CN106737549B - 一种移动机器人及其防倾覆方法和装置 - Google Patents
一种移动机器人及其防倾覆方法和装置 Download PDFInfo
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- CN106737549B CN106737549B CN201611192678.XA CN201611192678A CN106737549B CN 106737549 B CN106737549 B CN 106737549B CN 201611192678 A CN201611192678 A CN 201611192678A CN 106737549 B CN106737549 B CN 106737549B
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- mobile robot
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- 238000000034 method Methods 0.000 title claims abstract description 29
- 239000013598 vector Substances 0.000 claims abstract description 87
- 230000005484 gravity Effects 0.000 claims abstract description 79
- 230000005012 migration Effects 0.000 claims abstract description 61
- 238000013508 migration Methods 0.000 claims abstract description 61
- 238000000576 coating method Methods 0.000 claims description 17
- 238000001514 detection method Methods 0.000 claims description 11
- 238000009434 installation Methods 0.000 claims 1
- 238000005516 engineering process Methods 0.000 abstract description 2
- 230000015654 memory Effects 0.000 description 11
- 238000010586 diagram Methods 0.000 description 8
- 230000009286 beneficial effect Effects 0.000 description 7
- 230000006870 function Effects 0.000 description 4
- 239000011159 matrix material Substances 0.000 description 3
- 230000036544 posture Effects 0.000 description 3
- 230000007123 defense Effects 0.000 description 2
- 238000012360 testing method Methods 0.000 description 2
- 230000009466 transformation Effects 0.000 description 2
- 238000004891 communication Methods 0.000 description 1
- 238000013461 design Methods 0.000 description 1
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- 230000006641 stabilisation Effects 0.000 description 1
- 238000011105 stabilization Methods 0.000 description 1
- 238000010408 sweeping Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
-
- 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
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0891—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for land vehicles
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Manipulator (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
Description
Claims (12)
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
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CN201611192678.XA CN106737549B (zh) | 2016-12-21 | 2016-12-21 | 一种移动机器人及其防倾覆方法和装置 |
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CN201611192678.XA CN106737549B (zh) | 2016-12-21 | 2016-12-21 | 一种移动机器人及其防倾覆方法和装置 |
Publications (2)
Publication Number | Publication Date |
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CN106737549A CN106737549A (zh) | 2017-05-31 |
CN106737549B true CN106737549B (zh) | 2019-05-31 |
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CN201611192678.XA Active CN106737549B (zh) | 2016-12-21 | 2016-12-21 | 一种移动机器人及其防倾覆方法和装置 |
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Families Citing this family (13)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN107009344A (zh) * | 2017-06-05 | 2017-08-04 | 游尔(北京)机器人科技股份有限公司 | 一种服务机器人底盘机构 |
CN109693234B (zh) * | 2017-10-20 | 2021-08-27 | 深圳市优必选科技有限公司 | 机器人跌倒预测方法、装置、终端设备及计算机存储介质 |
CN108818586B (zh) * | 2018-07-09 | 2021-04-06 | 山东大学 | 一种适用于机械手自动抓取的物体重心检测方法 |
CN109454616A (zh) * | 2018-09-18 | 2019-03-12 | 华中科技大学 | 一种移动操作机器人倾翻稳定性判断方法及控制方法 |
CN110068575B (zh) * | 2019-04-29 | 2022-09-09 | 嘉兴学院 | 多相混合均匀性的判断方法、判断装置及终端 |
CN111761574B (zh) * | 2020-05-28 | 2022-08-02 | 中联重科股份有限公司 | 判断臂架可进行的操作的安全性的方法和装置及工程机械 |
CN111714210B (zh) * | 2020-06-30 | 2024-02-13 | 深圳市精锋医疗科技股份有限公司 | 手术机器人及其控制装置、控制方法 |
CN112045679B (zh) * | 2020-08-21 | 2022-05-10 | 上海核工程研究设计院有限公司 | 一种爬壁机器人防倾覆行进控制方法 |
CN112603202B (zh) * | 2020-12-07 | 2022-01-11 | 深圳市银星智能科技股份有限公司 | 离地检测方法、装置、移动机器人及存储介质 |
CN112720479B (zh) * | 2020-12-22 | 2022-03-18 | 深圳市优必选科技股份有限公司 | 一种机器人姿态控制方法、装置及机器人 |
CN112744308B (zh) * | 2021-01-18 | 2022-06-21 | 北京博清科技有限公司 | 一种防倾覆爬壁机器人及控制方法 |
CN114485622A (zh) * | 2022-02-09 | 2022-05-13 | 国科星图(深圳)数字技术产业研发中心有限公司 | 一种大坝水库可视化安全监测方法 |
CN117191261B (zh) * | 2023-11-06 | 2024-02-27 | 科弛医疗科技(北京)有限公司 | 一种手术机器人质心倾斜监控装置及监控方法 |
Citations (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN103984350A (zh) * | 2014-05-30 | 2014-08-13 | 深圳市创冠智能网络技术有限公司 | 防倾倒移动装置及其防倾倒方法 |
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Publication number | Priority date | Publication date | Assignee | Title |
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JP5432688B2 (ja) * | 2009-12-03 | 2014-03-05 | 株式会社日立製作所 | 移動ロボット及びその走行安定化方法 |
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- 2016-12-21 CN CN201611192678.XA patent/CN106737549B/zh active Active
Patent Citations (1)
Publication number | Priority date | Publication date | Assignee | Title |
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CN103984350A (zh) * | 2014-05-30 | 2014-08-13 | 深圳市创冠智能网络技术有限公司 | 防倾倒移动装置及其防倾倒方法 |
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Address after: 518000 room 1306, Press Plaza, Shennan Avenue, Futian District, Shenzhen, Guangdong Applicant after: ANKE ROBOT CO.,LTD. Address before: 518054 room 1306, Press Plaza, Shennan Avenue, Futian District, Shenzhen, Guangdong Applicant before: ANKE SMART CITY TECHNOLOGY (PRC) Co.,Ltd. |
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Effective date of registration: 20180905 Address after: 518000 Shenzhen, Guangdong Guangming New District Guangming Street Wan Dai Heng hi tech Industrial Park 5, 5 floor. Applicant after: SHENZHEN ZHONGZHI KECHUANG ROBOT Co.,Ltd. Address before: 518000 room 1306, Press Plaza, Shennan Avenue, Futian District, Shenzhen, Guangdong Applicant before: ANKE ROBOT CO.,LTD. |
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Effective date of registration: 20210507 Address after: 518000 floor 1, building 2, wandaiheng Guangming hi tech park, Zhenmei community, Xinhu street, Guangming District, Shenzhen City, Guangdong Province Patentee after: Shenzhen Zhongzhi Yonghao robot Co.,Ltd. Address before: 518000 Shenzhen, Guangdong Guangming New District Guangming Street Wan Dai Heng hi tech Industrial Park 5, 5 floor. Patentee before: SHENZHEN ZHONGZHI KECHUANG ROBOT Co.,Ltd. |
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