CN106712194A - Automatic charging control method of robot - Google Patents
Automatic charging control method of robot Download PDFInfo
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- CN106712194A CN106712194A CN201710032968.6A CN201710032968A CN106712194A CN 106712194 A CN106712194 A CN 106712194A CN 201710032968 A CN201710032968 A CN 201710032968A CN 106712194 A CN106712194 A CN 106712194A
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- 238000000034 method Methods 0.000 title claims abstract description 35
- 230000033001 locomotion Effects 0.000 claims abstract description 24
- 230000005611 electricity Effects 0.000 claims description 26
- 238000001514 detection method Methods 0.000 claims description 19
- 230000005540 biological transmission Effects 0.000 claims description 11
- 230000009471 action Effects 0.000 claims description 6
- 238000001914 filtration Methods 0.000 claims description 6
- 238000006243 chemical reaction Methods 0.000 claims description 5
- 241001062009 Indigofera Species 0.000 claims 1
- 230000008569 process Effects 0.000 abstract description 4
- 230000004888 barrier function Effects 0.000 description 7
- 230000008859 change Effects 0.000 description 4
- 230000000694 effects Effects 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 239000013589 supplement Substances 0.000 description 2
- 230000003321 amplification Effects 0.000 description 1
- 230000002567 autonomic effect Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000006698 induction Effects 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
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Classifications
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
- H02J7/0029—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries with safety or protection devices or circuits
- H02J7/0036—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries with safety or protection devices or circuits using connection detecting circuits
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- G—PHYSICS
- G08—SIGNALLING
- G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
- G08C23/00—Non-electrical signal transmission systems, e.g. optical systems
- G08C23/04—Non-electrical signal transmission systems, e.g. optical systems using light waves, e.g. infrared
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04B—TRANSMISSION
- H04B5/00—Near-field transmission systems, e.g. inductive or capacitive transmission systems
- H04B5/40—Near-field transmission systems, e.g. inductive or capacitive transmission systems characterised by components specially adapted for near-field transmission
- H04B5/48—Transceivers
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- Signal Processing (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses an automatic charging control method of a robot. The robot comprises light-sensitive sensing devices which are arranged at left and right sides; a charger is used for emitting a fan-shaped charging signal; the automatic charging control method comprises the following steps: when the robot needs to be charged, doing random movement in a region and looking for charging signals; when finding the charging signals, moving toward the direction of the charging signal; in a process of moving toward the charging signals, detecting whether the strength of the charging signals received by the light-sensitive sensing devices at the left and right sides is the same or not; if not, adjusting the movement direction until the strength of the charging signals at the left and right sides is the same; detecting whether a contact piece of the charger is in contact with a charging contact piece of the robot or not; if not, continually moving the robot until the contact piece of the charger is in contact with the charging contact piece of the robot, stopping moving and starting to charge. When the robot needs to be charged, the robot does the random movement in the region and the charging signals are found, so that the robot can be automatically charged even when the robot is not in a coverage range of the signals emitted by the charger, and an automatic movement range of the robot is enlarged.
Description
Technical field
The present invention relates to a kind of robot charge control method, and in particular to a kind of robot charging controller method.
Background technology
Robot with independent behaviour, can run into the not enough situation of battery electric quantity, at this time, it may be necessary to return to charger supplement
Electricity.Current mobile robot charges and carry out automatic charging using human assistance grafting charger or using machinery contraposition more.People
Work auxiliary grafting charger needs the complex operation of personnel, and using mode success rate that machinery contraposition carries out automatic charging it is low and
It is difficult to multi-platform general.Present automatic homing charging method is divided into following several：Based on infrared remote receiver and gyroscope, based on red
Outer receiver and vision sensor, based on infrared remote receiver.
Method based on infrared remote receiver and gyroscope is drifted about because gyroscope itself is present, even if there is the magnetometer to carry out school
Just, it is still necessary to which complicated Kalman filtering algorithm, when the external world has magnetic interference, measurement error is bigger.Based on infrared and regard
Feel in the method for sensor, the attitude of robot is adjusted with the image of vision collecting, although image procossing is theoretical very ripe, but
It is to need expensive hardware supported, use cost is high.In method based on infrared remote receiver, the robot with independent behaviour exists
, it is necessary to receive the signal of charger transmitting when returning to charger supplement electricity, then moved to charger, and infrared signal transmission away from
Close to, when robot is not in the infrared signal coverage of charger transmitting, it is impossible to complete recharging, reduce machine
The scope of device people's autonomic activities.
The content of the invention
The technical problems to be solved by the invention be robot not charger transmitting infrared signal coverage in when,
Recharging cannot be completed, the scope of robot autonomous activity is reduced, it is therefore intended that provide a kind of robot automatic charging control
Method processed, solves the above problems.
The present invention is achieved through the following technical solutions：
A kind of robot charging controller method, the robot includes bluetooth directional receiver, charging contact and sets
It is placed in the light sensor device of the left and right sides；One infrared light supply and Bluetooth beacon are set on charger；The infrared light supply to
The infrared charging signals of charger emission are distributed in the sector region with infrared light supply as the center of circle；The Bluetooth beacon transmitting is blue
Tooth charging signals；The bluetooth directional receiver receives bluetooth charging signals；A kind of robot charging controller method
Comprise the following steps：S1：When robot needs to charge, bluetooth charging signals are found in random motion in zone of action；S2：Machine
When people detects bluetooth charging signals, moved to Bluetooth transmission source direction, and find infrared charging signals；S3：Robot has one
When the quick sensing device of sidelight detects infrared charging signals, robot stops and rotates in place so that left and right sides light sensor is filled
Put the infrared charging signals intensity for receiving consistent, and Bluetooth transmission source direction is pointed in robot front, then robot advances；
S4：During robot advances, direction of advance is adjusted so that the infrared charging signals that left and right sides light sensor device is received are strong
Degree is always consistent；S5：Whether the charging contact of detection robot of robot, if not receiving electricity, continues to move directly by electric
To by electricity, simultaneously stop motion is started to charge up.
In the prior art, when robot is not in the charging signals coverage of charger transmitting, it is impossible to which completion is independently filled
Electricity, reduces the scope of robot autonomous activity；Infrared signal spread scope is in 80cm~400cm, Bluetooth signal spread scope
Then in 10m~50m, if only using infrared signal, the recharging ability of robot is significantly limit, and if only made
With Bluetooth signal, then precision is not enough, it is impossible to robot is accurately completed the positioning that charges.In the prior art in order to increase infrared letter
Number area coverage, often using multiple infrared light supplies, but can disturb between multiple infrared light supplies；Multiple infrared light supplies are produced
The part that raw infrared signal is overlapped mutually, infrared light intensity can increase, so as to influence robot to itself direction of advance
Judge；There is blank blind area each other in multiple IRs, when robot is in this blank blind area, the photosensitive biography in its both sides
Induction device is located in different infrared light supply ranges of exposures so that robot is judged by accident to charger direction, is caused to charge and is lost
Lose.
When the present invention is applied, when robot needs to charge, bluetooth charging signals, machine are found in random motion in zone of action
When device people detects bluetooth charging signals, moved to Bluetooth transmission source direction, and find infrared charging signals, there is side in robot
When light sensor device detects infrared charging signals, robot stops and rotates in place so that left and right sides light sensor device
The infrared charging signals intensity for receiving is consistent, and Bluetooth transmission source direction is pointed in robot front, and then robot advances, machine
During device people advances, direction of advance is adjusted so that the infrared charging signals intensity that left and right sides light sensor device is received begins
It is consistent eventually, whether the charging contact of detection robot of robot is by electricity, if not by electricity, continuing to move until by electricity simultaneously
Stop motion is started to charge up.The scope of Bluetooth signal is much larger than infrared signal, and the positioning method of infrared signal compares Bluetooth signal
Accurate positioning, be combined together for Bluetooth signal and an infrared signal by the present invention, first finds Bluetooth signal, recycles bluetooth
Signal finds the infrared signal；One infrared signal is not in the situation of multiple light courcess overlap-add region signal intensity reinforcement, also not
Occur there is the situation of blind area between multiple light courcess, on the premise of precision is constant, coverage expands the charging signals for realizing
Greatly.When the present invention needs to charge by robot, do random motion in zone of action and find bluetooth charging signals, realize machine
When people is not in the signal cover of charger transmitting, it is also possible to complete recharging, robot autonomous activity is increased
Scope.
In the prior art,
Further, present invention additionally comprises following steps：S6：Robot detects electricity, if electricity has been filled with, terminates
Charge and leave charger.
In the prior art, robot charge condition is detected often through charger, and in charging complete, cut-out is electric
Simultaneously instruction is left to robot transmission in source.When the present invention is applied, robot voluntarily detects electricity, when electricity has been filled with, terminates
Charger is charged and left, control process is performed by robot completely, simplify the design of charger.
Further, robot sets timer；When performing step S2, if robot cannot detect bluetooth and charge believed
Number, then timer starts, and robot rotates in place detection bluetooth charging signals, when timer reaches timing, robot
Bluetooth charging signals cannot be also detected, then performs S1.
Further, 4 a kind of, robot charging controller method according to claim 3, its feature exists
In robot sets the stand-by period；When performing step S3 and S4, if robot can't detect infrared charging signals, timing
Device starts, and robot rotates in place the infrared charging signals of detection, and when timer reaches timing, robot cannot also be detected
To infrared charging signals, then S1 is performed.
In the prior art, when robot autonomous motion is charged, during close to charger, if there is barrier resistance
The signal of charger transmitting is kept off, it is easy to robot occur and continue to be moved to charger and collided with barrier.This hair
During bright application, when robot is during close to charger, the signal of charger transmitting, machine if there is barrier obstruction
Device people cannot detect signal, then rotate in place detection charging signals, and the collision with barrier will not occur.
Further, size of the size of opening of the infrared light supply on charger more than infrared light supply illuminator.
In the prior art in order to increase infrared signal area coverage, often using multiple infrared light supplies, but it is multiple infrared
Can be disturbed between light source；The part that the infrared signal that multiple infrared light supplies are produced is overlapped mutually, infrared light intensity can increase
Greatly, so as to influence judgement of the robot to itself direction of advance；There is blank blind area in multiple IRs, work as machine each other
When people is in this blank blind area, its both sides light sensor device is located in different infrared light supply ranges of exposures so that machine
People judges by accident to charger direction, and causing to charge fails.
When the present invention is applied, it is only necessary to which a larger infrared light supply of spread is set on charger, infrared light supply
Light sent through illuminator, by light outlet, form fan-shaped infrared charging signals overlay area, the sector region cone of coverage
The opening adjustment by infrared light supply on charger is spent, it is to be capable of achieving larger infrared charging signals to cover only to need an infrared light supply
Lid scope, does not have other infrared light supplies to disturb, and guided robot advances and is not susceptible to mistake.
Further, the infrared charging signals use fixed frequency infrared light-wave；The step S3 includes following son
Step：S31：Light sensor device receives infrared charging signals；S32：Amplify infrared charging signals and the signal is carried out into band logical
Filtering and detection；S33：Infrared charging signals after by treatment carry out analog-to-digital conversion；S34：Infrared filling after contrast analog-to-digital conversion
Electric signal.The present invention collects charging signals and is filtered to light sensor device, eliminates ambient light change and believes charging
Number interference
Further, the light sensor device uses photodiode.The present invention uses photodiode, low cost
It is honest and clean.
The present invention compared with prior art, has the following advantages and advantages：
1st, a kind of robot charging controller method of the invention, when needing to charge by robot, does in zone of action
Bluetooth charging signals are found in random motion, when realizing robot not in the signal cover of charger transmitting, it is also possible to
Recharging is completed, the scope of robot autonomous activity is increased；
2nd, a kind of robot charging controller method of the invention, is performed, letter by robot completely by by control process
The design of charger is changed；
3rd, a kind of robot charging controller method of the invention, when robot is during close to charger, if
There is the signal of barrier obstruction charger transmitting, robot cannot detect signal, then rotate in place detection charging signals,
Collision with barrier will not occur；
4th, a kind of robot charging controller method of the invention, when the present invention is applied, it is only necessary to which an infrared light supply sets
Put on charger, there is no other infrared light supplies to disturb, guided robot advances and is not susceptible to mistake；
5th, a kind of robot charging controller method of the invention, collects infrared charging signals and enters to light sensor device
Row filtering, eliminates interference of the ambient light change to charging signals；
6th, a kind of robot charging controller method of the invention, with low cost using photodiode；
Brief description of the drawings
Accompanying drawing described herein is used for providing further understanding the embodiment of the present invention, constitutes of the application
Point, do not constitute the restriction to the embodiment of the present invention.In the accompanying drawings：
Fig. 1 is step schematic diagram of the present invention；
Fig. 2 is the sub-step schematic diagram of step 3 of the present invention；
Fig. 3 implements schematic diagram for the present invention.
Mark and corresponding parts title in accompanying drawing：
1- chargers, 2- robots, 3- light sensor devices, 4- infrared light supplies, 5- charging signals sector regions.
Specific embodiment
To make the object, technical solutions and advantages of the present invention become more apparent, with reference to embodiment and accompanying drawing, to this
Invention is described in further detail, and exemplary embodiment of the invention and its explanation are only used for explaining the present invention, do not make
It is limitation of the invention.
Embodiment 1
As shown in figures 1 and 3, a kind of robot charging controller method of the invention, it is characterised in that the robot
2 include bluetooth directional receiver, charging contact and is arranged at the light sensor device 3 of the left and right sides；One is set on charger 1
Infrared light supply 4 and Bluetooth beacon；The infrared light supply 4 is distributed in infrared light to the infrared charging signals of the emission of charger 1
Source 4 is the sector region in the center of circle；The Bluetooth beacon launches bluetooth charging signals；The bluetooth directional receiver receives bluetooth and fills
Electric signal；A kind of robot charging controller method is comprised the following steps：When robot 2 needs to charge, in behaviour area
Bluetooth charging signals are found in random motion in domain；When robot 2 detects bluetooth charging signals, transported to Bluetooth transmission source direction
It is dynamic, and find infrared charging signals；When robot 2 has side light sensor device 3 to detect infrared charging signals, robot 2
Stop and rotate in place so that the infrared charging signals intensity that receives of left and right sides light sensor device 3 is consistent, and robot 2
Bluetooth transmission source direction is pointed in front, and then robot 2 advances；During robot 2 advances, direction of advance is adjusted so that left
The infrared charging signals intensity that right both sides light sensor device 3 is received is always consistent；Detection robot 2 of robot 2 fills
Whether electric contact point by electricity, if not by electricity, move until simultaneously stop motion is started to charge up by electricity by continuation.
When the present embodiment is implemented, the sector region where infrared charging signals is set to radius 300cm, and bluetooth charges and believes
Number covering radius is set to 20m, and when robot 2 needs to charge, first bluetooth is found in random motion in the zone of action of robot 2
Charging signals；Robot 2 enters when in the range of the 10m of charger 1, bluetooth charging signals is detected, to Bluetooth transmission source direction
Motion, and find infrared charging signals；Robot 2 enters when in the range of the 80m of charger 1, and side light sensor device 3 is detected
To infrared charging signals, robot 2 stops and rotates in place so that the infrared charging that receives of left and right sides light sensor device 3
Signal intensity is consistent, and Bluetooth transmission source direction is pointed in the front of robot 2, and then robot 2 advances；The advance process of robot 2
In, adjust direction of advance so that the infrared charging signals intensity that left and right sides light sensor device 3 is received is always consistent；
Whether the charging contact of detection robot 2 of robot 2 is by electricity, if not by electricity, continuing to move until by electricity and stop motion
Start to charge up.
Embodiment 2
The present embodiment is further comprising the steps of on the basis of embodiment 1：Robot 2 detects electricity, if electricity has filled
It is full, then terminate charging and leaving charger 1.
When the present embodiment is implemented, when the detection electricity of robot 2 has been filled with, it is not necessary to communicated with charger 1, it is only necessary to
Termination is charged and leaves charger 1 can just be completed to charge.
Embodiment 3
On the basis of embodiment 1, robot 2 sets timer to the present embodiment, and it is 30s that timer sets timing；
When robot 2 is to Bluetooth signal source movement, if robot 2 cannot detect bluetooth charging signals, timer starts, machine
People 2 rotates in place detection bluetooth charging signals, and when timer reaches timing, robot cannot also detect bluetooth charging
Signal, then perform random motion again and find bluetooth charging signals.
When the present embodiment is implemented, robot 2 detects bluetooth charging signals and during to Bluetooth signal source movement, Bluetooth signal
Occurs barrier between source and robot 2, bluetooth charging signals are blocked, and robot 2 cannot detect bluetooth charging signals, then
Timer starts, and robot 2 rotates in place detection bluetooth charging signals, and when timer reaches 30s, robot 2 cannot also be examined
Bluetooth charging signals are measured, is then restarted random motion and is found bluetooth charging signals.
Embodiment 4
On the basis of embodiment 3, robot 2 is under the guiding of infrared charging signals to the direction of charger 1 for the present embodiment
During motion, if robot 2 can't detect infrared charging signals, timer starts, and robot 2 is rotated in place and detects infrared filling
Electric signal, when timer reaches timing, robot cannot also detect infrared charging signals, then perform again random fortune
It is dynamic to find bluetooth charging signals.
When the present embodiment is implemented, when robot 2 is moved under the guiding of infrared charging signals to the direction of charger 1, charge
Occurs obstacle between device 1 and robot 2, infrared charging signals are blocked, and robot 2 cannot detect infrared charging signals, then
Timer starts, and robot 2 rotates in place the infrared charging signals of detection, and when timer reaches 30s, robot 2 cannot also be examined
Infrared charging signals are measured, is then restarted random motion and is found bluetooth charging signals.
Embodiment 5
As shown in figure 3, the present embodiment is on the basis of embodiment 1, opening of the infrared light supply 4 on charger 1
Size of the size more than the illuminator of infrared light supply 4.
When the present embodiment is implemented, the larger infrared transmitter of the selective scattering scope of infrared light supply 4, charger 1 sets in front portion
A triangle row opening, the triangle are put while towards outside charger 1, and size is more than the size of the illuminator of infrared light supply 4,
The summit relative with the side is arranged inside charger 1, and infrared light supply 4 is arranged at the apex, and it is infrared that infrared light supply 4 sends
Charging signals form the sector with infrared light supply 4 as the center of circle through triangle open mouth.
Embodiment 6
As shown in Fig. 2 the present embodiment is on the basis of embodiment 1, the infrared charging signals are infrared using fixed frequency
Linear light ripple；The step S3 includes following sub-step：Light sensor device 3 receives infrared charging signals；Amplify infrared charging letter
Number and the signal is carried out into bandpass filtering and detection；Infrared charging signals after by treatment carry out analog-to-digital conversion；Contrast modulus turns
Infrared charging signals after changing.
When the present embodiment is implemented, the set of frequency of infrared charging signals is 38kHz, and light sensor device 3 receives infrared filling
Electric signal；Infrared charging signals carry out modulus by after amplification, bandpass filtering and detection being carried out by standard of 38kHz, then and turn
Change, after infrared charging signals are converted to data signal, the signal that contrast left and right sides light sensor device 3 is received.The present invention
Infrared charging signals are collected to light sensor device 3 to be filtered, eliminate interference of the ambient light change to charging signals.
Above-described specific embodiment, has been carried out further to the purpose of the present invention, technical scheme and beneficial effect
Describe in detail, should be understood that and the foregoing is only specific embodiment of the invention, be not intended to limit the present invention
Protection domain, all any modification, equivalent substitution and improvements within the spirit and principles in the present invention, done etc. all should include
Within protection scope of the present invention.
Claims (7)
1. a kind of robot charging controller method, it is characterised in that the robot (2) including bluetooth directional receiver,
Charging contact and the light sensor device (3) for being arranged at the left and right sides；One infrared light supply (4) and indigo plant are set on charger (1)
Tooth beacon；The infrared light supply (4) is distributed in infrared light supply (4) as circle to the infrared charging signals of charger (1) emission
The sector region of the heart；The Bluetooth beacon launches bluetooth charging signals；The bluetooth directional receiver receives bluetooth charging signals；
A kind of robot charging controller method is comprised the following steps：
S1：When robot (2) needs to charge, bluetooth charging signals are found in random motion in zone of action；
S2：When robot (2) detects bluetooth charging signals, moved to Bluetooth transmission source direction, and find infrared charging signals；
S3：When robot (2) has side light sensor device (3) to detect infrared charging signals, robot (2) stops and original place
Rotation causes that the infrared charging signals intensity that left and right sides light sensor device (3) receives is consistent, and robot (2) front refers to
To Bluetooth transmission source direction, then robot (2) advance；
S4：During robot (2) advances, direction of advance is adjusted so that it is infrared that left and right sides light sensor device (3) receives
Charging signals intensity is always consistent；
S5：Whether the charging contact of robot (2) detection robot (2) is by electricity, if not by electricity, continuing to move until by electricity
And stop motion is started to charge up.
2. a kind of robot charging controller method according to claim 1, it is characterised in that also including following step
Suddenly：
S6：Robot (2) detects electricity, if electricity has been filled with, terminates charging and leaving charger (1).
3. a kind of robot charging controller method according to claim 1, it is characterised in that robot (2) is set
Timer；When performing step S2, if robot (2) cannot detect bluetooth charging signals, timer starts, robot
(2) detection bluetooth charging signals are rotated in place, when timer reaches timing, robot cannot also detect bluetooth charging
Signal, then perform S1.
4. a kind of robot charging controller method according to claim 3, it is characterised in that robot (2) is set
Stand-by period；When performing step S3 and S4, if robot (2) can't detect infrared charging signals, timer starts, machine
People (2) rotates in place the infrared charging signals of detection, and when timer reaches timing, robot cannot also detect infrared filling
Electric signal, then perform S1.
5. a kind of robot charging controller method according to claim 1, it is characterised in that the infrared light supply
(4) size of the size of the opening on charger (1) more than infrared light supply (4) illuminator.
6. a kind of robot charging controller method according to claim 1, it is characterised in that the infrared charging letter
Number use fixed frequency infrared light-wave；The step S3 includes following sub-step：
S31：Light sensor device (3) receives infrared charging signals；
S32：Amplify infrared charging signals and the signal is carried out into bandpass filtering and detection；
S33：Infrared charging signals after by treatment carry out analog-to-digital conversion；
S34：Infrared charging signals after contrast analog-to-digital conversion.
7. a kind of robot charging controller method according to Claims 1-4 any one, it is characterised in that institute
State light sensor device (3) and use photodiode.
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| CN201710032968.6A CN106712194A (en) | 2017-01-18 | 2017-01-18 | Automatic charging control method of robot |
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| CN201710032968.6A CN106712194A (en) | 2017-01-18 | 2017-01-18 | Automatic charging control method of robot |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107825425A (en) * | 2017-11-03 | 2018-03-23 | 深圳市杉川机器人有限公司 | Robot control method, device, robot and cradle |
| CN107943048A (en) * | 2017-12-11 | 2018-04-20 | 上海思依暄机器人科技股份有限公司 | A kind of charge control method, device and domestic robot |
| CN109995117A (en) * | 2019-04-24 | 2019-07-09 | 北京极智嘉科技有限公司 | Charging system and method based on robot |
| CN112748728A (en) * | 2019-10-31 | 2021-05-04 | 珠海市一微半导体有限公司 | Charging seat signal searching method, chip and robot |
| CN113075934A (en) * | 2021-03-31 | 2021-07-06 | 珠海市一微半导体有限公司 | Robot seat-finding control method, laser navigation robot and chip |
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