CN107203205B - Signal generating device and robot system comprising same - Google Patents
Signal generating device and robot system comprising same Download PDFInfo
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- CN107203205B CN107203205B CN201610156544.6A CN201610156544A CN107203205B CN 107203205 B CN107203205 B CN 107203205B CN 201610156544 A CN201610156544 A CN 201610156544A CN 107203205 B CN107203205 B CN 107203205B
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- 230000005540 biological transmission Effects 0.000 claims description 17
- 230000000452 restraining effect Effects 0.000 claims description 2
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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
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04B—TRANSMISSION
- H04B1/00—Details of transmission systems, not covered by a single one of groups H04B3/00 - H04B13/00; Details of transmission systems not characterised by the medium used for transmission
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Abstract
The present invention relates to a signal generating device and a robot system including the same. The signal generating device includes: the signal transmitting unit comprises a signal source and a transmitting antenna, one end of the transmitting antenna is connected with the signal source, the other end of the transmitting antenna is extended in a one-way mode, the transmitting antenna does not form a circuity loop, and the signal source transmits a first radio signal through the transmitting antenna; and the signal suppression unit comprises a noise source which is arranged near the signal source and is used for transmitting a second radio signal, the frequency of the second radio signal is different from that of the first radio signal or a phase difference exists between the second radio signal and the first radio signal, and the second radio signal is used for suppressing the first radio signal. The robot system comprises a robot, a charging station and the signal generating device. According to the signal generating device and the robot system, the signal-to-noise ratio of the signal source end is reduced, and the signal of the first radio signal is converged.
Description
Technical Field
The present invention relates to an intelligent mobile technology, and more particularly, to a signal generating device and a robot system including the same.
Background
With the development of science and technology, intelligent mobile robots are well known, and because the intelligent mobile robots can automatically walk and execute related tasks according to preset programs without manual operation, the intelligent mobile robots are widely applied to industrial applications and household products. The intelligent mobile robots greatly save time of people and bring great convenience to industrial production and home life.
Smart mobile robots, such as smart lawn mowers, typically have an operating mode and a regression mode. In the working mode, the self-moving robot moves in a preset working area and executes related tasks. In the regression mode, the self-moving robot can automatically move to a charging station according to a preset route to charge or park. In the return technology, a signal emitter is arranged in the charging station, and the intelligent mobile robot returns to the charging station along a guide signal emitted by the signal emitter.
However, in the radio guidance regression technology, at a position near a signal emitter, a signal is too strong, a signal radiation range is large, a signal-to-noise ratio is too large, and the signal is relatively divergent, so that the intelligent mobile robot cannot accurately find a signal intensity center, and therefore, the intelligent mobile robot cannot be guaranteed to return to a charging station along the signal intensity center, and work of the intelligent mobile robot is affected.
Disclosure of Invention
In view of the above, it is necessary to provide a signal generation device and a robot system including the signal generation device, which address the problem that the signal-to-noise ratio is large at a position near a signal transmitter.
A signal generating device comprising: the signal transmitting unit comprises a signal source and a transmitting antenna, one end of the transmitting antenna is connected with the signal source, the other end of the transmitting antenna is extended in a one-way mode, the transmitting antenna does not form a circuity loop, and the signal source transmits a first radio signal through the transmitting antenna; a signal suppression unit including a noise source disposed near the signal source, the noise source configured to emit a second radio signal having a different frequency from the first radio signal or having a phase difference with the first radio signal, the second radio signal configured to suppress the first radio signal.
According to the signal generating device, the signal-to-noise ratio of the signal source end is reduced by adding the noise source near the signal source. Meanwhile, the first radio signal emitted from the signal source end to the outside is interfered by the second radio signal due to the difference in frequency between the second radio signal emitted from the noise source and the first radio signal or the phase difference between the second radio signal and the first radio signal. Therefore, the second radio signal effectively suppresses the signal strength and the coverage of the first radio signal in the vicinity of the signal source end, the same signal source power, the first radio signal strength decreases, the coverage decreases, the transmission distance does not change, and the first radio signal converges toward the signal strength center in the vicinity of the signal source end.
In one embodiment, the power of the signal source is greater than the power of the noise source.
In one embodiment, the direction of the first radio signal and the second radio signal is consistent.
In one embodiment, the signal suppression unit further includes a suppression line, one end of the suppression line is connected to the noise source, the other end of the suppression line is extended in a single direction, the suppression line does not form a circuit loop, and the noise source transmits the second radio signal through the suppression line; the suppression line with the transmitting antenna is adjacent to be set up, the suppression line with transmitting antenna's extending direction is unanimous, just the end of suppression line is than transmitting antenna's end is close to the signal source.
In one embodiment, the restraining wire is linear.
In one embodiment, the length of the suppression line is adjustable for adjusting the transmission range of the second radio signal.
In one embodiment, the signal suppression unit further comprises an adjustable resistor and/or an adjustable inductor, and the adjustable resistor and/or the adjustable inductor are connected in series between the noise source and the suppression line.
In one embodiment, the transmitting antenna is linear.
In one embodiment, the relationship between the strength of the second radio signal and the noise source distance is consistent with the relationship between the strength of the first radio signal and the signal source distance.
In one embodiment, the signal transmitting unit further includes an inverter, an input terminal of the inverter is connected to the transmitting terminal of the signal source, and an output terminal of the inverter is used as the transmitting terminal of the noise source.
A robot system comprising a robot and a charging station; the robot is used for executing corresponding walking and working; the charging station is used for providing electric energy for the robot and/or stopping the robot; the robot further comprises a signal generating device in any of the above embodiments, wherein the signal generating device is disposed in the charging station and is used for enabling the robot to return to the charging station along a signal intensity center of the first radio signal.
In the robot system, the signal-to-noise ratio of the first radio signal at the signal source end is reduced, and the signal strength and the coverage of the first radio signal near the signal source end are effectively suppressed. Therefore, near the signal source end, under the same signal source power, the signal strength of the first radio signal is reduced, the coverage is reduced, the transmission distance is unchanged, and the first radio signal converges to the signal strength center. Therefore, the robot can find the signal intensity center more easily within the preset signal intensity threshold range and return to the charging station along the signal intensity center more accurately.
Drawings
FIG. 1 is a schematic flow chart of a signal suppression method according to the present invention;
FIG. 2 is a schematic structural diagram of a signal generating device according to an embodiment of the present invention;
FIG. 3 is a schematic view of a robotic system according to an embodiment of the present invention;
FIG. 4 is a signal diagram illustrating a first radio signal near a source of the signal when the first radio signal is not suppressed;
fig. 5 is a signal diagram of a first radio signal of the signal generating device in the vicinity of the signal source terminal in the embodiment shown in fig. 2.
Detailed Description
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in detail below.
Please refer to fig. 1, which is a schematic flow chart of the signal suppression method according to the present invention. As shown in the figure, the signal suppressing method includes step S110 of transmitting a first radio signal. The first radio signal propagates in a specific direction and can be used as a guiding signal for guiding the smart mobile device to walk in a correct direction.
In step S130, a noise source is set near the first radio signal source. The noise source is used for reducing the signal-to-noise ratio of the signal source end.
In step S150, the noise source transmits a second radio signal, where the second radio signal has a different frequency from the first radio signal or a phase difference exists between the second radio signal and the first radio signal, and the second radio signal is used to suppress the first radio signal. The second radio signal is capable of interfering with the first radio signal, in particular with the first radio signal in the vicinity of the signal source, thereby reducing the signal-to-noise ratio at the signal source end.
According to the signal suppression method, the noise source is added near the signal source, and the signal-to-noise ratio of the signal source end is reduced. Meanwhile, the first radio signal emitted from the signal source end to the outside is interfered by the second radio signal due to the difference in frequency between the second radio signal emitted from the noise source and the first radio signal or the phase difference between the second radio signal and the first radio signal. Therefore, the second radio signal effectively suppresses the signal strength and the coverage of the first radio signal in the vicinity of the signal source end, the same signal source power, the first radio signal strength decreases, the radiation range decreases, the transmission distance does not change, and the first radio signal converges toward the signal strength center at a position in the vicinity of the signal source end.
In one embodiment, the direction of the first radio signal is consistent with the direction of the second radio signal. Thus, along the transmission direction of the first radio signal, the second radio signal can suppress the signal intensity and the radiation range of the first radio signal, so that the first radio signal is regularly suppressed in the propagation direction.
In one embodiment, the relationship between the strength of the second radio signal and the distance of the noise source is consistent with the relationship between the strength of the first radio signal and the distance of the signal source. The second radio signal is able to suppress the first radio signal uniformly due to the proximity of the noise source to the signal source. The signal strength of the suppressed first radio signal at each position in the propagation direction is relatively balanced. Also, the radiation range of the first radio signal at each position in its propagation direction is suppressed uniformly.
Fig. 2 is a schematic structural diagram of a signal generating device according to an embodiment of the invention. As shown in fig. 2, a signal generating apparatus 100 is used for transmitting a guiding signal for guiding a smart mobile device to walk. Including a signal transmitting unit 110 and a signal suppression unit 120. The signal transmitting unit 110 includes a signal source 111 and a transmitting antenna 112, one end of the transmitting antenna 112 is connected to the signal source 111, the other end is extended in a single direction, and the transmitting antenna 112 does not form a circuity loop. The signal source 111 transmits a first radio signal through the transmitting antenna 112. The first radio signal covers a specific range and has a signal strength center in its propagation direction, the first radio signal serves as a guide signal for the smart mobile device, and the smart mobile device can walk along the signal strength center to a preset position. The signal suppression unit 120 includes a noise source 121, the noise source 121 is disposed near the signal source 111, and the noise source 121 is used to reduce the signal-to-noise ratio at the signal source 111 side. The noise source 121 is configured to transmit a second radio signal having a different frequency from the first radio signal or a phase difference between the second radio signal and the first radio signal, and the second radio signal is configured to suppress the first radio signal. The noise source 121 is different from the signal source 111, and the second radio signal transmitted by the noise source 121 can interfere with the first radio signal transmitted by the signal source 111, thereby reducing the signal-to-noise ratio at the signal source 111.
In the signal generating apparatus 100, the noise source 121 is added near the signal source 111, so that the signal-to-noise ratio of the signal source 111 at the signal source end is reduced. Meanwhile, the first radio signal transmitted from the signal source 111 is interfered by the second radio signal due to the difference in frequency between the second radio signal transmitted from the noise source 121 and the first radio signal or the phase difference between the second radio signal and the first radio signal. Therefore, the second radio signal effectively suppresses the signal strength and the coverage of the first radio signal in the vicinity of the signal source end, and the same signal source 111 power, at a position in the vicinity of the signal source end, the first radio signal strength decreases, the coverage decreases, the transmission distance does not change, and the first radio signal converges toward the signal strength center.
In this embodiment, the power of the signal source 111 is greater than the power of the noise source 121. Therefore, the first radio signal is prevented from being excessively inhibited by the second radio signal, so that the intelligent mobile device can identify the first radio signal and walk to a preset position along the signal strength center of the first radio signal.
In this embodiment, the directions of the first radio signal and the second radio signal are kept consistent. Thus, along the transmission direction of the first radio signal, the second radio signal can suppress the signal intensity and the radiation range of the first radio signal, so that the first radio signal is regularly suppressed in the propagation direction. The first radio signal may be a signal having directivity, and accordingly, the second radio signal may also be a signal having directivity. Thus, the first radio signal can be used as an accurate pilot signal required by other equipment.
As shown in fig. 2, the transmitting antenna 112 is a non-closed route, one end of the transmitting antenna 112 connected to the signal source 111 is a starting point, and the other end of the transmitting antenna 112 is a free end, i.e., a tail end. Thus, the first radio signal is radiated into the free space along the transmitting antenna 112. When the distance from the signal source 111 is the same, the closer to the antenna, the higher the signal-to-noise ratio is, the higher the signal intensity value is, and the more the first radio signal is dispersed. In the present embodiment, the transmitting antenna 112 is a linear type. In this way, the first radio signal can propagate in a particular direction. Specifically, the transmitting antenna 112 is a straight line segment with a preset length, so that the length of the transmitting antenna 112 can be set as required, resources are reasonably utilized, and cost is reasonably controlled.
The signal suppressing unit 120 further includes a suppressing line 122, one end of the suppressing line 122 is connected to the noise source 121, the other end is extended in a unidirectional manner, and the suppressing line 122 does not form a circuit loop. The noise source 121 transmits a second radio signal through the suppression line 122; the suppression line 122 is disposed adjacent to the transmission antenna 112, the direction of extension of the suppression line 122 coincides with the direction of extension of the transmission antenna 112, and the end of the suppression line 122 is closer to the signal source 111 than the end of the transmission antenna 112. The suppression line 122 is a non-closed route, one end of the suppression line 122 connected to the noise source 121 is a starting point, and the other end of the suppression line 122 is a free end, that is, a terminal. Thus, the second radio signal is radiated into the free space along the suppression line 122. The suppression wire 122 is a straight line type, so that the second radio signal can propagate in a specific direction. The suppression line 122 is disposed adjacent to the transmission antenna 112, and the extension directions of the suppression line 122 and the transmission antenna 112 coincide with each other, so that the propagation directions of the second radio signal and the first radio signal are kept coincident with each other. In this embodiment, the suppression line 122 and the transmission antenna 112 are disposed in parallel and as close as possible, so that the second radio signal can more effectively suppress the first radio signal. The end of the suppression line 122 is closer to the signal source 111 than the end of the transmission antenna 112, and the suppression line 122 is closer to the signal source 111, so that the second radio signal mainly suppresses the first radio signal near the signal source 111, and the first radio signal near the signal source 111 converges toward the center of the signal intensity. In this embodiment, since the suppression line 122 and the transmitting antenna 112 are both linear and are disposed in parallel and as close as possible, and the noise source 121 is also disposed as close as possible to the signal source 111, the length of the suppression line 122 is smaller than that of the transmitting antenna 112. Specifically, the length of the suppression line 122 is adjustable to adjust the transmission range of the second radio signal, and the longer the suppression line 122 is, the better the suppression effect of the second radio signal on the first radio signal is, so that the length of the suppression line 122 can be adjusted according to the required suppression effect. Of course, the relative position of the suppression wire 122 and the transmitting antenna 112 may also be set according to actual needs, but is not limited thereto.
The signal suppression unit 120 further includes an adjustable resistor 123 and/or an adjustable inductor 124, and the adjustable resistor 123 and/or the adjustable inductor 124 are connected in series between the noise source 121 and the suppression line 122. The power of the noise source 121 can be adjusted by adjusting the size of the adjustable resistor 123 and/or the adjustable inductor 124, so as to adjust the signal strength and the radiation range of the second radio signal. Therefore, the user can adjust the size of the adjustable resistor 123 and/or the adjustable inductor 124 according to the degree of the first radio signal to be suppressed, flexibly control the signal intensity and the radiation range of the second radio signal, and effectively suppress the first radio signal. In this embodiment, the signal suppressing unit 120 includes both the adjustable resistor 123 and the adjustable inductor 124, and when the value of the adjustable resistor 123 decreases and/or the value of the adjustable inductor 124 increases, the power of the noise source 121 increases, the signal strength of the second radio signal increases, the radiation range increases, and the effect of suppressing the first radio signal increases. When the value of the adjustable resistor 123 increases and/or the value of the adjustable inductor 124 decreases, the power of the noise source 121 decreases, the signal strength of the second radio signal decreases, the radiation range decreases, and the suppressed effect of the first radio signal decreases. In practical applications, the user can adjust the power of the noise source 121 according to the requirement.
In one embodiment, the relationship between the strength of the second radio signal and the distance from the noise source 121 is consistent with the relationship between the strength of the first radio signal and the distance from the signal source 111. Since the noise source is close to the signal source, and simultaneously, the directions of the first radio signal and the second radio signal are kept consistent, the second radio signal can uniformly suppress the first radio signal. The signal strengths of the suppressed first radio signal at respective positions in the propagation direction thereof are almost equal. Also the radiation range of the first radio signal at various positions in its propagation direction is well suppressed.
In one embodiment, the signal transmitting unit further comprises an inverter, an input end of the inverter is connected with the transmitting end of the signal source, and an output end of the inverter is used as the transmitting end of the noise source. The transmitting end of the signal source is connected with the phase inverter, and the signal output by the output end of the phase inverter has the same frequency and different phase with the first radio signal, namely the signals of the two have phase difference. Therefore, the signal source is utilized to obtain the noise sources with the same frequency and different phases, the equipment resources are saved, and the application is convenient.
Fig. 3 is a schematic view of a robot system according to an embodiment of the invention. As shown in fig. 3, a robotic system 200 includes a robot 210 and a charging station 220. The robot 210 is used to perform corresponding walking and work in a specific work area. The charging station 220 is used to provide power to the robot 210 and/or to park. The robot system 200 further comprises a signal generating device 221, wherein the signal generating device 221 is the signal generating device in any of the above embodiments, and is configured to emit a guiding signal for guiding the robot 210 to walk. The signal generating device 221 transmits a first radio signal as a guiding signal for guiding the robot 210 to walk in a correct direction. The signal generator 221 is disposed in the charging station 220, and enables the robot 210 to return to the charging station 220 along the signal intensity center of the first radio signal. The signal generating device 221 further emits a second radio signal, which can effectively suppress the first radio signal at the signal source end of the first radio signal, thereby improving the accuracy of the robot 210 returning.
In the robot system 200, since the signal generation device 221 is provided, in the signal generation device 221, the signal-to-noise ratio of the first radio signal at the signal source end is reduced, and the interference of the signal intensity and the radiation range of the first radio signal via the second radio signal is effectively suppressed. On one hand, near the signal source end, with the same signal source power, the signal intensity of the first radio signal is reduced, and the transmission distance is unchanged, so that the robot 210 can more easily find the signal intensity center within the preset signal intensity threshold range; on the other hand, the first radio signal converges to the signal intensity center, so that the radiation range of the first radio signal is reduced, and thus the robot 210 can return to the charging station 220 along the signal intensity center more accurately.
Fig. 4 and 5 are signal diagrams of a first radio signal in which a noise source is not provided near a signal source terminal, and a first radio signal of the signal generating apparatus of the embodiment shown in fig. 2, respectively. As shown in fig. 4, the dotted line is a schematic diagram of the equipotential distribution of the strength of the first radio signal, the signal source 310 transmits the first radio signal along the transmitting antenna 320, the transmitting antenna 320 is a straight line segment, the center of the strength of the first radio signal is located on the transmitting antenna 320, and the signal strength and the radiation range of the center of the strength of the signal gradually decrease from the signal source 310 along the direction of the transmitting antenna 320. However, the first radio signal near the signal source 310 is a divergent signal, the signal intensity is strong, and the radiation range is large.
Referring to fig. 5, the dotted line is a schematic diagram of the equipotential distribution of the strength of the first radio signal, and in conjunction with fig. 2, a noise source 121 is disposed near the signal source 111, the noise source 121 transmits a second radio signal (not shown) along a suppression line 122, and the suppression line 122 is close to the transmitting antenna 112 and extends in the same direction as the transmitting antenna 112. The second radio signal functions to suppress the first radio signal.
As is apparent from comparing fig. 4 and fig. 5, after the noise source is disposed near the signal source end, the first radio signal is a signal converging toward the transmitting antenna 112 near the signal source end along the transmitting antenna 112. And the signal strengths near the respective positions of the suppressed first radio signal along the transmitting antenna 112 are almost equal. The radiation range of the first radio signal at various positions along the transmitting antenna 112 is also suppressed. Particularly, the signal intensity and the coverage range of the signal intensity center at the position of the transmitting antenna 112 close to the signal source 111 converge to the signal intensity center, and the coverage range is narrowed, so that the robot 210 can find the signal intensity center more easily within the preset signal intensity threshold range and return to the charging station 220 along the signal intensity center more accurately. For example, the first radio signal shown in fig. 4 is near a reference point on the transmitting antenna 320 close to the signal source 310, and assuming that the relative signal strength value at the reference point is 100, then the signal with the relative signal strength value of 80 is located at a vertical distance of 1m from the reference point. On the other hand, the first radio signal after being suppressed by the noise source 121 from the signal source 111 shown in fig. 5 is located near the same reference point on the transmitting antenna 112 close to the signal source 111, the relative signal strength value at the reference point is 100, and the signal with the relative signal strength value of 80 is located at a position which is vertically 15cm away from the reference point, that is, the signal strength and the coverage range of the first radio signal converge toward the transmitting antenna 112 (i.e., the center of the signal strength).
It should be noted that, for convenience of comparison, the signal intensity relative value is obtained by normalizing an actual value of the signal intensity, and in other embodiments, the signal intensity relative value is not limited to this.
Therefore, such a robot system may enable the robot 210 to return to the charging station 220 along the signal strength center more precisely.
The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (9)
1. A robot system comprising a robot and a charging station; the robot is used for executing corresponding walking and working; the charging station is used for providing electric energy for the robot and/or stopping the robot;
the robot is characterized by further comprising a signal generating device, wherein the signal generating device is arranged in the charging station and used for enabling the robot to return to the charging station along a signal intensity center of a first radio signal;
the signal generating device comprises:
the signal transmitting unit comprises a signal source and a transmitting antenna, one end of the transmitting antenna is connected with the signal source, the other end of the transmitting antenna is extended in a one-way mode, the transmitting antenna does not form a circuity loop, and the signal source transmits a first radio signal through the transmitting antenna;
a signal suppression unit including a noise source disposed near the signal source, the noise source configured to emit a second radio signal having a different frequency from the first radio signal or having a phase difference with the first radio signal, the second radio signal configured to suppress the first radio signal.
2. The robotic system as claimed in claim 1, wherein the power of the signal source is greater than the power of the noise source.
3. The robotic system as claimed in claim 1, wherein the first radio signal and the second radio signal are in a consistent direction.
4. The robot system according to claim 1, wherein the signal suppression unit further comprises a suppression line, one end of the suppression line is connected to the noise source, the other end of the suppression line is extended in a unidirectional manner, the suppression line does not form a circuit loop, and the noise source transmits the second radio signal through the suppression line; the suppression line with the transmitting antenna is adjacent to be set up, the suppression line with transmitting antenna's extending direction is unanimous, just the end of suppression line is than transmitting antenna's end is close to the signal source.
5. The robotic system as claimed in claim 4, wherein the restraining wire is linear.
6. The robotic system as claimed in claim 4, wherein the suppression wire is adjustable in length for adjusting a transmission range of the second radio signal.
7. The robotic system as claimed in claim 4, wherein the signal suppression unit further comprises an adjustable resistance and/or an adjustable inductance connected in series between the noise source and the suppression line.
8. The robotic system as claimed in claim 1, wherein the transmitting antenna is linear.
9. A robotic system as claimed in any one of claims 1 to 8, wherein the relationship of the strength of the second radio signal to the distance of the noise source is consistent with the relationship of the strength of the first radio signal to the distance of the signal source.
Priority Applications (4)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610156544.6A CN107203205B (en) | 2016-03-18 | 2016-03-18 | Signal generating device and robot system comprising same |
| EP16874939.8A EP3392729B1 (en) | 2015-12-17 | 2016-12-19 | Auto-movement robot system |
| PCT/CN2016/110855 WO2017101882A1 (en) | 2015-12-17 | 2016-12-19 | Auto-movement robot system |
| US15/789,397 US10852735B2 (en) | 2015-12-17 | 2017-10-20 | Self-moving robot system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610156544.6A CN107203205B (en) | 2016-03-18 | 2016-03-18 | Signal generating device and robot system comprising same |
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| CN107203205A CN107203205A (en) | 2017-09-26 |
| CN107203205B true CN107203205B (en) | 2020-05-22 |
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| CN113253725B (en) * | 2021-05-11 | 2023-06-27 | 北京京东乾石科技有限公司 | Robot path planning method and device, storage medium and electronic equipment |
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| CN102882624A (en) * | 2012-08-10 | 2013-01-16 | 上海卫星工程研究所 | PXI/PCI bus-based remote synchronization device of test signal source devices and method thereof |
| CN103743973A (en) * | 2013-12-25 | 2014-04-23 | 浙江吉利控股集团有限公司 | Electromagnetic compatibility immunity test system used for key-free system |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102044888A (en) * | 2009-10-23 | 2011-05-04 | 鸿富锦精密工业（深圳）有限公司 | Automatic charging system and method |
| CN102882624A (en) * | 2012-08-10 | 2013-01-16 | 上海卫星工程研究所 | PXI/PCI bus-based remote synchronization device of test signal source devices and method thereof |
| CN103743973A (en) * | 2013-12-25 | 2014-04-23 | 浙江吉利控股集团有限公司 | Electromagnetic compatibility immunity test system used for key-free system |
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