CN105892461A - 一种机器人所处环境与地图的匹配识别方法及*** - Google Patents
一种机器人所处环境与地图的匹配识别方法及*** Download PDFInfo
- Publication number
- CN105892461A CN105892461A CN201610244332.3A CN201610244332A CN105892461A CN 105892461 A CN105892461 A CN 105892461A CN 201610244332 A CN201610244332 A CN 201610244332A CN 105892461 A CN105892461 A CN 105892461A
- Authority
- CN
- China
- Prior art keywords
- robot
- map
- laser
- local environment
- total number
- 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.)
- Granted
Links
- 238000000034 method Methods 0.000 title claims abstract description 35
- 239000002245 particle Substances 0.000 claims abstract description 50
- 238000006073 displacement reaction Methods 0.000 claims description 60
- 230000004888 barrier function Effects 0.000 claims description 19
- 238000004364 calculation method Methods 0.000 claims description 6
- 230000013011 mating Effects 0.000 claims description 6
- 238000005259 measurement Methods 0.000 claims description 6
- 230000008878 coupling Effects 0.000 claims description 5
- 238000010168 coupling process Methods 0.000 claims description 5
- 238000005859 coupling reaction Methods 0.000 claims description 5
- 239000004744 fabric Substances 0.000 claims description 5
- 230000007613 environmental effect Effects 0.000 description 7
- 230000008859 change Effects 0.000 description 6
- 238000010586 diagram Methods 0.000 description 5
- 230000006870 function Effects 0.000 description 5
- 238000012952 Resampling Methods 0.000 description 2
- 238000004422 calculation algorithm Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000001914 filtration Methods 0.000 description 2
- 230000004807 localization Effects 0.000 description 2
- 239000000203 mixture Substances 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 238000005070 sampling Methods 0.000 description 2
- 240000004272 Eragrostis cilianensis Species 0.000 description 1
- 238000005315 distribution function Methods 0.000 description 1
- 230000008447 perception Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000035939 shock Effects 0.000 description 1
- 238000004088 simulation Methods 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 230000009967 tasteless effect Effects 0.000 description 1
Classifications
-
- 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
-
- 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
- G05D1/0236—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using optical markers or beacons 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
- G05D1/0238—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
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F18/00—Pattern recognition
- G06F18/20—Analysing
- G06F18/22—Matching criteria, e.g. proximity measures
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Remote Sensing (AREA)
- Radar, Positioning & Navigation (AREA)
- Aviation & Aerospace Engineering (AREA)
- Data Mining & Analysis (AREA)
- Electromagnetism (AREA)
- Optics & Photonics (AREA)
- Theoretical Computer Science (AREA)
- Bioinformatics & Computational Biology (AREA)
- General Engineering & Computer Science (AREA)
- Evolutionary Computation (AREA)
- Evolutionary Biology (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Bioinformatics & Cheminformatics (AREA)
- Artificial Intelligence (AREA)
- Life Sciences & Earth Sciences (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Manipulator (AREA)
Abstract
Description
Claims (10)
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201610244332.3A CN105892461B (zh) | 2016-04-13 | 2016-04-13 | 一种机器人所处环境与地图的匹配识别方法及*** |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201610244332.3A CN105892461B (zh) | 2016-04-13 | 2016-04-13 | 一种机器人所处环境与地图的匹配识别方法及*** |
Publications (2)
Publication Number | Publication Date |
---|---|
CN105892461A true CN105892461A (zh) | 2016-08-24 |
CN105892461B CN105892461B (zh) | 2018-12-04 |
Family
ID=56705071
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN201610244332.3A Active CN105892461B (zh) | 2016-04-13 | 2016-04-13 | 一种机器人所处环境与地图的匹配识别方法及*** |
Country Status (1)
Country | Link |
---|---|
CN (1) | CN105892461B (zh) |
Cited By (14)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN106323273A (zh) * | 2016-08-26 | 2017-01-11 | 深圳微服机器人科技有限公司 | 一种机器人重定位方法及装置 |
CN106568432A (zh) * | 2016-10-20 | 2017-04-19 | 上海物景智能科技有限公司 | 一种移动机器人初始位姿获取方法和*** |
CN107820615A (zh) * | 2017-08-23 | 2018-03-20 | 深圳前海达闼云端智能科技有限公司 | 发送提示信息的方法、装置及服务器 |
CN108458706A (zh) * | 2017-12-25 | 2018-08-28 | 达闼科技(北京)有限公司 | 一种导航方法、装置、云端服务器及计算机程序产品 |
CN108550134A (zh) * | 2018-03-05 | 2018-09-18 | 北京三快在线科技有限公司 | 建图效果指标的确定方法和建图效果指标的确定装置 |
CN109035291A (zh) * | 2018-08-03 | 2018-12-18 | 重庆电子工程职业学院 | 机器人定位方法及装置 |
CN110189366A (zh) * | 2019-04-17 | 2019-08-30 | 北京迈格威科技有限公司 | 一种激光粗配准方法、装置、移动终端及存储介质 |
CN111812613A (zh) * | 2020-08-06 | 2020-10-23 | 常州市贝叶斯智能科技有限公司 | 一种移动机器人定位监测方法、装置、设备和介质 |
CN112082554A (zh) * | 2020-08-05 | 2020-12-15 | 深圳市优必选科技股份有限公司 | 机器人导航方法、装置、终端设备及存储介质 |
CN112097772A (zh) * | 2020-08-20 | 2020-12-18 | 深圳市优必选科技股份有限公司 | 机器人及其地图构建方法和装置 |
CN112581535A (zh) * | 2020-12-25 | 2021-03-30 | 达闼机器人有限公司 | 机器人定位方法、装置、存储介质及电子设备 |
CN112700495A (zh) * | 2020-11-25 | 2021-04-23 | 北京旷视机器人技术有限公司 | 位姿确定方法、装置、机器人、电子设备及存储介质 |
WO2021109166A1 (zh) * | 2019-12-06 | 2021-06-10 | 苏州艾吉威机器人有限公司 | 三维激光定位方法及*** |
CN114407005A (zh) * | 2021-12-02 | 2022-04-29 | 国能铁路装备有限责任公司 | 一种机器人及其行走控制方法、装置 |
Citations (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN102576228A (zh) * | 2009-08-31 | 2012-07-11 | Neato机器人技术公司 | 移动机器人环境的同时定位和地图绘制的方法和设备 |
CN103186797A (zh) * | 2011-12-29 | 2013-07-03 | 财团法人工业技术研究院 | 视觉定位方法及装置 |
CN103576686A (zh) * | 2013-11-21 | 2014-02-12 | 中国科学技术大学 | 一种机器人自主导引及避障的方法 |
CN103631264A (zh) * | 2013-12-04 | 2014-03-12 | 苏州大学张家港工业技术研究院 | 一种同时定位与地图创建方法及装置 |
CN103926925A (zh) * | 2014-04-22 | 2014-07-16 | 江苏久祥汽车电器集团有限公司 | 一种基于改进的vfh算法的定位与避障方法及机器人 |
JP2015146091A (ja) * | 2014-02-03 | 2015-08-13 | トヨタ自動車株式会社 | 移動ロボットの自己位置推定方法 |
-
2016
- 2016-04-13 CN CN201610244332.3A patent/CN105892461B/zh active Active
Patent Citations (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN102576228A (zh) * | 2009-08-31 | 2012-07-11 | Neato机器人技术公司 | 移动机器人环境的同时定位和地图绘制的方法和设备 |
CN103186797A (zh) * | 2011-12-29 | 2013-07-03 | 财团法人工业技术研究院 | 视觉定位方法及装置 |
CN103576686A (zh) * | 2013-11-21 | 2014-02-12 | 中国科学技术大学 | 一种机器人自主导引及避障的方法 |
CN103631264A (zh) * | 2013-12-04 | 2014-03-12 | 苏州大学张家港工业技术研究院 | 一种同时定位与地图创建方法及装置 |
JP2015146091A (ja) * | 2014-02-03 | 2015-08-13 | トヨタ自動車株式会社 | 移動ロボットの自己位置推定方法 |
CN103926925A (zh) * | 2014-04-22 | 2014-07-16 | 江苏久祥汽车电器集团有限公司 | 一种基于改进的vfh算法的定位与避障方法及机器人 |
Cited By (20)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN106323273A (zh) * | 2016-08-26 | 2017-01-11 | 深圳微服机器人科技有限公司 | 一种机器人重定位方法及装置 |
CN106323273B (zh) * | 2016-08-26 | 2019-05-21 | 深圳微服机器人科技有限公司 | 一种机器人重定位方法及装置 |
CN106568432B (zh) * | 2016-10-20 | 2019-07-09 | 上海物景智能科技有限公司 | 一种移动机器人初始位姿获取方法和*** |
CN106568432A (zh) * | 2016-10-20 | 2017-04-19 | 上海物景智能科技有限公司 | 一种移动机器人初始位姿获取方法和*** |
CN107820615A (zh) * | 2017-08-23 | 2018-03-20 | 深圳前海达闼云端智能科技有限公司 | 发送提示信息的方法、装置及服务器 |
CN108458706A (zh) * | 2017-12-25 | 2018-08-28 | 达闼科技(北京)有限公司 | 一种导航方法、装置、云端服务器及计算机程序产品 |
CN108550134A (zh) * | 2018-03-05 | 2018-09-18 | 北京三快在线科技有限公司 | 建图效果指标的确定方法和建图效果指标的确定装置 |
CN109035291B (zh) * | 2018-08-03 | 2020-11-20 | 重庆电子工程职业学院 | 机器人定位方法及装置 |
CN109035291A (zh) * | 2018-08-03 | 2018-12-18 | 重庆电子工程职业学院 | 机器人定位方法及装置 |
CN110189366A (zh) * | 2019-04-17 | 2019-08-30 | 北京迈格威科技有限公司 | 一种激光粗配准方法、装置、移动终端及存储介质 |
WO2021109166A1 (zh) * | 2019-12-06 | 2021-06-10 | 苏州艾吉威机器人有限公司 | 三维激光定位方法及*** |
CN112082554A (zh) * | 2020-08-05 | 2020-12-15 | 深圳市优必选科技股份有限公司 | 机器人导航方法、装置、终端设备及存储介质 |
CN111812613A (zh) * | 2020-08-06 | 2020-10-23 | 常州市贝叶斯智能科技有限公司 | 一种移动机器人定位监测方法、装置、设备和介质 |
CN112097772A (zh) * | 2020-08-20 | 2020-12-18 | 深圳市优必选科技股份有限公司 | 机器人及其地图构建方法和装置 |
WO2022036981A1 (zh) * | 2020-08-20 | 2022-02-24 | 深圳市优必选科技股份有限公司 | 机器人及其地图构建方法和装置 |
CN112097772B (zh) * | 2020-08-20 | 2022-06-28 | 深圳市优必选科技股份有限公司 | 机器人及其地图构建方法和装置 |
CN112700495A (zh) * | 2020-11-25 | 2021-04-23 | 北京旷视机器人技术有限公司 | 位姿确定方法、装置、机器人、电子设备及存储介质 |
CN112581535A (zh) * | 2020-12-25 | 2021-03-30 | 达闼机器人有限公司 | 机器人定位方法、装置、存储介质及电子设备 |
WO2022134680A1 (zh) * | 2020-12-25 | 2022-06-30 | 达闼机器人股份有限公司 | 机器人定位方法、装置、存储介质及电子设备 |
CN114407005A (zh) * | 2021-12-02 | 2022-04-29 | 国能铁路装备有限责任公司 | 一种机器人及其行走控制方法、装置 |
Also Published As
Publication number | Publication date |
---|---|
CN105892461B (zh) | 2018-12-04 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
CN105892461A (zh) | 一种机器人所处环境与地图的匹配识别方法及*** | |
Alatise et al. | A review on challenges of autonomous mobile robot and sensor fusion methods | |
EP2927769B1 (en) | Localization within an environment using sensor fusion | |
Kleiner et al. | Real‐time localization and elevation mapping within urban search and rescue scenarios | |
CN111220153B (zh) | 基于视觉拓扑节点和惯性导航的定位方法 | |
Apostolopoulos et al. | Integrated online localization and navigation for people with visual impairments using smart phones | |
CN112518739A (zh) | 履带式底盘机器人侦察智能化自主导航方法 | |
CN113325837A (zh) | 一种用于多信息融合采集机器人的控制***及方法 | |
CN106643739A (zh) | 一种室内环境人员定位方法及*** | |
CN105785989A (zh) | 利用行进中机器人标定分布式网络摄像机的***和相关方法 | |
CN110293965A (zh) | 泊车方法和控制装置、车载设备及计算机可读介质 | |
CN114683290B (zh) | 一种足式机器人位姿优化的方法,装置以及存储介质 | |
KR102163462B1 (ko) | 경로 탐사 로봇 및 그를 이용한 매핑 방법 | |
CN110487281A (zh) | 一种探测障碍物的智能导航*** | |
Hargadine | Mobile robot navigation and obstacle avoidance in unstructured outdoor environments | |
Tardioli et al. | A robotized dumper for debris removal in tunnels under construction | |
CN107820562A (zh) | 一种导航方法、装置及电子设备 | |
Tur et al. | A closed-form expression for the uncertainty in odometry position estimate of an autonomous vehicle | |
Jo et al. | Hybrid local route generation combining perception and a precise map for autonomous cars | |
Siddiqui | UWB RTLS for construction equipment localization: experimental performance analysis and fusion with video data | |
WO2022004333A1 (ja) | 情報処理装置、情報処理システム、および情報処理方法、並びにプログラム | |
CN110216675B (zh) | 智能机器人的控制方法、装置、智能机器人及计算机设备 | |
Lee et al. | Fail-safe multi-modal localization framework using heterogeneous map-matching sources | |
Spassov et al. | Map-matching for pedestrians via bayesian inference | |
KR101829348B1 (ko) | 차선정보 구축용 가변형 차선정보 구축관리시스템 |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
C06 | Publication | ||
PB01 | Publication | ||
C10 | Entry into substantive examination | ||
SE01 | Entry into force of request for substantive examination | ||
GR01 | Patent grant | ||
GR01 | Patent grant | ||
TR01 | Transfer of patent right | ||
TR01 | Transfer of patent right |
Effective date of registration: 20201218 Address after: 233399, 4 floor, building 3, industrial Acceleration Center, Wuhe County Economic Development Zone, Bengbu, Anhui. Patentee after: WUHE ZHIKAI ENVIRONMENTAL PROTECTION TECHNOLOGY Co.,Ltd. Patentee after: Zeng Yuee Address before: 201702 212-214, block B, No. 599, Gaojing Road, Qingpu District, Shanghai Patentee before: SHANGHAI VIEW TECHNOLOGIES Co.,Ltd. |
|
TR01 | Transfer of patent right | ||
TR01 | Transfer of patent right |
Effective date of registration: 20210913 Address after: 273300 No.207, East Second floor, Administration Committee of Shandong Pingyi Economic Development Zone, west section of Jinhua Road, Pingyi Economic Development Zone, Linyi City, Shandong Province Patentee after: Pingyi Economic Development Zone Investment Development Co.,Ltd. Address before: 233399, 4 floor, building 3, industrial Acceleration Center, Wuhe County Economic Development Zone, Bengbu, Anhui. Patentee before: WUHE ZHIKAI ENVIRONMENTAL PROTECTION TECHNOLOGY Co.,Ltd. Patentee before: Zeng Yuee |