CN104808656A - Regression guiding method and system based on positioning system - Google Patents
Regression guiding method and system based on positioning system Download PDFInfo
- Publication number
- CN104808656A CN104808656A CN201410035165.2A CN201410035165A CN104808656A CN 104808656 A CN104808656 A CN 104808656A CN 201410035165 A CN201410035165 A CN 201410035165A CN 104808656 A CN104808656 A CN 104808656A
- Authority
- CN
- China
- Prior art keywords
- charging station
- automatic running
- running device
- recurrence
- positioning system
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Landscapes
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Navigation (AREA)
Abstract
The invention relates to a regression guiding method based on a positioning system. The method is used for guiding an automatic walking device to a charging station, and comprises the following steps: enabling the automatic walking device to be regressed to a predetermined position of the charging station by use of a positioning technology; and connecting the automatic walking device to the charging station by use of a butt joint apparatus. The regression guiding method based on the positioning system involves, first of all, enabling the automatic walking device to be rapidly regressed to somewhere nearby the charging station by use of the positioning technology and then connecting the automatic walking device to the charging station by use of the butt joint apparatus, such that the time for the automatic walking device to be regressed to the charging station is generally shortened. The invention also simultaneously provides a regression guiding system based on a positioning system. The system can control the automatic walking device to be rapidly regressed to somewhere nearby the charging station at a linear path through a positioning module and then connects the automatic walking device to the charging station through the butt joint apparatus, such that the efficiency of regressing the automatic walking device to the charging station is effectively improved.
Description
Technical field
The present invention relates to automation control area, particularly relate to a kind of recurrence bootstrap technique based on positioning system and system thereof.
Background technology
Along with the development of science and technology, the automatic running device of intelligence is well known, because automatic running device can perform the inter-related task pre-set, operation that need not be artificial and intervention according to the program pre-set automatically, the application therefore in commercial Application and family product widely.Industrial application is as performed the robot of various function, and the application on family product is as mower, suction cleaner etc., and these smart machines dramatically saves on the time of people, all brings great convenience to commercial production and life staying idle at home.But these automatic running devices are powered owing to adopting energy storage unit, after the energy of energy storage unit is exhausted, these automatic running devices just cannot work, and now artificially automatic running device must be moved to the charging station that can provide energy for it, be its makeup energy.In some cases, makeup energy may need the time spending a few hours, and people must wait for a few hours, until makeup energy completes, again could open automatic running device, make it work on.
For overcoming the problems referred to above, some charging devices arise at the historic moment, and charging device can assist automatic running device confirmation automatic running device to dock successfully with charging station, and docks successfully with charging station at automatic running device, is automatic running device charging.At present, the docking operation of automatic running device and charging station is mainly divided into two stages: first utilize boundary line to guide near charging station by automatic running device, recycles electromagnetic field signal by automatic running device Dock With Precision Position to charging station.But in the first stage of this docking operation, automatic running device is comparatively slow close to the speed of charging station according to the guiding of boundary line, to be therefore returned to the efficiency of charging station lower for automatic running device.
Summary of the invention
Based on this, be necessary that providing a kind of can improve the recurrence bootstrap technique based on positioning system and the system thereof that automatic running device is returned to charging station efficiency.
Based on a recurrence bootstrap technique for positioning system, for automatic running device is guided to charging station, comprise the steps:
Location technology is utilized to make described automatic running device be returned to the precalculated position at described charging station place; And
Utilize docking facilities that described automatic running device is docked to described charging station.
Wherein in an embodiment, be docked in the step of described charging station at the described docking facilities that utilizes by described automatic running device, described docking facilities is boundary system.
Wherein in an embodiment, utilize location technology to make before described automatic running device is returned to the step in the precalculated position at described charging station place described, also comprise the steps:
Described charging station position is measured, obtains the precalculated position at described charging station place.
A kind of recurrence guidance system based on positioning system, for automatic running device is guided to charging station, the described recurrence guidance system based on positioning system comprises locating module, processing module and docking facilities for being arranged on described automatic running device, described locating module is connected to described processing module, and described docking facilities is connected to described charging station;
Described locating module is for obtaining automatic running device position information, described processing module is used for obtaining according to automatic running device position information the path that described automatic running device is returned to described charging station, and described docking facilities is used for described automatic running device to be docked to described charging station.
Wherein in an embodiment, the described recurrence guidance system based on positioning system also comprises memory module, and described memory module is connected to described processing module and is installed on described automatic running device.
Wherein in an embodiment, described memory module is previously stored with described charging station position information, and described charging station position information is recorded by described locating module.
Wherein in an embodiment, the described recurrence guidance system based on positioning system also comprises navigation module, and described automatic running device is returned near described charging station with straight line path by described navigation module.
Wherein in an embodiment, described locating module is GPS positioning system or Beidou satellite navigation system.
Wherein in an embodiment, described navigation module is electronic compass.
Wherein in an embodiment, described docking facilities is boundary system, and described boundary system comprises:
Boundary line, is arranged on ground, for cooking up the perform region of automatic running device;
Signal generation apparatus, sends to described boundary line for generation of preset boundary signal, produces magnetic field when described preset boundary signal flows through described boundary line;
Detecting signal unit, is arranged in described automatic running device, for detecting described magnetic field, and generates detection signal; And
Control module, is arranged in described automatic running device, for receiving described detection signal, and controls described automatic running device according to described detection signal and walks in described perform region.
The above-mentioned recurrence bootstrap technique based on positioning system first utilizes location technology to make automatic running device be returned near described charging station fast, automatic running device is docked to described charging station by recycling docking facilities, shortens the time that automatic running device is returned to charging station needs on the whole.Additionally provide a kind of recurrence guidance system based on positioning system simultaneously, this system can control automatic running device by locating module and first be returned near described charging station fast with straight line path, by docking facilities, automatic running device is docked to described charging station again, effectively improves the efficiency that automatic running device is returned to charging station.
Accompanying drawing explanation
Fig. 1 is the process flow diagram of the recurrence bootstrap technique based on positioning system of an embodiment;
Fig. 2 is the schematic diagram that the recurrence guidance system based on positioning system of an embodiment is installed on the part-structure on automatic running device;
Fig. 3 is the structural representation of the boundary system of the recurrence guidance system based on positioning system of an embodiment;
Fig. 4 is the schematic diagram that the automatic running device of an embodiment utilizes the recurrence guidance system based on positioning system to prepare when being returned to charging station;
Fig. 5 is that the automatic running device of an embodiment utilizes and is returned to schematic diagram near charging station based on the recurrence guidance system of positioning system;
Fig. 6 is that the automatic running device of an embodiment utilizes the recurrence guidance system based on positioning system to be docked to the schematic diagram of charging station.
Locating module 100 processing module 200 navigation module 300
Memory module 400 docking facilities 500 boundary line 510
Signal generation apparatus 520 detecting signal unit 530 control module 540
Automatic running device 600 charging station 700
Embodiment
Being returned to the lower problem of the efficiency of charging station to solve current automatic running device, present embodiments provide for a kind of recurrence bootstrap technique based on positioning system and system thereof.Below in conjunction with specific embodiment, the recurrence bootstrap technique based on positioning system is specifically described.
Please refer to Fig. 1, the recurrence bootstrap technique based on positioning system for automatic running device being guided to charging station in present embodiment, comprises the steps:
Step S110: measure charging station position, obtains the precalculated position at charging station place.In this step, location technology can be utilized first to measure and to obtain charging station position, and this charging station position is called the precalculated position at charging station place, because location technology inevitably produces certain error, therefore, the precalculated position at the charging station place obtained is measured only for guiding automatic running device to be returned to a certain position near charging station.
Step S120: utilize location technology to make automatic running device be returned to the precalculated position at charging station place.In this step, the precalculated position at the charging station place measured in advance in location technology integrating step S110 is utilized automatic running device can be guided near charging station.
Step S130: utilize docking facilities that automatic running device is docked to charging station.After automatic running device is returned near charging station, also need to utilize docking facilities that automatic running device is docked to charging station further.
Automatic running device is led back to merger and is docked to charging station by the above-mentioned recurrence bootstrap technique based on positioning system main S120 and step S130 two steps step by step.Wherein, in the step s 120, utilize location technology can calculate the current position of automatic running device, the precalculated position at place, combined charge station can obtain the optimal path (generally this optimal path is close to straight line) that automatic running device is returned to charging station, thus make automatic running device be returned to the precalculated position at charging station place fast, again automatic running device is docked to described charging station, effectively improves the efficiency that automatic running device is returned to charging station.
Please refer to Fig. 2, present embodiment additionally provides one and comprises locating module 100, processing module 200 and navigation module 300 for the recurrence guidance system based on positioning system automatic running device being guided to charging station (" charging station " indicates with label 700 in Figure of description).Wherein, locating module 100 and navigation module 300 are connected to processing module 200.
Charging station 700 fixes a certain correct position according to actual needs on the ground, and automatic running device 600 needs only need to march to charging station 700 position when charging to carry out docking.
Locating module 100 is mainly used in obtaining automatic running device 600 position information; Navigation module 300 is for identifying the directional information of automatic running device 600 movement; Processing module 200 is returned to charging station 700 for controlling automatic running device 600 according to the directional information of automatic running device 600 position information and automatic running device 600 movement.
In the present embodiment, locating module 100 is GPS positioning system or Beidou satellite navigation system.And navigation module 300 is electronic compass.
The above-mentioned recurrence guidance system based on positioning system also comprises memory module 400.Memory module 400 is connected to processing module 200 and is arranged on automatic running device 600.Memory module 600 is previously stored with charging station 700 position information.Like this, processing module 200 can analyze the relative position relation of automatic running device 600 and charging station 700 by charging station 700 position information in reading memory module 600 and in conjunction with the automatic running device 600 position information of locating module 100 acquisition, thus determines that automatic running device 600 is returned to the straight line path of charging station 700.
In the present embodiment, charging station 700 position information is obtained by locating module 100 measurement.Concrete metering system is: by automatic running device 600 in the other start of charging station 700, automatic running device 600 just gets the approximate location (positioning error of civilian GPS positioning system is generally less than 10 meters) of charging station 700 by locating module 100.Like this, charging station 700 position information just roughly can be measured and be stored in memory module 400.
In addition, please refer to Fig. 3, the recurrence guidance system based on positioning system in present embodiment also comprises docking facilities 500, and in the present embodiment, docking facilities 500 is boundary system.Boundary system comprises boundary line 510, signal generation apparatus 520, detecting signal unit 530 and control module 540 further.
Wherein, boundary line 510 arranges on the ground, for cooking up the perform region of automatic running device 600.Meanwhile, boundary line 510 also has one to act on the Dock With Precision Position process of having assisted automatic running device 600 and charging station 700 exactly.
Signal generation apparatus 520 is for generation of preset boundary signal and send to boundary line 510, can produce magnetic field when this preset boundary signal flows through boundary line 510.
Detecting signal unit 530 is arranged in automatic running device 600, for the magnetic field that detection boundaries line 510 sends, and generates detection signal.
Control module 540 is arranged in automatic running device 600, for the detection signal that Received signal strength detecting unit 530 generates, and walks in the perform region that boundary line 510 delimited according to this detection signal control automatic running device 600.
Please refer to Fig. 4 and Fig. 5, when automatic running device 600 needs to be returned to charging station 700, locating module 100 first obtains automatic running device 600 position information, and processing module 200 can control automatic running device 600 according to automatic running device 600 position information by control module 540 and be returned near charging station 700.Simultaneously in this regression process, navigation module 300 can identify the directional information of automatic running device 600 movement, processing module 200 constantly adjusts the direction of automatic running device 600 movement according to this directional information, thus ensure that automatic running device 600 is returned near charging station 700 with straight line path fast, effectively improve the efficiency that automatic running device 600 is returned to charging station 700.
Please refer to Fig. 5 and Fig. 6, when automatic running device 600 is returned to charging station 700, due to the positioning error that locating module 100 produces, automatic running device 600 is also just returned near charging station 700, therefore, also need to make automatic running device 600 Dock With Precision Position to charging station 700 further.This docking operation mainly utilizes boundary system to realize: signal generation apparatus 520 produces preset boundary signal and sends to boundary line 510; The magnetic field that boundary line 510 sends can be detected when detecting signal unit 530 is returned near charging station 700 with automatic running device 600, and generate detection signal; Control module 540 according to the detection signal received can control automatic running device 600 walk in the perform region that boundary line 510 delimited and Dock With Precision Position to charging station 700.Owing to there being the multiple method realizing automatic running device 600 and charging station 700 Dock With Precision Position at present, such as " cross-border line " has realized Dock With Precision Position etc., does not repeat them here.
The above-mentioned recurrence guidance system based on positioning system comprises locating module 100, processing module 200 and navigation module 300, when automatic running device 600 needs to be returned to charging station 700, described locating module 100 first obtains automatic running device 600 position information, described processing module 200 controls automatic running device 600 according to automatic running device 600 position information and is returned to charging station 700, simultaneously in this regression process, described navigation module 300 can identify the directional information of automatic running device 600 movement, described processing module 200 constantly adjusts the direction of automatic running device 600 movement according to this directional information, thus ensure that automatic running device 600 is returned near described charging station 700 with straight line path fast, effective raising automatic running device 600 is returned to the efficiency of charging station 700.
The above embodiment only have expressed several embodiment of the present invention, and it describes comparatively concrete and detailed, but therefore can not be interpreted as the restriction to the scope of the claims of the present invention.It should be pointed out that for the person of ordinary skill of the art, without departing from the inventive concept of the premise, can also make some distortion and improvement, these all belong to protection scope of the present invention.Therefore, the protection domain of patent of the present invention should be as the criterion with claims.
Claims (10)
1., based on a recurrence bootstrap technique for positioning system, for automatic running device is guided to charging station, comprise the steps:
Location technology is utilized to make described automatic running device be returned to the precalculated position at described charging station place; And
Utilize docking facilities that described automatic running device is docked to described charging station.
2. the recurrence guidance system based on positioning system according to claim 1, is characterized in that, be docked in the step of described charging station at the described docking facilities that utilizes by described automatic running device, described docking facilities is boundary system.
3. the recurrence guidance system based on positioning system according to claim 1, is characterized in that, utilizes location technology to make before described automatic running device is returned to the step in the precalculated position at described charging station place, also comprise the steps: described
Described charging station position is measured, obtains the precalculated position at described charging station place.
4. the recurrence guidance system based on positioning system, for automatic running device is guided to charging station, it is characterized in that, the described recurrence guidance system based on positioning system comprises locating module, processing module and docking facilities for being arranged on described automatic running device, described locating module is connected to described processing module, and described docking facilities is connected to described charging station;
Described locating module is for obtaining automatic running device position information, described processing module is used for obtaining according to automatic running device position information the path that described automatic running device is returned to described charging station, and described docking facilities is used for described automatic running device to be docked to described charging station.
5. the recurrence guidance system based on positioning system according to claim 4, it is characterized in that, the described recurrence guidance system based on positioning system also comprises memory module, and described memory module is connected to described processing module and is installed on described automatic running device.
6. the recurrence guidance system based on positioning system according to claim 5, is characterized in that, described memory module is previously stored with described charging station position information, and described charging station position information is recorded by described locating module.
7. the recurrence guidance system based on positioning system according to claim 4, it is characterized in that, the described recurrence guidance system based on positioning system also comprises navigation module, and described automatic running device is returned near described charging station with straight line path by described navigation module.
8. the recurrence guidance system based on positioning system according to claim 4,5 or 6, is characterized in that, described locating module is GPS positioning system or Beidou satellite navigation system.
9. the recurrence guidance system based on positioning system according to claim 7, is characterized in that, described navigation module is electronic compass.
10. the recurrence guidance system based on positioning system according to claim 3, is characterized in that, described docking facilities is boundary system, and described boundary system comprises:
Boundary line, is arranged on ground, for cooking up the perform region of automatic running device;
Signal generation apparatus, sends to described boundary line for generation of preset boundary signal, produces magnetic field when described preset boundary signal flows through described boundary line;
Detecting signal unit, is arranged in described automatic running device, for detecting described magnetic field, and generates detection signal; And
Control module, is arranged in described automatic running device, for receiving described detection signal, and controls described automatic running device according to described detection signal and walks in described perform region.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410035165.2A CN104808656A (en) | 2014-01-24 | 2014-01-24 | Regression guiding method and system based on positioning system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410035165.2A CN104808656A (en) | 2014-01-24 | 2014-01-24 | Regression guiding method and system based on positioning system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN104808656A true CN104808656A (en) | 2015-07-29 |
Family
ID=53693575
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410035165.2A Pending CN104808656A (en) | 2014-01-24 | 2014-01-24 | Regression guiding method and system based on positioning system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN104808656A (en) |
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106468920A (en) * | 2015-08-19 | 2017-03-01 | 苏州宝时得电动工具有限公司 | Return charging method and its automatic running device |
| CN106909140A (en) * | 2015-12-22 | 2017-06-30 | 苏州宝时得电动工具有限公司 | Route homing method and system |
| CN107305385A (en) * | 2016-04-22 | 2017-10-31 | 苏州宝时得电动工具有限公司 | The docking calculation and automatic running device of automatic running device |
| CN107632597A (en) * | 2016-07-18 | 2018-01-26 | 苏州宝时得电动工具有限公司 | Intelligent work system |
| CN108142069A (en) * | 2016-12-02 | 2018-06-12 | 苏州宝时得电动工具有限公司 | Path mobile system |
| CN109765899A (en) * | 2019-02-01 | 2019-05-17 | 苏州科瓴精密机械科技有限公司 | Self-movement robot system |
| CN111146826A (en) * | 2018-11-05 | 2020-05-12 | 苏州宝时得电动工具有限公司 | Self-moving equipment, wireless charging station, automatic working system and charging method thereof |
| CN112394721A (en) * | 2019-08-19 | 2021-02-23 | 苏州宝时得电动工具有限公司 | Regression method, device and system for automatic garbage consignment robot |
| CN114683874A (en) * | 2020-12-25 | 2022-07-01 | 苏州宝时得电动工具有限公司 | Automatic working system, charging station and charging control method |
| WO2023104087A1 (en) * | 2021-12-07 | 2023-06-15 | 苏州宝时得电动工具有限公司 | Automatic operating system, automatic operating method and computer-readable storage medium |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1493247A (en) * | 2002-10-31 | 2004-05-05 | ������������ʽ���� | Robot dust collector system and its charging equipment joining method |
| CN1768683A (en) * | 2004-10-27 | 2006-05-10 | 三星光州电子株式会社 | Robot cleaner system and a method for returning to external recharging apparatus |
| CN1853552A (en) * | 2005-04-20 | 2006-11-01 | Lg电子株式会社 | Cleaning robot having auto-return function to charching-stand and method using the same |
| CN102480146A (en) * | 2010-11-30 | 2012-05-30 | 苏州宝时得电动工具有限公司 | Butt joint system |
| CN102545275A (en) * | 2010-12-07 | 2012-07-04 | 上海新世纪机器人有限公司 | Robot automatic charging device and robot automatic charging method |
| CN202333477U (en) * | 2011-11-12 | 2012-07-11 | 山东鲁能智能技术有限公司 | Charging room for intelligent inspection robot of substation |
| WO2013010475A1 (en) * | 2011-07-18 | 2013-01-24 | 苏州宝时得电动工具有限公司 | Self-driving apparatus, guidance system, and moving method therefor |
| CN103488172A (en) * | 2012-06-13 | 2014-01-01 | 苏州宝时得电动工具有限公司 | Automatic working system and control method thereof |
-
2014
- 2014-01-24 CN CN201410035165.2A patent/CN104808656A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1493247A (en) * | 2002-10-31 | 2004-05-05 | ������������ʽ���� | Robot dust collector system and its charging equipment joining method |
| CN1768683A (en) * | 2004-10-27 | 2006-05-10 | 三星光州电子株式会社 | Robot cleaner system and a method for returning to external recharging apparatus |
| CN1853552A (en) * | 2005-04-20 | 2006-11-01 | Lg电子株式会社 | Cleaning robot having auto-return function to charching-stand and method using the same |
| CN102480146A (en) * | 2010-11-30 | 2012-05-30 | 苏州宝时得电动工具有限公司 | Butt joint system |
| CN102545275A (en) * | 2010-12-07 | 2012-07-04 | 上海新世纪机器人有限公司 | Robot automatic charging device and robot automatic charging method |
| WO2013010475A1 (en) * | 2011-07-18 | 2013-01-24 | 苏州宝时得电动工具有限公司 | Self-driving apparatus, guidance system, and moving method therefor |
| CN202333477U (en) * | 2011-11-12 | 2012-07-11 | 山东鲁能智能技术有限公司 | Charging room for intelligent inspection robot of substation |
| CN103488172A (en) * | 2012-06-13 | 2014-01-01 | 苏州宝时得电动工具有限公司 | Automatic working system and control method thereof |
Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106468920A (en) * | 2015-08-19 | 2017-03-01 | 苏州宝时得电动工具有限公司 | Return charging method and its automatic running device |
| CN106468920B (en) * | 2015-08-19 | 2020-08-14 | 苏州宝时得电动工具有限公司 | Regression charging method and automatic walking equipment thereof |
| CN106909140A (en) * | 2015-12-22 | 2017-06-30 | 苏州宝时得电动工具有限公司 | Route homing method and system |
| CN107305385A (en) * | 2016-04-22 | 2017-10-31 | 苏州宝时得电动工具有限公司 | The docking calculation and automatic running device of automatic running device |
| CN107632597B (en) * | 2016-07-18 | 2020-06-23 | 苏州宝时得电动工具有限公司 | Intelligent working system |
| CN107632597A (en) * | 2016-07-18 | 2018-01-26 | 苏州宝时得电动工具有限公司 | Intelligent work system |
| CN108142069B (en) * | 2016-12-02 | 2020-12-11 | 苏州宝时得电动工具有限公司 | Path moving system |
| CN108142069A (en) * | 2016-12-02 | 2018-06-12 | 苏州宝时得电动工具有限公司 | Path mobile system |
| CN111146826A (en) * | 2018-11-05 | 2020-05-12 | 苏州宝时得电动工具有限公司 | Self-moving equipment, wireless charging station, automatic working system and charging method thereof |
| CN109765899A (en) * | 2019-02-01 | 2019-05-17 | 苏州科瓴精密机械科技有限公司 | Self-movement robot system |
| CN112394721A (en) * | 2019-08-19 | 2021-02-23 | 苏州宝时得电动工具有限公司 | Regression method, device and system for automatic garbage consignment robot |
| CN114683874A (en) * | 2020-12-25 | 2022-07-01 | 苏州宝时得电动工具有限公司 | Automatic working system, charging station and charging control method |
| WO2023104087A1 (en) * | 2021-12-07 | 2023-06-15 | 苏州宝时得电动工具有限公司 | Automatic operating system, automatic operating method and computer-readable storage medium |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN104808656A (en) | Regression guiding method and system based on positioning system | |
| CN106980320B (en) | Robot charging method and device | |
| CN105045268B (en) | A kind of AGV laser tape hybrid navigation system | |
| CN109976324B (en) | Method for controlling robot charging, robot, and computer-readable storage medium | |
| CN103022586A (en) | Automatic charging method and system for AGV | |
| CN102494683B (en) | Radio frequency identification (RFID)-based joint positioning device and method | |
| CN107124014A (en) | The charging method and charging system of a kind of mobile robot | |
| CN103057679B (en) | Mutual butt joint device for double intelligent underwater robots and butt joint method | |
| CN104750104B (en) | Automatic running device is returned to connected control system | |
| CN104571133B (en) | Charging method, system and indoor activity method in robot chamber | |
| CN104793614A (en) | Automatic walking equipment returning guidance system | |
| WO2020093992A1 (en) | Self-moving device, wireless charging station, automatic working system, and charging method therefor | |
| WO2021238715A1 (en) | Positioning method and apparatus, robot, beacon, system, device, and medium | |
| CN109428351A (en) | Wireless charging system | |
| CN210016300U (en) | Self-moving device and charging docking system | |
| CN110829513A (en) | Self-moving equipment, charging docking system and charging docking method | |
| WO2018094863A1 (en) | Positioning method and apparatus, and computer storage medium | |
| CN202433774U (en) | Multi-sensor fusion based robot locating system | |
| CN202677193U (en) | Combined positioning system for outdoor mobile robot | |
| CN112578780A (en) | Self-moving equipment, control method thereof and automatic working system | |
| CN107305385B (en) | Butt joint method of automatic walking equipment and automatic walking equipment | |
| CN103472844A (en) | Mobile platform positioning system based on electronic tag automatic correcting | |
| CN111568308B (en) | Charging seat searching method and device, sweeping equipment and readable storage medium | |
| CN104869222A (en) | Pedometer assisted GPS positioning method | |
| CN113900454A (en) | Charging pile aligning method, device, equipment and storage medium |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| EXSB | Decision made by sipo to initiate substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20150729 |