TWI801829B - Transfer apparatuses and methods thereof - Google Patents

Abstract

Transfer apparatuses and methods thereof are provided. First, a laser ranging unit is used to perform a first scanning ranging operation for an environment to obtain a laser scanning ranging result of the corresponding environment. Then, a displacement calculation unit is used to detect the displacement information of the corresponding mobile device. According to the laser scanning distance measurement result and the displacement information, a map information of the corresponding environment is established and a positioning information of the mobile device in the environment is determined, wherein the map information includes information of a charging device. After that, the map information and the location information of the mobile device can be transmitted to an application device through a connection interface. The connection interface can be used to connect and fix the application device, and can be electrically connected to the application device. The mobile device receives a charging operation instruction transmitted by the application device through the connection interface.

Description

Mobile device and mobile method thereof

The present invention relates to a mobile method and mobile device, and in particular to a mobile platform that can focus on map construction and obstacle avoidance movement, so that other application devices can be connected to obtain map information and issue instructions to drive movement A mobile method and a mobile device for platform movement.

With the changes in the general environment in recent years, such as the impact of aging and declining birthrates, robots have become a hot research topic in the industry because robots can be used as companions and solutions to fill manpower gaps. At the same time, with the development of automation and intelligence in the manufacturing industry, robots are becoming smarter and more flexible.

At present, robot technology has made significant progress. For example, the simultaneous localization and map construction (Simultaneous Localization And Mapping, SLAM) technology for environment construction map and device positioning is becoming more and more mature. However, due to the high barriers to entry of related technologies, related service providers need to spend a lot of time and manpower on the development of related technologies. This often results in a delay in the time to market of related services.

On the other hand, in terms of environmental detection technology, there are currently different sensor solutions available in the industry, such as infrared sensors, laser sensors, and image sensors. Since different sensors have their advantages and disadvantages for different fields, considering the use and development of sensors and their technologies is also a barrier for industry players to enter this industry.

In view of this, the invention provides a mobile method and a mobile device.

A moving method according to an embodiment of the present invention. First, a laser ranging unit is used to perform a first scanning and ranging operation on an environment, so as to obtain a laser scanning ranging result of the corresponding environment. Then, a displacement calculation unit is used to detect displacement information corresponding to the movement of the mobile device. Based on the laser scanning distance measurement result and the displacement information, the map information of the corresponding environment is established and the positioning information of the mobile device in the environment is determined, wherein the map information includes information of a charging device and the displacement information. Afterwards, map information and location information of the mobile device can be transmitted to an application device through a connection interface. The connection interface is capable of connecting and fixing the application device, and can be electrically connected with the application device, wherein the mobile device receives a charging operation instruction transmitted by the application device through the connection interface.

A mobile device according to an embodiment of the present invention at least includes a laser ranging unit, an actuation module, a displacement calculation unit, a connection interface, and a processing unit. The laser ranging unit executes a first scanning ranging operation for an environment to obtain a laser scanning ranging result of the corresponding environment. The actuation module causes the mobile device to move in the environment. The displacement calculation unit detects displacement information corresponding to the movement of the mobile device. The connection interface can be used to connect and fix an application device, and can be electrically connected to the application device. The processing unit establishes the map information of the corresponding environment and determines the positioning information of the mobile device in the environment according to the laser scanning distance measurement result and the displacement information. Wherein the map information includes information of a charging device. The processing unit can transmit map information and location information of the mobile device to the application device through the connection interface. The mobile device receives displacement information of a charging operation command transmitted by the application device through the connection interface.

In some embodiments, an inertial measurement unit of the mobile device can be used to measure a state of the mobile device, and an ultrasonic sensor of the mobile device can be used to emit a plurality of ultrasonic waves to the environment to perform a second scanning ranging operation to obtain One of the corresponding environments scans for ranging results. Based on the laser scanning ranging results, the state detected by the inertial measurement unit, and the scanning ranging results, a synchronous positioning and mapping technology is used to establish map information of the corresponding environment. According to the laser scanning distance measurement result or the scanning distance measurement result, the displacement calculation unit can coordinately correct the displacement information detected by the corresponding mobile device.

In some embodiments, an inertial measurement unit of the mobile device can be used to measure a state of the mobile device, and a 3D depth vision sensor of the mobile device can be used to obtain a 3D depth ranging result of the corresponding environment. Afterwards, the map information of the corresponding environment is adjusted according to the 3D depth ranging result or the state detected by the inertial measurement unit. According to the results of laser scanning distance measurement, the state detected by the inertial measurement unit, or the result of three-dimensional depth distance measurement, the displacement calculation unit can be used to coordinately correct the displacement information of the corresponding mobile device.

In some embodiments, the application device may receive a movement instruction through the connection interface, analyze the movement instruction, and cause the mobile device to move according to the movement instruction.

In some embodiments, an obstacle avoidance operation can be performed according to the map information and the positioning information of the corresponding mobile device, so as to avoid the mobile device from colliding with at least one obstacle in the environment during the moving process. The application device further includes a ranging unit for performing a third scanning and ranging operation on the environment, so as to obtain a scanning and ranging result of the application device corresponding to the environment. The result of the distance measurement of the application device is transmitted to the mobile device through the connection interface, and the map information of the corresponding environment is established and the positioning of the mobile device in the environment is determined based on the result of the laser scanning distance measurement, the result of the scanning distance measurement of the application device, and the displacement information Information.

In some embodiments, the power of a battery of the mobile device can be provided to the application device through the connection interface.

In some embodiments, in the first scanning ranging operation, the laser ranging unit can identify a specific reflective infrared marker corresponding to a first charging station, and record it in the map information. When the mobile device performs a charging operation, according to whether the laser ranging unit detects a specific reflection Infrared markers are emitted to determine whether the first charging station can be used.

In some embodiments, the mobile device may send a transfer charging command to a specific mobile device that is being charged at the first charging station. Corresponding to the transfer charging command, it is determined whether the remaining power of the corresponding specific mobile device is enough to provide the specific mobile device to move to a second charging station. When the remaining battery capacity of the corresponding specific mobile device is sufficient for the specific mobile device to move to the second charging station, the specific mobile device moves to the second charging station for charging, and the mobile device moves to the first charging station for charging.

In some embodiments, when the remaining power of the corresponding specific mobile device is insufficient to provide the specific mobile device to move to the second charging station, the mobile device is caused to enter a low battery mode, and wait for the first charging station to be released by the specific mobile device, and After being released by the specific mobile device, the first charging station moves to the first charging station for charging.

The above-mentioned method of the present invention may exist in a coded manner. When the program code is loaded and executed by the machine, the machine becomes a device for implementing the present invention.

In order to make the above-mentioned objects, features and advantages of the present invention more comprehensible, the following specific examples are given together with the accompanying drawings and detailed descriptions are as follows.

100: mobile device

110:Laser ranging unit

120: connection interface

122: Information connection terminal

124: Power connection terminal

126: fixed component

130: Actuation module

132: motor

134: wheel set

136: Microprocessor

140: Inertial Measurement Unit

150: Displacement calculation unit

160: processing unit

170: Ultrasonic sensor

180: 3D depth vision sensor

300: mobile device

310, 330: power connection terminals

320: Information connection terminal

500: mobile device

502: processing unit

504:Laser ranging unit

506: 3D depth vision sensor

508: Ultrasonic sensor

510: microcontroller

512: motor

514: Inertial Measurement Unit

516: Displacement calculation unit

518: connection interface

520: Laser ranging unit message, displacement calculation unit message, inertial measurement unit message

522: Graphics Software Technology

524: map information, and displacement information of the corresponding mobile device, and positioning information

526: map information, location information

528: Move command

530: Floor movement switching map operation

S610, S620, S630, S640, S650, S660, S670: steps

700: map information

E:Environmental Boundary

S810, S820, S830, S840, S850, S860, S870, S880, S890: steps

S910, S920: Steps

TD1: first mobile device

TD2: second mobile device

S1010, S1020, S1030, S1040, S1050, S1060, S1070, S1080: steps

TD: mobile device

AD: application device

CI: Connection Interface

L1: Power Link

L2: Information link

FIG. 1 is a schematic diagram showing a mobile device according to an embodiment of the present invention.

FIG. 2 is a schematic diagram showing a connection interface according to an embodiment of the present invention.

FIG. 3 is a schematic diagram showing an example of a mobile device according to an embodiment of the present invention.

FIG. 4 is a schematic diagram showing an actuation module according to an embodiment of the present invention.

FIG. 5 is a schematic diagram showing a mobile device according to another embodiment of the present invention.

FIG. 6 is a flowchart showing a moving method according to an embodiment of the present invention.

FIG. 7 is a schematic diagram showing an example of map information according to an embodiment of the present invention.

FIG. 8 is a flowchart showing a moving method according to another embodiment of the present invention.

FIG. 9 is a flowchart showing a moving method according to another embodiment of the present invention.

FIG. 10 is a flowchart showing a charging management method between mobile devices according to an embodiment of the present invention.

FIG. 11 is a schematic diagram showing an example of connection between a mobile device and an application device according to an embodiment of the present invention.

FIG. 1 shows a mobile device according to an embodiment of the present invention. The mobile device 100 according to the embodiment of the present invention includes a laser ranging unit 110, a connection interface 120, an actuation module 130, an inertial measurement unit 140, a displacement calculation unit 150, an ultrasonic sensor 170, a three-dimensional The depth vision sensor 180, and a processing unit electrically coupled to the laser ranging unit 110, the ultrasonic sensor 170, the connection interface 120, the actuating module 130, the inertial measurement unit 140, and the displacement calculation unit 150 160.

The laser ranging unit 110 may include a transmitting module and a receiving module (not shown in the figure). The emitting module can emit a measuring beam, and the measuring beam is reflected by an object in the environment to the receiving module. According to the time of emitting laser light and the time of receiving reflected laser light, a ranging formula is used to calculate the distance between the ranging device and the target object, and the scanning ranging information of the environment can be corresponded to by continuous scanning ranging.

FIG. 2 shows a connection interface according to an embodiment of the present invention. The connection interface 120 according to the embodiment of the present invention includes an information connection terminal 122 , a power connection terminal 124 , and a fixing member 126 . In some embodiments, the information connection terminal 122 may be an RJ45 terminal for connecting (for example but not limited to) an Ethernet network. The fixing member 126 can connect and fix an application device. It is reminded that the application device has terminals corresponding to the information connection terminal 122 and the power connection terminal 124 for connection and communication. In some embodiments, the power connection terminal 124 can be a The AC terminal and/or a DC terminal are used to supply power from a battery (not shown in FIG. 1 ) in the mobile device 100 to the application device. FIG. 3 shows an example of a mobile device according to an embodiment of the present invention. In this example, the connection interface of the mobile device 300 may include an information connection terminal 320 such as but not limited to an RJ45 terminal. The connection interface of the mobile device 300 also includes an AC power connection terminal 310 and a DC power connection terminal 330 .

The actuation module 130 can make the mobile device 100 move when activated. FIG. 4 shows an actuation module according to an embodiment of the present invention. The actuation module 130 according to the embodiment of the present invention includes a motor 132 , a wheel set 134 , and a microprocessor 136 . It should be noted that, in some embodiments, the wheel set 134 may include a front wheel set, which cooperates with two sets of universal wheels at the rear. Through this wheel set design, the mobile device 100 can provide better off-road obstacle avoidance performance and stability than ordinary two-wheel drive robots. The actuation module 130 in this case is described with this wheel set as an example, but not as a limitation , you can select a suitable actuation module according to the expected use environment, such as but not limited to the crawler type.

The inertial measurement unit (IMU) 140 can measure the three-axis angular rate and acceleration of the mobile device 100 to measure the corresponding state. The displacement calculation unit 150 can detect the movement of the mobile device 100 over time, so as to generate corresponding displacement information. The ultrasonic sensor 170 can transmit a plurality of ultrasonic waves to the environment to perform a distance measurement operation, so as to obtain a scanning distance measurement result of one of the corresponding environments. The 3D depth vision sensor 180 can be a depth camera, such as TOF camera, dual-camera stereo vision, or structured light projection stereo vision, to detect the depth information of the environment and/or objects. In some embodiments, the 3D depth vision sensor 180 can obtain a 3D depth ranging result of the corresponding environment. It should be noted that, in some embodiments, the 3D depth vision sensor 180 may utilize technologies such as stereo vision (Stereo Vision), structured light (Structured Light), and/or Time of Flight (TOF) To achieve, the present invention is not limited to any one technology. The processing unit 160 can be based on the laser ranging unit 110, ultrasonic sensing The moving method of this case is executed based on the output data of the sensor 170, the three-dimensional depth vision sensor 180, the inertial measurement unit 140 and the displacement calculation unit 150, and the details will be described later.

FIG. 5 shows a schematic diagram of a mobile device according to another embodiment of the present invention. The mobile device 500 according to the embodiment of the present invention includes a processing unit 502, a laser ranging unit 504, a three-dimensional depth vision sensor 506, an ultrasonic sensor 508, a motor 512 and an inertial measurement unit 514. A microcontroller 510 , a displacement calculation unit 516 , and a connection interface 518 . Note that, in some embodiments, the depth vision sensor 506 and the ultrasonic sensor 508 can be optionally configured. The processing unit 502 can receive the data detected by the laser ranging unit 504 . When the 3D depth vision sensor 506 and the ultrasonic sensor 508 are selected, the processing unit 502 can also receive the data detected by the 3D depth vision sensor 506 and the ultrasonic sensor 508 . On the other hand, the processing unit 502 can output motor commands to the microcontroller 510 to control the motor 512 to operate. It is reminded that the motor 512 can be attached to a part of the actuation module to drive the moving device 500 to move. When the mobile device 500 moves, both the displacement calculation unit 516 and the inertial measurement unit 514 will detect and calculate, and send the generated data to the processing unit 502 . The processing unit 502 can use a mapping software technology based on the data detected by the laser ranging unit 504, the displacement calculation unit 516, and the inertial measurement unit 514, such as the laser ranging unit message, the displacement calculation unit message, and the inertial measurement unit message 520. 522 , such as Cartographer to obtain the map information of the corresponding environment, the displacement information of the corresponding mobile device, and the positioning information 524 . The processing unit 502 can transmit the map information and the positioning information 526 to an application device through the connection interface 518 using a self-defined communication format. The application device can perform related applications and judgments according to the received data, and send a movement instruction 528 to the processing unit 502 through the connection interface 518 . The processing unit 502 can perform subsequent operations according to the movement instruction 528 . It is reminded that if the environment has multiple floors, each floor can have corresponding map information. When receiving a request for floor change or floor movement, the processing unit 502 can execute the operation of the floor movement/switching map 530, and based on the laser ranging unit 504, the three-dimensional depth vision sensor 506, and/or ultrasonic The data of the wave sensor 508 is used to create the map information of the corresponding floor.

FIG. 6 shows a moving method according to an embodiment of the present invention. The moving method according to the embodiment of the present invention is applicable to the distance measuring device as shown in FIG. 1 . In this embodiment, the mobile device can establish map information of the environment according to the laser scanning distance measurement result, and provide relevant information to the connected application device.

In step S610, a laser ranging unit is used to emit a plurality of laser lights to an environment to perform a first scanning and ranging operation, so as to obtain a laser scanning and ranging result of the corresponding environment. As mentioned above, the emitting module of the laser distance measuring unit can emit a measuring beam, and the measuring beam is reflected by an object to the receiving module. According to the time of emitting laser light and the time of receiving reflected laser light, a distance measuring formula can be used to calculate the distance between the distance measuring device and the target object. In step S620, an ultrasonic sensor of the mobile device is used to transmit a plurality of ultrasonic waves to the environment to perform a second scan and distance measurement operation, so as to obtain a scan and distance measurement result of the corresponding environment. As mentioned earlier, ultrasonic sensors can emit ultrasonic waves in a certain direction to propagate through the air. When the ultrasonic wave is emitted, it starts counting at the same time. If it encounters an obstacle, it will immediately reflect back to the ultrasonic sensor and stop counting. Since the propagation speed of the ultrasonic wave in the air is known, the distance between the emission point and the obstacle can be calculated according to the round-trip time of the ultrasonic wave. In step S630, an inertial measurement unit is used to measure a state of the mobile device, and in step S640, a displacement calculation unit is used to detect displacement information corresponding to the movement of the mobile device. It is reminded that, in some embodiments, the operations of steps S610 , S620 , S630 , and S640 can be continuously performed while the mobile device is moving. Next, as step S650, according to the laser scanning distance measurement result and the scanning distance measurement result, a simultaneous localization and mapping (SLAM) technology is used to establish map information of the corresponding environment, such as the map information example shown in Figure 7, wherein The environmental boundary E detected by the laser ranging can be recorded in the map information 700 . It should be noted that, in some embodiments, mapping software (such as but not limited to Cartographer) technology can be used to create map information. It is reminded that the Cartographer technology is only an example for the construction of maps in this case Son, the present invention is not limited thereto. It is worth noting that, in some embodiments, when the mobile device has a 3D depth vision sensor, the 3D depth vision sensor can be used to obtain a 3D depth ranging result of the corresponding environment, and then according to the 3D depth ranging result Adjust the map information of the corresponding environment. It is worth noting that, in some embodiments, the 3D depth vision sensor can use technologies such as stereo vision (Stereo Vision), structured light (Structured Light), and/or Time of Flight (TOF) to detect To realize, the present invention is not limited to any one technology. Afterwards, as in step S660, the positioning information of the mobile device in the environment is determined according to the state detected by the inertial measurement unit and the displacement information detected by the displacement calculation unit, wherein according to the laser scanning ranging result, the scanning measurement The distance result or the three-dimensional depth ranging result can coordinately correct the displacement information corresponding to the movement of the mobile device detected by the displacement calculation unit, so that the positioning information can be more accurate. Finally, in step S670, map information and location information of the mobile device are provided to an application device through a connection interface. It is reminded that the connection interface is used to connect and fix the application device, and communicate with the application device. It should be noted that, in some embodiments, the power of a battery of the mobile device can be provided to the application device through the connection interface.

It must be noted that, in the embodiment shown in FIG. 6 , the laser ranging unit, the ultrasonic sensor, the inertial measurement unit, and the displacement calculation unit are successively used for detection. However, in some embodiments, the order of use of the aforementioned components can be determined according to different applications or requirements, or can be used simultaneously to perform related detection operations, and the present invention is not limited to any order of use.

FIG. 8 shows a moving method according to another embodiment of the present invention. The moving method according to the embodiment of the present invention is applicable to the distance measuring device as shown in FIG. 1 . In this embodiment, the mobile device can create map information of the environment based on the results of the laser scanning distance measurement, provide relevant information to the connected application device, and the application device may receive the user's instruction, and then the application device can pass the The connection interface transmits commands to cause the mobile device to move.

In step S810, use a laser ranging unit to perform a first Scan ranging operation to obtain a laser scanning ranging result of the corresponding environment. As mentioned above, the emitting module of the laser distance measuring unit can emit a measuring beam, and the measuring beam is reflected by an object to the receiving module. According to the time of emitting laser light and the time of receiving reflected laser light, a distance measuring formula can be used to calculate the distance between the distance measuring device and the target object. In step S820, an inertial measurement unit is used to measure a state of the mobile device, and in step S830, a displacement calculation unit is used to detect displacement information corresponding to the movement of the mobile device. It is reminded that, in some embodiments, the operations of steps S810, S820, and S830 may be continuously performed while the mobile device is moving. Similarly, in the embodiment shown in FIG. 8 , the laser ranging unit, the inertial measurement unit, and the displacement calculation unit are successively used for detection. However, in some embodiments, the order of use of the aforementioned components can be determined according to different applications or requirements, or can be used simultaneously to perform related detection operations, and the present invention is not limited to any order of use. Next, in step S840 , a synchronous positioning and mapping technique is used to establish map information of the corresponding environment according to the laser scanning distance measurement result. Similarly, in some embodiments, Cartographer technology can be used to create map information. It is to be reminded that the Cartographer technology is only an example for building maps in this case, and the present invention is not limited thereto. Afterwards, as in step S850, the positioning information of the mobile device in the environment is determined according to the state detected by the inertial measurement unit and the displacement information detected by the displacement calculation unit, and the positioning information of the mobile device in the environment can be corrected according to the result of the laser scanning distance measurement. The displacement calculation unit detects the displacement information corresponding to the movement of the mobile device, so that the positioning information can be more accurate. In step S860, map information and location information of the mobile device are provided to an application device through a connection interface. It is reminded that the connection interface is provided for connecting and securing the application device and communicating with the application device. It should be noted that, in some embodiments, the power of a battery of the mobile device can be provided to the application device through the connection interface. Afterwards, in step S870, the mobile device determines whether a movement instruction is received by the application device. When the movement instruction is not received by the application device (No in step S870), the determination in step S870 is continued. When the movement instruction is received by the application device (Yes in step S870), as in step S880, the movement instruction is analyzed, and according to the movement instruction command to cause the mobile device to move. In step S890, the step cycle in FIG. 8 may be terminated due to the user's request to terminate the step cycle or other factors (such as encountering an obstacle, etc.), and at this time, a help call can be sent to the user. In addition, it can be understood that the order of the steps shown in FIG. 8 can be adjusted according to the situation, and the present invention is not limited to any order of use.

It is reminded that, in some embodiments, the laser ranging unit will detect obstacles in the environment during the first scanning ranging operation, and present them in the map information. In some embodiments, when the mobile device is caused to move according to the movement command, an obstacle avoidance operation may be performed according to the map information and the positioning information of the corresponding mobile device, so as to prevent the mobile device from colliding with at least one obstacle in the environment during the moving process; wherein It can be understood that the first scanning distance measurement operation is the result of the laser scanning distance measurement measured by the mobile device. After the application device is loaded on the mobile device through the connection interface, there will be a high degree of In short, the overall height of the mobile device equipped with the application device will be higher than the height of the mobile device alone. At this time, it may only rely on the laser scanning ranging result of the first scanning ranging operation It may not be enough, that is to say, the application device will not collide according to the first scanning distance measurement operation, but after the application device is installed, it may be due to the laser scanning measurement of the first scanning distance measurement operation. If the height range from the result does not reach the overall height of the mobile device equipped with the application device, it may cause the entire mobile device equipped with the application device to be unable to completely avoid obstacles in height. Therefore, depending on the needs, the application device can also be further Configure a ranging unit to perform a third scanning and ranging operation for the environment to obtain a scanning and ranging result of an application device corresponding to the environment, and the scanning and ranging result of the application device can also be provided to the mobile device as a source of map information , wherein the ranging unit may be, for example but not limited to, an ultrasonic sensing unit, a laser ranging unit, an image sensing unit, a three-dimensional depth vision sensor 180, a far infrared ranging unit, and the like.

FIG. 9 shows a moving method according to another embodiment of the present invention. In this embodiment, the laser ranging unit will detect charging stations in the environment, and the charging station information will be marked on the map information middle.

First, in step S910 , in the first scanning ranging operation, the laser ranging unit identifies a specific reflective infrared mark corresponding to at least one charging station, and records it in the map information. Afterwards, in step S920, when the mobile device performs a charging operation, it is determined whether the charging station can be used according to whether the laser ranging unit detects a specific reflective infrared mark. It is reminded that when the laser ranging unit cannot detect the specific reflective infrared mark of the corresponding charging station, it means that the charging station is being used by other charging stations.

FIG. 10 shows a charging management method between mobile devices according to an embodiment of the present invention. In this embodiment, there may be a first charging station and a second charging station in the environment, and the mobile devices (the first mobile device TD1 and the second mobile device TD2 ) will communicate to coordinate charging.

When the power of the first mobile device TD1 is not enough to reach the second charging station in the environment, and the second mobile device TD2 is charging at the first charging station, as in step S1010, the first mobile device TD1 sends a transfer charging command to the charging station at the second charging station. A second mobile device TD2 charged by a charging station. Corresponding to the transfer charging command, in step S1020, the second mobile device TD2 determines whether its remaining power is enough to move to the second charging station. It should be noted that, in some embodiments, the second mobile device TD2 may first determine whether the second charging station is currently available, and if the second charging station is currently available, then proceed to step S1020 for determination. When the second charging station is currently unavailable, a rejection signal will be sent back to the first mobile device TD1. When the remaining power of the second mobile device TD2 is enough to move to the second charging station (Yes in step S1030), as in step S1040, the second mobile device TD2 sends a consent signal to the first mobile device TD1, and as in step S1050, the second The second mobile device TD2 moves to the second charging station for charging. Corresponding to the consent signal, in step S1060, the first mobile device TD1 moves to the first charging station for charging. When the remaining power of the second mobile device TD2 is not enough to move to the second charging station (No in step S1030), as in step S1070, the second mobile The device TD2 sends a rejection signal back to the first mobile device TD1. Corresponding to the rejection signal, as in step S1080, the first mobile device TD1 enters a low battery mode, and waits for the first charging station to be released by the second mobile device TD2, and moves to First charging station to charge. It is reminded that the first mobile device TD1 enters the low battery mode only when the remaining power of the first mobile device TD1 and the second mobile device TD2 cannot be moved to the second charging station.

FIG. 11 shows an example of connection between a mobile device and an application device according to an embodiment of the present invention. As shown in FIG. 13, a mobile device TD can be connected to an application device AD through a connection interface CI. The application device AD can obtain the power required for operation from the mobile device TD through its power connection port (not shown in the figure) through a power connection L1. At the same time, the application device AD can obtain relevant map information and positioning information from the mobile device TD through an information link L2 through its information connection port (not shown in the figure), and send a movement command to the mobile device TD through the information link L2. The mobile device TD can move according to the movement instruction.

Therefore, through the mobile method and mobile device in this case, the mobile platform can be focused on map construction and obstacle avoidance, so as to provide other application devices that can be connected to obtain map information and issue instructions to drive the mobile platform to move. In this case, it is also possible to build a map by mixing the results of laser scanning and ranging through the ultrasonic distance and positioning status, which can complete the map information, avoid the dead angle of laser ranging, and solve the problem of unrecognizable single laser ranging mapping Disadvantages of clear glass. This case can provide various industries with no complicated positioning technology and mobile control, and build a dedicated indoor mobile module. Through a specific communication interface, equipped with upper-level products, you can issue commands and obtain status to the mobile platform in this case, and you can quickly Make mobile and positioning indoor robot products.

The methods of the present invention, or specific forms or parts thereof, may exist in the form of program codes. The code can be contained on physical media such as floppy disks, CD-ROMs, hard disks, or any other Other machine-readable (such as computer-readable) storage media, or computer program products, not limited to external form, in which when the code is loaded and executed by a machine, such as a computer, the machine becomes a Invented device. Code may also be sent via some transmission medium, such as wire or cable, optical fiber, or any type of transmission in which when the code is received, loaded, and executed by a machine, such as a computer, that machine becomes the Invented device. When implemented on a general-purpose processing unit, the code combines with the processing unit to provide a unique device that operates similarly to application-specific logic circuits.

S610, S620, S630, S640, S650, S660, S670: steps

Claims (10)

A mobile method, suitable for a mobile device, the method includes the following steps: using a laser distance measuring unit of the mobile device to perform a first scanning distance measurement operation for an environment, so as to obtain a laser scanning distance measurement corresponding to the environment distance result; use the displacement calculation unit of the mobile device to detect the displacement information corresponding to the movement of the mobile device; according to the laser scanning distance measurement result and the displacement information, establish a map information and displacement corresponding to the environment Determine the positioning information of the mobile device in the environment based on the quantity information, wherein the map information includes information of a charging device; use an ultrasonic sensor of the mobile device to transmit a plurality of ultrasonic waves to the environment to perform a second scanning measurement distance operation to obtain a scanning distance measurement result corresponding to the environment; according to the laser scanning distance measurement result or the scanning distance measurement result, the displacement calculation unit detects the displacement information corresponding to the movement of the mobile device; and The map information and the positioning information of the mobile device can be transmitted to an application device through a connection interface, wherein the connection interface is capable of connecting and fixing the application device, and can be electrically connected with the application device, wherein the The mobile device receives a charging operation instruction transmitted by the application device through the connection interface. The mobile method described in item 1 of the scope of the patent application further includes the following steps: using an inertial measurement unit of the mobile device to measure a state of the mobile device; The status measured and the scanning distance measurement result utilize a simultaneous positioning and mapping technique to establish the map information corresponding to the environment. The mobile method described in item 1 of the scope of the patent application further includes the following steps: using an inertial measurement unit of the mobile device to measure a state of the mobile device; using a three-dimensional depth vision sensor of the mobile device to obtain the corresponding Environment One 3D Deep According to the 3D depth ranging result or the state detected by the inertial measurement unit, adjust the map information corresponding to the environment; and according to the laser scanning ranging result or the state detected by the inertial measurement unit The state or the 3D depth ranging result can coordinately correct the displacement information detected by the displacement calculation unit corresponding to the movement of the mobile device. The moving method described in item 1 of the scope of the patent application further includes the following steps: receiving a moving instruction from the application device through the connection interface; and analyzing the moving instruction, and causing the mobile device to move according to the moving instruction. The moving method described in item 4 of the scope of the patent application further includes performing an obstacle avoidance operation based on the map information and the corresponding positioning information of the mobile device, so as to prevent the mobile device from colliding with at least one object in the environment during the moving process. Obstacles; and the application device further includes a ranging unit, which executes a third scanning and ranging operation for the environment to obtain a scanning and ranging result of an application device corresponding to the environment, and the scanning and ranging result of the application device passes through the connection The interface is transmitted to the mobile device, and based on the laser scanning distance measurement result, the application device scanning distance measurement result, and the displacement information, the map information corresponding to the environment is established and the mobile device in the environment is determined. location information. The mobile method described in item 1 of the scope of the patent application further includes providing power of a battery of the mobile device to the application device through the connection interface. The moving method described in item 1 of the scope of the patent application further includes the following steps: in the first scanning ranging operation, the laser ranging unit identifies a specific reflective infrared mark corresponding to a first charging station, and records in the map information; and when the mobile device performs a charging operation, according to whether the laser ranging unit detects the specific reflective infrared mark, to determine whether the first charging station can be used. The mobile method as described in item 7 of the scope of the patent application further includes the following steps: sending a transfer charging command to a specific mobile device being charged at the first charging station; corresponding to the transfer charging command, judging the corresponding specific mobile device Whether a remaining power is sufficient to provide the specific mobile device to move to a second charging station; and when the corresponding remaining power of the specific mobile device is sufficient to provide the specific mobile device to move to the second charging station, the specific mobile device moves to the second charging station for charging, and the mobile device moves to the first charging station for charging. The mobile method described in item 8 of the scope of the patent application further includes causing the mobile device to enter a low battery mode when the remaining power of the specific mobile device is insufficient to provide the specific mobile device to move to the second charging station, And wait for the first charging station to be released by the specific mobile device, and move to the first charging station for charging after the first charging station is released by the specific mobile device. A mobile device, comprising: a laser ranging unit, used to perform a first scanning ranging operation for an environment, so as to obtain a laser scanning ranging result corresponding to the environment; an actuation module, used to cause the The mobile device moves in the environment; a displacement calculation unit is used to detect the displacement information corresponding to the movement of the mobile device; a connection interface can be used to connect and fix an application device, and can be electrically connected to the application device connection; an ultrasonic sensor that emits a plurality of ultrasonic waves to the environment to perform a second scanning distance measurement operation to obtain a scanning distance measurement result corresponding to the environment; and a processing unit for measuring according to the laser scanning The distance result or the scanning distance measurement result is used to jointly correct the displacement calculation unit to detect the displacement information corresponding to the movement of the mobile device, and according to the laser scanning distance measurement result and the displacement information, a map information corresponding to the environment is established and displacement data determine the location information of the mobile device in the environment, wherein the map information includes information of a charging device, the map information and the location information of the mobile device can be transmitted to the application device through the connection interface, wherein the The mobile device receives a charging operation instruction transmitted by the application device through the connection interface.

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