CN111465908A - 一种分段式自主充电对接方法及移动设备、充电站 - Google Patents

一种分段式自主充电对接方法及移动设备、充电站 Download PDF

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CN111465908A
CN111465908A CN201880070517.4A CN201880070517A CN111465908A CN 111465908 A CN111465908 A CN 111465908A CN 201880070517 A CN201880070517 A CN 201880070517A CN 111465908 A CN111465908 A CN 111465908A
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ultrasonic
charging station
mobile device
charging
mobile equipment
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CN111465908B (zh
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张举中
储雨奕
蔡黎明
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Suzhou Guoke Medical Technology Development Group Co ltd
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Yongkang Guoke Rehabilitation Engineering Technology Co ltd
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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions

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  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

一种分段式移动设备自主充电对接方法，该移动设备检测到自身电池电量低或者接收到人为充电命令时(S101)，判断设备是否处于精确定位区域(S102)，若否，则基于航位推算法、超宽带定位技术或基于接收信号强度的定位技术估计移动设备与充电站之间的相对位置，驱动移动设备向充电站移动(S103)，直至进入精确定位区域；移动设备处于精确定位区域时，启动超声波定位模式，向充电站发送超声波定位指令(S104)，获取利用无线同步信号和超声波信号实时估算的移动设备与充电站之间相对位姿，驱动移动设备向充电站移动，其中，相对位姿包括位置信息和角度信息(S105)。该方法在效率、精度、功耗、硬件成本、算法复杂度及环境适应性等方面取得了较好的平衡。

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PCT国内申请，说明书已公开。

Claims (17)

  1. PCT国内申请，权利要求书已公开。
CN201880070517.4A 2018-08-23 2018-08-23 一种分段式自主充电对接方法及移动设备、充电站 Active CN111465908B (zh)

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Cited By (3)

* Cited by examiner, † Cited by third party
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CN113282076A (zh) * 2021-03-31 2021-08-20 浙江大学 一种基于雷达射线分割地图的机器人远程回充装置及方法
CN113675960A (zh) * 2021-07-23 2021-11-19 上海闻泰电子科技有限公司 无线充电方法、装置、电子设备和介质
CN113726032A (zh) * 2021-11-03 2021-11-30 中国科学院空天信息创新研究院 一种无线充电方法、设备、介质和产品

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CN115047874B (zh) * 2022-06-02 2023-09-15 北京三快在线科技有限公司 机器人接驳方法、储物柜、机器人、***和电子设备

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CN107728622A (zh) * 2017-10-20 2018-02-23 中国人民解放军陆军工程大学 一种基于超声波阵列的无人驾驶机械车辆位姿测量与追踪方法

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CN102981148B (zh) * 2011-11-30 2015-06-03 深圳市恒润晖光电科技有限公司 定位***及其方法
CN105700528A (zh) * 2016-02-19 2016-06-22 深圳前海勇艺达机器人有限公司 一种机器人自主导航避障***及其方法

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KR20040039027A (ko) * 2002-10-30 2004-05-10 엘지전자 주식회사 로봇의 자동충전시스템 및 방법
US20080077511A1 (en) * 2006-09-21 2008-03-27 International Business Machines Corporation System and Method for Performing Inventory Using a Mobile Inventory Robot
US20120116588A1 (en) * 2010-11-09 2012-05-10 Samsung Electronics Co., Ltd. Robot system and control method thereof
CN104298234A (zh) * 2013-11-13 2015-01-21 沈阳新松机器人自动化股份有限公司 一种双引导式机器人自主充电方法
CN203882195U (zh) * 2014-06-13 2014-10-15 常州智宝机器人科技有限公司 基于多传感器融合的服务机器人及其充电座
CN105629971A (zh) * 2014-11-03 2016-06-01 贵州亿丰升华科技机器人有限公司 一种机器人自动充电***及其控制方法
CN106444748A (zh) * 2016-09-08 2017-02-22 南京阿凡达机器人科技有限公司 一种实现自机器人主充电的方法及***
CN107728622A (zh) * 2017-10-20 2018-02-23 中国人民解放军陆军工程大学 一种基于超声波阵列的无人驾驶机械车辆位姿测量与追踪方法

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113282076A (zh) * 2021-03-31 2021-08-20 浙江大学 一种基于雷达射线分割地图的机器人远程回充装置及方法
CN113282076B (zh) * 2021-03-31 2022-09-27 浙江大学 一种基于雷达射线分割地图的机器人远程回充装置及方法
CN113675960A (zh) * 2021-07-23 2021-11-19 上海闻泰电子科技有限公司 无线充电方法、装置、电子设备和介质
CN113726032A (zh) * 2021-11-03 2021-11-30 中国科学院空天信息创新研究院 一种无线充电方法、设备、介质和产品

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