication module, and/or non-contact radio-frequency identification module.Concrete described harvester 100 can also comprise various types of wireless card reader.
Wherein concrete, described harvester 100 also can comprise: photographing module; Mark in the image of the closely position that described processor 200 is specifically taken based on described photographing module controls described Power Component 300.
Described photographing module specifically can be arranged on the bottom of described machine casing, to take the image on the ground, mobile apparatus place such as remote-control car preferably, guarantees that the image photographed is close-up images preferably.Or described removable machine can also comprise: range sensor, described range sensor triggers described harvester when detecting the distance between this removable machine and being less than the plane of predeterminable range threshold value and takes image.Described range sensor can be the sensor of the detection range such as ultrasound wave, radar.
Concrete, described processor 200 is for obtaining ambient image by described harvester 100; Analyze from the ambient image that shooting obtains and identify mark, described ambient image comprises the image of the plane being less than predeterminable range threshold value with the distance value of removable machine.
Further particularly, described processor 200, the appointment image in the image of the closely position specifically taken by described photographing module and/or character pattern are as mark.
Described processor 200, specifically for identifying colouring information from taking in the ambient image that obtains to analyze, if analyze the color indicated by colouring information that identifies to be the color of specifying and the area size at its place satisfies condition, then the colouring information this analysis identified is as mark.
Or described processor 200, specifically for identifying colouring information from taking in the ambient image that obtains to analyze, if analyzing the color indicated by colouring information identified is the color of specifying, then the colouring information this analysis identified is as mark.
Further particularly, the described equipment of the utility model embodiment can also comprise: luminance detection device 400 and lighting device 500;
Described luminance detection device 400, for testing environment brightness;
Described processor 200 is connected with lighting device 500 with described luminance detection device 400, and the signal annexation between three is: described processor 200 controls the luminosity of described lighting device 500 based on the ambient brightness that described luminance detection device 400 detects.
Concrete, described processor 200 is for when the ambient brightness within the scope of predeterminable range being detected lower than predetermined threshold value by described luminance detection device 400, control is opened and regulated the luminosity of described lighting device 500; And control described harvester 100 and take the ambient image within the scope of described predeterminable range.
Concrete further, the described removable machine of the utility model embodiment can also comprise: communicator 600;
Described processor 200 is connected with described communicator 600, its signal annexation is: described processor 200 is connected with external server signal by described communicator 600, and described processor 200 specifically controls described Power Component according to the control signal of the described external server received from communicator 600.
Described processor 200, specifically for generating the response instruction associated with the mark of described acquisition; By described communicator 600, the response instruction of generation is sent to server, and receive described server and respond the steering order that described response instruction returns; According to the steering order received, this removable machine is controlled.
Concrete further, refer to Fig. 2, the described removable machine of the utility model embodiment also comprises:
Insulating assembly 700, is configured between described lighting device 500 and harvester 100, for the heat of described lighting device 500 generation isolated by described harvester 100.
Wherein, the harvester 100 shown in Fig. 2 is camera.
The utility model embodiment can according to a mark relative to removable machine closer distance, comparatively accurately determine the position of this removable machine, and comparatively accurately complete further the operation of this removable machine is controlled, the generation of the maloperation avoided to a certain extent, and it is low to realize cost.
Refer to Fig. 3 again, it is the structural representation of the robot of the utility model embodiment, during concrete enforcement, described robot also comprises some other mechanism, such as electric rotating machine, inertial sensor etc., comprise in the described robot of the utility model embodiment: robot body, camera head 12, mobile controller 13 and Power Component 14.
Described mobile controller 13 is connected with described camera head 12, Power Component 14;
Annexation based on signal between described camera head 12, mobile controller 13 and Power Component 14 is:
The close-up images signal collected is sent to described mobile controller 13 by described camera head 12, described mobile controller 13 sends control signal to Power Component 14 based on the mark in close-up images signal, and described Power Component 14 responsive control signal control machine human agent moves.
In the regional extent of robot movable, different colours, the pattern of shape or graphic code (Quick Response Code etc.) can be set, so that the image that described mobile controller 13 can collect based on described camera head 12 comprise shades of colour, shape pattern, Division identification goes out current position.Its specific implementation can with reference to the description of the corresponding embodiment of figure 1 and Fig. 2.
Concrete further, in order to ensure that the image that described camera head 12 photographs is meet closely to require (image of the plane in certain distance range threshold), described robot can also comprise: proximity sensor 15;
Described proximity sensor 15 is connected with described camera head 12, and described proximity sensor 15 sends the signal triggering and take pictures to described camera head 12 when sensing in-plant plane.
Can not certainly service range sensor 15, and described camera head 12 is directly placed in described robot near one end, ground (bottom), thus, also the requirement that image is close-up images can be met preferably.
The utility model embodiment can according to a mark relative to removable machine closer distance, comparatively accurately determine the position of this removable machine, and comparatively accurately complete further the operation of this removable machine is controlled, the generation of the maloperation avoided to a certain extent, and it is low to realize cost.
Refer to Fig. 4 again, it is the structural representation of the robot of the utility model embodiment, during concrete enforcement, described robot also comprises some other mechanism, such as electric rotating machine, inertial sensor etc., comprise in the described robot of the utility model embodiment: robot body, closely card reader 22, mobile controller 23 and Power Component 24;
Described mobile controller 23 is connected with described closely card reader 22, Power Component 24;
Annexation based on signal between described closely card reader 22, mobile controller 23 and Power Component 24 is:
The closely id signal collected is sent to described mobile controller 23 by described closely card reader 22, described mobile controller 23 sends control signal to Power Component 24 based on closely id signal, and described Power Component 24 responsive control signal control machine human agent moves.
Described closely card reader 22 comprises the card reading module such as NFC (Near Field Communication, near-field communication), RFID (Radio Frequency Identification, radio-frequency (RF) identification).
In the regional extent of robot movable, can arrange the IC-card sheet of different carry informations, so that described mobile controller 23 can based on the information of the IC-card of described closely card reader 22 reading, Division identification goes out the current position of robot.Its specific implementation can with reference to the description of the corresponding embodiment of figure 1 and Fig. 2.
The utility model embodiment can according to a mark relative to removable machine closer distance, comparatively accurately determine the position of this removable machine, and comparatively accurately complete further the operation of this removable machine is controlled, the generation of the maloperation avoided to a certain extent, and it is low to realize cost.
Below by concrete method flow, device corresponding in above-mentioned Fig. 1 to Fig. 4 and module are described in detail.Can contact according to the concrete function of each device and module in Fig. 1 to Fig. 4 and the following method related to.
Refer to Fig. 5, it is the schematic flow sheet of a kind of control method of the utility model embodiment, the described method of the utility model embodiment can with robot, UAV (Unmanned Aerial Vehicle, unmanned plane) etc. removable machine be connected controller in realize, concrete, described method comprises:
S101: obtain the mark being less than predeterminable range threshold value with the distance value of removable machine.
Can based on NFC, non-contact radio-frequency identification RFID etc. closely information read technology respond to read some be fixed on the information of carrying in the card of specific region.Read the characteristic of technology based on closely information, ensure that the distance value between the mark that reads and removable machine is less than distance threshold.
Also can calling camera to take pictures to being positioned at in-plant plane, collecting the image information of this plane, and then from this image information, obtain the mark being used for region, home position.
Wherein, the mark for mark position region obtained in image can comprise: if the image photographed comprises the region with particular color and/or given shape, then using the region of this particular color and/or given shape as the mark being used for mark position region; Or, if the image photographed comprises the graphic code (Quick Response Code, bar code etc.) carrying relevant information, then resolve the mark that this graphic code obtains for mark position region.
Enough near in order to ensure the plane picture collected, camera can be arranged on the bottom of the removable machines such as robot, and the plane comprising mark is ground, removable machine is in moving process, the camera being positioned at bottom (or interval) can take the image on ground in real time, and then extracts the mark that can represent this removable machine current location.Or, also can arrange one with camera same plane, same towards range sensor, such as ultrasonic sensor etc., when range sensor senses a nearer plane, enable the image that camera takes this nearer plane, such as, camera and ultrasonic sensor are arranged on the same side of removable machine, when ultrasonic sensor detects plane (wall) in a 10cm distance, namely start to take this plane, obtain corresponding mark, to determine the position that removable machine is current.
S102: trigger the control operation to described removable machine, the control operation of described triggering is associated with the mark of described acquisition.
After collecting mark, can perform corresponding control operation according to this mark, in the utility model embodiment, different marks can associate different control operations.Concrete, for the mark in the image of camera collection, if when having identified the image-region comprising one piece of particular color in described S101, then the operation indicated by the image of this particular color can carry out control operation to removable machine.
Described mark can specifically for mark position region, when identifying plane picture and comprising one piece of green image-region, sports robot can know and it arrives at recovering state region, can initiate operations such as the such as virtual life value recoveries of these sports robot.
In described S102, directly can initiate the control operation to removable machine, virtual life value described above recovery operation.Also can be send request (as virtual life value recovery request) to control server, complete relevant control operation by control server after getting mark.
In other embodiments, the described method of the utility model embodiment also can realize in the above-mentioned control server mentioned, this control server can be carried out operation to the removable machine of multiple stage of its management and be controlled.In described S101, the close-up images that server specifically can be uploaded each removable machine or the information that NFC collects are analyzed, to determine whether there is corresponding mark, if existed, then in described S102, control operation can be carried out based on this mark to corresponding removable machine.
The utility model embodiment can according to a mark relative to removable machine closer distance, comparatively accurately determine the position of this removable machine, and comparatively accurately complete further the operation of this removable machine is controlled, the generation of the maloperation avoided to a certain extent, and it is low to realize cost.
Refer to Fig. 6 again, it is the schematic flow sheet of the location-based control method of another kind of the utility model embodiment, the described method of the utility model embodiment can realize by the controller be connected with removable machines such as robots, and concrete, described method comprises:
S201: shooting environmental image, described ambient image comprises the image of the plane being less than predeterminable range threshold value with the distance value of removable machine.
In the process of the removable machine movements such as robot, the plane of the close together of current and removable machine is detected by the equidistant sensor of ultrasound wave, once a plane being less than predeterminable range threshold value be detected, such as, plane in 10cm, the image that camera takes this plane can be triggered, to identify mark.
Also the close together of image place plane and the removable machine photographed can be guaranteed by mode camera being arranged on removable machine specific location, specifically camera can be arranged on the bottom of removable machine, so that only take the image on ground, the close together of image place plane and the removable machine photographed can be ensured.
S202: analyze from the ambient image that shooting obtains and identify mark.
Analysis can be carried out according to the pixel value of each pixel to image to identify, to determine the mark that image comprises.These marks be made up of color etc. specifically may be used for the region representing its place, and such as, green mark corresponding region is recovering state district, and red expression enters explosive area etc.
In the utility model embodiment, described mark can for realize by some colors of specifying.
Described S202 specifically can comprise: analyze from the ambient image that shooting obtains and identify colouring information, if analyzing the color indicated by colouring information identified is the color of specifying, then the colouring information this analysis identified is as mark.The color value of specifying can comprise multiple, as escribed above green, red.Color value can calculate based on pixel in image.User can be configured in the mobile place current to removable machine, by the area configurations of particular color to enough large, so that also can identify relevant colouring information by accurate acquisition.
Or, described S202 specifically can comprise: analyze from the ambient image that shooting obtains and identify colouring information, if analyze the color indicated by colouring information that identifies to be the color of specifying and the area size at its place satisfies condition, then the colouring information this analysis identified is as mark.Described colouring information comprises the size of color and this color region in the picture.The color value of specifying can comprise multiple, as escribed above green, red.Size satisfies condition and comprises: be of a size of the geometric configuration such as circle, rectangle of specifying.Color value and size all can calculate based on image slices vegetarian refreshments.By the combination of color and size, the accuracy of colouring information can be guaranteed preferably.
User directly can fix the card, ribbon etc. of different colours in the plane such as floor, metope at some specified location area place, or directly in the plane such as floor, metope, adds the pattern of different colours.
S203: generate the response instruction associated with the mark of described acquisition.
For different marks, perform different response instructions.Such as, what green mark indicated is recovering state district, when green mark being detected, illustrate that removable machine is current and enter recovering state district, in the utility model embodiment, the response instruction carrying green mark can be generated and send to server, be identified the steering order determining to need to send recovering state to removable machine by server according to green.
S204: the response instruction of generation is sent to server.
S205: receive described server and respond the steering order that described response instruction returns, and according to the steering order received, described removable machine is controlled.
And the communication between server can be undertaken by wired or wireless mode.
It should be noted that, in other embodiments, also can without server, the response instruction that direct generation associates with the mark identified in S202, produce the operational order control correlation module returned to form and return to initial state, such as, the pilot lamp being used to indicate robot vital values is all lighted, to represent the recovering state of robot.
Further, refer to Fig. 7, the method for camera plane image specifically can comprise the steps:
S301: detect the ambient brightness within the scope of predeterminable range.
S302: if described in the ambient brightness that detects lower than predetermined threshold value, then open and regulate the brightness of the lighting source configured.
S303: take the ambient image within the scope of described predeterminable range.
Before camera is taken pictures, the brightness of surrounding environment can being sensed by luminance sensor, when environment is darker, increasing the brightness of environment by controlling independent illumination light source, so that good image can be photographed under any light environment.This arbitrary source can be the LED of a high brightness, it can control based on PWM, the brightness of LED is regulated by the dutycycle changing PWM, to under the removable machines such as robot or surrounding environment throw light on, so that take the ambient image within the scope of predeterminable range better.
The utility model embodiment can obtain a mark relative to removable machine closer distance by the mode of shooting, thus comparatively accurately determine the position of this removable machine, and comparatively accurately complete further the operation of this removable machine is controlled, the generation of the maloperation avoided to a certain extent, and it is low to realize cost.
Refer to Fig. 8 again, it is the schematic flow sheet of another location-based control method of the utility model embodiment, the described method of the utility model embodiment can realize by the controller be connected with removable machines such as robots, and concrete, described method comprises:
S401: read technical limit spacing mark based on closely information.
The various card etc. mated with modules such as NFC, RFID specifically can be set in the band of position of specifying, floor can be fixed on or metope equipotential is set up simply by modes such as stickups, convenient NFC, RFID etc. configured closely information reading module read the relevant information of these cards, get mark.
S402: generate the response instruction associated with the mark of described acquisition;
S403: the response instruction of generation is sent to server;
S404: receive described server and respond the steering order that described response instruction returns, and according to the steering order received, described removable machine is controlled.
The utility model embodiment passes through closely information reading technology can obtain a mark relative to removable machine closer distance, thus comparatively accurately determine the position of this removable machine, and comparatively accurately complete further the operation of this removable machine is controlled, the generation of the maloperation avoided to a certain extent, and it is low to realize cost.
The foregoing is only embodiment of the present utility model; not thereby the scope of the claims of the present utility model is limited; every utilize the utility model instructions and accompanying drawing content to do equivalent structure or equivalent flow process conversion; or be directly or indirectly used in other relevant technical fields, be all in like manner included in scope of patent protection of the present utility model.
Claims (12)
1. a removable machine, comprises machine casing, it is characterized in that, also comprises: harvester, processor and Power Component;
Described harvester, for gathering outside mark;
Described processor, is connected with Power Component with described harvester, and the mark being less than predeterminable range threshold value with the distance value of removable machine that described processor gathers based on described harvester controls the power that described Power Component produces.
2. removable machine as claimed in claim 1, is characterized in that,
Described harvester comprises: near-field communication module, and/or non-contact radio-frequency identification module.
3. removable machine as claimed in claim 1, is characterized in that,
Described harvester comprises: photographing module;
Mark in the image of the closely position that described processor is specifically taken based on described photographing module controls described Power Component.
4. removable machine as claimed in claim 3, is characterized in that, described photographing module is arranged on the bottom of described machine casing.
5. removable machine as claimed in claim 3, is characterized in that, also comprise: range sensor, and described range sensor triggers described harvester when detecting the distance between this removable machine and being less than the plane of predeterminable range threshold value and takes image.
6. removable machine as claimed in claim 3, is characterized in that,
Described processor, the appointment image in the image of the closely position specifically taken by described photographing module and/or character pattern are as mark.
7. removable machine as claimed in claim 3, is characterized in that, also comprise: luminance detection device and lighting device;
Described luminance detection device, for testing environment brightness;
Described processor, is connected with lighting device with described luminance detection device, and described processor controls the luminosity of described lighting device based on the ambient brightness that described luminance detection device detects.
8. the removable machine as described in any one of claim 1 to 7, is characterized in that, also comprise: communicator;
Described processor is connected with described communicator, described processor is connected with external server signal by described communicator, and described processor specifically controls described Power Component according to the control signal of the described external server received from communicator.
9. removable machine as claimed in claim 7, is characterized in that, also comprise:
Insulating assembly, is configured between described lighting device and harvester, for the heat of described lighting device generation isolated by described harvester.
10. a robot, is characterized in that, comprising: robot body, camera head, mobile controller and Power Component;
Described mobile controller is connected with described camera head, Power Component;
Between described camera head, mobile controller and Power Component based on the annexation of signal be:
The close-up images signal collected is sent to described mobile controller by described camera head, described mobile controller sends control signal to Power Component based on the mark in close-up images signal, and described Power Component responsive control signal control machine human agent moves.
11. robots as claimed in claim 10, is characterized in that, also comprise: proximity sensor;
Described proximity sensor is connected with described camera head, and described proximity sensor sends the signal triggering and take pictures to described camera head when sensing in-plant plane.
12. 1 kinds of robots, is characterized in that, comprising: robot body, closely card reader, mobile controller and Power Component;
Described mobile controller is connected with described closely card reader, Power Component;
Annexation based on signal between described closely card reader, mobile controller and Power Component is:
The closely id signal collected is sent to described mobile controller by described closely card reader, described mobile controller sends control signal to Power Component based on closely id signal, and described Power Component responsive control signal control machine human agent moves.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201420641905.2U CN204287962U (en) | 2014-10-31 | 2014-10-31 | A kind of removable machine and robot |
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| CN201420641905.2U CN204287962U (en) | 2014-10-31 | 2014-10-31 | A kind of removable machine and robot |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
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| WO2016065627A1 (en) * | 2014-10-31 | 2016-05-06 | 深圳市大疆创新科技有限公司 | Location-based control method and apparatus, mobile machine and robot |
| CN108052857A (en) * | 2017-11-10 | 2018-05-18 | 佛山市南海区广工大数控装备协同创新研究院 | A kind of unmanned aerial vehicle (UAV) control apparatus and method based on LED panel lamp and airborne camera |
| CN109690438A (en) * | 2016-07-07 | 2019-04-26 | 深圳市大疆创新科技有限公司 | For using the method and system of machine readable code control loose impediment |
| CN109875463A (en) * | 2019-03-04 | 2019-06-14 | 深圳市银星智能科技股份有限公司 | Clean robot and its clean method |
| CN109965785A (en) * | 2019-03-04 | 2019-07-05 | 深圳市银星智能科技股份有限公司 | Mobile terminal with display and information processing method |
| CN110000776B (en) * | 2019-03-04 | 2021-01-08 | 深圳市银星智能科技股份有限公司 | Mobile robot and control method thereof |
| CN113721258A (en) * | 2021-07-15 | 2021-11-30 | 河源市勇艺达科技有限公司 | Indoor robot positioning and navigation system and method |
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2014
- 2014-10-31 CN CN201420641905.2U patent/CN204287962U/en not_active Expired - Fee Related
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
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| WO2016065627A1 (en) * | 2014-10-31 | 2016-05-06 | 深圳市大疆创新科技有限公司 | Location-based control method and apparatus, mobile machine and robot |
| US10627829B2 (en) | 2014-10-31 | 2020-04-21 | SZ DJI Technology Co., Ltd. | Location-based control method and apparatus, movable machine and robot |
| CN109690438A (en) * | 2016-07-07 | 2019-04-26 | 深圳市大疆创新科技有限公司 | For using the method and system of machine readable code control loose impediment |
| CN108052857A (en) * | 2017-11-10 | 2018-05-18 | 佛山市南海区广工大数控装备协同创新研究院 | A kind of unmanned aerial vehicle (UAV) control apparatus and method based on LED panel lamp and airborne camera |
| CN109875463A (en) * | 2019-03-04 | 2019-06-14 | 深圳市银星智能科技股份有限公司 | Clean robot and its clean method |
| CN109965785A (en) * | 2019-03-04 | 2019-07-05 | 深圳市银星智能科技股份有限公司 | Mobile terminal with display and information processing method |
| CN110000776B (en) * | 2019-03-04 | 2021-01-08 | 深圳市银星智能科技股份有限公司 | Mobile robot and control method thereof |
| CN109965785B (en) * | 2019-03-04 | 2021-05-28 | 深圳市银星智能科技股份有限公司 | Mobile terminal with display and information processing method |
| CN113721258A (en) * | 2021-07-15 | 2021-11-30 | 河源市勇艺达科技有限公司 | Indoor robot positioning and navigation system and method |
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