CN106272425B - 避障方法及机器人 - Google Patents
避障方法及机器人 Download PDFInfo
- Publication number
- CN106272425B CN106272425B CN201610808256.4A CN201610808256A CN106272425B CN 106272425 B CN106272425 B CN 106272425B CN 201610808256 A CN201610808256 A CN 201610808256A CN 106272425 B CN106272425 B CN 106272425B
- Authority
- CN
- China
- Prior art keywords
- robot
- distance
- barrier
- parallactic angle
- party parallactic
- 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.)
- Expired - Fee Related
Links
- 238000000034 method Methods 0.000 title claims abstract description 20
- 230000004888 barrier function Effects 0.000 claims abstract description 129
- 238000001514 detection method Methods 0.000 claims abstract description 18
- 238000012360 testing method Methods 0.000 claims description 8
- 238000012546 transfer Methods 0.000 claims description 6
- 238000010586 diagram Methods 0.000 description 10
- 238000013473 artificial intelligence Methods 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 238000011217 control strategy Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000000926 separation method Methods 0.000 description 1
- 239000002699 waste material Substances 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
- B25J9/1666—Avoiding collision or forbidden zones
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
Description
Claims (10)
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201610808256.4A CN106272425B (zh) | 2016-09-07 | 2016-09-07 | 避障方法及机器人 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201610808256.4A CN106272425B (zh) | 2016-09-07 | 2016-09-07 | 避障方法及机器人 |
Publications (2)
Publication Number | Publication Date |
---|---|
CN106272425A CN106272425A (zh) | 2017-01-04 |
CN106272425B true CN106272425B (zh) | 2018-12-18 |
Family
ID=57709774
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN201610808256.4A Expired - Fee Related CN106272425B (zh) | 2016-09-07 | 2016-09-07 | 避障方法及机器人 |
Country Status (1)
Country | Link |
---|---|
CN (1) | CN106272425B (zh) |
Families Citing this family (16)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN108500977B (zh) * | 2017-01-09 | 2020-07-24 | 广东宝乐机器人股份有限公司 | 一种机器人的移动控制方法及机器人 |
CN107045346B (zh) * | 2017-03-07 | 2021-04-27 | 深圳市亿和精密科技集团有限公司 | 无人车运送方法及无人车 |
CN106980314B (zh) * | 2017-03-14 | 2020-11-20 | 联想(北京)有限公司 | 一种运动控制方法及电子设备 |
CN106956267A (zh) * | 2017-05-27 | 2017-07-18 | 上海木爷机器人技术有限公司 | 机器人手臂避障方法和*** |
CN107145152B (zh) * | 2017-06-28 | 2020-02-14 | 上海木木机器人技术有限公司 | 防止多机传感器互扰的方法、装置及机器人 |
CN107765689B (zh) * | 2017-09-29 | 2018-10-12 | 南京昱晟机器人科技有限公司 | 一种机器人及其避障方法 |
CN107536565A (zh) * | 2017-10-24 | 2018-01-05 | 湖南格兰博智能科技有限责任公司 | 自移动清洁机器人及其控制方法 |
CN108227523B (zh) * | 2017-11-01 | 2020-01-07 | 深圳乐动机器人有限公司 | 机器人控制方法、装置、存储介质和计算机设备 |
CN110340882A (zh) * | 2018-04-08 | 2019-10-18 | 苏州宝时得电动工具有限公司 | 机器人避障方法、装置、计算机设备及存储介质 |
CN108829094A (zh) * | 2018-05-07 | 2018-11-16 | 北京三辰环卫机械有限公司 | 移动路径的确定方法和洗地机 |
WO2019241923A1 (en) * | 2018-06-20 | 2019-12-26 | Lingdong Technology (Beijing) Co., Ltd | Unmanned lawn mower with autonomous driving |
CN108839022A (zh) * | 2018-06-28 | 2018-11-20 | 盐城工学院 | 一种工业搬运机器人避障方法 |
CN110412613B (zh) * | 2019-08-02 | 2021-08-10 | 上海智蕙林医疗科技有限公司 | 基于激光的测量方法、移动装置、计算机设备和存储介质 |
CN110865640B (zh) * | 2019-10-11 | 2024-03-12 | 黄少豪 | 一种智能机器人的避障结构 |
CN110815220A (zh) * | 2019-11-11 | 2020-02-21 | 深圳市荣盛智能装备有限公司 | 一种消防机器人的遇障处理方法 |
CN110928315A (zh) * | 2019-12-20 | 2020-03-27 | 深圳市杉川机器人有限公司 | 自主机器人及其控制方法 |
Citations (9)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2007122240A (ja) * | 2005-10-26 | 2007-05-17 | Matsushita Electric Works Ltd | 移動装置 |
JP2008090380A (ja) * | 2006-09-29 | 2008-04-17 | Matsushita Electric Ind Co Ltd | 自律走行装置およびプログラム |
CN101276223A (zh) * | 2007-03-28 | 2008-10-01 | 松下电器产业株式会社 | 自主行走装置和用于使该装置工作的计算机程序 |
CN202975806U (zh) * | 2012-12-12 | 2013-06-05 | 上海工程技术大学 | 基于红外传感器的智能循迹避障小车 |
CN104049634A (zh) * | 2014-07-02 | 2014-09-17 | 燕山大学 | 基于Camshift算法的智能体模糊动态避障方法 |
CN104216409A (zh) * | 2014-09-04 | 2014-12-17 | 北京工业大学 | 基于模糊控制的两轮自平衡机器人避障***及控制方法 |
CN105487536A (zh) * | 2014-10-13 | 2016-04-13 | 北京自动化控制设备研究所 | 一种移动机器人的低成本自主避障方法 |
CN105629970A (zh) * | 2014-11-03 | 2016-06-01 | 贵州亿丰升华科技机器人有限公司 | 一种基于超声波的机器人定位避障方法 |
CN206021080U (zh) * | 2016-09-07 | 2017-03-15 | 上海木爷机器人技术有限公司 | 机器人 |
-
2016
- 2016-09-07 CN CN201610808256.4A patent/CN106272425B/zh not_active Expired - Fee Related
Patent Citations (9)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2007122240A (ja) * | 2005-10-26 | 2007-05-17 | Matsushita Electric Works Ltd | 移動装置 |
JP2008090380A (ja) * | 2006-09-29 | 2008-04-17 | Matsushita Electric Ind Co Ltd | 自律走行装置およびプログラム |
CN101276223A (zh) * | 2007-03-28 | 2008-10-01 | 松下电器产业株式会社 | 自主行走装置和用于使该装置工作的计算机程序 |
CN202975806U (zh) * | 2012-12-12 | 2013-06-05 | 上海工程技术大学 | 基于红外传感器的智能循迹避障小车 |
CN104049634A (zh) * | 2014-07-02 | 2014-09-17 | 燕山大学 | 基于Camshift算法的智能体模糊动态避障方法 |
CN104216409A (zh) * | 2014-09-04 | 2014-12-17 | 北京工业大学 | 基于模糊控制的两轮自平衡机器人避障***及控制方法 |
CN105487536A (zh) * | 2014-10-13 | 2016-04-13 | 北京自动化控制设备研究所 | 一种移动机器人的低成本自主避障方法 |
CN105629970A (zh) * | 2014-11-03 | 2016-06-01 | 贵州亿丰升华科技机器人有限公司 | 一种基于超声波的机器人定位避障方法 |
CN206021080U (zh) * | 2016-09-07 | 2017-03-15 | 上海木爷机器人技术有限公司 | 机器人 |
Also Published As
Publication number | Publication date |
---|---|
CN106272425A (zh) | 2017-01-04 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
CN106272425B (zh) | 避障方法及机器人 | |
CN105015545B (zh) | 一种无人驾驶汽车的自主变道决策方法 | |
CN108692734B (zh) | 一种路径规划方法和装置 | |
US9625911B2 (en) | System and method for avoiding obstacle for autonomous vehicle | |
CN106527449B (zh) | 避障*** | |
CN108052111B (zh) | 一种基于双目视觉技术的无人机实时避障方法 | |
CN102323819B (zh) | 一种基于协调控制的智能轮椅室外导航方法 | |
CN109085832A (zh) | 一种agv小车自动避障方法及避障*** | |
CN109508007A (zh) | 一种基于多源信息融合的农机轨迹跟踪、避障***及方法 | |
KR20160070467A (ko) | 장애물 회피를 위한 멀티로봇 시스템 및 장애물 회피를 위한 스위칭 대형 전략을 이용하는 방법 | |
CN205139699U (zh) | 机器人避障*** | |
US9588518B2 (en) | Autonomous mobile apparatus, control device, and autonomous mobile method | |
CN206021080U (zh) | 机器人 | |
CN112254727B (zh) | 基于teb的路径规划方法及装置 | |
CN110977973A (zh) | 架空输电线路巡检机器人自主越障装置 | |
US11628573B2 (en) | Unmanned transfer robot system | |
CN109407653A (zh) | 一种室内通用多移动机器人算法验证*** | |
Guidolini et al. | A simple yet effective obstacle avoider for the IARA autonomous car | |
CN109324626A (zh) | 基于红外测距的机器人及其近距离避障方法、存储介质 | |
CN109211260A (zh) | 智能车的行驶路径规划方法及装置、智能车 | |
CN109508013A (zh) | 一种自主行走轮式移动机器人控制器 | |
Woo | Mobile robot path planning with randomly moving obstacles and goal | |
JP3674316B2 (ja) | 走行位置決定装置 | |
CN109917413B (zh) | 一种智能转移床的精确导航定位方法 | |
Doisy et al. | Spatially unconstrained, gesture-based human-robot interaction |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
C06 | Publication | ||
PB01 | Publication | ||
C10 | Entry into substantive examination | ||
SE01 | Entry into force of request for substantive examination | ||
CB02 | Change of applicant information |
Address after: 200336 room 5F-478, No. 1955 Hami Road, Changning District, Shanghai Applicant after: SHANGHAI MROBOT TECHNOLOGY Co.,Ltd. Address before: 200336 room 5F-478, No. 1955 Hami Road, Changning District, Shanghai Applicant before: SHANGHAI MUYE ROBOT TECHNOLOGY Co.,Ltd. |
|
CB02 | Change of applicant information | ||
GR01 | Patent grant | ||
GR01 | Patent grant | ||
TR01 | Transfer of patent right |
Effective date of registration: 20190918 Address after: Room A72, 6th floor, H District, 666 Beijing East Road, Huangpu District, Shanghai, 200001 Patentee after: China National Pharmaceutical Norda Intelligent Logistics Service (Shanghai) Co.,Ltd. Address before: 200336 5F-478 room, No. 1955, Hami Road, Shanghai, Changning District Patentee before: SHANGHAI MROBOT TECHNOLOGY Co.,Ltd. |
|
TR01 | Transfer of patent right | ||
TR01 | Transfer of patent right |
Effective date of registration: 20211109 Address after: 450000 2301, 23rd floor, Expo building, CBD business outer ring, Zhengzhou area (Zhengdong), Henan pilot Free Trade Zone, Zhengzhou City, Henan Province Patentee after: Henan Sinopharm Noda Property Service Co.,Ltd. Address before: Room A72, 6th floor, district H (East Block), 666 Beijing East Road, Huangpu District, Shanghai 200001 Patentee before: China National Pharmaceutical Norda Intelligent Logistics Service (Shanghai) Co.,Ltd. |
|
TR01 | Transfer of patent right | ||
CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20181218 |
|
CF01 | Termination of patent right due to non-payment of annual fee |