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CN106573372A - 充电器、基于地图构建寻找充电器的方法、装置及系统 - Google Patents

充电器、基于地图构建寻找充电器的方法、装置及系统 Download PDF

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Publication number
CN106573372A
CN106573372A CN201580039502.8A CN201580039502A CN106573372A CN 106573372 A CN106573372 A CN 106573372A CN 201580039502 A CN201580039502 A CN 201580039502A CN 106573372 A CN106573372 A CN 106573372A
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charger
map
coordinate value
electronic equipment
positioning
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CN106573372B (zh
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江玉结
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Zhejiang Qiyuan Robot Co.,Ltd.
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Guangzhou Airob Robot 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
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
    • G05D1/0234—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using optical markers or beacons
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/20—Instruments for performing navigational calculations
    • G01C21/206—Instruments for performing navigational calculations specially adapted for indoor navigation
    • 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
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
    • G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
    • 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
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
    • G05D1/0225—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving docking at a fixed facility, e.g. base station or loading bay
    • 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
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0259—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means
    • G05D1/0261—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means using magnetic plots
    • 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
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
    • G05D1/027—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means comprising intertial navigation means, e.g. azimuth detector
    • 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
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
    • G05D1/0274—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means using mapping information stored in a memory device
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/74—Systems using reradiation of radio waves, e.g. secondary radar systems; Analogous systems
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/16—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using electromagnetic waves other than radio waves
    • 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
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
    • G05D1/0238—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors
    • G05D1/024—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors in combination with a laser
    • 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
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
    • G05D1/0242—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using non-visible light signals, e.g. IR or UV signals

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • General Physics & Mathematics (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Electromagnetism (AREA)
  • Navigation (AREA)

Abstract

本发明公开了一种基于地图构建寻找充电器的方法，通过地图构建的方式，利用可移动电子设备对设置充电器的待定位区域进行实时地图构建后，当可移动电子设备接收到所述充电器在发生位置移动后所发送的位置移动后的坐标值时，基于所述充电器位置移动后的坐标值更新所构建的地图。因此，在充电器发生移动后，可移动电子设备依然能够准确找到充电器进行充电，而且，在充电器的位置发生变化后，只需要在已经构建的地图上更新充电器的位置即可，无需重新构建，具有成本低、操作简单且有效的技术效果。本发明还公开了一种基于地图构建寻找充电器的装置、系统及充电器。

Description

PCT国内申请，说明书已公开。

Claims (90)

  1. PCT国内申请，权利要求书已公开。
CN201580039502.8A 2015-03-31 2015-03-31 充电器、基于地图构建寻找充电器的方法、装置及系统 Active CN106573372B (zh)

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CN107256023A (zh) * 2017-07-28 2017-10-17 小狗电器互联网科技（北京）股份有限公司 一种可移动充电座、扫地机器人及其充电方法
CN107463177A (zh) * 2017-08-22 2017-12-12 北京小米移动软件有限公司 控制移动的方法、装置及系统
CN109649394A (zh) * 2017-10-10 2019-04-19 福特全球技术公司 用于自适应车辆控制的方法和设备
CN111061280A (zh) * 2020-03-13 2020-04-24 广州赛特智能科技有限公司 机器人自动充电方法、装置、系统、终端设备及存储介质
CN112179352A (zh) * 2020-09-30 2021-01-05 北京小米移动软件有限公司 空间地图构建方法及装置、移动控制方法及装置、介质
CN112699189A (zh) * 2019-10-23 2021-04-23 阿里巴巴集团控股有限公司 位置信息更新方法、装置及计算机系统

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US10274325B2 (en) * 2016-11-01 2019-04-30 Brain Corporation Systems and methods for robotic mapping
CN107910915A (zh) * 2017-11-24 2018-04-13 北京奇虎科技有限公司 机器人的充电方法、装置及电子设备
US10383786B2 (en) * 2017-12-18 2019-08-20 International Business Machines Corporation Utilizing a human compound eye using an internet of things (“HCEI”) for obstacle protection of a user
CN112384338B (zh) * 2018-06-11 2024-05-24 捷普有限公司 用于自主机器人导航的对接的装置、系统和方法
CN109116851B (zh) * 2018-09-05 2021-09-10 南京理工大学 一种基于地图切换的巡检机器人进出库算法
CN110941258A (zh) * 2018-09-21 2020-03-31 日本电产株式会社 移动体的控制方法及移动体的控制系统
JP7275636B2 (ja) * 2019-02-22 2023-05-18 セイコーエプソン株式会社 無人搬送システム及び無人搬送車の自己位置推定方法
JP7295657B2 (ja) * 2019-02-26 2023-06-21 東芝ライフスタイル株式会社 自律走行体装置
CN115129036A (zh) * 2021-03-26 2022-09-30 信泰光学(深圳)有限公司 移动装置及其移动方法
CN115016658A (zh) * 2022-06-09 2022-09-06 苏州三星电子电脑有限公司 计算机控制装置

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Cited By (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107256023A (zh) * 2017-07-28 2017-10-17 小狗电器互联网科技（北京）股份有限公司 一种可移动充电座、扫地机器人及其充电方法
CN107256023B (zh) * 2017-07-28 2023-09-12 小狗电器互联网科技（北京）股份有限公司 扫地机器人的充电方法
CN107463177A (zh) * 2017-08-22 2017-12-12 北京小米移动软件有限公司 控制移动的方法、装置及系统
CN109649394A (zh) * 2017-10-10 2019-04-19 福特全球技术公司 用于自适应车辆控制的方法和设备
CN112699189A (zh) * 2019-10-23 2021-04-23 阿里巴巴集团控股有限公司 位置信息更新方法、装置及计算机系统
CN112699189B (zh) * 2019-10-23 2024-06-04 盒马(中国)有限公司 位置信息更新方法、装置及计算机系统
CN111061280A (zh) * 2020-03-13 2020-04-24 广州赛特智能科技有限公司 机器人自动充电方法、装置、系统、终端设备及存储介质
CN112179352A (zh) * 2020-09-30 2021-01-05 北京小米移动软件有限公司 空间地图构建方法及装置、移动控制方法及装置、介质

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EP3278937A1 (en) 2018-02-07
US10571277B2 (en) 2020-02-25
WO2016154913A1 (zh) 2016-10-06
EP3278937A4 (en) 2018-11-21
US20180038697A1 (en) 2018-02-08
CN106573372B (zh) 2018-12-21
EP3278937B1 (en) 2020-02-19

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